• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention describes a device (1) for controlling the vibration applied to fruit trees by a vibration machine (100) driven by a motor (101), comprising: a control means (2) configured to be connected to the machine (100) ) of vibration to act on the speed of the motor (101) in such a way that the frequency of the vibration applied to the shaft (200) coincides with the natural resonance frequency of the shaft (200); at least one vibration sensor (3) configured to obtain real-time information about the response of the shaft (200) to the applied vibration; and a processing means (4) connected to the control means (2) and the vibration sensor (3), which is configured to manage the operation of said control means (2) and said vibration sensor (3). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2612384A1
    申请号:ES201631352
    申请日:2016-10-20
    公开日:2017-05-16
    发明作者:Antonio Luis GARCÍA GONZÁLEZ；José Antonio AGUILERA GARCÍA；Juan ESTÉVEZ SÁNCHEZ；Víctor TORRES LÓPEZ
    申请人:Universidad de Malaga；
    IPC主号:
    专利说明:

    Vibration control device applied to fruit trees and associated procedure
    OBJECT OF THE INVENTION
    The present invention belongs in general to the field of agriculture, and more particularly to the devices used for the vibration of fruit trees with the purpose of detaching the fruit thereof.
    A first object of the present invention is a new device that shortens the duration of the vibration procedure applied to fruit trees.
    A second object of the invention is the operation procedure of the aforementioned device.
    BACKGROUND OF THE INVENTION
    A known method for the collection of certain fruits, and especially the olive from the olive tree, consists in the application of mechanical shocks or vibrations to the trunk of the tree in question with the purpose of bringing the fruit down. Currently, devices designed for this purpose include clamps or vibrating heads that can shake with powers of up to 100 hp, usually thanks to the performance of one or more hydraulic motors connected to eccentric masses.
    Most of the devices that are currently used are designed primarily for the application of vibration to the tree in question, but lack sensors to obtain information that allows to know the state of the tree in real time during the application of vibration. For this reason, in most cases the frequency and intensity of the vibration applied is controlled in a completely subjective and empirical manner by an operator. The application of a vibration of an amplitude or frequency that is not properly controlled can cause damage to the tree, for example in the roots.
    To solve this problem, devices have been developed that, thanks to a vibration sensor and real-time control of the characteristics of the applied vibration, allow not only to avoid damage to the roots but also to maximize the amount of fruit extracted from the tree. Some of these devices also include a wireless communication medium with a computer or processing medium for storing the information obtained from the tree.
    A first example of this type of device is US 5,473,875. This document mentions a system equipped with accelerometers that allow obtaining information about the response of the tree to the vibration applied. In a preferred embodiment, the tree is also vibrated specifically at its resonance frequency, given the advantages relative to the greater amount of fruit extracted and less damage to the roots.
    A second example of such devices is document US 2011/0047956. This document mentions a system also equipped with sensors that allow feedback in real time about the response of the tree to adjust the frequency of vibration to the resonance frequency of the tree. In addition, this document comprises means for wirelessly transmitting the information obtained by the sensors to a processing medium, such as a computer.
    A drawback of these devices is the fact that the determination of the resonance frequency of a tree requires the realization of a broad frequency sweep in the applied vibration. A so-called "wide" sweep is a sweep whose upper and lower frequencies are respectively well above and well below the natural resonance frequency of the tree. The purpose of performing a broad scan is to ensure that the resonant frequency is not outside the range of scanning frequencies. This large sweeping range can lead to excessive loss of time in the procedure of identifying the resonance vibration of a tree. Note that this process of frequency scanning may have to be carried out hundreds or thousands of times, as many as there are trees on the farm that will vibrate. The accumulated loss of time can be very large.
    DESCRIPTION OF THE INVENTION
    The present invention solves the above problem thanks to a new vibration control device that allows to identify the position of the tree to be vibrated and, as a result, to determine if said tree has been previously vibrated. If so, the knowledge of the natural frequency of previous vibration of the tree makes it possible to shorten the amplitude of the frequency sweep necessary to determine its natural frequency of current vibration. As a consequence, the time required to determine the vibration frequency of each tree is reduced, which saves time and therefore also costs.
