Effects of maturity of citrus fruits on their stalks cutting force
Keywords:
us fruit harvesting, cutting force of citrus fruit stalks, citrus fruit maturity, mechanical regression modelAbstract
When the citrus harvesting robot harvests citruses, the mechanical properties of citrus stalks have an important influence on the success rate of the citrus harvesting robot. During the harvesting, the maturity of citrus fruits not only determined the harvesting time of citrus fruits but also affected the mechanical properties of citrus fruit stalks. In this study, the changes in the cutting force of citrus fruit stalks were described during the maturity of citrus fruits, and the effect of the maturity on the cutting force of stalks was clarified, so as to determine the harvesting time with the minimum cutting force required for harvesting citrus fruits by the harvesting robot. During the maturity, the relevant parameters of fruit maturity, such as the hardness, pH, and solid solution content of citrus fruits, were monitored. The results showed that there is a significant correlation between the hardness, pH, the solid solution content of citrus fruits, and the cutting force of citrus fruit stalks during maturity. The single-factor mechanical model of hardness, pH, solid solution content of citrus fruits, and the cutting force of citrus fruit stalks were established based on the data of 2019, which were verified through tests in 2020. The test results are as follows: during the ripening period of citrus fruits, the fruit hardness varies in the range of 0.13-0.31 MPa, the hardness changes by 0.02 MPa, and the cutting force changes by about 2.0-6.0 N; the pH of the citrus fruits changes in the range of 2.8-4.0, and the cutting force changes by about 1.5-2.2 N for every 0.1 change in the pH; the variation range of fruit solid solution content is 6.5%-9.0%, and for every 0.2% change in solid solution, the cutting force of citrus fruit stalks changes by about 1.25-2.0 N. The mechanical models can predict the cutting force required to cut off citrus fruit stalks according to the relevant parameters of citrus fruit maturity and can provide a reference for effectively evaluating the required cutting force. Keywords: citrus fruit harvesting, cutting force of citrus fruit stalks, citrus fruit maturity, mechanical regression model DOI: 10.25165/j.ijabe.20221505.7063 Citation: Wang Y, Liu D, Li Y L, Zhao H M, Yang C H, Zhang Y T. Effects of maturity of citrus fruits on their stalks cutting force. Int J Agric & Biol Eng, 2022; 15(5): 23–30.References
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[33] Chen F, Cui N B, Jiang S Z, Li H P, Wang Y S, Gong D Z, et al. Effects of water deficit at different growth stages under drip irrigation on fruit quality of citrus in the humid areas of South China. Agricultural Water Management, 2021; 262: 107407. doi: 10.1016/j.agwat.2021. 107407
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[2] Ladaniya M S. Citrus fruit. 215–VIII, New York: American Academic Press, 2007; 215p.
[3] Berk Z. Agricultural production practice. Citrus Fruit Processing, 2016; pp.65–82. New York: American Academic Press. doi: 10.1016/b978-0-12-803133-9.00004-7.
[4] Liu T H, Luo G, Ehsani R, Toudeshki A, Zou X J, Wang H J. Simulation study on the effects of tine-shaking frequency and penetrating depth on fruit detachment for citrus canopy-shaker harvesting. Computers and Electronics in Agriculture, 2018; 148: 54–62.
[5] Ma J, Wang Y, He Y, Wang K, Zhang Y. Motion planning of citrus harvesting manipulator based on informed guidance point of configuration space. Transactions of the CSAE, 2019; 35(8): 100–108. (in Chinese)
[6] Mehta S S, Mackunis W, Burks T F. Robust visual servo control in the presence of fruit motion for robotic citrus harvesting. Computers and Electronics in Agriculture, 2016; 123: 362–375.
[7] Bu L X, Chen C K, Hu G R, Zhou J G, Sugirbay A, Chen J. Investigating the dynamic behavior of an apple branch-stem-fruit model using experimental and simulation analysis. Computers and Electronics in Agriculture, 2021; 186(1468-1480): 106224. doi: 10.1016/j.compag.2021. 106224.
[8] Liu J. Analysis on the research progress of robot picking technology in greenhouse. Transactions of the CSAM, 2017; 48(12): 1–18. (in Chinese)
[9] Zhang Y, Jiang S, Chen B, Lu H, Wan C, Kang F. Review on Technology and Equipment of Mechanization in Hilly Orchard. Transactions of the CSAM, 2020; 51(11): 8–27. (in Chinese)
[10] Wang Y, Yang Y, Yang C H, Zhao H M, Chen G B, Zhang Z, et al. End-effector with a bite mode for harvesting citrus fruit in random stalk orientation environment. Computers and Electronics in Agriculture, 2019; 157: 454–470.
[11] Liu Q, Qu Y, Qing S, Wang W. Research progress on mechanical properties of crop stalks. Transactions of the Chinese Society for Agricultural Machinery, 2007; 38(7): 172–176. (in Chinese)
[12] Jun J, Kim J, Seol J, Kim J, Son H I. Towards an efficient tomato harvesting robot: 3d perception, manipulation, and end-effector. IEEE Access, 2021; 9: 17631–17640.
[13] Xiong Y, Ge Y Y, Grimstad L, From P J. An autonomous strawberry-harvesting robot: design, development, integration, and field evaluation. Journal of Robotic Systems, 2020; 37(2): 202–224.
[14] Guan J, Ma Z, Zhang H, Wang Q. Changes of stalk structure and Ca Mg and K levels during apple young fruit development. Journal of Plant Nutrition and Fertilizers, 2005; 2: 125–129. (in Chinese)
[15] Croes A F, Derksen R, Kemp A, Wezel H V, Barendse G W M. Influence of the developing fruit on aging of the floral stalk tissue with respect to flower bud regeneration in vitro. Journal of Plant Physiology, 1986; 125(1-2): 61–68.
