Analysis of the detachment of citrus fruits by vibration using artificial vision

The vibratory behaviour of citrus fruits is studied using slow-motion cameras in order to gain a better understanding of the parameters involved in fruit detachment when mechanical harvesting is done using shakers. Single citrus fruits with a small portion of stem were vibrated using strokes from 60...

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Detalles Bibliográficos
Autores: Torregrosa, A.|||0000-0003-1122-5187, Albert Gil, Francisco Eugenio|||0000-0001-9452-614X, Aleixos Borrás, María Nuria|||0000-0001-6051-3375, Ortiz Sánchez, María Coral|||0000-0002-2744-6964, Blasco Ivars, José
Tipo de recurso: artículo
Fecha de publicación:2014
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/63535
Acceso en línea:https://riunet.upv.es/handle/10251/63535
Access Level:acceso abierto
Palabra clave:Citrus
Mechanical harvesting
Computer vision
Robot
Machine
Shaker
Image processing
Slow motion
INGENIERIA AGROFORESTAL
EXPRESION GRAFICA EN LA INGENIERIA
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spelling Analysis of the detachment of citrus fruits by vibration using artificial visionTorregrosa, A.|||0000-0003-1122-5187Albert Gil, Francisco Eugenio|||0000-0001-9452-614XAleixos Borrás, María Nuria|||0000-0001-6051-3375Ortiz Sánchez, María Coral|||0000-0002-2744-6964Blasco Ivars, JoséCitrusMechanical harvestingComputer visionRobotMachineShakerImage processingSlow motionINGENIERIA AGROFORESTALEXPRESION GRAFICA EN LA INGENIERIAThe vibratory behaviour of citrus fruits is studied using slow-motion cameras in order to gain a better understanding of the parameters involved in fruit detachment when mechanical harvesting is done using shakers. Single citrus fruits with a small portion of stem were vibrated using strokes from 60 mm to 180 mm and frequencies from 3 Hz to 18 Hz. The movement was recorded at 300 fps and the main parameters considered for fruit detachment were determined through the analysis of the video sequences. Image-processing algorithms created for this purpose were applied to the automated estimation of the centroid of the fruit, the angle of the stem pistil axis, and the position of some selected points in the fruit in each frame of the video sequences to obtain dynamic parameters such as the position, speed and acceleration of the fruit during the movement until it is detached. The signals obtained from the image processing were filtered, providing results in accordance with the calibration systems. In general, results suggest that the inertial forces transmitted to the fruit were lower than the tensile forces required to detach the fruit by pulling it in the stem pistil direction. The largest peaks were observed using long strokes that required fewer cycles for detachment. On the other hand, short strokes combined with high frequencies needed more cycles, and thus a fatigue phenomenon was present. Short strokes and low frequencies were unable to detach some fruit. (C) 2014 IAgrE. Published by Elsevier Ltd. All rights reserved.This work was founded by the Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria (INIA) through the projects RTA2009-00118-C02-01 and RTA2009-00118-C02-02, and co-founded by European FEDER founds.ElsevierDepartamento de Ingeniería Rural y AgroalimentariaDepartamento de Ingeniería GráficaEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería Agronómica y del Medio NaturalGrupo de Mecanización y Tecnología AgrariaEuropean Regional Development FundRepositorio Institucional de la Universitat Politècnica de València Riunet20142014-03-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/63535reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 RTA2009-00118-C02-01 RTA2009-00118-C02-01Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 RTA2009-00118-C02-02 Optimización de los parámetros que afectan al desprendimiento y recogida de frutos cítricos mediante procedimientos mecánicosopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/635352026-06-13T07:49:27Z
dc.title.none.fl_str_mv Analysis of the detachment of citrus fruits by vibration using artificial vision
title Analysis of the detachment of citrus fruits by vibration using artificial vision
spellingShingle Analysis of the detachment of citrus fruits by vibration using artificial vision
Torregrosa, A.|||0000-0003-1122-5187
Citrus
Mechanical harvesting
Computer vision
Robot
Machine
Shaker
Image processing
Slow motion
INGENIERIA AGROFORESTAL
EXPRESION GRAFICA EN LA INGENIERIA
title_short Analysis of the detachment of citrus fruits by vibration using artificial vision
title_full Analysis of the detachment of citrus fruits by vibration using artificial vision
title_fullStr Analysis of the detachment of citrus fruits by vibration using artificial vision
title_full_unstemmed Analysis of the detachment of citrus fruits by vibration using artificial vision
title_sort Analysis of the detachment of citrus fruits by vibration using artificial vision
dc.creator.none.fl_str_mv Torregrosa, A.|||0000-0003-1122-5187
Albert Gil, Francisco Eugenio|||0000-0001-9452-614X
Aleixos Borrás, María Nuria|||0000-0001-6051-3375
Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Blasco Ivars, José
author Torregrosa, A.|||0000-0003-1122-5187
author_facet Torregrosa, A.|||0000-0003-1122-5187
Albert Gil, Francisco Eugenio|||0000-0001-9452-614X
Aleixos Borrás, María Nuria|||0000-0001-6051-3375
Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Blasco Ivars, José
author_role author
author2 Albert Gil, Francisco Eugenio|||0000-0001-9452-614X
Aleixos Borrás, María Nuria|||0000-0001-6051-3375
Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Blasco Ivars, José
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería Rural y Agroalimentaria
Departamento de Ingeniería Gráfica
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Agronómica y del Medio Natural
Grupo de Mecanización y Tecnología Agraria
European Regional Development Fund
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Citrus
Mechanical harvesting
Computer vision
Robot
Machine
Shaker
Image processing
Slow motion
INGENIERIA AGROFORESTAL
EXPRESION GRAFICA EN LA INGENIERIA
topic Citrus
Mechanical harvesting
Computer vision
Robot
Machine
Shaker
Image processing
Slow motion
INGENIERIA AGROFORESTAL
EXPRESION GRAFICA EN LA INGENIERIA
description The vibratory behaviour of citrus fruits is studied using slow-motion cameras in order to gain a better understanding of the parameters involved in fruit detachment when mechanical harvesting is done using shakers. Single citrus fruits with a small portion of stem were vibrated using strokes from 60 mm to 180 mm and frequencies from 3 Hz to 18 Hz. The movement was recorded at 300 fps and the main parameters considered for fruit detachment were determined through the analysis of the video sequences. Image-processing algorithms created for this purpose were applied to the automated estimation of the centroid of the fruit, the angle of the stem pistil axis, and the position of some selected points in the fruit in each frame of the video sequences to obtain dynamic parameters such as the position, speed and acceleration of the fruit during the movement until it is detached. The signals obtained from the image processing were filtered, providing results in accordance with the calibration systems. In general, results suggest that the inertial forces transmitted to the fruit were lower than the tensile forces required to detach the fruit by pulling it in the stem pistil direction. The largest peaks were observed using long strokes that required fewer cycles for detachment. On the other hand, short strokes combined with high frequencies needed more cycles, and thus a fatigue phenomenon was present. Short strokes and low frequencies were unable to detach some fruit. (C) 2014 IAgrE. Published by Elsevier Ltd. All rights reserved.
publishDate 2014
dc.date.none.fl_str_mv 2014
2014-03-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/63535
url https://riunet.upv.es/handle/10251/63535
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 RTA2009-00118-C02-01 RTA2009-00118-C02-01
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 RTA2009-00118-C02-02 Optimización de los parámetros que afectan al desprendimiento y recogida de frutos cítricos mediante procedimientos mecánicos
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301629

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