Analysis of the impact of damage rate on the performance of orange fruit harvesting robot

IF 5.9 2区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY
Sadaf Zeeshan , Tauseef Aized , Fahid Riaz
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Abstract

Reducing damage rates is paramount for optimizing the efficiency of fruit harvesting robots and advancing their journey towards commercial viability. Despite the crucial role that damage rates play in determining fruit quality and marketability, there is a notable lack of comprehensive and in-depth studies analyzing this aspect, especially within the context of fruit harvesting robots. Most research tends to prioritize metrics such as success rate and accuracy of fruit picking, leaving the examination of damage rates relatively overlooked. This study fills this gap by conducting a thorough examination of the factors contributing to damage rates in fruit harvesting robots, including the causes of damage, the types and sizes of bruises incurred, and the impact of occlusion, illumination conditions, and end effector orientation. Additionally, the research investigates strategies for minimizing damage rates, offering insights into optimizing fruit harvesting techniques to reduce potential damage. Occlusion, illumination, and gripper angle were found to significantly influence fruit damage. Specifically, a 10 % increase in occlusion raised damage by 1.18 %, a 100 Lumen/m2 increase in illumination reduced damage by 10.5 %, and deviation from the optimal 90° gripper angle increased damage by 1.8 % per 10° shift. Overall, proper fruit orientation reduced damage by 40 %, minimal occlusion by 36 %, and optimal illumination by 25 %. A multiple linear regression model explained the variance in damage rate (R2 = 0.924) and achieved a low RMSE of 1.85 %, demonstrating high predictive accuracy and validating the model’s reliability in quantifying the influence of harvesting parameters. By investigating these aspects and exploring strategies for minimizing damage, the study aims to advance fruit harvesting robotics and contribute to the successful commercialization of this technology.
破损率对橙子收获机器人性能的影响分析
降低损坏率对于优化水果收获机器人的效率和推进其商业可行性至关重要。尽管损伤率在决定水果品质和适销性方面起着至关重要的作用,但明显缺乏对这方面的全面和深入的研究,特别是在水果收获机器人的背景下。大多数研究倾向于优先考虑水果采摘的成功率和准确性等指标,而对损害率的检查相对被忽视。这项研究填补了这一空白,通过对影响水果收获机器人损伤率的因素进行彻底的检查,包括损伤的原因、擦伤的类型和大小、遮挡、照明条件和末端执行器方向的影响。此外,该研究还调查了降低损害率的策略,为优化水果收获技术以减少潜在损害提供了见解。遮挡、光照和夹持角度对果实损伤有显著影响。具体来说,遮挡增加10%会增加1.18%的伤害,照明增加100流明/平方米会减少10.5%的伤害,偏离最佳90°夹持角度每10°移动会增加1.8%的伤害。总的来说,适当的水果方向减少了40%的伤害,最小遮挡减少了36%,最佳照明减少了25%。多元线性回归模型解释了毁伤率的方差(R2 = 0.924), RMSE为1.85%,显示了较高的预测精度,验证了模型在量化收获参数影响方面的可靠性。通过研究这些方面并探索最小化损害的策略,该研究旨在推进水果收获机器人,并为该技术的成功商业化做出贡献。
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
Ain Shams Engineering Journal
Ain Shams Engineering Journal Engineering-General Engineering
CiteScore
10.80
自引率
13.30%
发文量
441
审稿时长
49 weeks
期刊介绍: in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.
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