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番茄采摘机器人快速无损作业研究(英文版) 版权信息
- ISBN：9787030704511
- 条形码：9787030704511 ; 978-7-03-070451-1
- 装帧：一般胶版纸
- 册数：暂无
- 重量：暂无
- 所属分类：>>
番茄采摘机器人快速无损作业研究(英文版) 本书特色
适读人群 ：广大机器人技术爱好者和研发人员本书内容面广，体系鲜明，反映我国智能农业领域的**研究进展，而又注重读者广度与学术深度的结合，值得阅读
番茄采摘机器人快速无损作业研究(英文版) 内容简介
在我国农业快速步入全面机械化的背景下，果蔬生产作业的机械化仍存在大量空白，而鲜食果蔬的采收更占用高达40%的劳动力，采摘机器人技术研究具有重要的科学价值和现实意义。本书阐述优选采摘机器人研究的进展与进程，并针对困扰机器人采摘作业中果实损伤与作业效率的关键矛盾，提出机器人快速采摘中的夹持碰撞与快速无损收获问题，进而通过力学特性与互作规律、建模仿真、设计方法、样机开发、控制优化的有机结合，系统开展番茄果实宏微本构特征、无损采摘机器人系统开发、勃弹对象的夹持碰撞规律、快速柔顺夹持建模仿真、真空吸持拉动的植株－果实响应、植物体激光切割、快速无损采摘控制优化等研究，有力地推动机器人采摘技术的进步。
番茄采摘机器人快速无损作业研究(英文版) 目录
Contents
Chapter 1 History and Present Situations of Robotic Harvesting Technology: A Review 1
1.1 An Industry of Fresh-Eat Fruits and Vegetables and Its Labor-Cost Harvesting 1
1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in the Whole World 2
1.2.1 Tomato Harvesting Robots 2
1.2.2 Fruit Harvesting Robot for Orchards 15
1.2.3 Harvesting Robots for Fruits and Vegetables 38
1.2.4 Other Fruit Harvesting Robots 65
1.2.5 Other Harvesting Robots 74
1.3 Summary and Prospect 88
1.3.1 The Continuous Progress of Robotic Harvesting Technology 88
1.3.2 Technical Keys to the Development of Harvesting Robot Technology 89
1.3.3 The Historical Characteristics of the Technology Development of the Harvesting Robots 90
1.3.4 The Breakthrough Points of the Technology Development of Harvesting Robots 93
1.3.5 Key Fields of Technology Development of Harvesting Robots 95
References 95
Chapter 2 Damage and Damage-Free Harvesting in Robotic Operation 107
2.1 Cause of Fruit Damage in Robot Harvesting 107
2.2 Passive Compliant Structure in Robotic Harvesting 108
2.2.1 Elastic Surface Material 108
2.2.2 Under-Actuated End-Effectors 110
2.2.3 Elastic-Medium Fingers 112
2.3 Active Compliance Control in Robotic Harvesting 114
2.4 The Robotic Speedy Damage-Free Harvesting 118
2.4.1 The Significance and Particularity of Robotic Speedy Damage-Free Harvesting 118
2.4.2 The Particularity of the Collision in Robotic Speedy Gripping of Fruit 120
2.4.3 The Research System of Speedy Damage-Free Harvesting 121
References 123
Chapter 3 The Physical and Mechanical Properties of Tomato Fruit and Stem 127
3.1 Summary 127
3.1.1 Research Significance 127
3.1.2 Content and Innovation 127
3.2 The Physical/Mechanical Properties Index System of Tomato Fruit-Stem Related to Robotic Harvesting 128
3.3 Physical Properties of Tomato Fruit and Stem 129
3.3.1 Structure of Tomato Fruit and Stem 129
3.3.2 Physical Property of Tomato Fruit and Stem 131
3.4 Mechanical Properties of Tomato Fruit Components 134
3.4.1 Material， Equipment， and Method 134
3.4.2 Results and Analysis 143
3.5 Compressive Mechanical Properties of the Whole Tomato 148
3.5.1 The Compression Force-Deformation Properties 148
3.5.2 Creep Properties 153
3.5.3 Stress Relaxation Properties 155
3.5.4 Load-Unload Properties 157
3.6 Frictional Mechanical Properties of Tomato Fruits 160
3.6.1 Static and Sliding Friction Coefficients 160
3.6.2 Measurement of Rolling Resistance Coefficient 163
3.7 Mechanical Structure Model of the Whole Tomato Fruit 164
3.7.1 The Wheel-like Simplification Mechanical Structure of Fruit 164
3.7.2 Mechanical Properties of Tomatoes with Different Numbers of Locules 166
3.8 Mechanical Damage in Tomato Fruits 176
3.8.1 Mechanical Damage Mechanism of Tomato Fruit 176
3.8.2 Physiological Change of Tomatoes After Being Compress 176
3.9 The Properties of Tomato Stem 184
3.9.1 Stem System 184
3.9.2 Mechanical Properties of Tomato Fruit System 186
3.9.3 Results 190
References 192
Chapter 4 Development of Damage-Free Hand-Arm System for Tomato Harvesting 197
4.1.1 Research Significance 197
4.1.2 Content and Innovation 197
