一种新型草莓自动采摘机的设计与试验  

Design and Test of a New Type of Strawberry Automatic Picking Machine

作　　者：李玉青[1] 刘宁 隋秀梅[1] 张茂云[2] LI Yuqing;LIU Ning;SUI Xiumei;ZHANG Maoyun(Changchun Vocational and Technical College of Mechanical and Electrical Engineering,Changchun 130022;Changchun University of Science and Technology,Institute of Mechanical and Electrical Engineering,Changchun 130022)

机构地区：[1]长春职业技术学院机电学院,长春130022 [2]长春理工大学机电工程学院,长春130022

出　　处：《食品工业》2021年第6期295-299,共5页The Food Industry

基　　金：教育部首批国家级职业教育教师教学创新团队课题项目《高职院校教师团队助力区域中小微企业转型升级的协同创新发展模式研究与实践(SJ2020010301)》。

摘　　要：为解决人们在草莓采摘中费时、费力等难题,设计一款能够辅助农民完成自动识别、采摘、收集草莓采摘机器人。该机器采用Core-XY机构,基于机器视觉的精密运动定位机构和一个可同步剪切夹持草莓果柄的末端执行器等机构组成。温室内实地试验表明该机器人能够自主识别、定位并无损伤采摘高架栽培模式下的成熟草莓,采摘成功率可达88%,采摘单颗草莓时间18.68 s。该机器的研制和产业化应用将显著提高草莓采摘的效率,具有较大的市场潜力和推广价值。In order to solve the laborious and time-consuming problem in strawberry picking,a robot that could assist farmers to automatically identify,pick,and collect strawberries was designed.The robot system consists of a Core-XY mechanism,a stepper motor-driven timing belt,a machine-vision-based precision positioning mechanism,and an end effector that can synchronously fix and cut the stem of strawberry fruit.The field experiment in greenhouse showed that the robot could autonomously identify,locate and harvest mature strawberries without damage under elevated cultivation mode.The success rate of picking reaches 88%,and the time for picking a single strawberry was 18.68 s.The development and industry application of this machine would significantly improve the efficiency of strawberry picking,and had great market potential and promotion value.

关 键 词：草莓自动采摘机 机器视觉 末端执行器 无损伤采摘 Core-XY收集机构 有限元分析 

分 类 号：S225[农业科学—农业机械化工程]