    Indeed, the natural frequency of vibration of a tree changes over time due to multiple factors, such as the weight and distribution of fruits or the gradual growth of trunk and branches. However, the change in the natural resonant frequency of a tree over the time between one vibration and another, usually approximately one year, can be considered small. That is, if in the last season the tree had a certain natural resonance frequency, it is expected that the natural resonance frequency of the current season is close to that. The present invention takes this into account for, once the natural resonant frequency of a tree from a previous vibration is known, to center and shorten the frequency sweep around said natural resonant frequency in the subsequent vibration.
    In addition, an additional advantage of the device of the present invention is that it can be configured as an element physically separated from the machine that applies the vibration to the shaft. That is, the device of the present invention can be configured so that it is attachable to any conventional vibration machine regardless of whether it is of an electric or hydraulic type. Thanks to this, the present device makes it possible to transform any conventional vibration machine with a purely manual operation into an "intelligent" vibration machine capable of vibrating the tree at its natural resonance frequency, among other functions described throughout this request.
    In this context, the term 'conventional vibration machine' refers to a vibration machine that does not include means to adjust the vibration speed to the resonance frequency of the tree. In general, this type of machines only allows manual control of the speed of vibration, for example through a control such as a dial or a wheel, conventional vibration machines normally comprise a motor (which can be hydraulic or electric) that rotates a pair of eccentric masses that generate the vibration , and tweezers configured to firmly grip the shaft for the application of the vibration generated by the motor.
    A first object of the invention describes a vibration control device applied to fruit trees by a motor driven vibration machine, comprising: a control means, at least one vibration sensor, a processing means, and a positioning medium. Each of these elements is described in more detail below.
    a) Control medium
    The control means is configured to act on the motor speed such that the frequency of the vibration applied to the tree coincides with the natural resonance frequency of the tree. For example, the control means can act on the motor power supply, if it is electric, on the flow supplied to the motor, if it is hydraulic, or both cases on the magnitude and distance between eccentric masses of the motor.
    The configuration of the control medium will be described in more detail later in this document.
    b) Vibration sensor
    It is at least one vibration sensor configured to obtain real-time information about the tree's response to the applied vibration. The sensor, or set of sensors, can be configured to obtain vibration data in one direction or in several directions. In principle, different types of sensors can be used, although in a particularly preferred embodiment of the invention the vibration sensor is an accelerometer.
    c) Processing medium
    The processing means is connected to the control means and the vibration sensor, and is configured to manage the operation of said control means and said vibration sensor such that, first, a frequency sweep is applied to the shaft until identify its natural resonance frequency and then, the vibration at that natural resonance frequency is applied to the tree.
    That is, the processing medium commands the operation of the control means to, first, determine the resonance frequency of the tree through the application of a frequency sweep and the analysis of the response of the tree obtained by the sensor of vibration and, secondly, apply to the tree the vibration at the natural resonant frequency that has been determined. In addition, the processing medium is able to analyze the data obtained by the sensor to obtain useful information. For example, in a preferred embodiment of the invention the processing means is further configured to determine the mass released from the tree from the tree response data obtained by the vibration sensor.
    The processing medium can be implemented in principle through any programmable device, such as a microcontroller, a microprocessor, an ASIC, a DSP, an FPGA, or others.
    d) Positioning medium
    The positioning means is connected to the processing means and configured to obtain the position of the tree to which the vibration is applied. Thanks to this information, the processing means can determine, depending on the position of the tree, whether vibration has been applied to said tree before. If so, the processing medium can identify the natural resonance frequency of the tree obtained in the previous vibration and shorten the amplitude of the current frequency sweep, focusing it on the natural resonance frequency obtained during the previous vibration. As mentioned, shortening the amplitude of the frequency sweep saves time in relation to the previous devices.
