Crack removal of carrot based on the Cartesian robot with a novel path planning method

IF 5.3 2区农林科学 Q1 ENGINEERING, CHEMICAL

Journal of Food Engineering Pub Date : 2024-10-29 DOI:10.1016/j.jfoodeng.2024.112381

Weijun Xie , Kai Huang , Shuo Wei , Hanyu Fu , Deyong Yang

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引用次数: 0

Abstract

The goal of this study was to develop a removal device based on Cartesian robot with a three-dimensional vision for carrot crack removal. In this study, the adaptive method of feedrate scheduling and path interpolation were proposed, and a crack removal device was designed with a Cartesian robot and a Time-of-Flight sensor. S-shape acceleration/deceleration and bi-direction scanning algorithms were developed to schedule the feedrate and combined with Taylor expansions to generate interpolation points of removal path within the multi-constraints of non-uniform rational B-spline curve and robot. After feedrate scheduling and path interpolation, the profiles of feedrate and path were smoothed to avoid violent fluctuations in feedrate and acceleration, relieving the shock vibration of robot and improving removal accuracy. A crack removal device based on a Cartesian robot and a Time-of-Flight sensor was built with the developed removal method to remove the carrot crack. The proposed removal technology for carrot crack can provide a reference for defect removal in other fruits and vegetables.

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基于直角坐标机器人的胡萝卜裂纹清除技术与新型路径规划方法

本研究的目标是开发一种基于笛卡尔机器人的胡萝卜裂纹清除装置，该装置具有三维视觉功能。本研究提出了进给量调度和路径插值的自适应方法，并设计了一种带有直角坐标机器人和飞行时间传感器的裂纹清除装置。在非均匀有理 B-样条曲线和机器人的多重约束条件下，开发了 S 型加减速和双向扫描算法来调度进给速率，并结合泰勒展开生成切除路径的插值点。在进行进给速率调度和路径插值后，对进给速率和路径曲线进行平滑处理，以避免进给速率和加速度的剧烈波动，从而缓解机器人的冲击振动，提高清除精度。利用所开发的清除方法，构建了一个基于直角坐标机器人和飞行时间传感器的裂纹清除装置，用于清除胡萝卜裂纹。所提出的胡萝卜裂纹去除技术可为其他水果和蔬菜的缺陷去除提供参考。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Food Engineering 工程技术-工程：化工

CiteScore

11.80

自引率

5.50%

发文量

275

审稿时长

24 days

期刊介绍： The journal publishes original research and review papers on any subject at the interface between food and engineering, particularly those of relevance to industry, including: Engineering properties of foods, food physics and physical chemistry; processing, measurement, control, packaging, storage and distribution; engineering aspects of the design and production of novel foods and of food service and catering; design and operation of food processes, plant and equipment; economics of food engineering, including the economics of alternative processes. Accounts of food engineering achievements are of particular value.