Analysis on Mechanical Grain Harvesting Characteristics of Different New Maize Varieties

In order to screen new varieties of suitable mechanical grain harvesting maize, the main agronomic traits, stem traits and harvesting traits of maize in the harvest period were studied through taking 18 main varieties and newly-tested varieties in Liaoning Province as materials. It obtained the following results. Between different maize varieties, there was significant difference in the mechanical grain yield, and the quality difference was also significant. Ten test varieties including Tieyan 818 and Danyu 311 obtained higher yield than the control variety. The moisture content at harvesting was 26.0%-30.4%, the average moisture content was 28.22%, the average breaking rate was 6.52%, the average impurity rate was 1.91%, and the average yield loss rate was 6.33%. Danyu 212, Tieyan 58, Dika 516 and Danyu 801 had higher yield, and the grain moisture content, broken rate, impurity rate and yield loss rate were relatively low, so these varieties are suitable for promoting mechanical harvesting. Among the 8 traits surveyed, the traits positively correlated with yield were the percentage of broken stalks, degree of lodging, moisture content at harvesting, and percentage of kernel weight in ear weight, and traits negatively correlated with the yield included plant height, ear height, percentage of bare plants, and degree of lodging. Therefore, high moisture content is the main problem in the mechanical grain harvesting of maize, it is required to properly select early maturing varieties.

Application of Mechanical Grain Harvest of Maize by Combiners in Anhui Province

Eight summer maize varieties were evaluated in Funan County,Anhui Province,for yield and grain quality under mechanical grain harvest conditions in2019 growth season.ZY432,LY35 and JNK728 had higher grain yield potentials than FDC10,LX98,LD575,YD9953 and TT619.Postponed harvest from 28th Sept.to 11 thOct.was positively linked to the grain yield at roughly 1% of daily yield increase.Early harvest gave higher grain water content which was positively related to the percentage of broken grain as y=0.422 x-2.984(R^2=0.445),and to the percentage of foreign substance as y=0.248 x-3.245(R2=0.698).The relationship between grain water content and the rate of grain loss was negative as y=-0.052x+2.450(R^2=0.089).There was about 0.89% of grain water content decrease daily between harvests from 28^th Sept.to 4^th Oct.,and then was a‘slow-down’rate of dehydration.Grain weight was increasing for each variety when the harvest was postponed.JNK728 had the highest hundred-grain weight(HGW) and YD9953 had the lowest HGW.To make the mechanical grain harvest of summer maize feasible and acceptable,farmers need to pay attention to the adoption of proper varieties,following the suitable cultivation procedure and the improvement of mechanical facilities and operation.

Transmission of climate change impacts from temperature change to grain harvests, famines and peasant uprisings in the historical China

Because of the complexity of social responses to climate change,as well as limitations of proxy data concerning interactions between climate change and human responses,the social impacts of past climate change and associated response mechanisms,thus,require further investigation.To shed light on the transmission of climate change impacts within historical Chinese society,we selected 30-year resolution sequences of temperature anomalies in eastern China and 10-year resolution sequences of grain harvest grades,famine indices,and frequencies of peasant uprisings in China over the past 2000 years.Using a food security perspective,we analyzed the impacts of temperature changes historically transmitted through Chinese production,population,and social subsystems,and differences in transmission characteristics between cold and warm units.Our results were as follows.(1)From 210 BC to 1910 AD,temperature changes in China were significantly positively correlated with grain harvest grades(correlation coefficient,0.338),and significantly negatively correlated with famine indices,and frequencies of peasant uprisings(correlation coefficients,-0.301 and-0.277,respectively).The correlation coefficients between famine indices and grain harvest grades or frequencies of peasant uprisings were very low.(2)There was a higher proportion of bumper or normal harvests(86.5%of the total decades),more moderate and mild famines(76%),and a lower proportion of peasant uprisings(33.3%)in the 30-year warm units.Conversely,there was a higher proportion of poor or normal harvests(70.7%),a greater proportion of moderate and severe famines(77.6%),and more peasant uprisings(51.7%)in the 30-year cold units.(3)Of the 23 main transmission pathways extending from temperature change to the social subsystem,13 occurred in cold units,of which 7 had an endpoint of peasant uprisings,and 10 occurred in warm units of which 3 had an endpoint of peasant uprisings.The main transmission pathways that were more likely to be associated with the impacts of temperature change were:Cold→poor harvests→severe famines→more uprisings;cold→poor harvests→moderate famines→more uprisings;warm→bumper harvests→mild famines→no uprisings;warm→bumper harvests→moderate harvests→no uprisings;warm→normal harvests→mild famines→no uprisings;and warm→normal harvests→moderate famines→no uprisings.(4)The transmission of the impacts of temperature change was a complex process.Within this process,famine was most prone to being modulated by human society.In the transmission pathways from the production to the social subsystem,there was a stepwise decrease in the occurrence rate of decades that were probably affected by climate change.In all cold units,10.4%of decades ending in more uprisings were most likely to be associated with the impacts of temperature change.In all warm units,47.9%of decades ending in no uprisings were most likely to be associated with the impacts of temperature change.This research can contribute a better understanding on the past interaction mechanisms and processes within the human-climate-ecosystem complex,as well as a better response to the impacts of the ongoing climate change.