    In other words, the positioning means allows the device of the invention to determine if vibration has been applied to the tree in question and, as a result, a shorter frequency sweep centered on the natural frequency of previous resonance is applied. Normally, the natural resonance frequency obtained in the immediately previous vibration is taken as a reference, which should be the closest to the current natural resonance frequency of that tree. The natural resonant frequencies of each tree that has ever vibrated can be stored in the processing medium itself, or in any
    auxiliary element of the device configured for this purpose.
    In preferred embodiments of the invention, the positioning means can be chosen from the following: GPS, Glonass, or Galileo.
    In short, thanks to the positioning means, the device of the invention knows the exact position of each tree that will vibrate. This information is used to identify said tree, determine if its natural resonance frequency is known at a time prior to the current one, and adjust the amplitude and position of the current frequency sweep accordingly.
    According to another preferred embodiment, the device of the invention further comprises a storage means for storing, for each tree, at least one of the following data: position, natural frequency of vibration, time of application of the vibration, date and time of each vibration applied, estimation of the mass released from the tree. For example, the storage medium can be a ROM, RAM, hard disk, flash memory, or others. In this way, the device of the invention can store the information related to each tree obtained by the sensor and / or the positioning means, or the information calculated by the processing means from the information obtained by those. A history can be generated that will allow the farmer to know in more detail the evolution of each particular tree.
    In accordance with yet another preferred embodiment, the device of the invention further comprises a communication means for transmitting at least one of the following data: position, natural frequency of vibration, time of application of the vibration, date and time of each vibration applied , estimation of the mass released from the tree. This information can thus be transmitted to a mobile phone, computer, or tablet of the farmer in real time, providing a very useful tool for controlling the farm. For example, the communication medium may comprise a mobile network such as UMTS, GSM, GPRS, or CDMA, short distance communication technologies such as Bluetooth, WiFi,
    or ZigBee, internet, or others.
    According to another preferred embodiment of the invention, the device is configured to allow a detachable coupling to any vibration machine. In this context, the "separable coupling" of the device to the conventional vibration machine refers to a coupling that allows subsequent decoupling without loss of the capabilities of the device of the invention. That is to say, it would be possible to couple the device to a first vibration machine in particular for the performance of a certain work and, once this is finished, to decouple it from said first vibration machine for use with a second vibration machine different from the first . As mentioned above, this allows any conventional vibration machine to be transformed into an intelligent vibration machine equipped with a whole set of elements and functions as described in the previous paragraphs.
    In principle, the coupling between the device and the vibration machine can be carried out in different ways depending on the type of conventional vibration machine, provided that it allows varying the frequency or intensity of the vibration applied to the shaft and, at the same time, obtain information regarding the response of the tree to the vibration applied. In a preferred embodiment of the invention:
    - The control means is configured for coupling to the motor of a vibration machine in such a way that it allows: to modify the characteristics of the power supply applied to the motor when it is electric (for example, the control means may comprise a frequency inverter configured to stand between the power supply and the vibration machine motor);
    or modify the flow rate applied to the motor when it is hydraulic (for example, the control means may comprise an interface element connectable to a servo valve or solenoid valve of the vibration machine).
    - The vibration sensor is configured for coupling to the tweezers of the vibration machine. For example, the vibration sensor may be connected to the processing means by means of an extensible cable and have an area provided with adhesive, a clamp, a flange, or any similar element that allows its attachment to the clamps of the conventional vibration machine.
    In another preferred embodiment of the invention, the control means is configured to act on the value of eccentric motor masses or on the distance between them.
    Therefore, the installation of this device in a conventional vibration machine fundamentally comprises passing the power cables to the motor of the conventional vibration machine through the control means, if the machine is of the electric type, or connect an interface element of the control means to the pump servo valve or to a machine solenoid valve, if the machine is of a hydraulic type (if there is no servo valve or solenoid valve, one should be installed). Next, the vibration sensor is placed in at least one of the clamps of the conventional vibration machine. Once this is done, as will be described in detail below, the processing means commands the operation of the conventional vibration machine: first it controls the motor so that its speed makes a vibratory sweep (this sweep can be wide, if it is the first once the tree is vibrated, or short, if it has been previously vibrated and its previous natural resonance frequency is known), and at the same time it receives data about the response of the tree obtained by the vibration sensor; next, it identifies the natural resonance frequency of the tree based on the data received from the vibration sensor; and finally, it orders the control means to drive the motor so that its speed corresponds to the natural resonant frequency of the tree that has been determined.
