An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline
Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbi...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Yuanjie Liu [verfasserIn] Hongmei Xia [verfasserIn] Junjie Feng [verfasserIn] Linhuan Jiang [verfasserIn] Liuquan Li [verfasserIn] Zhao Dong [verfasserIn] Kaidong Zhao [verfasserIn] Jiamou Zhang [verfasserIn] |
|---|
| Format: |
E-Artikel |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
In: Agronomy - MDPI AG, 2012, 13(2023), 2, p 476 |
|---|---|
| Übergeordnetes Werk: |
volume:13 ; year:2023 ; number:2, p 476 |
| Links: |
|---|
| DOI / URN: |
10.3390/agronomy13020476 |
|---|
| Katalog-ID: |
DOAJ081033613 |
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| 520 | |a Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. | ||
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10.3390/agronomy13020476 doi (DE-627)DOAJ081033613 (DE-599)DOAJ0cbf396bc60045f39c49633e8b0b04c8 DE-627 ger DE-627 rakwb eng Yuanjie Liu verfasserin aut An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. hydroponic leafy vegetable harvesting hydroponic Chinese kale grabbing mechanism Agriculture S Hongmei Xia verfasserin aut Junjie Feng verfasserin aut Linhuan Jiang verfasserin aut Liuquan Li verfasserin aut Zhao Dong verfasserin aut Kaidong Zhao verfasserin aut Jiamou Zhang verfasserin aut In Agronomy MDPI AG, 2012 13(2023), 2, p 476 (DE-627)658000543 (DE-600)2607043-1 20734395 nnns volume:13 year:2023 number:2, p 476 https://doi.org/10.3390/agronomy13020476 kostenfrei https://doaj.org/article/0cbf396bc60045f39c49633e8b0b04c8 kostenfrei https://www.mdpi.com/2073-4395/13/2/476 kostenfrei https://doaj.org/toc/2073-4395 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2023 2, p 476 |
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10.3390/agronomy13020476 doi (DE-627)DOAJ081033613 (DE-599)DOAJ0cbf396bc60045f39c49633e8b0b04c8 DE-627 ger DE-627 rakwb eng Yuanjie Liu verfasserin aut An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. hydroponic leafy vegetable harvesting hydroponic Chinese kale grabbing mechanism Agriculture S Hongmei Xia verfasserin aut Junjie Feng verfasserin aut Linhuan Jiang verfasserin aut Liuquan Li verfasserin aut Zhao Dong verfasserin aut Kaidong Zhao verfasserin aut Jiamou Zhang verfasserin aut In Agronomy MDPI AG, 2012 13(2023), 2, p 476 (DE-627)658000543 (DE-600)2607043-1 20734395 nnns volume:13 year:2023 number:2, p 476 https://doi.org/10.3390/agronomy13020476 kostenfrei https://doaj.org/article/0cbf396bc60045f39c49633e8b0b04c8 kostenfrei https://www.mdpi.com/2073-4395/13/2/476 kostenfrei https://doaj.org/toc/2073-4395 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2023 2, p 476 |
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10.3390/agronomy13020476 doi (DE-627)DOAJ081033613 (DE-599)DOAJ0cbf396bc60045f39c49633e8b0b04c8 DE-627 ger DE-627 rakwb eng Yuanjie Liu verfasserin aut An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. hydroponic leafy vegetable harvesting hydroponic Chinese kale grabbing mechanism Agriculture S Hongmei Xia verfasserin aut Junjie Feng verfasserin aut Linhuan Jiang verfasserin aut Liuquan Li verfasserin aut Zhao Dong verfasserin aut Kaidong Zhao verfasserin aut Jiamou Zhang verfasserin aut In Agronomy MDPI AG, 2012 13(2023), 2, p 476 (DE-627)658000543 (DE-600)2607043-1 20734395 nnns volume:13 year:2023 number:2, p 476 https://doi.org/10.3390/agronomy13020476 kostenfrei https://doaj.org/article/0cbf396bc60045f39c49633e8b0b04c8 kostenfrei https://www.mdpi.com/2073-4395/13/2/476 kostenfrei https://doaj.org/toc/2073-4395 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2023 2, p 476 |
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10.3390/agronomy13020476 doi (DE-627)DOAJ081033613 (DE-599)DOAJ0cbf396bc60045f39c49633e8b0b04c8 DE-627 ger DE-627 rakwb eng Yuanjie Liu verfasserin aut An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. hydroponic leafy vegetable harvesting hydroponic Chinese kale grabbing mechanism Agriculture S Hongmei Xia verfasserin aut Junjie Feng verfasserin aut Linhuan Jiang verfasserin aut Liuquan Li verfasserin aut Zhao Dong verfasserin aut Kaidong Zhao verfasserin aut Jiamou Zhang verfasserin aut In Agronomy MDPI AG, 2012 13(2023), 2, p 476 (DE-627)658000543 (DE-600)2607043-1 20734395 nnns volume:13 year:2023 number:2, p 476 https://doi.org/10.3390/agronomy13020476 kostenfrei https://doaj.org/article/0cbf396bc60045f39c49633e8b0b04c8 kostenfrei https://www.mdpi.com/2073-4395/13/2/476 kostenfrei https://doaj.org/toc/2073-4395 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2023 2, p 476 |
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An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline hydroponic leafy vegetable harvesting hydroponic Chinese kale grabbing mechanism |
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An Enveloping, Centering, and Grabbing Mechanism for Harvesting Hydroponic Leafy Vegetables Cultivated in Pipeline |
| abstract |
Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. |
| abstractGer |
Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. |
| abstract_unstemmed |
Manually harvesting hydroponic leafy vegetables from a cultivation pipeline is labor-intensive and expensive. Rapidly grabbing hydroponic leafy vegetables grown in different positions and orientations in the planting hole is the primary issue for efficient mechanical harvesting. Thus, a novel grabbing mechanism with double-pivot rotation cross fingers is proposed. The fingers’ inner surfaces could envelop the grabbable area of the leafy vegetable in the grasping process and position each leafy vegetable stalk to the center of the planting hole before taking it out. A grabbing mechanism for harvesting hydroponic Chinese kale was designed and optimized with less than 1 mm of grasping error, enough enveloping range, and no collision with the extended leaves. Laboratory experiments were conducted to investigate centering and grabbing at different initial positions and inclination angles of the hydroponic Chinese kale and varied finger deflection speeds. It was indicated that for the grasping inclination angle and grabbing success rate, the initial inclination angle was a significant factor, as was the position, whereas the finger deflection speed was insignificant. As the initial inclination angle of matured hydroponic Chinese kale in different initial positions is mostly larger than 60°, the best results were achieved with a finger deflection speed in the range of 40° s<sup<−1</sup< to 60° s<sup<−1</sup< and grasping inclination angles of 85° to 95°, with a grabbing success rate of more than 95%. This showed the promising applicability of the studied grabbing mechanism for harvesting hydroponic Chinese kale or other varieties of leafy hydroponic vegetables with similar growth characteristics. |
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