名优茶采摘机器人收获试验

doi:10.13305/j.cnki.jts.2024.01.003

茶叶科学 ›› 2024, Vol. 44 ›› Issue (1): 75-83.doi: 10.13305/j.cnki.jts.2024.01.003

名优茶采摘机器人收获试验

李亚涛^1,2,3, 周宇杰¹, 王少卿¹, 陈建能^1,2, 贺磊盈^1,2, 贾江鸣^1,2, 武传宇^1,2,*

1.浙江理工大学机械工程学院,浙江杭州 310018;
2.浙江省种植装备技术重点实验室,浙江杭州 310018;
3.福建省茶产业大数据应用与智能化重点实验室（武夷学院）,福建武夷山 354300

收稿日期:2023-09-18 修回日期:2023-12-14 出版日期:2024-02-25 发布日期:2024-03-13
通讯作者: *cywu@zstu.edu.cn
作者简介:李亚涛,男,博士后,主要从事机器人3D视觉和农业机器人智能装备技术研究。
基金资助:
国家自然科学基金（52305289、U23A20175）、浙江省领雁计划项目（2022C02052）、国家茶叶产业技术体系（CARS-19）、中国博士后科学基金（2023M733153）、浙江理工大学科研启动基金（22202328-Y）、福建省茶产业大数据应用与智能化重点实验室开放基金资助项目

Experimental Study on High-quality Tea Plucking by Robot

LI Yatao^1,2,3, ZHOU Yujie¹, WANG Shaoqing¹, CHEN Jianneng^1,2, HE Leiying^1,2, JIA Jiangming^1,2, WU Chuanyu^1,2,*

1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China;
2. Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China;
3. Fujian Key Laboratory of Big Data Application and Intellectualization for Tea Industry (Wuyi University), Wuyishan 354300, China

Received:2023-09-18 Revised:2023-12-14 Online:2024-02-25 Published:2024-03-13

摘要/Abstract

摘要： 研制新一代履带式名优茶采摘机器人并以其为试验对象,在田间进行龙井茶采摘试验,对其检测、定位、末端采摘的精度以及各环节耗时进行试验评估。结果表明,所研制的名优茶采摘机器人检测成功率为88.54%,定位成功率为84.07%,末端采摘成功率为87.22%,整机采摘成功率为61.30%,所采茶叶可满足中端龙井茶要求。单芽采摘时间约1.51 s,1 h可采摘2 000多个,基本实现一台机器替代一个工人的采摘效率。

关键词: 名优茶采摘, 机器人, 采摘成功率, 收获时间

Abstract: This study evaluated the performance of a newly developed track-type tea plucking robot on Longjing tea picking, including its detection accuracy, localization accuracy, end effector plucking accuracy, time consumption across each stage. The results show that the detection success rate of the developed robot was 88.54%, the localization success rate was 84.07%, the end effector plucking success rate was 87.22%, and the overall plucking success rate was 61.30%. The plucked tea leaves met the requirements of middle-grade Longjing tea. The single tea shoot plucking time was approximately 1.51 s, and the machine could pluck over 2 000 tea shoots per hour, basically achieving the picking efficiency of one machine replacing one worker.

Key words: high-quality tea plucking, robot, plucking success rate, harvesting time

中图分类号:

S571.1
S225

李亚涛, 周宇杰, 王少卿, 陈建能, 贺磊盈, 贾江鸣, 武传宇. 名优茶采摘机器人收获试验[J]. 茶叶科学, 2024, 44(1): 75-83. doi: 10.13305/j.cnki.jts.2024.01.003.

LI Yatao, ZHOU Yujie, WANG Shaoqing, CHEN Jianneng, HE Leiying, JIA Jiangming, WU Chuanyu. Experimental Study on High-quality Tea Plucking by Robot[J]. Journal of Tea Science, 2024, 44(1): 75-83. doi: 10.13305/j.cnki.jts.2024.01.003.

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名优茶采摘机器人收获试验

Experimental Study on High-quality Tea Plucking by Robot

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