    Note that, although in the present description of the device of the invention a series of elements such as the processing medium, control means, positioning means, storage medium, and communication medium have been described, they do not necessarily have to constitute physically separate and independent elements. On the contrary, it should be interpreted that these elements only refer to functional blocks intended to perform a certain function within the device, and therefore can be physically grouped in different ways. For example, the processing medium may be a microcontroller or microprocessor that includes the storage medium, the communication medium and / or the control medium. It is also possible that the device of the invention includes auxiliary elements commonly used for performing the described functions that are not explicitly mentioned in this description, such as data acquisition and processing cards.
    A second object of the invention describes a vibration control method applied to fruit trees by a motor driven vibration machine, which is carried out by a device like the one described above, and which essentially comprises the following steps:
    1) Act on the motor to apply to the tree a vibration whose frequency makes a sweep, obtaining at the same time data about the response of the tree.
    As mentioned above, the action on the motor is carried out through the control means, which, in turn, is commanded by the processing means. For its part, the vibration sensor obtains the data about the response of the tree and communicates it to the processing medium.
    2) Identify the natural resonance frequency of the tree from the data obtained.
    The processing medium analyzes the data obtained by the vibration sensor to identify the natural resonance frequency of the tree. First, a previous filtering of the signal obtained is performed to eliminate possible interference, noise or erroneous samples and then the frequencies corresponding to the vibration machine elements such as the calipers, the motor, etc. are filtered. , until finally the natural resonance frequency corresponding to the tree is isolated.
    3) Act on the motor to apply to the tree a vibration at the natural resonance frequency of the tree obtained to cause the fruit to fall.
    Once the resonant frequency is determined, the processing medium acts
    on the control means so that it drives the engine at a speed
    corresponding to the natural resonance frequency of the tree.
    In a preferred embodiment of the invention, during this process the processing medium continues to analyze the information received from the vibration sensor such that, from the tree response data obtained, the mass detached from the tree is estimated.
    Until now, the procedure is similar to the operation of some devices
    previous. However, unlike those, the process of the invention
    It also includes the previous steps of:
    00) Determine, depending on the position of the tree, if a vibration has been applied to the tree before.
    O) If so, identify the natural resonance frequency of the tree obtained in the previous vibration and shorten the amplitude of the frequency sweep, focusing it on the natural resonance frequency obtained during the previous vibration.
    That is, in case the device of the invention does not have any information on the tree to be vibrated, the sweep that will be performed will be a wide sweep. However, if it is determined that a vibration has been applied to that tree beforehand, since the previous natural resonance frequency of that same tree is known, the amplitude of the frequency sweep can be shortened and centered on the natural resonance frequency obtained during the previous vibration. In fact, as previously mentioned, since it can be expected that the natural resonance frequency of the tree is close to the natural resonance frequency of the tree at an earlier time, if this natural frequency of previous resonance is known, it is not necessary to perform a wide sweep. The sweep is shortened and focuses on the natural frequency of previous resonance, and thanks to this the process of stopping the natural frequency of current resonance of the tree is faster.
    Preferably, to determine if a vibration has been applied to the tree beforehand, the geographical position of the tree to be vibrated is obtained and said geographical position is compared with the geographical positions of all the trees to which vibration has been previously applied. . If the geographical position of a tree to be vibrated coincides with that of any of the trees that have been previously vibrated, it is determined that that tree has already been vibrated and therefore its resonance frequency at a certain moment in the Past has already been calculated and can be accessed to shorten the current frequency sweep.
    According to a further preferred embodiment of the invention, the method further comprises the step of storing, for each tree, at least one of the following data: position, natural frequency of vibration, time of application of the vibration, date and time of each vibration applied, estimate of the mass released from the tree.
