Geometric based apple suction strategy for robotic packaging  

作　　者：Zhong Wang Qingyu Wang Mingzhao Lou Fan Wu Yaonan Zhu Dong Hu Mingchuan Zhou Yibin Ying 

机构地区：[1]College of Optical,Mechanical and Electrical Engineering,Zhejiang A&F University,Hangzhou 311300,China [2]College of Biosystems Engineering and Food Science,Zhejiang University,Hangzhou 310058,China [3]Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province,Zhejiang University,Hangzhou 310058,China [4]Department of Micro-Nona Mechanical Science and Engineering,Nagoya University,Furo-cho,Chikusa-ku,Nagoya 464-8601,Japan

出　　处：《International Journal of Agricultural and Biological Engineering》2024年第3期12-20,共9页国际农业与生物工程学报（英文）

基　　金：supported and funded by the National Natural Science Foundation of China under Grant No.U20A2019.

摘　　要：Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and labor-intensive.Therefore,a robust suction strategy for robotic manipulation needs to be developed.In this research,a geometric-based apple suction strategy for robotic packaging was studied,including suction cup design,optimal suction region selection algorithm,and robot system integration.In the first place,on the basis of the geometric features of the spheroid fruit,the structure of the suction cups was designed to provide reliable suction force.Then,suction force measurement experiments on both acrylic balls and apples were conducted.Based on the results,the parameters of the suction cup were finally determined.The results also indicated that the curvature radius of the suction region is supposed to larger than that of the suction cups.Furthermore,a robust suction region selection algorithm was developed,which involves four steps:RGB-D information acquisition,object detection and point cloud generation,spherical fitting,and suction region selection.Finally,the above methods were integrated into a robotic packaging system.In addition,on the basis of spatial-frequency domain imaging(SFDI)technology,early stage bruise was detected for validation.The results showed that,the proposed suction strategy and system is potential for robust robotic apple packaging.

关 键 词：APPLE suction cup robotic packaging robotic manipulation point cloud 

分 类 号：S377[农业科学—农产品加工] TP242[农业科学—农艺学]