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

Torregrosa, A.; Albert, Francisco; Aleixos, Nuria; Ortíz, Coral; Blasco, José

doi:10.1016/j.biosystemseng.2013.12.010

Cited by 47 publications

(31 citation statements)

References 22 publications

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“…All studied cultivars showed high susceptibility of FDF and FDF/FW ratio to stalk twisting, while some a greater angle with the pistil-calyx axe (Torregrosa et al, 2014). Furthermore, in manual apple picking bend and pull forces are combined to reduce detachment energy as compared to the application of sole pulling force (Li et al, 2016).…”

Section: Resultsmentioning

confidence: 99%

Olive fruit detachment force against pulling and torsional stress

Castillo-Ruiz¹,

Tombesi²,

Farinelli³

2018

Span. j. agric. res.

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Olive harvesting often requires high hand labour, considering that workers, with long poles or hand held devices, aid trunk shaker due to low harvesting efficiency. Currently, fruit detachment force (FDF) and fruit fresh weight were used to predict harvesting efficiency, although during harvesting process, fruit is subjected to bending and twisting movement besides pulling forces simulated by FDF measurements. For these reasons, the aim of the present study was to determine FDF evolution under different stalk twisting angles. In order to provide more information about mechanical behaviour of olive stalk, a trial was carried out during ripening process on four olive (Olea europaea L.) cultivars: Frantoio, Arbequina, Leccino and Maurino. FDF under traction force was measured after applying different stalk twisting angles (0°, 90°, 180°, 270°, 360°, 540°, 720º). FDF was considered to be 0 when fruit was detached from the bearing branch during the twisting process. Fruit weight, firmness, ripeness index and oil content were also measured to determine the optimal period for olive harvesting and olive ripening stage at each sampling date. FDF was significantly reduced, usually over 180º, when stalk was rotated before applying the pull force to measure FDF, keeping differences along fruit ripening process. Moreover, stalk twisting was an important variable for olive detachment, considering that fruits detached without pulling forces varied between 10.7 and 58.8% of the total fruits according with the different sampling dates. For these reasons, present and future harvesting systems, should take advantage of stalk susceptibility against torsion or bending strain to increase harvesting efficiency.Additional keywords: fruit retention force; olive harvesting; stalk twisting; stalk spinning; fruit rotation; trunk shaker; fruit physics. Abbreviations used: DOY (day of year according to National Snow and Data Center -NSIDC-, from 1 to 365 or 366 in a leap year); FDF (fruit detachment force, this value represents the pulling force at which fruit was detached from bearing branches); FW (fruit fresh weight).

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Section: Resultsmentioning

confidence: 99%

Olive fruit detachment force against pulling and torsional stress

Castillo-Ruiz¹,

Tombesi²,

Farinelli³

2018

Span. j. agric. res.

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“…The frequency in the stable zone was 32 Hz and the trunk displacement, measured on a trunk 237 mm diameter, at 0.5 m above the ground was 13 mm pick to pick. This vibration of the high frequency and low displacement is not the most effective for citrus trees, as in these crops it is more efficient to use lower frequencies and higher displacements [9,10].…”

Section: Trunk Shaker With Umbrellamentioning

confidence: 99%

“…The most suitable vibrational parameters have been studied, and the possible damages to the trees bark, leaves, and trunks have also been analyzed, finding that if the duration of the vibration is not excessive, there are not, usually, any problems observed on the trees. Low frequencies (5)(6)(7)(8)(9)(10) combined with high amplitudes, more than 0.1 m, are highly effective in fruit detaching with low defoliation. However, this can only be applied to trees with long trunks, attaching the shaker at a high point.…”

Section: Introductionmentioning

confidence: 99%

“…When the shaker must be applied to the trunk closer to the ground, the amplitudes must be reduced to between 20-30 mm. As a consequence, to obtain a good detachment percentage, the frequency must be increased (15)(16)(17)(18)(19)(20)(21)(22)(23)(24)(25), but the shakes must be of short duration, of less than 10 s to avoid excessive defoliation [8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

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Mechanical Harvesting of Ornamental Citrus Trees in Valencia, Spain

et al. 2019

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Citrus trees are used as ornamental plants in several Spanish cities. They give a nice color to the streets and a nice scent in the flowering stage, but when the fruits fall, they dirty the roads and pavements, and can cause accidents; this is the reason why gardeners must detach and collect the fruits. This task is being done manually, but it is quite inefficient and expensive. In this study, three types of machines have been used to mechanize this task: a trunk shaker with umbrella, a trunk shaker hitched to an orchard tractor, and an experimental smaller sized shaker that can be attached to small and pedestrian tractors. The shaking patterns used by each equipment, detachment percentages, mobility constraints, and tree damage have been measured, and reduction costs have been estimated. After three years of study, the system has been fully accepted by both gardeners and citizens.

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“…These systems of fruit inspection in the field are even more necessary when the fruit is harvested using mechanical methods, such as canopy shakers (Torregrosa et al 2014), because these devices are not selective and harvest all the fruit regardless of its condition (Chinchuluun et al 2009). For these cases, it is also important to measure the amount of fruit harvested and obtain statistics about some quality like size or estimated weight.…”

Section: Inspection Of Fruit In the Field Using Mobile Platformsmentioning

confidence: 99%

Automated Systems Based on Machine Vision for Inspecting Citrus Fruits from the Field to Postharvest—a Review

Cubero

Lee

Albert

et al. 2016

Food Bioprocess Technol

102

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Computer vision systems are becoming a scientific but also a commercial tool for food quality assessment. In the field, these systems can be used to predict yield, as well as for robotic harvesting or the early detection of potentially dangerous diseases. In postharvest handling, it is mostly used for the automated inspection of the external quality of the fruits and for sorting them into commercial categories at very high speed. More recently, the use of hyperspectral imaging is allowing not only the detection of defects in the skin of the fruits but also their association to certain diseases of particular importance. In the research works that use this technology, wavelengths that play a significant role in detecting some of these dangerous diseases are found, leading to the development of multispectral imaging systems that can be used in industry. This article reviews recent works that use colour and non-standard computer vision systems for the automated inspection of citrus. It explains the different technologies available to acquire the images and their use for the non-destructive inspection of internal and external features of these fruits. Particular attention is paid to inspection for the early detection of some dangerous diseases like citrus canker, black spot, decay or citrus Huanglongbing.

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

Cited by 47 publications

References 22 publications

Olive fruit detachment force against pulling and torsional stress

Olive fruit detachment force against pulling and torsional stress

Mechanical Harvesting of Ornamental Citrus Trees in Valencia, Spain

Automated Systems Based on Machine Vision for Inspecting Citrus Fruits from the Field to Postharvest—a Review

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