    In yet another preferred embodiment, the method further comprises the step of communicating, for each tree, at least one of the following data: position, natural frequency of vibration, time of application of the vibration, date and time of each vibration applied, estimation from the mass released from the tree.
    BRIEF DESCRIPTION OF THE FIGURES
    Fig. 1 shows a schematic diagram of a device according to the present invention.
    Fig. 2 shows a general flow chart of the process of the invention.
    Fig. 3 shows a detailed flow chart of the tree excitation process according to the method of the invention.
    Fig. 4 shows a detailed flow chart of the process of checking the existence of previous tree data according to the method of the invention.
    Fig. 5 shows a detailed flow chart of the analysis process for obtaining the natural resonance frequency of the tree according to the method of the invention.
    Fig. 6 shows a detailed flow chart of the process of excitation of the tree at the natural resonance frequency of the tree according to the method of the invention.
    PREFERRED EMBODIMENT OF THE INVENTION
    Next, a preferred embodiment of the present invention is described in more detail with reference to the attached figures.
    Fig. 1 shows a schematic diagram of the device (1) according to the present invention where the different parts that compose it are appreciated. The device (1) comprises a processing means (4) that is connected to the rest of the elements: control means (2), sensor (3), positioning means (5), storage medium (6), and medium ( 7) communication. In this specific example, the processing means (4) is implemented by a Raspberry Pi board computer equipped with an Arduino data acquisition card to which two ADXL345 model digital accelerometers that constitute the sensors (3) are connected. This configuration allows a high sampling rate of the data obtained by the sensors (3), and at the same time allows preprocessing the signals obtained to eliminate noise and erroneous measurements. The processing medium (4) continuously receives the data from the sensors (3), filters them, and processes them mathematically to obtain the values of the frequency response of the tree (200). A Bluetooth device constitutes in this example the means (7) of communication, and allows real-time sending to
    an operator (300) the data obtained by the processing means (4). The device
    (1) includes a positioning means (5) consisting of a GPS system, and a storage medium (6) formed by a flash memory card.
    The described device (1) is coupled to a conventional vibration machine (100). The conventional vibration machine (100) is essentially formed by a motor
    (101) to which a clamp (102) is attached to be fixed to the trunk of the tree (200) to be vibrated. The control means (2) of the device (1) of the invention is configured to control the operation of the motor. This can be done in different ways (mechanically, electronically, hydraulically) depending on the needs of each application and the type of motor available to the conventional vibration machine. In any case, the control means (2) is capable of acting on the frequency of the vibration that the clamp (102) transmits to the tree trunk (200). Additionally, in order to receive information on the characteristics of the vibration, the sensor or sensors (3) are fixed to the clamp (102) of the conventional vibration machine (100).
    The operation of this device is fundamentally the following. Fig. 2 shows a flow chart of the process of harvesting fruits, such as olive or certain nuts. The process begins with the placement of the clamp (102) around the trunk of the tree (200) (step 1100). As is known in this field, the orientation of the clamp (102) must be selected to be the most suitable according to the geometry of the tree trunk (200) to vibrate. Next, the clamp (102) is closed so that a firm grip is produced, to avoid possible damage to the trunk during the process (step 1200). In addition, a firm grip improves the accuracy of the data collected by the vibration sensor (3). During these two steps of the procedure the intervention of an operator (300) is necessary. The rest of the steps are performed automatically by the device (1) of the invention, so that the operator (300) only intervenes to start and end the vibrating process.
    Next, the tree excitation process (200) takes place to cause the fruit to fall (step 1300), as shown in Fig. 3. This process begins when the device (1) recognizes the tree (200) when that is going to apply vibration. To do this, first the device (1) determines the geographical position of the tree (200) to be vibrated (step 1310). Then, as shown in Fig. 4, the device (1) checks if the tree
    (200) was collected the previous year with this method (step 1320). If so, the data from the previous year is taken into account for a short scan (step 1321-A). On the contrary, if this is the first time this process is applied to the tree (200), it is necessary to perform a long sweep (step 1321-8). The short sweep, as its name suggests, is shorter than the wide sweep since only the sweep is applied in a frequency range close to the natural resonant frequency of the tree (200) in the previous year, while The long scan involves going through the entire range of possible values to detect the natural resonance frequency of the tree (200).
