| 面向机器人采摘的樱桃番茄力学特性研究 |
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| 引用本文： | 熊征,李惠玲,侯露,陈金奇,薛坤鹏,黎业钲.面向机器人采摘的樱桃番茄力学特性研究[J].现代农业装备,2020(3):24-28. |
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| 作者姓名： | 熊征 李惠玲 侯露 陈金奇 薛坤鹏 黎业钲 |
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| 作者单位： | 广东省现代农业装备研究所;广东弘科农业机械研究开发有限公司 |
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| 基金项目： | 2019年广东省乡村振兴战略专项(粤财农[2019]73号);广东弘科农业机械研究开发有限公司“广州市院士专家工作站”项目(h2020-03-01);农产品保鲜物流共性关键技术研发创新团队(2019KJ145)。 |
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| 摘 要： | 樱桃番茄是番茄中的一种特殊类型,其果实及果梗的力学特性是采摘机器人设计与控制的重要依据。对不同成熟期的樱桃番茄果实进行了纵向和横向挤压试验,对其果梗进行了折断试验。结果表明,不同成熟度樱桃番茄果实的抗压能力具有明显差异,以青果期的压缩破裂最大,成熟期的最小,整体抗压能力随着果实成熟而下降。成熟期樱桃番茄的纵向、横向挤压强度差异较大,具有明显的各向异性特征,其纵向抗压能力大于横向,采摘时应当减少横向压力,以便更好保护果实。成熟期樱桃番茄果梗膨大节处的折断负荷较小,单果采摘时建议从果梗膨大节处以折断方法进行采摘;串果采摘时建议采摘机器人与果实间的作用力、运动参数要特别注意果梗的力学脆性,避免串收过程(采摘—放篮)中成熟果实从果梗膨大节处脱落,造成机器人采收失败。
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| 关 键 词： | 樱桃番茄 采摘机器人 力学特性 成熟度 果梗 |
Mechanical Properties of Cherry Tomato for Harvesting Robot |
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| Xiong Zheng,Li Huiling,Hou Lu,Chen Jinqi,Xue Kunpeng,Li Yezheng.Mechanical Properties of Cherry Tomato for Harvesting Robot[J].Modern Agricultural Equipments,2020(3):24-28. |
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| Authors: | Xiong Zheng Li Huiling Hou Lu Chen Jinqi Xue Kunpeng Li Yezheng |
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| Institution: | (Guangdong Institute of Modern Agricultural Equipment,Guangzhou 510630,China;Guangdong Hongke Agricultural Machinery R&D Co.,Ltd.,Guangzhou 510555,China) |
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| Abstract: | Mechanical properties of cherry tomato fruits and its peduncles are vital basis in design and control of tomato harvesting robot.Test of compression from transversal and longitudinal directions for tomato fruit of different ripening phases,and test of breaking for cherry tomato stem were conducted.The results showed that the compressive capacity of cherry tomato fruits with different maturity was significantly different.The compression rupture of green fruit stage was the largest,the ripening stage was the smallest,and the whole fruit decreased with the ripening.The vertical and horizontal compressive strength of mature cherry tomato were quite different with obvious anisotropy.The longitudinal compressive capacity was greater than that of the vertical.When picking,the lateral pressure should be reduced to protect the fruit.During the ripening period,the breaking load at the expanding node of cherry tomato fruit stem was weak.When picking single fruit,it was suggested to break from the expanding node of cherry tomato fruit stem.When picking the whole bunch of fruit,it was recommended to pay attention to the mechanical weakness of the fruit stem. |
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| Keywords: | cherry tomato harvesting robot mechanical property maturity fruit stem |
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