基于OpenCV模式的自动柑橘采摘器设计  

Design of Automatic Citrus Picker Based on OpenCV Patterns

作　　者：陈咏毅 魏玄进 Chen Yongyi;Wei Xuanjin(College of Electrical and Mechanical Engineering,Fujian Agriculture and Forestry University,Fuzhou Fujian 350108,China)

机构地区：[1]福建农林大学机电工程学院,福建福州350108

出　　处：《机械管理开发》2025年第3期89-91,共3页Mechanical Management and Development

基　　金：福建省大学生创新创业训练项目“漏斗式自动柑橘采摘器”(S202210389005)。

摘　　要：为解决普通采摘柑橘时只从果梗处采摘,从而导致春梢丛发,进而导致来年果实质量下降的问题,设计出一个自动柑橘采摘器,该机器能通过OpenCV识别柑橘,通过多自由度以及可移动的双等角滑切锯片,进行对柑橘的采摘并通过波纹管和果篮进行收集。与传统人工采摘相比能大大提高采摘效率,降低人工成本;与普通柑橘采摘机器相比该机器能保证一果两剪,从而降低春梢丛发的概率,进而提升来年果实质量,降低落花落果的概率,促进柑橘产业的发展。In order to solve the problem of picking citrus fruits only from the stem,which leads to spring shoot clumping and a decrease in fruit quality in the following year,an automatic citrus picker is designed.This machine can recognize citrus fruits through OpenCV,pick citrus fruits through multiple degrees of freedom and movable double equal angle sliding saw blades,and collect them through corrugated pipes and fruit baskets.Compared with traditional manual picking,it can greatly improve picking efficiency and reduce labor costs;Compared with ordinary citrus picking machines,this machine can ensure two cuts of one fruit,thereby reducing the probability of spring shoot clumping,improving the quality of next year's fruit,reducing the probability of flower and fruit drop,and promoting the development of the citrus industry.

关 键 词：OpenCV模式 自动采摘机器人 一果两剪 多自由度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] S666[自动化与计算机技术—控制科学与工程]