荔枝采摘器关键部件研究进展  

Research Progress on Key Components of Litchi Picker

作　　者：李志海 刘雁 孙文晓 钟源 张碧玮 LI Zhihai;LIU Yan;SUN Wenxiao;ZHONG Yuan;ZHANG Biwei(College of Mechanical and Electrical Engineering,Guangdong University of Petrochemical Technology/Guangdong Provincial Key Lab.of Petrochemical Equipment and Fault Diagnosis,Maoming 525000,Guangdong;Academic Affairs Office,Guangdong University of Petrochemical Technology,Maoming 525000,Guangdong)

机构地区：[1]广东石油化工学院机电工程学院/广东省石化装备故障诊断重点实验室,广东茂名525000 [2]广东石油化工学院教务处,广东茂名525000

出　　处：《中国热带农业》2023年第1期33-41,共9页China Tropical Agriculture

摘　　要：荔枝是我国南方特色水果,其产量居世界之首。目前,荔枝主要的采摘方式为人工采摘,迫切需要实现机械化、自动化和智能化采摘。针对荔枝采摘器的各个部分进行分析,梳理了现有的关于荔枝采摘器的研究成果与学术观点。荔枝采摘机器人一般包括末端执行器、执行机器人、辅助升降平台和视觉系统。在视觉系统中,荔枝果实和果梗的准确识别和精准定位是一大难题,需要合理选择相机、镜头,并合理布置其位置,同时不断改进识别和定位算法。为满足荔枝产业高效、无损的采摘需求,机械化、自动化、智能化的采摘装备是荔枝采摘器未来的发展趋势。Litchi is a characteristic fruit in southern China,and its output ranks first in the world.At present,the main picking method of litchi is manual picking,which urgently needs to realize mechanized and intelligent picking.Each part of litchi picker was analyzed,and the existing research results and academic views on litchi picker were showed in this paper.Litchi picking robot generally includes an end effector,an executive robot,an auxiliary lifting platform and a vision system.In the vision system,the accurate recognition and precise positioning of litchi fruit and stem is a big problem.It is essential to reasonably select the camera and lens and arrange their positions,and constantly improve the recognition and location algorithms.In order to meet the needs of efficient and nondestructive picking of litchi,mechanized,automatic and intelligent picking equipment ought to be the future development trend of litchi picker.

关 键 词：荔枝采摘器 末端执行器 视觉系统 

分 类 号：S225[农业科学—农业机械化工程]