Harvesting Speed Research Articles

Scheduling of Collaborative Vegetable Harvesters and Harvest-Aid Vehicles on Farms

Transporting harvested vegetables in the field or greenhouse is labor-intensive. The utilization of small harvest-aid vehicles can reduce non-productive time for farmers and improve harvest efficiency. This paper models the process of harvesting vegetables in response to non-productive waiting delays caused by the scheduling of harvest-aid vehicles. Taking into consideration harvesting speed, harvest-aid vehicle capacity, and scheduling conflicts, a harvest-aid vehicle scheduling model is constructed to minimize non-production waiting time and coordination costs. Subsequently, to meet the collaborative needs of harvesters, this paper develops a discrete multi-objective Jaya optimization algorithm (DMO-Jaya), which combines an opposition-based learning mechanism and a long-term memory library to obtain scheduling schemes suitable for agricultural environments. Experiments show that the studied model can schedule harvest-aid vehicles without conflicts. Compared to the NSGA-II algorithm and the MMOPSO, the DMO-Jaya algorithm demonstrates a better diversity of solutions, resulting in a shorter non-productive waiting time for harvesters. This research provides a reference model for improving the efficiency of vegetable harvesting and transportation.

Preliminary Evaluation of The Performance of Micro Combine Harvesters in Rice Farming

Rice is the most widely used staple food, especially in Asia, accounting for about 90% of the world's rice production. In Malaysia, the cultivated area is as much as 730,016 hectares, and the show was about 3.3 million metric tons throughout the country in 2016. Currently, big combine harvesters are used in Malaysia to harvest rice, allowing for quicker harvesting. However, harvesting with a big combine harvester is impossible in areas with soft soil. As a result, employing a micro combine harvester is one of the options for harvesting in areas with soft soil problems. This study aims to evaluate the performance of a micro combine rice harvester. Performance evaluations were conducted at the MARDI Seberang Perai, Penang research plot. The pedestrian-type micro combines harvester with a triangular rubber crawler type was used in this study. The working width of the machine is 1 meter. The rate of harvesting losses is also evaluated as part of the study. The performance test results of the micro combine harvester show that the farm's efficiency is about 70 percent, with a work rate of 0.10 ha/hour. By keeping the harvester's speed at 1.5 km/h, this micro combine harvester's potential work rate is 0.15 hectares per hour. The losses during the harvesting operation were calculated to be 2.2 per cent. The study's results show that using micro combine harvesters can assist in carrying out rice harvesting work in areas where soft soil issues make it challenging to use the standard large combine harvesters. Farmers that grow rice on a small scale also benefit from using this micro combine harvester. The small percentage of losses demonstrated the effectiveness of this micro combine harvester.

Design and Experiment of Nighttime Greenhouse Tomato Harvesting Robot

In response to the issue of high tomato yield, low efficiency in harvesting tomatoes grown in greenhouses, and low recognition accuracy of nighttime harvesting robots, a design was developed and a robotic system was created specifically for nighttime greenhouse tomato harvesting. The robot employs a vision system and YOLOv5+HSV fusion algorithm to recognize and locate tomatoes. It then transmits this information to the robotic arm. By coordinating the visual system, the robotic arm, the end effector, and the lifting mechanism, the robot accurately picks ripe tomatoes. The robot was subjected to simulated field tests for visual recognition and harvesting, both during daytime and nighttime conditions. The results showed that the success rate of nighttime harvesting was slightly lower than during the daytime but remained at a relatively high level. The daytime harvesting success rate and the average time to pick a single fruit were 87.78% and 15.99 seconds, respectively. The nighttime harvesting success rate and the average time to pick a single fruit were 87.55% and 17.26 seconds, respectively. This approach effectively improves the recognition accuracy and harvesting speed of the harvesting robot, reducing damage to tomatoes during harvesting, and addresses the issues of supplementary lighting and image noise reduction for nighttime harvesting robots.