基于光电对射阵列下谷物收获流量控制系统的设计

在谷物收获过程中,由于谷物的性质不同及收获机械的工作状态不同,谷物的流量往往会出现波动或过大过小的情况,直接影响谷物的收获效率和质量,甚至会导致收获机械的故障。因此,对谷物的流量进行准确的控制和调节是非常重要的。为此,设计了一种基于光电对射阵列的谷物收获流量控制系统,可通过使用光电对射阵列检测收获机的运动状态和收获物料的流量,进而控制收获机的速度和工作状态,以实现谷物的准确收获和控制流量。试验验证表明:系统具有较高的准确性和稳定性,能够有效地控制谷物的流量,提高收获效率和质量,具有广泛的应用前景。

基于视觉传达设计的农机操作界面优化研究

近年来,随着农业机械智能化的不断发展与应用,农户对农业机械操控功能性、便捷性、易学性和人机交互的良好体验等提出了更高的要求;但是,目前市场上各类农业机械APP界面出现大量“雷同化”特点,难以满足不同农业机械的田间使用要求。为此,将“人机交互行为”作为设计目标,基于视觉传达技术,以谷物联合收获机操作界面为研究对象开展相关设计。同时,对谷物联合收获机操作界面图形、文字、色彩和设计风格进行分析,结果表明:优化后的农机操作界面能够显著提高操作员的操作效率和工作体验,降低操作错误率和疲劳程度。研究结果可为农业机械智能化操作界面的设计提供可参考的过程设计模型。

Grain Hermetic Storage Adoption in Northern Uganda: Awareness, Use, and the Constraints to Technology Adoption

Post-harvest storage losses (PHLs) remain significant in Sub-Saharan Africa (SSA) due to several factors mainly insect pests and molds. Hermetic storage technologies (HSTs) are being promoted to address these storage losses. In Uganda, HSTs were first introduced in 2012. However, its use among farming households remains low today. Data were collected from 306 smallholder farmers from four districts of Northern Uganda using a pre-tested semi-structured questionnaire to understand their knowledge, use, and constraints to the adoption of hermetic storage. A multivariate Logit regression model was used to find the significance of the factors affecting adoption. Results showed low awareness and use of hermetic storage among smallholder farmers. Only 53.3% of the interviewed farmers were aware of the use of hermetic storage for grain storage. The SuperGrain bag was the most known form of hermetic storage (35.3%), followed by the Purdue Improved Crop Storage (PICS) bag (34.9%), metallic silo (15.5%), and plastic silo (14.4%). Hermetic storage use was even lower as only 17.6% of the surveyed farmers were using one or more forms of hermetic storage to store their grains. Insect pest management without chemical insecticides was the main reason (83.1%) for hermetic storage use. About 75.5% of those aware of hermetic storage had received training in the technology. Hermetic storage use in farming households led to improved food availability, household income, and nutrition. Lack of local availability (50.2%), high costs (37.8%), and inadequate knowledge (6.9%) were the main constraints hindering the adoption of hermetic storage in Northern Uganda. The logit regression models showed that only training in hermetic storage significantly (p = 0.002) affected farmers’ decision to adopt hermetic storage. Understanding the factors that constrain the adoption of HSTs could provide policymakers with important information to initiate and design policies and programs aimed at reducing crop storage losses.

