番茄果实串采摘点位置信息获取与试验

针对番茄收获机器人在采摘过程中果实串采摘点位置难以确定的问题,提出了基于果梗骨架角点计算方法,并利用该算法对番茄果实串果梗采摘点进行位置信息获取:首先采用最大类间方差分割法进行目标果实串分割,通过形态学方法和阈值法去除干扰,提取出目标果实串分割图像;根据果实串的质心和果串的轮廓边界确定果梗的感兴趣区域,采用快速并行细化算法提取果梗的骨架,利用Harris算法检测得到果实串第一个果实分叉点与植株主干之间果梗骨架角点,通过计算获得采摘点位置信息。然后进行验证试验,利用双目视觉图像采集系统采集了60组果实串图像并获取果梗采摘点位置信息,结果表明,采摘点位置成功率为90%,为采摘机器人提供准确的采摘位置信息。     

基于级联视觉检测的樱桃番茄自动采收系统设计与试验

樱桃番茄串生长姿态多样、果实成熟度不一，采摘机器人进行“粒收”作业时，常面临果梗干涉末端执行器、成熟度判断错误等问题，导致采摘效率低下、难以有效实现分级采收。针对上述问题，该研究提出一种级联视觉检测流程，包括采收目标检测、目标果实特性判别、果实与果梗位置关系判断3个关键环节。首先根据农艺要求按成熟度将番茄果实分为4个等级，引入YOLOv5目标检测模型对番茄串和番茄果实进行检测并输出成熟度等级，实现分期采收。然后对果实与果梗的相对位置进行判断，利用MobileNetv3网络模型对膨胀包围盒进行果实与果梗相对位置关系判断，实现末端执行器采摘位姿控制。日光温室实际测试结果表明，本文提出的级联检测系统平均推理用时22ms，在IOU(intersectionoverunion)阈值为0.5的情况下，樱桃番茄串与果实的平均检测精度达到89.9%，满足采摘机器人的视觉检测精度和实时性要求，相比末端执行器以固定角度靠近待采目标的方法，本文方法采收效率提升28.7个百分点。研究结果可为各类果蔬采摘机器人研究提供参考。     

基于RGB-D信息融合和目标检测的番茄串采摘点识别定位方法

采摘点的识别与定位是智能采摘的关键技术,也是实现高效、适时、无损采摘的重要保证。针对复杂背景下番茄串采摘点识别定位问题,提出基于RGB-D信息融合和目标检测的番茄串采摘点识别定位方法。通过YOLOv4目标检测算法和番茄串与对应果梗的连通关系,快速识别番茄串和可采摘果梗的感兴趣区域（Region of Interest,ROI）;融合RGB-D图像中的深度信息和颜色特征识别采摘点,通过深度分割算法、形态学操作、K-means聚类算法和细化算法提取果梗图像,得到采摘点的图像坐标;匹配果梗深度图和彩色图信息,得到采摘点在相机坐标系下的精确坐标;引导机器人完成采摘任务。研究和大量现场试验结果表明,该方法可在复杂近色背景下,实现番茄串采摘点识别定位,单帧图像平均识别时间为54 ms,采摘点识别成功率为93.83%,采摘点深度误差±3 mm,满足自动采摘实时性要求。     

基于多目标识别的葡萄果串采摘点定位方法

为减少采摘点定位不当导致末端碰撞损伤结果枝与果串，致使采摘失败及损伤率提高等问题，该研究提出了基于深度学习与葡萄关键结构多目标识别的采摘点定位方法。首先，通过改进YOLACT++模型对结果枝、果梗、果串等葡萄关键结构进行识别与分割；结合关键区域间的相交情况、相对位置，构建同串葡萄关键结构从属判断与合并方法。最后设计了基于结构约束与范围再选的果梗低碰撞感兴趣区域(region of interest, ROI)选择方法，并以该区域果梗质心为采摘点。试验结果表明，相比于原始的YOLACT++，G-YOLACT++边界框和掩膜平均精度均值分别提升了0.83与0.88个百分点；对单串果实、多串果实样本关键结构从属判断与合并的正确率分别为88%、90%，对关键结构不完整的果串剔除正确率为92.3%；相较于以ROI中果梗外接矩形的中心、以模型识别果梗的质心作为采摘点的定位方法，该研究采摘点定位方法的成功率分别提升了10.95、81.75个百分点。该研究为葡萄采摘机器人的优化提供了技术支持，为非结构化环境中的串类果实采摘机器人的低损收获奠定基础。     

