芒果采摘機(jī)器人設(shè)計(jì)與試驗(yàn)

打開文本圖片集

中圖分類號(hào)： T P3 9 1 文獻(xiàn)標(biāo)志碼：A

Abstract：MangoisoneofthharacteristicfruitsinthtropicalregionTheharvestingofmangoesisprimarilydonemanualyhich haspresentedisuessuchashighlaborintensityandelevatedcosts.Therehasbeenanurgentneedtodevelopmechanizedharvesting technologiesformangoes.Inthisstudy，amangopickingrobotisdesignedbasedonmangoagronomic growthinformation，whichcan automaticallyidentifythefruitandcompletethepickingandcollection.ByusingYOLOv5formangofruittargetrecognitionand combiningthedepthinformationprovidedbythedepthcameraD435i，thethree-dimensionalinformationofthepickingpointis obtained;Ashear-clampintegratedend-efectorisdesignedtoefectivelyreducethemechanicaldamagetothemango；Amango pickingrobotcontrolsystemisdevelopedbasingontheROSsystem；Testing experimentswereconductedinlaboratorynviroment， andtheresult of theexperiments showed that theaverage time for the mango picking robot to recognize thefruit was ，the average picking time was 19.8 s，and the picking rate was 9 0 . 8 % ，which verified the control accuracy and stability of the picking robot.Thisstudyprovidestechnicalsupportformangopickingoperationandhelpstopromotetheinteligentdevelopmentof agriculture.

Keywords：mango picking;robot;end-effector;ROS system

中國是世界上第二大芒果生產(chǎn)國和第一大消費(fèi)國[1]，芒果生產(chǎn)已成為我國熱帶和亞熱帶地區(qū)農(nóng)業(yè)經(jīng)濟(jì)的主要支柱[2]，海南省地處熱帶和亞熱帶地區(qū)，是我國芒果主產(chǎn)區(qū)之一[3]，截至2023年海南芒果種植面積為6.54萬 ，產(chǎn)量達(dá)到91.04萬t，在海南農(nóng)業(yè)經(jīng)濟(jì)占據(jù)重要地位[4]，但是目前我國芒果的采摘以人工采摘為主，采摘效率低，勞動(dòng)強(qiáng)度大[5]，嚴(yán)重影響芒果標(biāo)準(zhǔn)化、產(chǎn)業(yè)化的發(fā)展。（剩余11229字）