鲜食玉米收获机高净度清选智能测产装置研究

为改善国内小区鲜食玉米育种测产机械装备缺乏、小区鲜食玉米种子清选和测产过程完全依靠人工的现状,设计一种小区鲜食玉米种子高净度清选智能测产装置。该装置采用双层网筛、风力清选、智能测产流程完成高净度清选及测产作业,实现种子高净度清选和智能测产的作业要求。以上筛夹角、下筛夹角和螺旋分离装置入口风速为试验因素,以作业时千克籽粒含杂率为试验指标进行正交试验,建立因素与指标的响应面数学模型,并进行试验验证。结果表明:上筛夹角为14.0°,下筛夹角为4.0°,螺旋清选装置入口风速为27.0 m/s时为最佳作业组合,此参数组合下,鲜食玉米籽粒千克籽粒含杂率为1.2%,籽粒残留清理合格率为99.69%,测产平均误差为0.412%,籽粒含水率测量平均误差为3.57%,玉米种子千粒质量测量平均误差为0.276%。为小区鲜食玉米种子的高净度清选以及智能测产提供研究基础。

Optimization of Conventional Combine Harvester to Reduce Combine Losses for Basmati Rice (<i>Oryza Sativa</i>)

A study was conducted at PAU Regional Research Station, Gurdaspur (Punjab) to investigate the design and operational parameters of threshing mechanism of conventional combine harvester for basmati crop. This study was aimed to investigate the suitable changes required in the self-propelled conventional combine harvester for harvesting the basmati crop with minimum grain losses. Field evaluation of experiment was carried out to assess the influence of independent design variable i.e., arrangement of spikes (AS) and independent operational parameters such as concave clearance (CC) and cylinder speed (CS). The study was aimed to enumerate various combining losses viz., extent of visible and invisible grain damage and threshing efficiency at different AS, CC and CS levels. The first year data recorded during 2017 were processed for the optimization during 2018. The results of the present study revealed that during 2017, maximum visible and invisible losses was 5.49% ± 0.33% and 28.07% ± 3.21%, respectively whereas after modification, these losses remained only 4.00% ± 0.80% and 24.07% ± 2.86%, respectively. The threshing efficiency remained above 99.31% ± 0.47%, for both years. Thus, optimization of combine harvester was able to save the visible grain damage by 60% to 83% and invisible grain damage by 6% to 16%, respectively during 2018 than the year 2017.

中小型青贮玉米收获机械研究现状及发展趋势

随着牛、羊等草食性牲畜的快速发展,畜牧业对青贮玉米饲料的需求持续增长,我国青贮玉米的种植规模也在不断扩大。由于我国耕地类型和地块面积差异较大,青贮玉米的收获需要多种类型的作业机械。为促进玉米青贮收获机械的研发和应用,从畜牧产业适度规模发展的需要和当前我国分段收获与直接收获并存的现实情况出发,采用分作业环节的方式,针对青贮玉米收获机械的共性关键技术:秸秆切割、秸秆切碎揉丝、玉米籽粒破碎、青贮打捆包膜等,分析青贮玉米收获机械生产中的常用结构和最新研究现状。介绍青贮玉米收获机械的研发应用情况,从青贮作业环节中分析总结出存在秸秆切割与粉碎理论研究较少、各装置作业质量研究不足、整机适应性不强等共性问题。提出加强刀具与秸秆互作机理的研究、作业质量的研究、整机适应性的研究,使中小型青贮玉米收获机械在不同规模和作业需求下具有更好的作业性能、作业质量和综合生产效率。

陇东旱塬区宜机收玉米品种的性状指标综合评价

目前玉米生产机械化程度越来越高,玉米籽粒机收将是大势所趋,因此人们对玉米品种的选择也趋向于耐密植、抗倒伏和籽粒脱水快等优良性状。为了筛选出陇东旱塬区适宜的籽粒机收玉米品种,通过灰色关联度分析法对引进的17个玉米品种表型性状和籽粒机收适宜性进行综合评价。结果表明,和恒5266产量高,但是机收表现不理想;迪卡159、先丰9号、先玉1483、五谷737和新农育6003等5个品种综合表现良好,可以作为陇东旱塬区籽粒机收玉米品种贮备品种加以推广,尤其是五谷737产量高、抗性好、机收表现好,宜大力推广种植。