基于深度学习的葡萄果梗识别与最优采摘定位

针对葡萄采摘机器人在采摘作业中受果园环境干扰,难以准确识别与分割葡萄果梗及定位采摘点的问题,该研究根据葡萄生长的特点提出一种基于深度学习的葡萄果梗识别与最优采摘定位方法。首先通过改进掩膜区域卷积神经网络(Mask Region with Convolutional Neural Network,Mask R-CNN)模型对果梗进行识别与粗分割;然后结合阈值分割思想对果梗的色调、饱和度、亮度(Hue Saturation Value,HSV)色彩空间进行分段式提取,取每段色彩平均值作为该段果梗基准颜色阈值,利用区域生长算法对果梗进行精细化分割;最后计算果梗图像区域的质心,并以临质心点最近的果梗水平两侧中心作为最终采摘点。试验结果表明,在不同天气光照下该方法对葡萄果梗的检测精确率平均值为88%;在果梗成功识别后最优采摘点定位准确率达99.43%,单幅图像的果梗采摘定位平均耗时为4.90s,对比改进前Mask R-CNN检测耗时减少了0.99 s,F1-得分提高了3.24%,检测效率明显提升,该研究为葡萄采摘机器人提供了一种采摘点定位方法。     

自然场景图像中的重叠蜜柚识别及试验

重叠蜜柚目标的准确分离和蜜柚果梗的定位是实现采摘自动化必须解决的两个关键问题。现有的苹果、柑橘等重叠果实分离方法不适用于重叠蜜柚,且无果梗定位功能。针对以上问题,本文提出了一种结合渐进式中心定位的重叠蜜柚分离方法和果梗定位方法。首先利用主成分分析方法提取蜜柚区域、滤除背景并对图像中的重叠蜜柚进行初步分离;接着,对重叠蜜柚区域采用渐进式中心定位方法得到各个蜜柚的中心;然后,利用区域边缘点到其相应的不同中心点的距离大小的变化规律实现重叠蜜柚的分离;最后,利用前述的中心点结合蜜柚的形状特征,定位出遮挡程度较小的蜜柚果梗。在50张自然场景下的图像上进行试验,结果表明在有阴影、小目标、遮挡和重叠等复杂环境下,该方法的平均识别率为94.02%。同时,对于果梗未被遮挡且离摄像头较近的蜜柚,也给出了准确的果梗区域。在利用蜜柚模型搭建的识别自动化试验平台上进行试验,结果表明采摘机器人能够有效识别并分离重叠蜜柚、定位果梗。本研究可为蜜柚采摘机器人准确识别重叠果实提供参考。     

脐橙采摘机器人末端执行器设计与试验

针对脐橙无损采摘的需求,基于欠驱动原理设计了一种双V型手指脐橙采摘机器人末端执行器,主要由吸附机构、夹持机构和旋切机构3部分组成,吸附机构可以实现果实与果簇快速分离,夹持机构能够对果实进行无损稳定夹持,旋切机构可以将果实与果梗快速分离。建立脐橙数学模型并分析了手指工作空间。依据夹持机构的受力分析,并对关键部件进行了选型。结合电阻式薄膜压力传感器设计了手指的力反馈系统,使夹持机构达到稳定无损采摘要求。搭建末端执行器实体样机,以步进电机转速为因素,以单果采摘时间、采摘成功率和损伤率为指标,进行了105次采摘试验,根据试验结果,选取250 r/min作为最佳步进电机转速,此时单果采摘时间为1.76 s,采摘成功率为94.28%,损伤率为0。该文研究的脐橙采摘末端执行器采摘速度高、控制难度低、与机械臂集成度高,可为脐橙采摘机器人的整体研发提供参考。     

断梗激励下葡萄果粒的振动脱落特性与试验

针对夹剪式鲜食葡萄采摘中的断梗振动激励引起的果粒脱落问题,对断梗激励下鲜食葡萄的振动脱落特性与动态响应进行研究。首先建立葡萄果实-分梗动力学模型,推导果实脱落的理论角速度,分析果实-果梗摆动脱落的临界分离条件。然后利用ABAQUS软件分析单颗粒葡萄在断梗激振下的动态响应与摆动趋势,探索在无挤压状态下果实形变过程,从而预测串型葡萄在断梗激励下的实际振动响应。最后对串型葡萄的简化模型进行振动有限元分析,获得葡萄果实在脱落前瞬间相对于果梗结合处的位移、速度、加速度和应力应变等数据,从而确定葡萄的临界振动脱落参数组合。通过仿真试验和采摘振动试验验证模型的准确性。结果表明：在断梗激励下,葡萄果实出现不确定的各向异性扭转摆动;对整串葡萄进行0～25 Hz的扫频分析可知受振果实的临界脱落频率约为4 Hz;受振果实摆动幅度为49.88 mm,速度峰值0.92 mm/s,加速度峰值39.08 mm/s2时开始脱落;同一激励下,虽然各个果实位置不同,但它们振动特性变化趋势相同。该研究可为防脱落采摘机构参数设计提供理论依据。     

