Effects of maturity of citrus fruits on their stalks cutting force

When the citrus harvesting robot harvests citruses, mechanical properties of stalks have an important influence on success rate robot. During harvesting, maturity fruits not only determined time but also affected fruit stalks. In this study, changes in cutting force were described during fruits, and effect was clarified, so as to determine with minimum required for by maturity, relevant parameters such hardness, pH, solid solution content monitored. The results showed that there is a significant correlation between maturity. single-factor model established based data 2019, which verified through tests 2020. test are follows: ripening period hardness varies range 0.13-0.31 MPa, 0.02 about 2.0-6.0 N; pH 2.8-4.0, 1.5-2.2 N every 0.1 change pH; variation 6.5%-9.0%, 0.2% solution, 1.25-2.0 N. models can predict cut off according provide reference effectively evaluating force. Keywords: stalks, regression DOI: 10.25165/j.ijabe.20221505.7063 Citation: Wang Y, Liu D, Li Y L, Zhao H M, Yang C H, Zhang T. Effects their Int J Agric & Biol Eng, 2022; 15(5): 23–30.