基于二阶欠阻尼阶跃响应的收获机割台液压缸选型分析

割台是谷物收获机的重要组成部分,割台性能的好坏决定着收获机在收获作业时的作业质量。割台液压缸选型确定方面,传统方式大多采用对割台质量及液压系统工作负载进行分析,利用经典力学的方式进行割台油缸的选型。随着自动控制理论的发展,割台高度闭环控制技术也越来越多地开始出现在国外领先收获机机型上,仅考虑力学负载分析的方法已经无法满足割台高度自动控制系统的需要。针对控制系统稳态分析的要求,割台油缸在满足工作负载的前提下,还需考虑系统的超调量、反应时间及过调震荡时间等因素。为此,进行割台升降运动过程建模分析,论证出割台控制模型为二阶欠阻尼模型系统,发现固有频率ωn与阻尼比ζ决定着系统动态指标。通过对液压缸内部分析,求出了割台液压缸系统的传递函数,确定出当其他机械参数不变时,割台油缸的管径影响着割台液压缸系统的固有频率ωn与阻尼比ζ。综合采用上升时间tr、峰值时间tp、超调量σ%和调节时间ts等4种系统稳态指标确定了最佳割台油缸参数,并进行了Amesim仿真试验。研究结果为后续无人驾驶谷物联合收获机的研发设计提供了割台装置控制策略的理论依据。

基于PID调控的割台仿形高度控制系统的设计

为降低谷物联合收获机收获作业时因割台高度不当造成的粮食损失,减少割茬高度过高对后续播种环节的影响,利用传感器监测地面起伏变化,设计了一种基于PID调控的割台高度自适应控制系统;设计了基于角度传感器的地面仿形监测机构与割台高度反馈机构,标定并拟合出割台高度与传感器电压信号的线性关系;加装集成式电磁比例阀替换原有割台控制电控换向阀,并进行PWM控制试验。同时,分析了整套自适应控制系统的结构与电液控制原理,并进行了多组田间对照试验,结果表明:设计的基于地面仿形的割台高度自适应控制系统具有稳定的响应速度和理想的控制效果,在平原地区作业时相较于传统人工控制割台的方式有明显的优势,能适应平原地形环境下5~11km/h收获作业速度的要求。研究结果为后续无人驾驶谷物联合收获机的研发设计提供了割台装置控制策略的理论依据。

智能农机多机协同收获作业控制方法与试验

为提高多台无人化智能收获机和运粮车协同作业效率,该研究以2台不同型号水稻收获机和1台运粮车为研究对象,开展了智能农机多机协同收获作业控制方法研究。根据协同作业控制决策约束条件,建立协同收获作业中有限个状态过程的改进型连续时间马尔科夫链模型。以减少非作业时间为优化目标,通过模型预测未来一段时间内每台收获机的卸粮时间,动态更新每台收获机的卸粮顺序和时间。仿真试验结果表明:该研究控制方法相对于仓满后再召唤运粮车的卸粮方式有效减少了作业时间,协同收获任务的农机平均作业时间减少了13.58%。田间试验结果表明:智能农机多机协同作业控制方法实现了2台水稻收获机和1台运粮车协同自主作业,在场景1中,相对于仓满召唤卸粮模式,收获机1和收获机2非作业时间分别减少了71.25%和42%,收获效率提高了6.65%和5.22%;在场景2中,相对于仓满召唤卸粮模式,收获机1和收获机2非作业时间分别减少了77.64%和37.09%,收获效率提高了12.07%和5.78%。该文提出的控制方法可以实现收获-卸粮转运自主作业,减少了收获机的非作业时间,提高了作业效率,可为无人农场智能收获协同作业提供支撑。

玉米锥形脱粒装置仿真优化设计

我国北方地区常用的玉米籽粒直收收获机在脱粒工序中存在脱粒元件对果穗冲击强度过大的问题,为此设计一种低损高效的玉米锥形脱粒分离装置。对脱粒滚筒结构进行分析,建立果穗与脱粒凹板间的接触模型,确定滚筒最优参数的取值范围。通过EDEM软件对不同参数组合的脱粒分离装置进行仿真优化试验。结果表明,当脱粒滚筒锥角为8°,凹板选用左向圆管型结构,滚筒转速为400 r/min时,脱粒效果最佳,并与传统式脱粒滚筒相比,起脱段脱粒元件对果穗的碰撞力由284 N降低为234 N,碰撞反力由202.54 N降低为171.52 N,从而验证锥形脱粒滚筒具有降低对果穗冲击强度的特性。利用ADAMS软件对锥形脱粒装置进行运动学及动平衡仿真分析,验证研究成果的可靠性及理论可行性,且系统产生的不平衡惯性力符合农业机械设计要求。为后续玉米脱粒分离装置的创新设计和结构改进提供理论参考。