基于Retinex图像增强的不同光照条件下的成熟荔枝识别

为了满足自然环境下荔枝采摘机器人视觉定位系统的有效性和实时性的要求,针对不同光照条件的荔枝彩色图像,采用基于双边滤波的Retinex图像增强算法凸显图像中的荔枝果实和果梗,对增强处理后的图像在HSI颜色空间中进行H分量旋转的处理,再对旋转处理后的H分量进行Otsu自动阈值分割去除荔枝图像果实和果梗外的复杂背景;然后通过将双三次插值算法和传统的模糊C均值（FuzzyC-Mean）算法融合,对去背景后的荔枝图像在YCbCr颜色空间中进行Cr分量模糊聚类分割,实现荔枝果实和果梗的识别。荔枝图像的分割试验结果表明：该算法对晴天顺光、逆光、遮阴、阴天顺光等光照条件的荔枝图像能够有效地分割,对阴天弱光照、果实被遮阴条件下的荔枝也能较好的识别,并保持荔枝果实和果梗区域的完整性,4种光照条件荔枝图像分割正确率分别为96%、90%、89.3%和88.9%,成熟荔枝识别的正确率达到了90.9%,该研究为水果采摘机器人的室外作业的实时性和有效性提供指导。     

采摘机械手对扰动荔枝的视觉定位

为了解决采摘机器人在自然环境中对扰动状态荔枝的视觉精确定位问题,该文分析机械手采摘过程中荔枝产生扰动的因素,设计制造了模拟荔枝振动的试验平台,该试验平台通过改变方向、振频、振幅等振动条件来模拟采摘过程中的扰动环境;结合振动平台运动参数,提出了双目立体视觉系统采集扰动状态的荔枝图像方法,在HSI颜色空间中对预处理后荔枝图像利用模糊C均值聚类法(FCM,fuzzyC-means)分割荔枝果实和果梗,然后利用Hough变换算法进行直线拟合确定有效的果梗采摘区域和采摘点,对多帧图像中采摘点坐标取平均值,然后进行三维重建确定空间采摘点坐标。荔枝扰动状态的视觉定位试验结果表明,空间定位深度值误差小于6cm,荔枝采摘机械手能实现有效采摘,该研究为机械手实际作业提供指导。     

不同玉米果穗位姿与含水率对穗柄断裂特性的影响

为解决现有摘穗机构功耗大、苞叶残留多的问题,该文以手工摘穗为研究模本,提炼出基于果穗位姿变化的穗柄受力断裂模型。以4种不同含水率的收获期玉米为试验材料,以果穗偏转角度为因素,进行了2组穗柄拉伸断裂随机区组试验。结果表明,随着果穗偏转角度增大,穗柄拉断力、断裂拉伸量及苞叶残留率会在一临界角度产生突变;当籽粒含水率分别为34.8%、30.2%、25.1%和20.3%时,该临界角度分别为50°～55°、50°～55°、45°～50°和45°～50°;穗柄偏转达到临界角度后,玉米穗柄拉断力分别降低了80%、86%、84%和80%,断裂拉伸量增加了72%、70%、93%和84%,苞叶去除率增加了41%、34%、32%和36%;结果表明,对茎秆施加拉力时对果穗施加横向载荷,使果穗发生大于临界角度的偏转,可实现低耗摘穗;分析发现,穗柄断裂行为突变的诱因是表层纤维的受力由拉应力变为弯曲正应力,导致裂纹的萌生和扩展机理发生变化。该研究可为新型摘穗机构的设计提供理论依据和数据支撑。     

Simultaneous transgenic suppression of LePG and LeExp1 influences fruit texture and juice viscosity in a fresh market tomato variety