Investigation on Field Performance of Plowing and Harvesting Potatoes in Southern Baghdad

This field experiment, was conducted to investigate a comparison of two methods for harvesting potatoes: mechanical and handy when using moldboard and chisel plow for primary tillage and three different distances for planting tubers in the rows 15, 25, and 35 cm in silt clay loam soil south of Baghdad. The factorial experiment followed a randomized complete block design with three replications using L.S.D. 5 % and 1 %. Mechanical harvest recorded the best valid potato tubers at 88.78 %, marketable yield of 31.74 ton. ha-1, efficiency lifted 95.68 %, tubers damage index 28.41, speeding up the harvesting process and reducing time and effort. Handy harvest gave the least damage to potato tubers, 6.02 %, and unlifted potato tubers, 4.32 %. However, this method requires effort and more specialized labor, whether from men or young women, and leaded to delays in the harvesting process. Regarding planting distance of 15 cm between one tuber and another gave the highest total productivity, 46.92 ton. ha-1 and the greatest number of plants, but most of the tubers were small in size. A planting distance 25 cm produced good quality in size of potatoes with yield of 36.19 ton. ha-1, 90.99 % best valid tubers, 5.43 % least total damage tubers, 3.57 % least unlifted potato, 96.42 % best efficiency lifting, and least tuber damage index 22.39. Most interaction among the treatments was significant. The most influential factor in the experiment traits was the planting distances of potatoes in the rows. The shape of the potatoes was Spheroid. Mechanical potato harvesting saves effort saves effort, time, harvest speed, reduce the labors and increasing efficiency.

A small autonomous field robot for strawberry harvesting

This paper presents the subsystem descriptions and testing of a small robotic platform intended to harvest strawberries that are grown on elevated beds in open field conditions. Agricultural robots can assist in the optimization of farm resources and help solve issues related to increasing farm costs and labor shortages. Monolithic, large size harvesters are already in development; however, they are susceptible to single-point-of-failure and lack the flexibility to adapt to varying field conditions and farm sizes. The proposed robotic harvester covers one row at a time and features a Delta arm configuration manipulator with a five-finger structure as the end-effector to individually pick strawberries. A deep neural network-based vision subsystem using a YOLOv4 model was adopted, which was configured to detect small objects and to locate and classify strawberries into five stages of maturity. During experiments on a commercial farm, the proposed platform, including vision, manipulation, and overbed navigation and control subsystems, achieved an overall success rate of 71.7% for five environment scenarios, with a minimum of 37.5% (the most complicated scenario) and a maximum of 94.0% (the easiest scenario). The average harvesting speed of the system was 7.5 s per strawberry.

A compact hybridized triboelectric-electromagnetic road energy harvester for vehicle speed measurement

Harvesting the mechanical energy dissipated by vehicles passing over road to power micro-electromechanical systems (MEMS) in intelligent transportation systems (ITS) is an important way to realize self-powered traffic condition monitoring. However, the limitations of traditional vehicle energy harvesting speed bumps such as single functionality and heavy-shock on vehicles are not conducive to developing energy harvesting speed bumps for multi-functionalization, versatility and intelligence. In this work, a compact hybridized triboelectric-electromagnetic road energy harvester (CHREH) device is designed. The vehicle's wheels impact force drives the sliding plate movement and triggers the triboelectric generator (TENG) unit and electromagnetic generator (EMG) unit to produce electricity. The enhanced TENG built by multi-layer folded structure is assembled using rGO and surface-patterning modified polydimethylsiloxane (PDMS) composite film. Furthermore, the mechanism and electrical output performance of EMG and TENG are theoretically simulated and experimentally tested. Particularly, TENG unit achieved a peak power of 7.21 ​mW and the EMG unit reached a peak power of 0.74 ​mW at an excitation frequency of 5 ​Hz, in addition to the superior durability. Further, the demonstration of application of self-powered car warning and speed monitoring were conducted. The CHREH offers a feasible approach for self-powered applications deployable to the low power consumption electronic devices and ITS.

ROBOTIC HAIR TRANSPLANTATION – ARTIFICIAL INTELLIGENCE PLUS HUMAN TOUCH

Surgical hair restoration has become increasingly popular due to advancements in technology that facilitate more natural results. The latest technique, Follicular Unit Extraction (FUE), can be performed manually or with robotic assistance. Robotic hair transplantation, particularly using the ARTAS iX robot, offers advantages over manual methods for both patients and surgeons. These include reliability, precision, minimally invasive procedures, improved efficiency, and reduced surgeon fatigue. The collaboration between artificial intelligence (AI) in the ARTAS iX robot and skilled human operators provides several benefits over manual FUE techniques. Key advantages include much faster harvesting speeds, the ability to selectively harvest robust grafts containing two to four hairs instead of random selection of manual methods, precise and efficient site creation, and the unique capability to preserve existing hairs by minimizing follicular injury to the existing hairs. Unlike other surgical robots that only extend the precision of a surgeon’s hand, the ARTAS robot can function autonomously with AI , capable of independent decision-making. Of course experienced human supervision is still necessary.