绿肥对减量施氮小麦籽粒产量和氮素利用的补偿机制

针对西北绿洲灌区小麦连作普遍、化肥施用量较大及氮素利用率低等问题,探究麦后复种绿肥对减量施氮小麦籽粒产量和氮素利用的补偿效应,以期为构建减氮小麦高效生产技术提供理论依据。本研究依托始于2018年的定位试验进行,2020-2022年期间采集数据。试验采用裂区设计,主区设4种绿肥种植模式,即麦后分别复种毛叶苕子混播箭筈豌豆(HCV)、箭筈豌豆(CV)、油菜(R)和麦后休闲(F);副区为3种施氮水平:试区习惯施氮量(N3,180 kg hm^(–2))、习惯施氮减量20%(N2,144 kg hm^(-2))、习惯施氮减量40%(N1,108 kg hm^(-2))。研究表明,习惯施氮减量20%和40%显著降低了小麦籽粒产量和氮素吸收,但麦后复种毛叶苕子混播箭筈豌豆可补偿因减量施氮40%造成的籽粒产量和氮素吸收损失,且麦后复种毛叶苕子混播箭筈豌豆结合减量施氮20%提高小麦籽粒产量21.4%和氮素吸收6.9%(P<0.05)。麦后复种毛叶苕子混播箭筈豌豆可补偿因减量施氮40%造成的氮素利用率损失,且其结合减量施氮20%氮素利用率提高13.4%(P<0.05)。其补偿机制归因于:(1)麦后复种毛叶苕子混播箭筈豌豆在减量施氮40%条件下可补偿小麦氮素吸收速率,提高氮素净同化速率34.3%(P<0.05),维持穗部氮素分配,增加茎氮素转运率6.6%(P<0.05)。(2)与麦后休闲传统施氮量相比,麦后复种毛叶苕子混播箭筈豌豆结合减量施氮20%提高氮素平均吸收速率和氮素净同化速率7.2%和34.1%(P<0.05),增加灌浆初期至成熟期穗氮素分配6.7%(P<0.05),提高叶、茎氮素对穗的转运贡献率17.8%、8.9%(P<0.05)。因此,在干旱绿洲灌区,麦后复种毛叶苕子混播箭筈豌豆是实现小麦减氮40%的可行措施,麦后复种毛叶苕子混播箭筈豌豆结合减氮20%可通过提高小麦氮素吸收速率和氮素净同化率,提高叶、茎对穗的转运贡献率从而促进穗部氮素分配,实现小麦产量和氮素利用率双提升。

优质稻适宜收获期筛选研究

适期收获是实现优质稻产量和品质协同提高的一个技术措施。以6个优质稻品种为材料,在田间条件下,测定不同时期收获处理[成熟度(籽粒黄熟率)达到80%时收获、成熟度达到90%时收获、成熟度100%时收获、成熟度100%后5 d收获、成熟度100%后10 d收获]的水稻产量和品质指标。结果表明,参试品种产量均随着成熟度的增加呈上升趋势,在成熟度100%后10 d收获的最高。参试品种的整精米率在成熟度达100%时趋向稳定;垩白粒率和垩白度不同收获期处理间变化不大;在成熟度为90%~100%时收获,参试品种表现出适中的崩解值和消减值,食味品质相对较好;大部分品种在成熟度100%时收获糙米游离脂肪酸含量稳定,且为较低水平;3个香稻品种在成熟度90%~100%时收获,其香味物质含量最高。选择产量、整精米率、游离脂肪酸含量、崩解值和消减值等5个参数对优质稻的适宜收获期进行综合评价结果认为,优质稻成熟度(籽粒黄熟率)100%时为其适宜收获期,考虑到品种间差异,在实际生产过程中优质稻适宜在成熟度90%~100%时收获。

玉米籽粒收获机组合筛面预筛分式清选装置设计与试验

针对目前玉米籽粒收获机不能适应15 kg/s以上的大喂入量清选需要,设计了一种具备预清选功能的清选装置。首先对玉米脱出物离开螺旋输送器到达预清选筛前的玉米籽粒进行受力分析,然后对曲柄连杆机构的运动模型加以简化。其次分析玉米籽粒在筛面上的运动状态;对离心风机叶轮、蜗壳进行设计计算。采用单因素试验确定风机转速、振动频率、上筛筛孔开度取值范围;以风机转速、振动频率、上筛筛孔开度为试验因素,以籽粒含杂率和清选损失率为评价指标,设计三因素三水平中心组合试验,建立各因素与指标之间的回归模型。通过响应曲面方法对试验结果进行分析,并采用Design-Expert 12对回归模型进行多目标优化。玉米脱出物喂入量为16 kg/s时,得出较优组合为:风机转速1202.50 r/min、振动频率5.41 Hz、上筛筛孔开度18 mm,在此条件下籽粒含杂率为0.79%,清选损失率为1.10%;验证试验结果表明,当风机转速1200 r/min、振动频率5 Hz、上筛筛孔开度18 mm时,籽粒含杂率为0.82%,清选损失率为1.14%,试验值与优化值相对误差小于5%,与传统双层往复振动筛清选装置相比籽粒含杂率降低2.07个百分点,清选损失率降低2.13个百分点,证明所设计合理。

