草莓自动采摘机的设计

Design of Automatic Strawberry Picking Machinery

我国高垄种植草莓在采摘过程中普遍存在采摘劳作强度大、果实受到损失的概率高等情况,采用图像识别甄别草莓位置,步进电机驱动采摘机械手自动采摘草莓设计研制出一种草莓自动采摘机。通过系统动态特性分析并结合步进电机响应时间,确立机械手速度和加速段模型。并模拟高垄种植草莓生长环境进行采摘试验,试验结果表明单组机械手平均采摘速度可达246颗/h,平均准确率为99.49%,平均无损率为97.55%。

In China,high-ridge strawberry planting generally involves high picking labor intensity and high probability of fruit loss during the picking process.Image recognition is used to identify the position of strawberries,and a strawberry automatic picking machine was designed and developed by using image recognition to identify the location of strawberries and a stepping motor-driven picking manipulator to pick strawberry automatically.By analyzing the dynamic characteristics of the system and considering the response time of the stepper motor,the speed and acceleration model of the manipulator were established.A high-ridge planting strawberry growth environment was simulated for picking testing,with the result showing that the average picking speed of a single group of manipulators could reach 246 pieces/h,with the average accuracy rate being 99.49%,and the average non-destructive rate being 97.55%.