    Once it is determined whether a short or long sweep is performed, the motor (101) of the machine (100) is operated to apply the vibration to the shaft (200). During the time that the scan lasts, the vibration sensor (3) measures the response of the tree in the form of acceleration. Then, as shown in Fig. 5, a pretreatment is performed to eliminate possible interference, noise or erroneous samples (step 1332). Then, a Fast Fourier Transform (FFT) is applied to pass the signal to the frequency domain, and then a modal decomposition is performed to decouple the part of the signal that corresponds to the response of the tree (200) of the part of the signal that corresponds to the different elements that make up the vibration machine (100) (step 1333). During this process it is important to be able to differentiate the different contributions of the elements that make up the vibration machine (100) to the frequency spectrum. Normally, the first natural frequency obtained corresponds to the tree, since the elements that make up the vibration machine (100) have higher natural frequencies due to its high rigidity and its metallic nature. Once isolated, an analysis of the signal corresponding to the tree (200) is performed, which must also vary along the vibration applied as a result of the loss of mass (step 1335). The information obtained is stored in the storage medium (6) to be able to compare it with data obtained in future collections (step 1334). In addition to allowing a short neighborhood, having a history with all the data and additional information of each tree (200) allows to keep an optimal control of the exploitation.
    After step 1330, step 1340 shown in Fig. 3 is continued to excite the tree (200) at the natural resonance frequency of the tree (200). As shown in Fig. 6, the operator gives the order to start the vibration so that the device (1) acts on the motor (101) so that the shaft (200) is excited at the frequency obtained (step 1341). To ensure that the device (1) applies the correct frequency at all times, a closed loop control is performed where the behavior of the tree (200) is monitored (step 1342), it is checked whether the excitation frequency is correct and, if necessary, the frequency of the applied vibration is corrected (step 1343). This process can continue until the operator gives the arrest warrant when the fruit has finished detaching.
    Alternatively, it would be possible for the device itself (1) to give the stop order automatically.
    Once the tree excitation process (200) is finished (step 1400), the procedure
    5 ends with step 1500 consisting of the opening and removal of the clamp (102). Throughout this procedure, or at the end, the device (1) stores or sends various useful data about the process performed, such as: the geographical location of the tree (200), the duration of the vibration applied, the date and time of vibration, or an estimate of the mass released from the tree (200) from the displacement of its
    10 natural resonant frequency. The operator (300) can receive this data in a mobile phone, a computer, a tablet, or others, either through short-range communication (Bluetooth, WiFi, ZigBee, etc.) if he is physically in the field next to the place where he is Vibration is carried out, or through long-range communication (mobile network, internet, etc.) if it is in another location, such as in an office.
    权利要求:
    Claims (9)
    [1]
    1. Vibration control device (1) applied to fruit trees by a machine
    (100) of vibration driven by a motor (101), comprising: - a control means (2) configured to act on the motor speed (101) such that the frequency of the vibration applied to the shaft (200) match the natural resonance frequency of the tree (200); -at least one vibration sensor (3) configured to obtain real-time information about the response of the shaft (200) to the vibration applied; and -a processing means (4) connected to the control means (2) and the vibration sensor (3), which is configured to manage the operation of said control means (2) and said vibration sensor (3) in such a way that, first, a frequency sweep is applied to the tree (200) until its natural resonance frequency is identified and, then, the vibration (said) is applied to said tree natural resonance frequency,
    characterized in that it also includes:
    a positioning means (5) connected to the processing means (4) and configured to obtain the position of the shaft (200) to which the vibration is applied, so that the processing means (4): determines, depending on the tree position (200), if vibration has been applied to said tree (200) before; and, if so, it identifies the natural resonance frequency of the tree (200) obtained in the previous vibration and shortens the amplitude of the frequency scan, focusing it on the natural resonance frequency obtained during the previous vibration.
