Overview of the IFAS Overview of the IFAS Citrus Mechanical Harvesting ProgramCitrus Mechanical Harvesting Program

Jackie Burns,UF/IFAS-CREC

Citrus Mechanical Harvesting Field DayApril 18, 2007

UF/IFAS-SWFREC, Immokalee

Priority Topics and RatingsPriority Topics and Ratings(Est. with SWFla Harv. Adv. Comt., Sept 2, 2005)

• High PriorityHigh Priority– Abscission managementAbscission management– Machine enhancements / improvementsMachine enhancements / improvements– Industry education and outreachIndustry education and outreach– Tree healthTree health– Late season problemLate season problem– Abscission registrationAbscission registration

Priority Topics and RatingsPriority Topics and Ratings(Est. with SWFla Harv. Adv. Comt., Sept 2, 2005)

• Medium PriorityMedium Priority– Shifting harvest seasonShifting harvest season– EconomicsEconomics

• Lower PriorityLower Priority– Model groveModel grove– Loads & allocationsLoads & allocations– Robotic harvest & conveyanceRobotic harvest & conveyance– Grove preparationGrove preparation

Effective application methodsEffective application methods

rates, timingrates, timing

Effects of abscission agents on yieldEffects of abscission agents on yield

Search for alternate abscission Search for alternate abscission compoundscompounds

Abscission ManagementAbscission Management

Coverage, volume, rate

Following yield after abscission agent application

Discovery of new abscission agents…

Making established agents work better…

Using the ‘tried and true’

Machine Enhancements and Improvements

On-board yield monitoring

Defining parameters of fruit detachment to optimize mechanical harvesting

Improving catch-frame efficiency

New weighing based system

Image based systemOptical counting based system

Field evaluation of mass flow sensor

Yield Monitoring System

ZigBee wireless sensor network was develop to study vibrational characteristics of canopy shaker

5C3F

1C 4F

4C2C

5F 2F

Evaluating the performance of the OXBO prototype pick-up machine

Improvement of canopy shaking mechanism to reduce tree injuries

Research/Other support for pick-up machine

Developing an auto steering system to maintain a constant distance from tree canopy

Master Slave3.2 m

5.0 m

2.6 m

Synchronization of forward speed harvesting machines

Improving Catching Frame Efficiency

Laser Scanners

Industry Education and Outreach

Development of mechanical harvesting and abscission-related information

Dissemination of information to the industry

field days, workshops, trade shows

trade journal articles

posters, brochures, website

Industry Education and Industry Education and Outreach ProgramOutreach Program

Website:Website:citrusMH.ifas.ufl.edu

Posters &Posters &BrochuresBrochures

MagazineMagazineArticlesArticles

Field Days &Field Days &WorkshopsWorkshops

HistoryCurrent MH SystemsMass HarvestersRoboticsGrove DesignAbscissionTree HealthEconomicsPublication DatabaseExtension Tools

http://citrusMH.ifas.ufl.edu

Tree HealthTree Health

Research has focused on: Leaf loss, Root function, Bark injury

Long term research experience has shown :-No additional tree loss-No reductions in overall tree health -No yield loss from mechanical harvesting

of ‘Hamlin’, ‘Pineapple’ & ‘Marsh’.

Tree HealthTree HealthLate Season ‘Valencia’ ProblemLate Season ‘Valencia’ Problem

Using winter-time drought stress:Q: Can bloom be delayed so

fruitlets will be too small to be removed by lateseason harvesting ?

A: In 2007: Yes, delayed 4 weeks? Mechanical harvesting? Will fruit maturation catch-up? Any reduction in yield ? Commercially practical ?

Late Season ‘Problem’

Determine criteria for successful late season harvest

rate, timing of abscission agent

aggressiveness of harvesting

Identify green fruit

sizes susceptible to

mechanical removal

Abscission Registration Support• Confirming efficacy of new

formulations

• Distribution of technical and formulated material for registration studies

circa 1980 2007

Economic StudiesEconomic Studies• Test Yield Hypothesis.

• Determine gleaner productivity.

• Decision-aid model http://www.citrustool.ifas.ufl.edu/

• Potential value of abscission

• (proposed) Estimate costs & benefits from removing debris at harvest site.

Integration with ProcessingIntegration with Processing

• Daily Load Allocations

• Fruit and juice quality parameters

• On-tree vs. Tank storage

Automated Robotic Citrus HarvestersAutomated Robotic Citrus Harvesters

Developing an arm to Developing an arm to sense, sense, travel to, and travel to, and pick fruitpick fruit

Vehicle Guidance in GroveVehicle Guidance in Grove

Moving toward unmanned 24-hr harvesting

Grove DesignGrove DesignHigh-Headed Nursery Trees

High-headed nursery trees

Retrofitting existing groves

Concept grove

of tomorrow

Program MembersProgram Members

Harold BrowningHarold Browning

Tom BurksTom Burks

Jackie BurnsJackie Burns

Bill CastleBill Castle

Michelle DanylukMichelle Danyluk

Bob Ebel*Bob Ebel*

Reza EhsaniReza Ehsani

Renee GoodrichRenee Goodrich

Barbara HymanBarbara Hyman

Kelly MorganKelly Morgan

Fritz RokaFritz Roka

Bob RouseBob Rouse

Tim SpannTim Spann

Jim SyvertsenJim Syvertsen

* Newest member of the abscission and harvesting team