| 果实采摘中果梗激光切割分析与实验 |
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| 引用本文： | 刘继展,徐秀琼,李萍萍.果实采摘中果梗激光切割分析与实验[J].农业机械学报,2014,45(1):59-64. |
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| 作者姓名： | 刘继展 徐秀琼 李萍萍 |
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| 作者单位： | 江苏大学;江苏大学;南京林业大学 |
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| 基金项目： | 国家自然科学基金资助项目(50905076)和江苏高校优势学科建设工程资助项目 |
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| 摘 要： | 为探讨机器人果实采摘中应用激光进行果梗切断的可行性,以黄瓜果梗为对象,利用基于30 W光纤耦合半导体激光器构建的果梗切割实验平台,分别进行了激光穿透时间与果梗直径、激光束功率、离焦量、入射角的关系实验和果梗激光切割速度实验。实验发现,激光焦斑热功率密度0.75 W/mm2即可实现果梗的穿透和切割,且对果梗直径变化、焦斑定位与入射角度误差具有良好的适应性。但半导体激光器在垂直照射、零离焦量、光输出功率14.94 W条件下的最短切割时间达到23.73~28.13 s,应通过选择更高光束质量的光纤激光器等实现快速气化切割以满足实际作业的需要。
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| 关 键 词： | 黄瓜 果梗 采摘机器人 激光切割 |
| 收稿时间： | 2013/1/16 0:00:00 |
Analysis and Experiment on Laser Cutting of Fruit Peduncles |
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| Liu Jizhan,Xu Xiuqiong and Li Pingping.Analysis and Experiment on Laser Cutting of Fruit Peduncles[J].Transactions of the Chinese Society of Agricultural Machinery,2014,45(1):59-64. |
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| Authors: | Liu Jizhan Xu Xiuqiong and Li Pingping |
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| Institution: | Jiangsu University;Jiangsu University;Nanjing Forestry University |
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| Abstract: | With the aim to verify the feasibility of cutting peduncles with laser beam in harvesting robot, several laser drilling and cutting experiments of cucumber peduncles were conducted with a 30W fiber-coupled semiconductor laser in view of different factors. It was found that the laser focusing spot with heat power density of only 0.75W/mm2 could drill through a cucumber peduncle, and a successful drilling could be achieved even if diameter of peduncles, defocusing distance, or incident angle of laser beam changed within a large range. However, 23.73~28.13s was necessary to cut a cucumber peduncle when pointing a 14.94W semiconductor laser beam vertically without any defocus at the peduncle surface. It is not an ideal vaporizing but a burning process to cut peduncles attributed to the much worse beam quality of semiconductor laser, and it is believed that a Nd:YAG or fiber laser can achieve high speed cutting of peduncles, which can supply 102~103 times higher heat power density of focusing spot. |
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| Keywords: | Cucumber Peduncle Harvesting robot Laser cutting |
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