ЕНЕРГЕТИКА БРАННЯ СТЕБЕЛ ЛЬОНУ ДИСКОВО-ПАСОВИМ ЛЬОНОБРАЛЬНИМ АПАРАТОМ

The article describes a new design of the disc-belt flax-pulling apparatus, which will increase the durability of the pulling belts and reduce the material consumption of the flax gleaning machine. The geometrical parameters of the pulling section of the disc-belt flax-pulling apparatus have been established. The energetics of the process of picking flax stalks, which are clamped in the curved longitudinal pulling stream of the disc-belt flax-pulling apparatus, have been theoretically investigated. The dynamics of changes in the components of pulling power when moving the flax stalk along the pulling stream were studied, depending on: the initial inclination of the flax stalk; from the forward speed of the flax harvester; from the angle of inclination of the pulling apparatus to the horizon. The energy per second of pulling and the value of its components are determined.

Gain self-adjusting single neuron PID control method and experiments for longitudinal relative position of harvester and transport vehicle

To accurately control the longitudinal relative position of a harvester and transport vehicle, such that grain in the harvester can be accurately unloaded into the transport vehicle's granary, this study established a master–slave collaborative harvesting system. Furthermore, this study proposed a calculation method for the longitudinal deviation of two vehicles, analyzed the structure and mathematical model of the hydraulic stepless transmission, identified the proposed stem transfer function of the hydraulic stepless transmission speed, analyzed incremental proportional–integral–derivative (PID), and developed self-adjusting–single-neuron PID control methods. Simulations and field experiments were performed to test the applicability of the proposed system. The experimental results indicated that the maximum overshoot of the longitudinal deviation between the harvester and the transport vehicle did not exceed 0.25 m, the steady-state mean absolute deviation did not exceed 0.08 m, the steady-state maximum deviation did not exceed 0.26 m, and the steady-state standard deviation did not exceed 0.09 m, when the harvester speed was 0.6, 0.8, and 1 m/s. Field-harvesting application experiments showed that the settling time during the alignment process was 13.2 s, and the steady-state maximum deviation was 0.253 m. The grain can be accurately unloaded into the granary of the transport vehicle. These results indicate that the control method and the master–slave collaborative harvesting system proposed in this study can meet the needs of precise collaborative unloading between the harvester and transport vehicle.

Calculation Method of the Carbon Footprint of Products of Animal Origin Integrated with the Physiological Absorption of Carbon Dioxide: Calculation Example of the CFP of Mozzarella di Bufala Campana DPO

The environmental impact of emissions appears to be increasingly important for food, particularly those of animal origin. The LCA (Life-Cycle Assessment) method, an internationally standardized method used to calculate the environmental impact of goods or services, in the carbon footprint, does not take into account the carbon set and consequently the subtraction of carbon dioxide by the plant biomass whether or not aimed at the production of food of animal origin. This methodology could overestimate the carbon dioxide generated to obtain plant and animal products that require their use. For the production of Mozzarella di Bufala Campana DPO, in this specific case, the masses of the various forage and cereal species used were quantified starting from the food rations of the different categories divided by age and production phase (dry, lactation, young livestock and heifers). The population includes all the animals reared in the areas covered by the DPO specification and with a milk production orientation. The carbon fixed in the forage and consequently the carbon dioxide subtracted from the atmosphere was calculated on the food mass, through the various harvesting speeds and the percentages of dry matter. The purpose of this contribution was to calculate the number of greenhouse gases emitted during the digestive and fermentative processes as well as that produced by the manure and the CO<sub>2</sub> emitted with respiration by comparing it with the sequestration of carbon, and therefore of carbon dioxide, in all plants and all vegetable raw materials, grown in Italy and abroad, used to feed the buffaloes destined for the production of buffalo mozzarella from Campania (Mozzarella MBC) in the DPO area. The amount of greenhouse gases converted into equivalent carbon dioxide emitted during production is lower than the carbon dioxide removed from the atmosphere. For every kg of Mozzarella di Bufala Campana DPO, a total of about 52 kg of CO<sub>2</sub>eq is subtracted. Therefore, if this factor were taken into account for agricultural and animal products, the environmental impacts in terms of emissions would be reset.

