机器人采摘荔枝的跌落碰撞损伤试验

    蒋志林, 王佳盛, 李嘉威, 陈燕, 刘威威, 邹湘军, 曾泽钦

    蒋志林, 王佳盛, 李嘉威, 等. 机器人采摘荔枝的跌落碰撞损伤试验[J]. 华南农业大学学报, 2017, 38(6): 112-117. DOI: 10.7671/j.issn.1001-411X.2017.06.017
    引用本文: 蒋志林, 王佳盛, 李嘉威, 等. 机器人采摘荔枝的跌落碰撞损伤试验[J]. 华南农业大学学报, 2017, 38(6): 112-117. DOI: 10.7671/j.issn.1001-411X.2017.06.017
    JIANG Zhilin, WANG Jiasheng, LI Jiawei, CHEN Yan, LIU Weiwei, ZOU Xiangjun, ZENG Zeqin. Experiment on drop collision damages during litchi picking by robot[J]. Journal of South China Agricultural University, 2017, 38(6): 112-117. DOI: 10.7671/j.issn.1001-411X.2017.06.017
    Citation: JIANG Zhilin, WANG Jiasheng, LI Jiawei, CHEN Yan, LIU Weiwei, ZOU Xiangjun, ZENG Zeqin. Experiment on drop collision damages during litchi picking by robot[J]. Journal of South China Agricultural University, 2017, 38(6): 112-117. DOI: 10.7671/j.issn.1001-411X.2017.06.017

    机器人采摘荔枝的跌落碰撞损伤试验

    基金项目: 国家自然科学基金(31571568);广东省科技计划项目(2014A020208091,2015A020209120,2015A020209111)
    详细信息
      作者简介:

      蒋志林(1991—),男,硕士研究生,E-mail:313786159@qq.com

      通讯作者:

      陈 燕(1964—),女,副教授,硕士,E-mail: cy123@scau.edu.cn

    • 中图分类号: TP241;S22

    Experiment on drop collision damages during litchi picking by robot

    • 摘要:
      目的 

      减小机器人采摘荔枝时因回收放置不当产生的跌落碰撞损伤。

      方法 

      对荔枝进行跌落碰撞试验,分析不同的跌落碰撞条件对荔枝失质量率及果壳褐变指数的影响。

      结果 

      荔枝失质量率及果壳褐变指数随着采摘回收下放高度的提高和储藏时间的延长而分别增加;相同下放高度,碰撞接触材料为PVC板时,荔枝失质量率及果壳褐变指数最大;试验范围内,回收装置采用塑料框时,储藏2 d机器人采摘回收的最大起始下放高度为60 cm,储藏1周为30 cm;回收装置为瓦楞纸果箱,储藏2 d机器人采摘回收的最大起始下放高度为75 cm,储藏1周为45 cm;回收装置底层布满荔枝后,储藏2 d机器人采摘回收的最大起始下放高度可提高到90 cm,储藏1周可提高到60 cm。

      结论 

      该研究可为荔枝机器人采摘回收放置减损策略的构建提供指导。

      Abstract:
      Objective 

      To reduce the drop collision damages during litchi picking by robot due to improper placement and recycling.

      Method 

      The drop collision experiment of litchi was performed. The influences of different drop collision conditions on weight loss and pericarp browning indexes of litchi were analyzed.

      Result 

      The weight loss and pericarp browning indexes of litchi both increased with the dropping height of picking and placing and increased with the storage time. At the same dropping height, the weight loss and pericarp browning indexes of litchi were the highest when the impact contact material was PVC slab at collision. Within the scope of the experiment, it was conducive to reducing drop collision damages of litchi using the following maximum initiative dropping heights during the picking and placing process by robot: 60 cm after 2 d storage and 30 cm after one week storage when the recycling device was made from PVC plastic; 75 cm after 2 d storage and 45 cm after one week storage when the recycling device was made from corrugated board; 90 cm after 2 d storage and 60 cm after one week storage when the bottom of the recycling device was filled with litchi.

      Conclusion 

      The research can provide guidance for developing strategies to decrease damage during the litchi picking and placing process based on robot.

    • 图  1   跌落碰撞试验装置

      Figure  1.   The device for drop collision experiment

      图  2   不同跌落碰撞条件下的荔枝果壳褐变指数

      Figure  2.   Pericarp browning indexes of litchi under different drop collision conditions

      图  3   不同下放高度时储藏时间对荔枝果壳褐变指数的影响

      Figure  3.   Effect of storage time on pericarp browning index of litchi under different dropping height

      图  4   不同跌落碰撞条件下荔枝失质量率的变化

      Figure  4.   Weight loss rate of litchi under different drop collision condition

      图  5   储藏时间对荔枝失质量率的影响

      Figure  5.   Effect of storage time on weight loss rate of litchi

      表  1   虚拟变量的设置和赋值

      Table  1   Settings and assignments for virtual variables

      碰撞接触材料 虚拟变量
      L1 L2
      PVC 0 1
      瓦楞纸 1 0
      底层布荔枝 1 1
      下载: 导出CSV

      表  2   减少损伤的最大回收下放高度

      Table  2   The rmaximum dropping height during recycling for damage reducing cm

      t储藏/d PVC 板 瓦楞纸板 底层布荔枝
      果壳褐变指数 失质量率 果壳褐变指数 失质量率 果壳褐变指数 失质量率
      2 60 60 75 75 90 90
      4 45 60 60 75 75 90
      6 45 45 60 60 75 75
      8 30 45 45 60 60 60
      10 30 30 45 45 60 60
      下载: 导出CSV
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    出版历程
    • 收稿日期:  2017-04-18
    • 网络出版日期:  2023-05-17
    • 刊出日期:  2017-11-09

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