4.2 Development of Damage-Free Harvesting End-Effector 198
4.2.1 System Scheme Design of Damage-Free Harvesting End-Effector 198
4.3 Motion Configuration Scheme 199
4.4 System Components of the End-Effector 213
4.4.1 Mechanism Design of End-Effector 214
4.4.2 Design of the Sensing System 223
4.4.3 Design of Control System 225
4.4.4 Design of Power Supply System 228
4.4.5 Structure Design of the End-Effector 230
4.4.6 Prototype and Its Performance Indicators 231
4.4.7 Upper Lower Type End-Effector 233
4.4.8 Passive-active Coupled Compliant End-Effector for Robot Tomato Harvesting 233
4.5 Damage-Free Harvesting Hand-arm System Based on Commercial Manipulator 236
4.5.1 Background and Needs 236
4.5.2 The Control System Structure of Commercial Manipulator 237
4.5.3 Control System Integration Between the Manipulator and the End-Effector 239
References 241
Chapter 5 Mathematical Modeling of Speedy Damage-Free Gripping of Fruit 247
5.1 Summary 247
5.1.1 Research Significance 247
5.1.2 Content and Innovation 247
5.2 Experiment of Speedy Fruit Gripping and Special Collision Characteristics 248
5.2.1 Experiment of Speedy Fruit Gripping 248
5.2.2 Collision Characteristics of Speedy Fruit Gripping 248
5.3 The Special Collision Issue of Speedy Fruit Gripping 250
5.4 Dynamic Characteristics in Different Phases of Speedy Fruit Gripping 250
5.5 Fruit Compression Model 252
5.5.1 The Viscoelastic Properties of Fruit and the Characterization of Constitutive Model 252
5.5.2 Burger’s Modified Model for Characterization of Creep Properties of Whole Fruit 256
5.6 Complex Collision M
Chapter 1 History and Present Situations of Robotic Harvesting Technology: A Review 1
1.1 An Industry of Fresh-Eat Fruits and Vegetables and Its Labor-Cost Harvesting 1
1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in the Whole World 2
1.2.1 Tomato Harvesting Robots 2
1.2.2 Fruit Harvesting Robot for Orchards 15
1.2.3 Harvesting Robots for Fruits and Vegetables 38
1.2.4 Other Fruit Harvesting Robots 65
1.2.5 Other Harvesting Robots 74
1.3 Summary and Prospect 88
1.3.1 The Continuous Progress of Robotic Harvesting Technology 88
1.3.2 Technical Keys to the Development of Harvesting Robot Technology 89
1.3.3 The Historical Characteristics of the Technology Development of the Harvesting Robots 90
1.3.4 The Breakthrough Points of the Technology Development of Harvesting Robots 93
1.3.5 Key Fields of Technology Development of Harvesting Robots 95
References 95
Chapter 2 Damage and Damage-Free Harvesting in Robotic Operation 107
2.1 Cause of Fruit Damage in Robot Harvesting 107
2.2 Passive Compliant Structure in Robotic Harvesting 108
2.2.1 Elastic Surface Material 108
2.2.2 Under-Actuated End-Effectors 110
2.2.3 Elastic-Medium Fingers 112
2.3 Active Compliance Control in Robotic Harvesting 114
2.4 The Robotic Speedy Damage-Free Harvesting 118
2.4.1 The Significance and Particularity of Robotic Speedy Damage-Free Harvesting 118
2.4.2 The Particularity of the Collision in Robotic Speedy Gripping of Fruit 120
2.4.3 The Research System of Speedy Damage-Free Harvesting 121
References 123
Chapter 3 The Physical and Mechanical Properties of Tomato Fruit and Stem 127
3.1 Summary 127
3.1.1 Research Significance 127
3.1.2 Content and Innovation 127
3.2 The Physical/Mechanical Properties Index System of Tomato Fruit-Stem Related to Robotic Harvesting 128
3.3 Physical Properties of Tomato Fruit and Stem 129
3.3.1 Structure of Tomato Fruit and Stem 129
3.3.2 Physical Property of Tomato Fruit and Stem 131
3.4 Mechanical Properties of Tomato Fruit Components 134
3.4.1 Material， Equipment， and Method 134
3.4.2 Results and Analysis 143
3.5 Compressive Mechanical Properties of the Whole Tomato 148