Tomatoes are grown for fresh consumption or for processing of the fruit. Some ripening-associated processes of the fruit can either contribute to or degrade attributes associated with both fresh and processing quality. For example, cell wall disassembly is associated with loss of fresh fruit firmness as well as with loss of processed tomato product viscosity. Several enzymes contribute to cell wall polysaccharide disassembly. Polygalacturonase (PG, poly[1,4-alpha-d-galactouronide] glucanohydrolase, EC 3.2.1.15) is among the most abundant polysaccharide hydrolases in ripening tomato fruit and is the major contributor to pectin depolymerization. Expansin (LeExp1) is also abundant in ripening fruit and is proposed to contribute to cell wall disassembly by nonhydrolytic activity, possibly by increasing substrate accessibility to other enzymes. Suppression of either LePG or LeExp1 expression alone results in altered softening and/or shelf life characteristics. To test whether simultaneous suppression of both LePG and LeExp1 expression influences fruit texture in additive or synergistic ways, transgenic Lycopersicon esculentum var. Ailsa Craig lines with reduced expression of either LePG or LeExp1 were crossed. Fruits from the third generation of progeny, homozygous for both transgenic constructs, were analyzed for firmness and other quality traits during ripening on or off the vine. In field-grown transgenic tomato fruit, suppression of LeExp1 or LePG alone did not significantly increase fruit firmness. However, fruits suppressed for both LePG and LeExp1 expression were significantly firmer throughout ripening and were less susceptible to deterioration during long-term storage. Juice prepared from the transgenic tomato fruit with reduced LePG and LeExp1 expression was more viscous than juice prepared from control fruit.     

外源5-氨基乙酰丙酸对番茄成熟过程中果实品质和矿质元素含量的影响

5-氨基乙酰丙酸(ALA)为高等植物中叶绿素等卟啉类化合物的生物合成前体,在促进作物生长、增强抗逆性及提高产量方面发挥着重要作用。为探究ALA对番茄果实成熟过程中品质和矿质元素含量的影响,本研究以原味1号品种为试验材料,向绿熟期番茄果实表面涂抹不同浓度(0、50、100、200、300 mg·L^-1)ALA溶液,筛选出促进设施栽培番茄成熟及品质形成的最佳ALA施用浓度,并进一步研究其对设施番茄果实成熟过程中硬度、可溶性固形物以及矿质元素含量的影响。结果表明,外源ALA通过降低果实硬度促进了果实的成熟,并通过提高番茄果实中可溶性固形物含量提升了果实品质。另外,在坐果后40 d,200 mg·L^-1ALA处理的K、Ca和Fe元素含量分别比对照提高了21.82%、56.25%和12.86%,但P、Mg和Cu元素含量分别比对照降低了9.92%、21.74%和25.00%。相关性分析结果表明,可溶性固形物含量与K含量呈正相关关系,与Cu含量呈负相关关系;果实硬度与K含量呈负相关关系。成熟期番茄果实中P含量与Cu含量呈正相关,与Mn、K和Ca含量呈负相关...     

乙烯受体基因LeETR1和LeETR4的克隆及在番茄果实中的表达

摘要：为研究野生型番茄（Lycopersicon esculentum Mill. cv . Lichun）和转反义ACS 番茄果实中乙烯受体基因LeETR1和LeETR4的表达与乙烯的关系，实验用RT-PCR方法扩增了乙烯受体基因LeETR1和LeETR4片段，用两片段作探针进行Northern 杂交。结果表明：两受体基因的表达在番茄果实成熟进程中变化不明显，LeETR4在同一时期的果实外果皮中表达水平低于其在辐射壁和中柱的表达。转反义ACS番茄果实中LeETR1和LeETR4的表达水平显著低于野生型番茄果实，外源乙烯处理转反义ACS番茄果实，促进两个受体基因的表达。可见果实中LeETR1和LeETR4的表达受乙烯调控的影响。     

Antioxidative activity and carotenoid and tomatine contents in different typologies of fresh consumption tomatoes

The phytonutrient intake associated with tomato consumption depends also on cultivar and fruit ripening stage. This work associates the antioxidative ability, the level of carotenoids, and the amount of glycoalkaloids to the main carpometric characteristics of four different typologies of tomatoes: "cherry", "cluster", "elongated," and "salad". These typologies have different weights and shapes, and they are usually consumed in the Mediterranean area at different ripening stages. Results showed that the considered tomato typologies also differ in their antioxidative ability and their carotenoid and glycoalkaloid contents. Growing conditions are also important in determining fruit characteristics: the analysis of the same cultivar of cherry tomato produced under the influence of moderate salt stress showed increases in the lipophilic antioxidative ability and the amount of carotenoid, whereas the level of glycoalkaloid decreased.     

