Rapid damage-free robotic harvesting of tomatoes / / Jizhan Liu, Zhiguo Li and Pingping Li

• Autore: Liu Jizhan
• Pubblicazione: Gateway East, Singapore : , : Springer, , [2021]; ©2021
• Descrizione fisica: 1 online resource (469 pages)
• Disciplina: 681.7631
• Soggetto topico: Harvesting machinery; Tomatoes - Harvesting - Machinery
• Persona (resp. second.): LiPingping; LiZhiguo <1977->
• Nota di bibliografia: Includes bibliographical references.
• Nota di contenuto: Intro -- Foreword -- Preface -- Contents -- 1 History and Present Situations of Robotic Harvesting Technology: A Review -- 1.1 An Industry of Fresh-Eat Fruits and Vegetables and Its Labor-Cost Harvesting -- 1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in Global -- 1.2.1 Tomato Harvesting Robots -- 1.2.2 Fruit Harvesting Robot for Orchards -- 1.2.3 Harvesting Robots for Fruits and Vegetables -- 1.2.4 Other Fruit Harvesting Robots -- 1.2.5 Other Harvesting Robots -- 1.3 Summary and Prospect -- 1.3.1 The Continuous Progress of Robotic Harvesting Technology -- 1.3.2 Technical Keys to the Development of Harvesting Robot Technology -- 1.3.3 The Historical Characteristics of the Technology Development of the Harvesting Robots -- 1.3.4 The Breakthrough Points of the Technology Development of Harvesting Robots -- 1.3.5 Key Fields of Technology Development of Harvesting Robots -- References -- 2 Damage and Damage-Free Harvesting in Robotic Operation -- 2.1 Cause of Fruit Damage in Robot Harvesting -- 2.2 Passive Compliant Structure in Robotic Harvesting -- 2.2.1 Elastic Surface Material -- 2.2.2 Under-Actuated End-Effectors -- 2.2.3 Elastic-Medium Fingers -- 2.3 Active Compliance Control in Robotic Harvesting -- 2.4 The Robotic Speedy Damage-Free Harvesting -- 2.4.1 The Significance and Particularity of Robotic Speedy Damage-Free Harvesting -- 2.4.2 The Particularity of the Collision in Robotic Speedy Gripping of Fruit -- 2.4.3 The Research System of Speedy Damage-Free Harvesting -- References -- 3 The Physical and Mechanical Properties of Tomato Fruit and Stem -- 3.1 Summary -- 3.1.1 Research Significance -- 3.1.2 Content and Innovation -- 3.2 The Physical/Mechanical Properties Index System of Tomato Fruit-Stem Related to Robot's Harvesting -- 3.3 Physical Properties of Tomato Fruit and Stem. ; 3.3.1 Structure of Tomato Fruit and Stem -- 3.3.2 Physical Property of Tomato Fruit and Stem [3-5] -- 3.4 Mechanical Properties of Tomato Fruit Components [3] -- 3.4.1 Material, Equipment, and Method -- 3.4.2 Results and Analysis -- 3.5 Compressive Mechanical Properties of the Whole Tomato -- 3.5.1 The Compression Force-Deformation Properties [4, 5] -- 3.5.2 Creep Properties [33] -- 3.5.3 Stress Relaxation Properties [33] -- 3.5.4 Load-Unload Properties [33] -- 3.6 Frictional Mechanical Properties of Tomato Fruits [3] -- 3.6.1 Static and Sliding Friction Coefficients -- 3.6.2 Measurement of Rolling Resistance Coefficient -- 3.7 Mechanical Structure Model of the Whole Tomato Fruit -- 3.7.1 The Wheel-like Simplification Mechanical Structure of Fruit [4, 46] -- 3.7.2 Mechanical Properties of Tomatoes with Different Numbers of Locules [3] -- 3.8 Mechanical Damage in Tomato Fruits [3] -- 3.8.1 Mechanical Damage Mechanism of Tomato Fruit -- 3.8.2 Physiological Change of Tomatoes After Being Compress -- 3.9 The Properties of Tomato Stem -- 3.9.1 