关键词: 冬枣, 果实特性, 冬枣脱落规律, 收获机械, 采摘技术

Abstract:  The picking of winter jujube is the most laborintensive and timeconsuming operation. Winter jujube mechanized harvesting is a major problem in the winter jujube cultivation industry. By combing the information of fruit characteristics, abscission patterns and regularity of winter jujube, this paper expounds the existing research on relevant picking machinery including operating principles, operational characteristics and defects, and also compares and analyzes the harvesting of dried red jujube and winter jujube. It can be found that vibratory picking is the most widely used method in largescale production, which can achieve efficient harvesting with the limitations of difficult collection and high fruit damage rate; semiautomatic assisted picking equipment only works on a single fruit at a time, with limited efficiency gains; the research of plucking robots is still in initial stage, and there are difficulties such as high environmental impact on fruit identification, poor actuator execution and low efficiency. The article concludes with the idea that the combination of date picking machinery R&D and date planting management, the intelligence of date picking machinery, and the combination of independent R&D and foreign technology borrowing are the future R&D directions.

Key words:  The picking of winter jujube is the most laborintensive and timeconsuming operation. Winter jujube mechanized harvesting is a major problem in the winter jujube cultivation industry. By combing the information of fruit characteristics, abscission patterns and regularity of winter jujube, this paper expounds the existing research on relevant picking machinery including operating principles, operational characteristics and defects, and also compares and analyzes the harvesting of dried red jujube and winter jujube. It can be found that vibratory picking is the most widely used method in largescale production, which can achieve efficient harvesting with the limitations of difficult collection and high fruit damage rate, semiautomatic assisted picking equipment only works on a single fruit at a time, with limited efficiency gains, the research of plucking robots is still in initial stage, and there are difficulties such as high environmental impact on fruit identification, poor actuator execution and low efficiency. The article concludes with the idea that the combination of date picking machinery R&D and date planting management, the intelligence of date picking machinery, and the combination of independent R&D and foreign technology borrowing are the future R&D directions.