Yidong Ma , Chong Qi , Liming Zhou , Xin Jin , Bo Zhao , Xinping Li
{"title":"A new removal method of yellow-rotten leaf for hydroponic lettuce with the flipping-tearing-twisting trajectory and its parameters optimisation","authors":"Yidong Ma , Chong Qi , Liming Zhou , Xin Jin , Bo Zhao , Xinping Li","doi":"10.1016/j.biosystemseng.2024.09.010","DOIUrl":null,"url":null,"abstract":"<div><p>To intelligently remove the yellow-rotten leaf of hydroponic lettuce, a new leaf removal method was proposed. The lettuce position was adjusted for yellow-rotten leaf removal according to the visual recognition and localisation, and then the adsorbed yellow-rotten leaf was lifted by air pipes. Finally, the leaf was clamped and removed along the flipping-tearing-twisting trajectory. The adsorbing pressure, adsorbing position, and clamping position for yellow-rotten leaf removal were confirmed by the adsorbing and stretching tests. To improve the leaf removal success rate, the tearing angle, flipping angle, and torsional time radio were optimised by Box-Behnken tests. A quadratic model for the three factors and leaf removal success rate was established to analyse the orders of significance, and the order of significance for single factor was (i) the tearing angle, (ii) the flipping angle, and (iii) the torsional time radio. The order of significance for interaction terms was (i) the flipping angle and tearing angle, and (ii) the flipping angle and torsional time ratio. The solved optimal combination of factors was a flipping angle of 100.5°, a tearing angle of 131.0°, and a torsional time ratio of 0.68, which gave the maximum leaf removal success rate. The optimal combination of factors was verified, and the leaf removal process was shot by high speed camera. The verification tests showed that the maximum leaf removal success rate was 82.8%, and the leaf removal process took 6.58 s, meeting the requirements of yellow-rotten leaf removal for hydroponic lettuce.</p></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"247 ","pages":"Pages 175-190"},"PeriodicalIF":4.4000,"publicationDate":"2024-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biosystems Engineering","FirstCategoryId":"97","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1537511024002125","RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AGRICULTURAL ENGINEERING","Score":null,"Total":0}
引用次数: 0
Abstract
To intelligently remove the yellow-rotten leaf of hydroponic lettuce, a new leaf removal method was proposed. The lettuce position was adjusted for yellow-rotten leaf removal according to the visual recognition and localisation, and then the adsorbed yellow-rotten leaf was lifted by air pipes. Finally, the leaf was clamped and removed along the flipping-tearing-twisting trajectory. The adsorbing pressure, adsorbing position, and clamping position for yellow-rotten leaf removal were confirmed by the adsorbing and stretching tests. To improve the leaf removal success rate, the tearing angle, flipping angle, and torsional time radio were optimised by Box-Behnken tests. A quadratic model for the three factors and leaf removal success rate was established to analyse the orders of significance, and the order of significance for single factor was (i) the tearing angle, (ii) the flipping angle, and (iii) the torsional time radio. The order of significance for interaction terms was (i) the flipping angle and tearing angle, and (ii) the flipping angle and torsional time ratio. The solved optimal combination of factors was a flipping angle of 100.5°, a tearing angle of 131.0°, and a torsional time ratio of 0.68, which gave the maximum leaf removal success rate. The optimal combination of factors was verified, and the leaf removal process was shot by high speed camera. The verification tests showed that the maximum leaf removal success rate was 82.8%, and the leaf removal process took 6.58 s, meeting the requirements of yellow-rotten leaf removal for hydroponic lettuce.
期刊介绍:
Biosystems Engineering publishes research in engineering and the physical sciences that represent advances in understanding or modelling of the performance of biological systems for sustainable developments in land use and the environment, agriculture and amenity, bioproduction processes and the food chain. The subject matter of the journal reflects the wide range and interdisciplinary nature of research in engineering for biological systems.