谷物联合收获机自动对行控制系统的设计

为提高谷物联合收获机的对行质量,设计了一套谷物联合收获机自动对行控制系统,主要包括自动对行感知系统和路径跟踪控制系统。自动对行感知系统基于多种传感器,包括摄像头、激光雷达和惯性测量单元等,实现了对农田的实时感知和行间距的测量;路径跟踪控制系统通过计算机器相对于理想路径的偏差,并结合速度和转向控制,实现了机器自动调整行驶方向和速度,以保持在行中心。测试结果表明:系统可以稳定、准确地控制机器的对行,显著提高了收割效率和农作物的质量,降低了驾驶员的劳动强度。

内蒙古玉米宜机械粒收品种评价指标体系

【目的】建立内蒙古自治区玉米机械粒收品种评价指标体系,为内蒙古宜机械粒收玉米品种的评价、选择和适时收获提供依据,为品种选育指明方向。【方法】以极早熟到晚熟6个熟期组代表品种为试验材料,在内蒙古6个生态区同步进行机械粒收性状研究,于生理成熟期,生理成熟后10、20、30 d,测定籽粒破碎率、籽粒破损率、杂质率、籽粒含水率和植株倒伏倒折率,并选择适宜各生态区条件、机械粒收性状优良的品种鉴选机械粒收品种评价指标。【结果】玉米籽粒破碎率、籽粒破损率、杂质率与籽粒含水率均呈极显著正相关(P<0.01)。收获期玉米籽粒含水率与出苗至收获、吐丝至收获、成熟至收获的时间和积温均呈极显著负相关(P<0.01),且相关性依次增强。玉米籽粒脱水速率与基础含水率、日均温均呈极显著正相关(P<0.01);籽粒脱水速率(y)与基础含水率(x_(1))、日均温(x_(2))回归方程为y=-0.523318+0.022732x_(1)+0.025422x_(2),R^(2)=0.4192,P<0.01。玉米总产量损失率、落穗率与收获期植株倒伏倒折率呈极显著正相关(P<0.01),落粒率与收获期植株倒伏倒折率相关性不显著(P>0.05),玉米植株倒伏倒折率与株高、穗位高、穗位株高比、茎粗、茎粗株高比的相关性均不显著(P>0.05)。确立了宜机械粒收玉米品种评价的主次指标,涵盖3个层次,55个指标。【结论】建立了内蒙古自治区宜机械粒收玉米品种评价指标体系,该体系兼顾了各大生态区共性和区域个性,指标量化、易操作,其中籽粒破损率指标点明了玉米机械粒收过程中的不可见损失,对产量损失的评估更加全面。

基于无人机平台的气振式核桃采收机设计与试验

针对云南山地种植的深纹核桃树体高大造成现有机械难于采收,而人工爬树用竹竿击打采收成本高且伤亡大的问题,提出了搭载无人机的气振式核桃采收原理及方法,基于深纹核桃成熟果实的果柄连接强度的测试与分析结果,进行了核桃脱落的气振流动仿真分析,设计了搭载于六旋翼农业植保无人机上的气振式核桃采收机,分析了气振式核桃采收机在发射气振时的反冲稳定性,实施了气振式核桃采收机搭载无人机进行采收的试验验证,按效率优先和采净率优先两种采收模式,对气振式核桃采收机的采收效率和采净率做了预测分析。研究结果表明,核桃成熟度为80%、90%和100%时,使核桃果柄断裂实现落果的气振临界流速分别为77.5、69.0、58.5 m/s;气舱容积为20 L且气压为1 MPa时,气振式核桃采收机的气动喷口至核桃挂果位置的最佳距离为0.5 m,单次气振流动采收的最大有效面积的仿真值和试验值分别约为0.09 m^(2)和0.10 m^(2),最大有效采收面积随着到气动喷口距离增大而减小。