Impact of Using Automatic Smart Control Technology Using UV Rays on Hydroponic Chili Plants

The rapid development of time has reduced the land used by farmers for farming due to development. For that, design a hydroponic system to minimize the land. Chili hydroponic plants are a type of vegetable that has many benefits and is liked by many people. So that hydroponic chili cultivators can produce optimal harvests, a tool is designed using automatic smart control technology using UV lamps. The findings in the field are that there are several steps that must be taken so that hydroponic plants can be more optimal in the results of chili cultivation. The first step is to design a smart plant control automatic tool, then use several sensors including EC sensors, ph sensors, RTC sensors, and ultraviolet lamps. An initial study of the potential benefits to be gained by partners or chili farmers based on the results of field testing is that this technology can maximize harvest time efficiency from manual hydroponic cultivation, which was originally 90 days to 70-80 days. Therefore, the automatic smart plant control system using UV lamps has a harvest speed of 70-80 days, while the manual method can reach 90 days. Thus, it is hoped that the economy of chili cultivators will increase if the smart plant control automatic system is used.

Endoscopic Repair of Internal Carotid Artery Injury with a Lateral Tongue Muscle Patch Graft: Novel Technique and Literature Review.

Objectives Iatrogenic injury to the internal carotid artery (ICA) is one of the most catastrophic complications of endoscopic sinus and skull base surgery. Previous research has shown that packing with a crushed muscle graft at the injury site can be an effective management technique to control bleeding and prevent the need for ICA sacrifice. Here, we describe a novel and readily available repair donor site-an autologous lateral tongue muscle patch. Design Three representative cases of a successful repair of ICA injuries using a lateral tongue muscle patch are included in this study. The graft measured approximately 2 × 3 cm and was taken from the lateral intrinsic tongue musculature. We describe the harvest of the graft, its advantages, and the details of operative repair. Results The lateral tongue provides a large and readily accessible source of muscle within the surgical field that can be quickly harvested during an endoscopic procedure. For the first case, an expanding parasellar ICA pseudoaneurysm was managed with a tongue muscle patch and nasal packing. In the second case, a cavernous ICA injury was sustained during craniopharyngioma resection. Case three involved an ICA injury during endonasal debridement of invasive fungal rhinosinusitis. None of the patients required embolization or neurovascular stenting. Postoperative angiograms and serial computed tomography angiograms showed complete resolution of the pseudoaneurysm, and the patients continued to do well at least 1 year after repair. Conclusion Lateral tongue muscle graft is an effective and efficient method to manage ICA injuries during endoscopic endonasal surgery. Advantages include the speed of harvest, donor site being readily accessible in the surgical field, and low donor site morbidity. It should be added to the repertoire of possible donor sites for addressing catastrophic sinonasal bleeding.

Single-Pass Grain Corn Harvest and Stubble Shredding: Performance of Three Corn Header Configurations as Effected by Harvesting Speed and Cutting Height

This study aims to evaluate the efficiency of a new type of corn header equipped with flail knives that shreds corn stubble close to the ground. A field trial was carried out to quantify the influence of the shredding tool design (flail knives, standard knives, horizontal choppers disengaged), harvesting speed (1.5, 3.0, 4.5, 6.0 km/h) and cutting height (approx. 20 cm variation, 4 levels) on the power consumption of the corn header, engine load and fuel consumption of the combine harvester. The regression analyses revealed that modifications of the shredding tool assembly have significant effects on the parameters of the functional relationships. The power consumption of the flail knives configuration was 15 kW/row unit at 6 km/h at the lowest cutting height setting, making it compatible with most current combine harvester models. The additional power demand and fuel consumption that arise when switching to the new shredding tool design (flail knives) show a wide range, depending on the initial situation. Compared to the standard knives at 6 km/h, the additional power consumption was 3.6–5.5 kW/row unit and the additional fuel consumption was 2.6–3.9 L/ha. Compared to the configuration with disengaged horizontal choppers, it was 5.3–6.6 kW/row unit and 3.9–5.1 L/ha, respectively. At 90% engine load the additional power requirement was 1.6–3.1 kW/row unit and the additional fuel consumption was 2.9–5.6 L/ha compared to the standard knives configuration and 2.6–3.6 kW/row unit and 5.6–7.2 L/ha respectively, compared to the configuration with disengaged horizontal choppers.

