AUTONOMOUS WEEDING ROBOT WITH PARALLEL MANIPULATOR

研制了一种新型的一次性多离子传感器，用于植物、蔬菜和水果的诊断，并对蔬菜榨汁进行了检测，特别是硝酸和钾的检测。研究了果汁浓度对传感器测量精度的影响，分析了稀释度对传感器测量精度的影响，研究了传感器测量数据与离子色谱法和原子吸收光谱法测量数据之间的关系。这两种测量数据的相关系数都很高，可以满足一般应用的要求。对于水果的压榨汁、抗坏血酸、糖类（葡萄糖、果糖、蔗糖）的测量，开发了新的传感器。糖的灵敏度为1-20 g/dl，酸度为0.1 - 30.0%，抗坏血酸为0.02-100 mg/dl，葡萄糖为0.1-36.0 g/dl，果糖为0.1-12.0 g/dl。用电导率法测定糖度和酸度。用电化学传感器测定抗坏血酸。采用酶法对葡萄糖和果糖进行了测定，所研制的传感器与传统的数字折光仪等方法的测定结果吻合较好。

A new multi-ion sensor of disposable type for the diagnosis of the plant, vegetables, and fruits was developed.The pressed juice of vegetables were measured, especially, nitric acid and potassium. The concentrations of the juice were too thick for the sensors, and the degree of dilution to the precision of the measurement was examined.The relation between the measurement data of the developed sensors and those of ion chromatography and atomic absorption spectrometry were investigated. The correlation coefficients of these two measurement data were very high enough for the general use.For the measurement of the pressed juice of the fruits, ascorbic acid, sugars (glucose, fructose, sucrose), new sensors were developed. The sensitivity of the sugar contents was 1-20 g/dl, that of acidity, 0.1 - 30.0%, of ascorbic acid, 0.02-100 mg/dl, of glucose, 0.1-36.0 g/gl, of fructose, 0.1-12.0 g/dl. The sugar contents and acidity were measured by the electro conductivity. Ascorbic acid was measured by the electro chemical sensors. Glucose and fructose were measured by the enzyme method.The data by the developed sensors showed good agreement with the traditional method, such as DIGITAL REFRACTOMETER.