Identification and quantification of stilbenes in fruits of transgenic tomato plants (Lycopersicon esculentum Mill.) by reversed phase HPLC with photodiode array and mass spectrometry detection

Reversed-phase high-performance liquid chromatography (RP-HPLC) with photodiode array (PDA) and mass spectrometry (MS) detection was employed to study the accumulation of stilbenes and other naturally occurring polyphenol intermediates of flavonoid pathway in tomato fruits of plants genetically modified to synthesize resveratrol. The transgenic tomato fruits were obtained by overexpression of a grapevine gene encoding the enzyme stilbene synthase in tomato plants (Lycopersicon esculentum Mill.). Stilbenes and flavonoids, either glycosylated or free, were simultaneosly identified by electrospray interface (ESI)-MS in negative ionization mode and were quantified by PDA detection at the wavelength corresponding to their maximum absorbance. The two detectors were coupled online with an HPLC system utilizing a narrow-bore C18 reversed-phase column, which was eluted by a multistep gradient of increasing concentration of acetonitrile in water containing 0.5% (v/v) formic acid. The results of these analysis revealed that the genetic modification of the tomato plants originated different levels of accumulation of four stilbenes (i.e., trans- and cis-piceid and trans- and cis-resveratrol) in their fruit depending on the stages of ripening. Either at immature or at mature stages of ripening the stilbenes were preferentially accumulated in the fruit peel as the glycosylated form. The highest amount of trans-piceid and trans-resveratrol were found in the peel of fruits harvested at mature stage of ripening. The variations in the levels of rutin, naringenin, and chlorogenic acid found in the samples extracted from the fruits of transgenic tomato plants, in comparison to that determined in the control lines, seemed to be related to the genetic transformation, whose effect on the flavonoid biosynthetic pathway needs to be elucidated by additional studies.     

基于生理发育时间的日光温室番茄发育模拟模型

掌握温室番茄生育期是温室番茄专家决策系统中进行生产安排和市场销售的重要内容，本研究将温度对番茄发育速率影响效应的大小用相对热效应（RTE）来衡量，通过研究Beta函数的性质提出基于幂函数的模型来描述RTE与温度之间的关系。每日相对热效应（RTE）决定每日生理发育效应（PDE）的大小，其累积形成每日的生理发育时间。采用生理发育时间（PhysiologicalDevelopmentTime，PDT）作为定量发育进程的尺度，建立了温室番茄发育模拟模型。利用模型对日光温室2年4茬番茄生长发育期资料进行检验的结果表明：模型能较好地预测各个发育期（发芽、苗期、开花座果、结果和采收期）的出现时间和持续时间，各生育期模拟值与观测值的回归估计标准误差（RMSE）分别为1．32d，1．73d，0．35d，1．58d，2．52d，显著优于以有效积温模拟模型的预测精度（其生育期模拟的RMSE分别为2．55d，9．74d，2．06d，9．27d，11．99d）。     

How does tomato quality (sugar, acid, and nutritional quality) vary with ripening stage, temperature, and irradiance?

The objective of this study was to understand the respective impact of ripening stage, temperature, and irradiance on seasonal variations of tomato fruit quality. During ripening, concentrations in reducing sugars, carotenes, ascorbate, rutin, and caffeic acid derivates increased, whereas those in titratable acidity, chlorophylls, and chlorogenic acid content decreased. Fruit temperature and irradiance affected final fruit composition. Sugars and acids (linked to fruit gustative quality) were not considerably modified, but secondary metabolites with antioxidant properties were very sensitive to fruit environment. Increased fruit irradiance enhanced ascorbate, lycopene, beta-carotene, rutin, and caffeic acid derivate concentrations and the disappearance of oxidized ascorbate and chlorophylls. Increasing the temperature from 21 to 26 degrees C reduced total carotene content without affecting lycopene content. A further temperature increase from 27 to 32 degrees C reduced ascorbate, lycopene, and its precursor's content, but enhanced rutin, caffeic acid derivates, and glucoside contents. The regulation by light and temperature of the biosynthesis pathways of secondary metabolites is discussed.     

Abscisic acid improves tomato fruit quality by increasing soluble sugar concentrations

Abscisic acid (ABA) is crucial in fruit maturation and senescence and is considered as the other ripening control factor other than ethylene. Important components in ripening fruit are soluble sugars, which make the fruit sweeter and carotenoids, important flavor compounds in ripened fruit. The purpose of this study was to examine the effects of foliar ABA and calcium (Ca) fertilizer treatments (individually and in combination) on determinate beef-steak greenhouse tomato (Solanum lycopersicum) leaf chlorophylls and carotenoids, fruit carotenoids, and soluble sugar concentrations. Foliar spray treatment of 500 mg L^?1 ABA increased zeaxanthin (ZEA) and β-carotene (BC) in tomato leaf tissue. Increases in Ca fertilizer treatments significantly decreased tomato leaf violaxanthin (VIO), but no effect on other carotenoids. The application of 500 mg L^?1 ABA foliar spray significantly increased glucose and fructose concentrations in tomato fruit tissue. Foliar application of ABA treatments can increase overall chlorophyll, carotenoid content, and fruit quality.