基于点云建模的核桃树振动参数优化与试验

doi:10.11707/j.1001-7488.LYKX20240671

摘要/Abstract

摘要：

目的: 探究不同尺寸核桃树受迫振动时的响应情况，解决核桃振动采收过程中效率低下、果实采净率低等问题。方法: 利用地面三维激光扫描仪采集核桃树点云数据，对采集到的树体点云数据进行预处理后提取树木骨架，采用NX软件对核桃树进行三维拟合重建，建立不同尺寸参数的核桃树三维模型。通过实测频谱对核桃树材料特性参数进行修正，实际与仿真共同出现的共振频率中最大相对误差仅为0.22%，确保三维模型的准确性。应用Ansys对核桃树树体三维模型进行谐响应分析，探究激振频率、激振力、激振高度3个参数对振动加速度的影响，分析不同尺寸核桃树在不同频率下的位移和加速度响应情况；结合挂果枝位移、加速度响应和谐响应云图上核桃树的响应情况进一步探究不同尺寸核桃树的适宜采收频率。结果: 核桃树的加速度响应峰值随直径、高度和冠幅增加而降低，较高树体和大冠幅对高频振动的响应较弱，表明树体的几何特性显著影响其振动特性。对核桃树振动采收参数进行响应面分析并优化，得到核桃树振动采收的最优振动参数组合，在最优振动参数激振下核桃采收率均在90%以上，表明该振动频率参数可为核桃树振动采收装置工作时的参数设置提供参考。结论: 根据本研究描述的核桃树建模方法可以实现对核桃树细小侧枝的重建，且重建出来的整树模型具有更为真实的生长形态特征；不同直径、不同高度、不同冠幅的核桃树振动响应不同，适宜振动频率范围为10~20 Hz，可根据树形结构参数进一步确定该频率范围。

关键词: 核桃收获, 振动采收, 有限元分析, 振动响应, 响应面分析, 激振频率优化

Abstract:

Objective: This study aims to investigate the forced-vibration responses of walnut trees with different sizes, and to address the problems of low efficiency and a low fruit removal rate in vibratory walnut harvesting. Method: A terrestrial 3D laser scanner was used to acquire point-cloud data of walnut trees. After preprocessing the tree point clouds, tree skeletons were extracted. Siemens NX was employed to perform 3D fitting and reconstruction, and 3D walnut-tree models with different size parameters were established. Material-property parameters were calibrated using measured frequency spectra, and the maximum relative error of resonance frequencies observed in both experiments and simulations was only 0.22%, ensuring the accuracy of the 3D models. ANSYS was used to conduct harmonic response analyses on the 3D model of walnut trees, to investigate the effects of excitation frequency, excitation force, and excitation height on vibration acceleration, and to analyze the displacement and acceleration responses of walnut trees with different sizes under different frequencies. In addition, suitable harvesting frequencies for walnut trees of different sizes were further determined by integrating the displacement and acceleration responses of fruiting branches with the whole-tree responses shown in harmonic-response contour plots. Result: The peak acceleration response decreased with increasing trunk diameter, tree height, and crown width. Higher trees and larger crowns exhibited weaker responses to high-frequency excitation, indicating that the geometric characteristics of the tree significantly affect its vibration characteristics. The vibration harvesting parameters of walnut trees were subjected to the response surface analysis and optimized to obtain an optimal parameter combination. Under the optimal excitation conditions, the walnut harvesting rate exceeded 90% for all tested trees, indicating that the optimised vibration parameters can provide guidance for parameter settings of vibratory walnut-harvesting devices. Conclusion: The walnut-tree modelling method described in this study enables reconstruction of fine lateral branches, and the reconstructed whole-tree models better capture realistic growth morphology. Walnut trees with different trunk diameters, heights, and crown widths show distinct vibration responses. The suitable excitation frequency range is 10–20 Hz, which can be further narrowed according to specific tree-structure parameters.

Key words: walnut harvesting, vibratory harvesting, finite element analysis, vibration response, response surface analysis, excitation frequency optimisation

中图分类号:

S225

崔王斌,周宏平,张洋,王艳艳,许林云,范高鸣. 基于点云建模的核桃树振动参数优化与试验[J]. 林业科学, 2026, 62(2): 186-203.

