Overview of the IFAS Citrus Mechanical Harvesting Program Jackie Burns, UF/IFAS-CREC Citrus Mechanical Harvesting Field Day April 18, 2007 UF/IFAS-SWFREC, Immokalee

Priority Topics and Ratings Priority Topics and Ratings (Est. with SWFla Harv. Adv. Comt., Sept 2, 2005) High PriorityHigh Priority –Abscission management –Machine enhancements / improvements –Industry education and outreach –Tree health –Late season problem –Abscission registration

Priority Topics and Ratings Priority Topics and Ratings (Est. with SWFla Harv. Adv. Comt., Sept 2, 2005) Medium PriorityMedium Priority –Shifting harvest season –Economics Lower PriorityLower Priority –Model grove –Loads & allocations –Robotic harvest & conveyance –Grove preparation

Effective application methods rates, timing Effects of abscission agents on yield Search for alternate abscission compounds Abscission 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 5C 3F 1C 4F 4C 2C 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 Slave 3.2 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 Outreach Program Website: citrusMH.ifas.ufl.edu Posters & Brochures MagazineArticles Field Days & Workshops

History Current MH Systems Mass Harvesters Robotics Grove Design Abscission Tree Health Economics Publication Database Extension Tools

Tree Health Tree 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 Health Late Season ‘Valencia’ Problem Using winter-time drought stress: Q: Can bloom be delayed so fruitlets will be too small to be removed by late season 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

Economic Studies Test Yield Hypothesis. Determine gleaner productivity. model Potential value of abscission (proposed) Estimate costs & benefits from removing debris at harvest site.

Integration with Processing Daily Load Allocations Fruit and juice quality parameters On-tree vs. Tank storage

Automated Robotic Citrus Harvesters Developing an arm to sense, travel to, and pick fruit

Vehicle Guidance in Grove Vehicle Guidance in Grove Moving toward unmanned 24- hr harvesting

Grove Design Grove Design High-Headed Nursery Trees High-headed nursery trees Retrofitting existing groves Concept grove of tomorrow

Program Members Harold Browning Tom Burks Jackie Burns Bill Castle Michelle Danyluk Bob Ebel* Reza Ehsani Renee Goodrich Barbara Hyman Kelly Morgan Fritz Roka Bob Rouse Tim Spann Jim Syvertsen * Newest member of the abscission and harvesting team