3.5.1 The Compression Force-Deformation Properties 148
3.5.2 Creep Properties 153
3.5.3 Stress Relaxation Properties 155
3.5.4 Load-Unload Properties 157
3.6 Frictional Mechanical Properties of Tomato Fruits 160
3.6.1 Static and Sliding Friction Coefficients 160
3.6.2 Measurement of Rolling Resistance Coefficient 163
3.7 Mechanical Structure Model of the Whole Tomato Fruit 164
3.7.1 The Wheel-like Simplification Mechanical Structure of Fruit 164
3.7.2 Mechanical Properties of Tomatoes with Different Numbers of Locules 166
3.8 Mechanical Damage in Tomato Fruits 176
3.8.1 Mechanical Damage Mechanism of Tomato Fruit 176
3.8.2 Physiological Change of Tomatoes After Being Compress 176
3.9 The Properties of Tomato Stem 184
3.9.1 Stem System 184
3.9.2 Mechanical Properties of Tomato Fruit System 186
3.9.3 Results 190
References 192
Chapter 4 Development of Damage-Free Hand-Arm System for Tomato Harvesting 197
4.1.1 Research Significance 197
4.1.2 Content and Innovation 197
4.2 Development of Damage-Free Harvesting End-Effector 198
4.2.1 System Scheme Design of Damage-Free Harvesting End-Effector 198
4.3 Motion Configuration Scheme 199
4.4 System Components of the End-Effector 213
4.4.1 Mechanism Design of End-Effector 214
4.4.2 Design of the Sensing System 223
4.4.3 Design of Control System 225
4.4.4 Design of Power Supply System 228
4.4.5 Structure Design of the End-Effector 230
4.4.6 Prototype and Its Performance Indicators 231
4.4.7 Upper Lower Type End-Effector 233
4.4.8 Passive-active Coupled Compliant End-Effector for Robot Tomato Harvesting 233
4.5 Damage-Free Harvesting Hand-arm System Based on Commercial Manipulator 236
4.5.1 Background and Needs 236
4.5.2 The Control System Structure of Commercial Manipulator 237
4.5.3 Control System Integration Between the Manipulator and the End-Effector 239
References 241
Chapter 5 Mathematical Modeling of Speedy Damage-Free Gripping of Fruit 247
5.1 Summary 247
5.1.1 Research Significance 247
5.1.2 Content and Innovation 247
5.2 Experiment of Speedy Fruit Gripping and Special Collision Characteristics 248
5.2.1 Experiment of Speedy Fruit Gripping 248
5.2.2 Collision Characteristics of Speedy Fruit Gripping 248
5.3 The Special Collision Issue of Speedy Fruit Gripping 250
5.4 Dynamic Characteristics in Different Phases of Speedy Fruit Gripping 250
5.5 Fruit Compression Model 252
5.5.1 The Viscoelastic Properties of Fruit and the Characterization of Constitutive Model 252
5.5.2 Burger’s Modified Model for Characterization of Creep Properties of Whole Fruit 256
5.6 Complex Collision M
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番茄采摘机器人快速无损作业研究(英文版) 节选
Chapter 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 Fruits and vegetables are both daily necessities， and also they are important economiccrops. According to the statistics， the global production of total fruits and vegetablesin 2019 reached 8.83 x l08 t and 11.30 x l08 t， respectively.Globally， the rate betweenfresh-eat and processed fruits and vegetables is about 7:3.Chinese vegetable and fruitplanting area and output both rank the first in the world， but the proportion ofprocessing fruits and vegetables is only about 5%. Usually， it is not necessary for the harvesting of processing fruits and vegetablesto distinguish the ripeness， and also a certain damage is tolerant in the harvest. Forexample， tomato fruit can be whole-plant harvested and apple fruit can be harvestedmechanically by vibratory excitation.ln developed countries， the non-selective mech-anized harvesting of processed fruits and vegetables has been gradually popularized.But for the larger proportion of fresh-eat fruits and vegetables， the non-selectivemechanized harvesting method cannot adapt to both the individual difference