    [2]
    2. Device (1) according to claim 1, wherein the positioning means (5) is chosen from the following: GPS, Glonass, Galileo
    [3]
    3. Device (1) according to any of the preceding claims, further comprising a storage means (6) configured to store, for each tree (200), at least one of the following data: position, natural resonant frequency, time of application of the vibration, date and time of each vibration applied, and estimation of the mass released from the tree (200).
    [4]
    Four. Device (1) according to any of the preceding claims, further comprising a communication means (7) configured to transmit at least one of the following data: position, natural vibration frequency, application time of the
    vibration, date and time of each vibration applied, and estimation of the mass released from the tree (200).
    [5]
    5. Device (1) according to any of the preceding claims, which is configured to be detachably coupled to any vibration machine (100).
    [6]
    6. Device (1) according to claim 5, wherein: -the control means (2) is configured for coupling to the motor (101) of a vibration machine (100) in such a way that it allows: to modify the characteristics of the power supply applied to the motor (101) when it is electric; or modify the flow rate applied to the engine (101) when it is hydraulic; Y
    - The vibration sensor (3) is configured for coupling to the clamps (102) of the vibration machine (100).
    [7]
    7. Device (1) according to claim 6, wherein the control means (2) is configured to act on the value of eccentric masses of the motor (101) or on the distance between them.
    [8]
    8. Vibration control procedure applied to fruit trees by a machine
    (100) of vibration driven by a motor (101), wherein the method is carried out by a device (1) according to any of the preceding claims, comprising the following steps:
    - act on the motor (101) of the vibration machine (100) to apply to the shaft
    (200) a vibration whose frequency scans, obtaining at the same time data about the response of the tree (200); -identify the natural resonance frequency of the tree (200) from the data obtained; and - act on the motor (101) to apply to the tree (200) a vibration at the natural resonance frequency of the tree (200) obtained in order to cause the fruit to fall,
    characterized in that it also comprises the previous steps of: - determining, depending on the position of the tree (200), if a vibration has been applied to the tree (200) before; and - if so, identify the natural resonance frequency of the tree (200) obtained in the previous vibration and shorten the amplitude of the frequency scan, focusing it on the natural resonance frequency obtained during the previous vibration.
    [9]
    9. The method according to claim 8, wherein the step of determining whether a vibration has been applied to the shaft (200) previously depending on its position comprises
    5 in turn: - obtain the geographical position of the tree (200) to be vibrated; and compare the geographical position with the geographical positions of all trees
    (200) to which vibration has been applied previously.
    10. Method according to any of claims 7-9, further comprising the step of storing, for each tree (200), at least one of the following data: position, natural frequency of vibration, application time of the vibration, date and time of each vibration applied, and estimation of the mass released from the tree (200).
    Method according to any of claims 7-10, which further comprises the step of communicating, for each tree (200), at least one of the following data: position, natural frequency of vibration, application time of the vibration, date and time of each vibration applied, and estimation of the mass released from the tree (200).
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    公开号 | 公开日
    WO2018073481A1|2018-04-26|
    ES2612384B2|2018-05-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5473875A|1993-12-09|1995-12-12|Zehavi; Eitan|Tree-shaking apparatus with direction and frequency optimization capability|
    WO2009016640A2|2007-08-01|2009-02-05|Agrosif Ltd.|Shaker for fruit harvesting|
    US20110047956A1|2009-08-31|2011-03-03|Snell Lloyd D|Nut and fruit harvesting apparatus, systems and methods|CN109005921A|2018-06-28|2018-12-18|华南农业大学|A kind of lichee picking machine driving control system and its control method|
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    ES201631352A|ES2612384B2|2016-10-20|2016-10-20|Vibration control device applied to fruit trees and associated procedure|ES201631352A| ES2612384B2|2016-10-20|2016-10-20|Vibration control device applied to fruit trees and associated procedure|
    PCT/ES2017/070703| WO2018073481A1|2016-10-20|2017-10-20|Device for controlling vibration applied to fruit trees and associated method|
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