并联式智能采茶机器人关键技术与装备研发与应用

Research and Application of Key Technologies and Equipment for Parallel Intelligent Tea Picking Robot

本项目拟研发一种适用于高端名优茶叶采摘的智能采茶机器人:利用图像识别和人工智能算法,精准辨识芽叶的颜色、形状等信息,做到对茶叶嫩芽精准识别;通过自适应控制等控制系统设计方法与神经网络算等相结合,使机械臂更加灵活精准采摘茶叶;设计自适应式底盘,可根据坡度调整机身姿态,适应复杂茶厂地貌。并结合GPS-RTK技术和惯性导航系统,实现茶园路径规划、自主巡航、自主避障等多种功能,实现全天候自动化作业。提高名优茶采摘产能,为今后开展全自动茶叶采摘技术设备的研发提供理论和实践参考。

This project aims to develop an intelligent tea picking robot suitable for high-end and high-quality tea picking.It utilizes image recognition and artificial intelligence algorithms to accurately identify the color,shape,and other information of tea buds,achieving accurate identification of tea buds;By combining control system design methods such as adaptive control with neural network algorithms,the robotic arm is more flexible and precise in picking tea leaves;Design an adaptive chassis that can adjust the body posture according to the slope and adapt to complex tea factory landforms.And combined with GPS-RTK technology and inertial navigation system,it achieves various functions such as tea garden path planning,autonomous cruising,autonomous obstacle avoidance,and achieves all-weather automated operation.Improving the production capacity of famous and high-quality tea picking,providing theoretical and practical reference for the future development of fully automatic tea picking technology equipment.