of thefruit maturity and the harsh demand of non-destructive harvest. So far， it is stilldependent on human labor for selective harvesting. With the gradual mechaniza-tion of the production of fruit and vegetable cultivation， harvesting has become thelast link to break through the whole process of mechanical operation. According tothe investigation， the labor consumption of strawberry production in Japan reaches20，000 h/ha [11， and the harvest takes up about 40% of the totallabor amount [1，2].Meanwhile， the shortage of agricultural labor and the rising cost oflabor haveseriously affected the development of the fruit and vegetable industry. In China， inrecent years， the labor force， especially the young and middle-aged labor force， hasalso been rapidly transferred to other industries. In the busy farming season， the laborshortage has begun to appear in the vast rural areas. The labor intensity of the elderlyand women in rural areas has greatly increased， and the production efficiency hasdecreased obviously. The contradiction between the rapid development of fruit and vegetable produc-tion， the shortage of agricultural labor， and the excessive intensity of labor isbecoming more and more obvious， and the replacement of complex manual selectiveharvesting can only be realized through the in-depth study of the technology of theharvesting robot. The research and development of fruit and vegetable harvestingrobot are of great significance for reducing the labor intensity of agricultural practi-tioners，liberating the agriculturallabor force andimproving the intensive productionlevel of fruits and vegetables. 1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in the Whole World A typical harvesting robot for fruits or vegetables is usually composed of mobileplatform， manipulator， end-effector， vision system， and control system. Since fruitand vegetable species and varieties， and cultivation patterns are all numerous andcomplicated， various kinds of harvesting robots and their end-effectors have beendeveloped at home and abroad. The action principle， structure form， complexity，operation effect， and performance also have a very big difference. 1.2.1 Tomato Harvesting Robots 1. Fresh-eat tomato and its robotic harvesting problem As a favorite fresh-eat vegetable， its robotic harvesting has been paid much attentionby researchers worldwide. Concerned research has been camed out continuously formany years， and a series of achievements have been produced. At the same time， the tomato is also one of the fruits and vegetables that are mostdifficult to be harvested by robots. At present， in the face of fresh food， commontomato fruits are usually picked as single fruit one by one， while cherry-tomatofruit is usually picked in clusters. Compared with cucumber， eggplant， apple， andother fruits and vegetables， there is usually 3-5 tomato fruit in one cluster. Theygrow densely and touch each other， and the difference of fruit-stem posture is moresignificant (Fig. 1.1). The great difference of growth posture and distribution posesa greater challenge to the implementation ofintelligent robotic harvesting: (1) Recognition of the target fruit The close and occlusion of the fruit are more serious. For the vision system of theharvesting robot， although the color difference between mature tomato fruit andleaves is distinct， it is difficult to identify and locate the target fruit since multiplefruit images are integrated into one or even completely overlapped to be difficult tobe segmented [3， 4]. Fig. 1.1 Difference of growth posture and distribution among the fruit of tomato， cucumber， and Eggplant (a) Tomato (b) Cucumber (c) Eggplan
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