Development of the design and substantiation of the parameters of the working body for digging the roots of sugar beet

The article proposes an original design of the forked working body of a beet harvester designed to dig up roots from the soil, which reduces the damage to root crops through the use of elastic elements in its design, which are rubber studded tires and the creation of an additional digging force acting on them. As a result of the analysis of the work of the proposed design, it was found that when interacting with the root crop, the elastic elements partially cover its surface, while creating an additional digging force. Analytical dependences are obtained, as well as the design and kinematic parameters of the forked working body are substantiated on the average size of the sugar beet root crop, which makes it possible to substantiate the optimal operating modes of the machine, to determine the dependence of the influence of the root crop size and the translational speed of the root harvester on the rotational speed of the tip of the active fork. The calculations showed that with an increase in the operating speed of the machine in the range from 1.0 to 2.0 m/s, it is necessary to ensure an increase in the angular velocity of the rotors ωr in the range from 24 to 57.4 s−1, which corresponds to a change in their rotation frequency from 230 to 554 min−1, which ensures that root crops are not damaged from interaction with working bodies. Given the versatility of the proposed design of the working body and a wide range of harvested root crops, the number of rows of spikes should be taken equal to 18. With an optimal value of the cylinder radius of 0.036 m, the distance between the rows of spikes is 13 mm. Given the presence of soil and plant residues, the height of the elastic spikes, it is advisable to use equal to 5-7 mm

An ANSYS/LS-DYNA Simulation and Experimental Study of Sectional Hob Type Laver Harvesting Device

To solve the problems of low net harvesting rate, high loss rate, and uneven stubble height during the harvest of laver, the laver (Porphyra yezoensis) was selected as the research object, the analysis of the cultivation mode, biomechanical characteristics, harvesting trajectory and force of laver were carried out. A sectional hob type harvesting device was designed. A rigid-flexible coupling model related to the interaction between the cutting mechanism and the laver was constructed based on ANSYS/LS-DYNA. The Box–Behnken design method was used to simulate the effects of different structural parameters and process parameters on the force of laver cutting, and the bench test of the laver harvesting device was carried out. The simulation results showed that the four factors that significantly affect the force exerted on the laver during cutting in proper order were cutter revolving speed, knife extension length, knife inclination angle and forward velocity. When the combination of the forward velocity, the cutter revolving speed, the knife extension length and inclination angle was 0.77 m/s, 900 r/min, 40 mm, and 110°, respectively, the cutting force on laver was the smallest, which was 4.21 N. The bench test of harvesting performance showed that the cutter revolving speed has a significant impact on the recovery rate, and the forward velocity has a significant impact on the loss rate. When the harvesting speed ratio was λ4 (the cutter revolving speed was 900 r/min and the forward velocity was 0.77 m/s), the net harvesting rate and the loss rate were 97.45% and 3.38%, respectively, and the cutting proportion of laver can reach 77.5%. The results of the study provide a theoretical basis for the development of harvesting for laver.

Colheita mecanizada de plantas de café conilon utilizando uma máquina automotriz

ABSTRACT Coffee is one of the main commodities of global agribusiness and of outstanding economic and social relevance for Brazil. The lack of labor and its high cost are factors that worry coffee producers, mainly during the conilon coffee harvesting, which is performed manually. This study aimed to evaluate the efficiency of a self-propelled harvester under different conditions of machine adjustment and conduction of the Coffea canephora crop and measure its influence on the cost of harvesting compared to manual harvesting. Harvesting speed (800 to 1600 m h-1), rotation of the vibrating rod cylinder (1.0 and 1.5 RPM), number of orthotropic branches (one, two, and three), and plants with and without plagiotropic branches in the lower third were assessed. The increase in harvesting speed reduced the efficiencies of stripping and harvesting and defoliation. Increasing from one to three orthotropic branches per plant increased harvesting and stripping efficiencies, fruit loss on the ground, defoliation, and reduced pending load. The management without plagiotropic branches showed higher harvesting efficiency, lower loss on the ground, and lower defoliation. Harvesting speeds from 800 to 1600 m h-1 reduced the total and unit costs up to 62% compared to manual harvesting. Increasing harvesting efficiency above 70% has reduced harvesting costs by up to 79% compared to manual harvesting.