Wangbin Cui,Hongping Zhou,Yang Zhang,Yanyan Wang,Linyun Xu,Gaoming Fan. Optimisation and Testing of Vibration Parameters of Walnut Trees Based on Point Cloud Modelling[J]. Scientia Silvae Sinicae, 2026, 62(2): 186-203.

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编号ID	根部直径 Basal diameter/cm	整树高度 Tree height/m	冠幅 Crown width/m
A₁	31.2	13.2	9.3
A₂	19.1	11.7	6.7
A₃	15.5	7.4	4.8
B₁	18.4	13.2	9.3
B₂	24.6	13.2	9.3
C₁	31.2	11.5	9.3
C₂	31.2	12.4	9.3
D₁	31.2	13.2	7.8
D₂	31.2	13.2	8.6

材料Material	弹性模量Elastic modulus/$ \text{MPa} $	密度Density/（kg·m^?3）	泊松比Poisson’ s ratio	阻尼比Damping ratio
核桃树Walnut tree	4 702	1 019	0.35	0.056

A₁	测试Test	阶次Mode order	1	2	3	4	5	6	7	8	9	10	11	12
	测试Test	频率Frequency	0.98	2.11	4.39	6.35	8.35	10.25	14.64	17.09	19.98	21.48	24.41	27.83
	仿真Simulation	阶次Mode order	2	5	10	16	22	28	42	50	57	61	69	77
	仿真Simulation	频率Frequency	0.98	2.11	4.39	6.36	8.35	10.24	14.65	17.07	19.98	21.46	24.42	27.85
A₂	测试Test	阶次Mode order	1	2	3	4	5	6	7
	测试Test	频率Frequency	1.01	8.61	12.21	14.16	20.02	21.16	23.93
	仿真Simulation	阶次Mode order	3	13	21	25	38	41	46
	仿真Simulation	频率Frequency	1.01	8.61	12.22	14.14	20.05	21.19	23.97
A₃	测试Test	阶次Mode order	1	2	3	4	5	6	7	8	9	10	11
	测试Test	频率Frequency	0.98	4.74	7.32	9.27	10.63	13.79	15.63	17.81	21.16	26.37	28.32
	仿真Simulation	阶次Mode order	2	5	8	11	13	15	19	23	28	35	38
	仿真Simulation	频率Frequency	0.98	4.74	7.32	9.25	10.63	13.79	15.64	17.83	21.16	26.33	28.31

树号 Tree number	编码 Code	振动频率 Vibration frequency (A)/Hz	激振力 Excitation force (B)/N	激振高度 Excitation height (C)/m
A₁	?1	10	3 000	0.4
	0	14	3 500	0.8
	1	18	4 000	1.2
A₂	?1	8	3 000	0.4
	0	12	3 500	0.8
	1	16	4 000	1.2
A₃	?1	7	3 000	0.4
	0	12	3 500	0.8
	1	17	4 000	1.2

树号Tree number	来源Source	平方和Sum of squares	自由度Degrees of freedom	均方和Mean square	F	P
A₁	模型Model	2.484E+06	9	2.649E+05	138.28	<0.000 1^**
	残差Residual	5 556.5	7	793.79
	失拟项Lack of fit	4 126.5	3	1375.5	3.85	0.113 0
	纯误差Pure error	1 430	4	357.5
	总和Total	2.489E+06	16
A₂	模型Model	2.311E+06	9	2.568E+05	15.02	<0.000 1^**
	残差Residual	1.197E+05	7	17 095.89
	失拟项Lack of fit	81 097.25	3	27 032.42	2.8	0.172 4
	纯误差Pure error	38 574	4	9 643.5
	总和Total	2.431E+06	16
A₃	模型Model	3.085E+06	9	3.428E+05	15.33	<0.000 1^**
	残差Residual	1.565E+05	7	22 357.61
	失拟项Lack of fit	74 973.25	3	24 991.08	1.23	0.409 3
	纯误差Pure error	81 530	4	20 382.5
	总和Total	3.241E+06	16