[16] Wang Y, Yang Y, Zhao H M, Liu B, Ma J T, He Y, et al. Effects of cutting parameters on cutting of citrus fruit stems. Biosystems Engineering, 2020; 193: 1–11.
[17] Wang Y, Zhang Y T, Yang Y, Zhao H M, Yang C H, He Y, et al. Discrete element modelling of citrus fruit stalks and its verification. Biosystems Engineering, 2020; 200: 400–414.
[18] Du Z, Hu Y G, Buttar N A. Analysis of mechanical properties for tea stem using grey relational analysis coupled with multiple linear regression. Scientia Horticulturae, 2019; 260: 10886. doi: 10.1016/j.scienta.2019. 108886
[19] Roshanianfard A, Noguchi N. Characterization of pumpkin for a harvesting robot. IFAC-PapersOnLine, 2018; 51(17): 23–30.
[20] Kathirselvam M, Kumaravel A, Arthanarieswaran V P, Saravanakumar S S. Assessment of cellulose in bark fibers of Thespesia populnea: influence of stem maturity on fiber characterization. Carbohydrate Polymers, 2019; 212: 439–449.
[21] Yuan Q X, Hu L. Experimental analysis of influencing factors of cutting resistance of lotus root. Transactions of the CSAM, 2008; 39(2): 208–211. (in Chinese)
[22] Xin Q Q, Lv Z Q, Zhang W Z, Liu L M, Cheng X X. Study on mechanical and physical parameters of potato vine at maturity stage. Journal of Agricultural Mechanization Research, 2020; 42(1): 179–184. (in Chinese)
[23] Hao Z, Jing H, Li T, Wu X, Svanberg S, Svanberg K. Studies of tropical fruit ripening using three different spectroscopic techniques. Journal of Biomedical Optics, 2014; 19(6): 067001. doi: 10.1117/1.JBO.19.6. 067001.
[24] Nielsen S S. Correction to: Food Analysis Fifth Edition. Food Analysis. Berlin: Springer, Cham, 2019; pp.C1–C3.
[25] Luro F, Mimoun M B, Selmane R, Khefifi H, Tadeo F R, Morillon R. Effect of environment on citrus fruit abscission and maturation. Acta Horticulturae, 2016; 1119: 59–64.
[26] Multari S, Licciardello C, Caruso M, Martens S. Monitoring the changes in phenolic compounds and carotenoids occurring during fruit development in the tissues of four citrus fruits. Food Research International, 2020; 109228. doi: 10.1016/j.foodres.2020.109228.
[27] Ladaniya M S. Growth maturity grade standards and physico-mechanical characteristics of fruit. Citrus Fruit: Biology, Technology and Evaluation. Academic Press, 2008; pp.191–213.
[28] Meteorological data service. National Meteorological Information Center of China. http://data.cma.cn/dataService/cdcindex/datacode/SEVP_ EUA_WEFC_TMAP/show_value/normal.html. Accessed on [2021-04-13].
[29] Pourdarbani R, Sabzi S, Kalantari D, Karimzadeh R, Ilbeygi E, Arribas J I. Automatic non-destructive video estimation of maturation levels in Fuji apple (Malus Malus pumila) fruit in orchard based on colour (Vis) and spectral (NIR) data. Biosystems Engineering, 2020; 195: 136–151.
[30] Chen J Q, Wu J H, Wang Z K, Qiang H, Cai G W, Tan C Z, et al. Detecting ripe fruits under natural occlusion and illumination conditions. Computers and Electronics in Agriculture, 2021; 190: 106450. doi: 10.1016/j.compag. 2021.106450
[31] Cong L, Li D, Huang X, Zhang F, Xie Z, Zhang H, et al. Manual thinning increases fruit size and sugar content of Citrus reticulata Blanco and affects hormone synthesis and sugar transporter activity. Journal of Integrative Agriculture, 2022; 21(3): 725–735.
[32] Wang Y, Liu D, Zhang Y T, He Y, Zhao H M, Wang K, et al. A mechanical model of cutting citrus fruit stems based on partial least squares method. Transactions of the ASABE, 2021; 64(2): 577–586.
[33] Chen F, Cui N B, Jiang S Z, Li H P, Wang Y S, Gong D Z, et al. Effects of water deficit at different growth stages under drip irrigation on fruit quality of citrus in the humid areas of South China. Agricultural Water Management, 2021; 262: 107407. doi: 10.1016/j.agwat.2021. 107407
[34] Jiang S, Bao H G, Cai J R, Liu R X, Jia Y, Cui Z P. Study on mechanical parameters of orange at different maturity stages. Science and Technology of Food Industry, 2009; 12: 117–119. (in Chinese)
[35] Ling Q H, Sadali N M, Soufi Z, Zhou Y, Huang B Q, Zeng Y L, et al. The chloroplast-associated protein degradation pathway controls chromoplast development and fruit ripening in tomato. Nature Plants, 2021; 7(5): 655–666.
[36] Qing X Y, Niu Y G. Hourly day-ahead solar irradiance prediction using weather forecasts by LSTM. Energy, 2018; 148: 461–468.
[37] Gao J, Bian H Y, Zhu C J, Tang S. The response of key ecosystem services to land use and climate change in Chongqing: Time, space, and altitude. Journal of Geographical Sciences, 2022; 32(2): 317–332.
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Published
2022-12-27
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Wang, Y., Liu, D., Li, Y., Zhao, H., Yang, C., & Zhang, Y. (2022). Effects of maturity of citrus fruits on their stalks cutting force. International Journal of Agricultural and Biological Engineering, 15(6), 23–30. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/7063
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Applied Science, Engineering and Technology
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