Development of a novel pull-cutting end-effector for ex-situ robotic harvesting of white asparagus based on MBD-DEM coupling simulation

The existing selective harvest of white asparagus originally imitates manual operation, belongs to in-situ harvesting mode, and improves harvesting speed by reverse motion compensation resulting in complicated mechanical and control. Asparagus spear grows underground with limited harvesting space, brittle and easily damaged. The design of robotic end-effector for efficient selective harvest is still a challenge. Inspired by ‘fishing with nets in moving boat’, this paper firstly proposed a novel ex-situ harvesting mode with sequential subprocess of move-penetrating, pull-cutting, lifting-out, and eject-throwing and the rigid-flexible coupling pull-cutting end-effector (PCEE) was designed. Secondly, the model of PCEE-soil-spear was established, and the two-way coupled MBD-DEM (Multi-Body Dynamics and Discrete Element Method) analysis was utilized to the harvesting process to clarify the interactive forces and element motions. Finally, the harvesting test bench with designed PCEE was built and tested harvesting performance. The experimental results showed that the maximum soil resistances in the moving and penetrating directions during the move-penetrating subprocess and in the moving direction during the pull-cutting subprocess were 445 N, 530 N and 624 N, and the relative errors between the test and simulation were 5.3 %, 11.7 % and 15.2 %, respectively, which validated the MBD-DEM coupling model. The harvest success rate of proposed PCEE was 90 % and the average single cycle time was 3.2 s, which demonstrated its effectiveness and feasibility for the selective harvesting robots of white asparagus.

PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester

The study developed a PID-based automatic control system for travel speed based on the analysis of the entire machine structure of the 4UM-120D electric leafy vegetable harvester to enhance the operation quality of the harvester and lessen the workload of operators. Taking the system adjustment time during the process of starting and maintaining the travel speed of the harvester within ±2% of the set value as the main evaluation index, the Box–Behnken test method was applied based on the single-factor test, and the proportional coefficient Kp, the integral coefficient Ki and the initial value U of the travel motor drive voltage of the PID control algorithm were used as the test factors, and the PID-based 4UM-120D electric leafy vegetable harvester travel speed automatic control system operating parameters based on PID was studied in a three-factor, three-level experiment, and a multiple regression model of evaluation indexes on each factor was established to analyze the influence of each factor on system rapidity and to obtain the optimal operating parameters. The test findings demonstrated that the beginning value of the driving voltage of the travel motor U, the integration factor Ki, and the proportionality factor Kp had the largest to smallest influences on the system regulation time. When the initial value of the driving voltage of the travel motor was 1.81 V, the integration factor was 0.020, the proportionality factor was 0.127, the system regulation time was 2.14 s, and the relative error was 1.8% compared with the optimized value. The results of the study could provide a way to improve the operation quality of leafy vegetable harvesters and reduce the work intensity of operators.

Optimal Design of Harvesting Speed and Forward Speed of Harvester Based on Adaptive Control System

The working efficiency of the combine harvester is still very low. It is an important way to realize mechanization to optimize the cutting speed of the harvester and the forward speed of the cutter without increasing economic input. In view of this, the present study briefly summarized the current structure of combine harvester systems. A new type of adaptive control system of combine harvesters was designed from the angle of cutting speed and forward speed of cutter. The sugarcane test base was taken as the test field, and the best matching speed was obtained with the goal of high efficiency of combine harvester and minimum sugarcane damage rate. In the test of cutting speed and forward speed of combine harvester, the optimal cutting speed under different forward speed conditions was recorded. The test results showed that the designed adaptive control system of the combine harvester could control the cutting speed and forward speed of the cutter well. The cutting speed and forward speed adaptive control system can realize the response to the input parameters and meet the design requirements of the harvester. This study can improve the economic benefits of the combine harvester and the quality of the harvested crops.

A Multi-Flexible-Fingered Roller Pineapple Harvesting Mechanism

Research on the mechanical harvesting of pineapples is currently in its early stages. The purpose of this study is to provide a design and configure a method for multi-flexible-fingered roller pineapple harvester. Depending on the physical and mechanical characteristics of pineapples, the evaluation function for the critical damage condition of the fruit was established. Our experimental results revealed the optimal parameters for pineapple harvesting were as follows: the rollers of the harvesting mechanism should be inclined at 35°, the left flexible fingers should be 120 mm long, the gap between each of the left flexible fingers should be 30 mm, the length of the right flexible fingers should be 150 mm long, and the gap between each of the right flexible fingers should be 10 mm. The harvesting rate was 85% and the damage rate was 5% in the laboratory; in the natural environment, harvesting rate and damage rate were 78% and 8% respectively, and the harvesting speed was about 1 s per fruit, which demonstrated the harvesting machinery could sufficiently meet the usage demand of pineapple harvesting. In the cases of unsuccessful harvesting, failure resulted from mismatched flexible finger length, fruit size, and harvesting posture and position.