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Modelling tomato pericarp microstructure as force control reference for harvesting robot.

Weigui Xie1,2, Jinchen Yang1, Zhenhua Tan1

  • 1School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, P. R. China.

Journal of the Science of Food and Agriculture
|March 18, 2024
PubMed
Summary

A new Voronoi-based model reconstructs tomato pericarp cellular structure. This method simulates cell compression, accurately predicting internal damage and improving robotic harvesting success rates.

Keywords:
Voronoicellular structuremodellingtomato

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Area of Science:

  • Agricultural Robotics
  • Biomechanical Engineering
  • Materials Science

Background:

  • Intelligent automation advances fruit harvesting, but tomato picking success rates need improvement due to internal, machine-vision-imperceptible damage.
  • Current robotic harvesting methods struggle to prevent subtle internal fruit damage during tomato picking.

Purpose of the Study:

  • To develop a novel modeling method for reconstructing the cellular structure of tomato pericarp.
  • To simulate the mechanical behavior of tomato pericarp at a cellular level to identify potential damage points.

Main Methods:

  • A modified Voronoi algorithm was employed to create a micro-model of the tomato pericarp's cellular structure.
  • Compression simulations were performed on the reconstructed micro-model to analyze internal stress and predict damage.

Main Results:

  • The simulation results for pericarps of varying ripeness showed high consistency with experimental tests.
  • The developed modeling and simulation method was validated for its feasibility in predicting internal fruit damage.

Conclusions:

  • The Voronoi-based modeling method accurately reconstructs tomato pericarp cellular structure and predicts compression behavior.
  • This approach provides a reference for enhancing robotic harvesting by optimizing grasping force control, thereby reducing invisible damage and improving overall robot performance.