The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the har...The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.展开更多
The fruit development rules of two Chinensis Actinidia cultivars were studied in this paper. ‘Fengyue’has the same fruit development cycle as‘Cuiyu’. According to soluble solids content, there are four stages duri...The fruit development rules of two Chinensis Actinidia cultivars were studied in this paper. ‘Fengyue’has the same fruit development cycle as‘Cuiyu’. According to soluble solids content, there are four stages during fruit development phase named comparatively stable period, slow increase period, rapid increase period and stagnating increase period. Fruit firmness change exhibits two periods, i.e. slowly declining period and rapidly declining period. There is an obvious corresponding relation between the changes of fruit firmness and the soluble solids content, i.e. the rapidly declining time of fruit firmness corresponds with the rapidly increasing time of soluble solids content. According to the experiment, the best picking periods of ‘Fengyue’and ‘Cuiyu’are mid September to mid October and early October to early November, respectively.展开更多
文摘The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.
文摘The fruit development rules of two Chinensis Actinidia cultivars were studied in this paper. ‘Fengyue’has the same fruit development cycle as‘Cuiyu’. According to soluble solids content, there are four stages during fruit development phase named comparatively stable period, slow increase period, rapid increase period and stagnating increase period. Fruit firmness change exhibits two periods, i.e. slowly declining period and rapidly declining period. There is an obvious corresponding relation between the changes of fruit firmness and the soluble solids content, i.e. the rapidly declining time of fruit firmness corresponds with the rapidly increasing time of soluble solids content. According to the experiment, the best picking periods of ‘Fengyue’and ‘Cuiyu’are mid September to mid October and early October to early November, respectively.
