基本信息
| 商品名称： | 番茄采摘机器人快速无损作业研究(英文版)(精) | 开本： | 16开 |
| 作者： | 刘继展//李智国//李萍萍 | 页数： | 452 |
| 定价： | 299.0 | 出版时间： | 2021-01-01 |
| ISBN号： | 9787030704511 | 印刷时间： | 2021-01-01 |
| 出版社： | 科学出版社 | 版次： | 1 |
| 印次： | 1 | | |
内容提要： This book shares the latest findings on this topic, systematically introduces readers to advances made in robotic harvesting around the globe, and explores the relations between the development of robotic harvesting and the respective social/economic conditions and agricultural business patterns in various countries/regions. Due to the unstructured setting it is used in, and to the significant differences between individual fruit and vegetable targets, robotic harvesting is currently considered to be one of the most challenging robotics technologies. Accordingly, research into this area involves the integration of various aspects, including biomechanics, optimization design, advanced perception and intelligent control.
In addition to rapid and damage-free robotic harvesting, which reflects the multidisciplinary nature of the topic, further aspects addressed include gripping collisions with viscoelastic objects, using lasers to cut plant material, plant-fruit response to vacuum sucking and pulling, and performance probability distribution. Highlighting outstanding innovations and reflecting the latest advances in intelligent agricultural equipment in China, the book offers a unique and valuable resource.
目录：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
1.2 The History and Current Situation of the Development of Robotic Harvesting Equipment in the Whole World
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
Chapter 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
Chapter 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 Robotic 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
3.4 Mechanical Properties of Tomato Fruit Components
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
3.5.2 Creep Properties
3.5.3 Stress Relaxation Properties
3.5.4 Load-Unload Properties
3.6 Frictional Mechanical Properties of Tomato Fruits
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
3.7.2 Mechanical Properties of Tomatoes with Different Numbers of Locules
3.8 Mechanical Damage in Tomato Fruits
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
3.9.2 Mechanical Properties of Tomato Fruit System
3.9.3 Results
References
Chapter 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
4.4.2 Design of the Sensing System
4.4.3 Design of Control System
4.4.4 Design of Power Supply System
4.4.5 Structure Design of the End-Effector
4.4.6 Prototype and Its Performance Indicators
4.4.7 Upper Lower Type End-Effector
4.4.8 Passive-active Coupled Compliant End-Effector for Robot Tomato Harvesting
4.5 Damage-Free Harvesting Hand-arm System Based on Commercial Manipulator
4.5.1 Background and Needs
4.5.2 The Control System Structure of Commercial Manipulator
4.5.3 Control System Integration Between the Manipulator and the End-Effector
References
Chapter 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
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
5.5 Fruit Compression Model
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
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
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
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
Chapter 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
6.2.2 Nonlinear Multi-component Finite Element Model of Tomato Fruit
6.3 Simulation of Static Gripping Process
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
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
Chapter 7 Modeling of the Vacuum Sucked Pulling of Tomato Fruit
7.1 Summary
7.1.1 Function of Vacuum Sucked Pulling in Robotic Harvesting
7.1.2 Research Significance
7.1.3 Content and Innovation
7.2 Modeling of Mechanical Behavior for Sucking with Suction Pad
7.2 .l Mechanical Relation Between Suction Pad and Spherical Surface
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
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
Chapter 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
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
8.3.1 Put Forward Laser Cutting of Stems
8.3.2 The Principle and Advantages of Laser Cutting of Biomaterials
8.3.3 Particularity and Feasibility of Laser Cutting of Stem
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
8.4 Discussion
References
Chapter 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
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
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
9.3.3 Optimization of Displacement/Position Parameters for Sucked Pulling of Fruit
9.3.4 Optimization of Control Mode for Motion Coordination
9.4 Hand-Arm Coordination Control for Speedy Flexible Harvesting
9.4.1 Hand-Arm Coordinative Control Modes
9.4.2 Hand-Arm Coordinated Harvesting Experiments
References