Stem System [5, 81] -- 3.9.2 Mechanical Properties of Tomato Fruit System [4, 5] -- 3.9.3 Results [4, 5] -- References -- 4 Development of Damage-Free Hand-Arm System for Tomato Harvesting -- 4.1 Summary -- 4.1.1 Research Significance -- 4.1.2 Content and Innovation -- 4.2 Development of Damage-Free Harvesting End-Effector -- 4.2.1 System Scheme Design of Damage-Free Harvesting End-Effector -- 4.3 Motion Configuration Scheme -- 4.4 System Components of the End-Effector -- 4.4.1 Mechanism Design of End-Effector [81] -- 4.4.2 Design of the Sensing System [81] -- 4.4.3 Design of Control System [81] -- 4.4.4 Design of Power Supply System [81] -- 4.4.5 Structure Design of the End-Effector [81] -- 4.4.6 Prototype and Its Performance Indicators [81] -- 4.4.7 Upper Lower Type End-Effector. ; 4.4.8 Passive-active Coupled Compliant End-Effector for Robot Tomato Harvesting [95] -- 4.5 Damage-Free Harvesting Hand-arm System Based on Commercial Manipulator [96] -- 4.5.1 Background and Needs -- 4.5.2 The Control System Structure of Commercial Manipulator [31] -- 4.5.3 Control System Integration Between the Manipulator and the End-Effector [31, 34] -- References -- 5 Mathematical Modeling of Speedy Damage-Free Gripping of Fruit -- 5.1 Summary -- 5.1.1 Research Significance -- 5.1.2 Content and Innovation -- 5.2 Experiment of Speedy Fruit Gripping and Special Collision Characteristics -- 5.2.1 Experiment of Speedy Fruit Gripping [1, 2] -- 5.2.2 Collision Characteristics of Speedy Fruit Gripping -- 5.3 The Special Collision Issue of Speedy Fruit Gripping -- 5.4 Dynamic Characteristics in Different Phases of Speedy Fruit Gripping [1] -- 5.5 Fruit Compression Model [1, 3] -- 5.5.1 The Viscoelastic Properties of Fruit and the Characterization of Constitutive Model -- 5.5.2 Burger's Modified Model for Characterization of Creep Properties of Whole Fruit -- 5.6 Complex Collision Model in Speedy Gripping of Fruit [1] -- 5.6.1 Phase of Constant-Speed Loading and Phase of Stress Relaxing -- 5.6.2 Phase of Collision Decelerating -- 5.7 The Basic Law of Collision in Robotic Gripping of Fruit [1] -- 5.7.1 The Law of Collision Force in Robotic Gripping of Fruit -- 5.7.2 The Influence of Initial Gripping Speed and Fruit Ripeness on Gripping Collision Time -- 5.7.3 The Influence of Initial Gripping Speed and Fruit Ripeness on Gripping Collision Deformation -- 5.7.4 The Influence of Initial Gripping Speed and Fruit Ripeness on Peak Collision Force -- 5.8 The Theoretical Calculation of the Time Consumption of Gripping [2] -- 5.8.1 The Stroke Composition of the Finger Gripping Process -- 5.8.2 Dimension Relation of Fruit Gripping with Robotic Fingers. ; 5.8.3 The Time Consumption Composition of the Finger Gripping Process -- 5.8.4 Selection of Damage-Free Control Mode -- 5.8.5 Time Calculation of Damage-Free Gripping -- 5.9 Collision Stage -- References -- 6 Simulation of Damage-Free Robotic Gripping of Fruit -- 6.1 Summary -- 6.1.1 Research Significance -- 6.1.2 Content and Innovation -- 6.2 Finite Element Model of Fruit -- 6.2.1 Viscoelastic Finite Element Model of the Whole Tomato Fruit [1] -- 6.2.2 Nonlinear Multi-component Finite Element Model of Tomato Fruit [3] -- 6.3 Simulation of Static Gripping Process [3] -- 6.3.1 Geometry Model Finger-Fruit Contacting Process -- 6.3.2 Creating Contact Pair -- 6.3.3 Model Verification Method -- 6.3.4 Prediction Method of Gripping Damage -- 6.3.5 The Component Stress Simulation of Different Loading Methods -- 6.4 Dynamic Simulation of Gripping Process [1] -- 6.4.1 The Software Implementation of Dynamic Gripping Simulation -- 6.4.2 The Establishment of System Virtual Prototype for Gripping -- 6.4.3 Simulation Analysis of Tomato Fruit Gripping with the End-Effector -- References -- 7 Modeling of the Vacuum Sucked Pulling of Tomato Fruit -- 7.1 Summary -- 7.1.1 Function of Vacuum Sucked Pulling in Robotic Harvesting [1] -- 7.1.2 Research Significance [1, 18] -- 7.1.3 Content and Innovation -- 7.2 Modeling of Mechanical Behavior for Sucking with Suction Pad -- 7.2.1 Mechanical Relation Between Suction Pad and Spherical Surface [1] -- 7.2.2 Experiment on Influence Factors of Suction Force -- 7.2.3 The Effect of Fruit Surface Contour on Pull-off Force -- 7.3 Mechanical Model of Vacuum Sucked Pulling -- 7.3.1 Kinematic and Force Balance Analyses of Pulling of On-plant Fruit with Suction Pad -- 7.3.2 Static Analysis of Pulling of On-plant Fruit with Suction Pad -- 7.3.3 Discussion -- 7.4 Probability Model of Sucked Pulling of On-plant Tomato Fruit [1]. ; 7.4.1 Rate of Interference and Success of Fruit Gripping -- 7.4.2 The Proportion of Fruit Number Per Cluster for Different Harvesting Rounds -- 7.4.3 The Required Sucked Pulling Distance and Its Probability for Different Fruit Number in Each Cluster -- 7.4.4 Theoretical Influence of Required Sucked Pulling Distance on the Rate of Gripping Interference -- 7.4.5 Determination of Sucked Pulling Distance -- References -- 8 Fruit Detaching Methods for Robotic Damage-Free Tomato Harvesting -- 8.1 Summary -- 8.1.1 Research Significance -- 8.1.2 Content and Innovation -- 8.2 Theoretical and Experimental Comparison of Non-tool Fruit Detaching Methods [1, 2] -- 8.2.1 Non-tool Fruit Detaching Methods -- 8.2.2 Experiments of Non-tool Detaching of Tomato Fruit -- 8.2.3 Theory of Strength and Detachment of Abscission Layers -- 8.2.4 Discussion -- 8.3 Experimental Exploration of Laser Cutting of Stems [36, 37] -- 8.3.1 Put Forward Laser Cutting of Stems -- 8.3.2 The Principle and Advantages of Laser Cutting of Biomaterials [36, 43] -- 8.3.3 Particularity and Feasibility of Laser Cutting of Stem [36, 43] -- 8.3.4 Experiments on Laser Drilling and Cutting of Tomato Stems -- 8.3.5 Results and Discussion -- 8.3.6 Realization of Laser Cutting of Peduncles [43] -- 8.4 Discussion -- References -- 9 Control Optimization and Test Study -- 9.1 Summary -- 9.1.1 Research Significance -- 9.1.2 Content and Innovation -- 9.2 Parameter Optimization of Speedy Flexible Gripping [1] -- 9.2.1 PID Parameter Adjustment of the Motion Control System -- 9.2.2 Energy Consumption Analysis of Acceleration and Deceleration Stage -- 9.2.3 Speed Optimization of Speedy Flexible Gripping -- 9.3 Control Optimization of Vacuum Sucked Pulling [7] -- 9.3.1 The Relationship Between Maximum Pulling Speed and Displacement in Acceleration Stage. ; 9.3.2 The Relationship Between the Dynamic Pulling Force and the Threshold of Vacuum Degree.
• Titolo autorizzato: Rapid Damage-Free Robotic Harvesting of Tomatoes
• ISBN: 981-16-1284-6
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910488725403321
• Lo trovi qui: Univ. Federico II
• Serie: Springer Tracts in Mechanical Engineering