芒果采摘机器人设计与试验

doi:10.13880/j.cnki.65-1174/n.2025.21.008

芒果采摘机器人设计与试验

黄进洋, 尹成海, 娄开然, 张斌, 张慧明, 付威

PDF(15173 KB)

石河子大学学报 ›› 2025, Vol. 43 ›› Issue (2) : 152-159. DOI: 10.13880/j.cnki.65-1174/n.2025.21.008

机械·电气工程

芒果采摘机器人设计与试验

黄进洋¹, 尹成海², 娄开然¹, 张斌², 张慧明¹, 付威^1*

文章分享

作者信息 +

Design and experiment of mango picking robot

HUANG Jinyang¹, YIN Chenghai², LOU Kairan¹, ZHANG Bin², ZHANG Huiming¹, FU Wei^1*

Author information +

History +

摘要

芒果为热带地区特色水果之一,芒果采收作业主要以人工为主,存在劳动强度大、成本高等问题,亟待开展芒果机械化采收技术研究。为了自动识别果实并完成采摘、收集工作,本研究基于芒果农艺生长信息设计了一种芒果采摘机器人,通过采用YOLOv5对芒果果实目标进行识别,结合深度相机D435i提供的深度信息获取采摘点的三维信息;设计了一种剪夹一体式的末端执行器,以有效降低芒果的机械损伤;基于ROS系统开发了芒果采摘机器人控制系统;在实验室环境下进行了测试试验。试验结果表明:芒果采摘机器人对果实识别的平均时间为30.41 ms,平均采摘时间为19.8 s,采摘率为90.8%,验证了采摘机器人的控制精度及稳定性。本研究为芒果采摘作业提供了技术支撑,有助于推动农业智能化发展。

Abstract

Mango is one of the characteristic fruits in the tropical region. The harvesting of mangoes is primarily done manually, which has presented issues such as high labor intensity and elevated costs. There has been an urgent need to develop mechanized harvesting technologies for mangoes. In this study, a mango picking robot is designed based on mango agronomic growth information, which can automatically identify the fruit and complete the picking and collection. By using YOLOv5 for mango fruit target recognition and combining the depth information provided by the depth camera D435i, the three-dimensional information of the picking point is obtained; A shear-clamp integrated end-effector is designed to effectively reduce the mechanical damage to the mango; A mango picking robot control system is developed basing on the ROS system; Testing experiments were conducted in laboratory environment, and the result of the experiments showed that the average time for the mango picking robot to recognize the fruit was 30.41 ms, the average picking time was 19.8 s, and the picking rate was 90.8%, which verified the control accuracy and stability of the picking robot. This study provides technical support for mango picking operation and helps to promote the intelligent development of agriculture.

导出引用

黄进洋, 尹成海, 娄开然, 张斌, 张慧明, 付威. 芒果采摘机器人设计与试验. 石河子大学学报. 2025, 43(2): 152-159 https://doi.org/10.13880/j.cnki.65-1174/n.2025.21.008

HUANG Jinyang, YIN Chenghai, LOU Kairan, ZHANG Bin, ZHANG Huiming, FU Wei. Design and experiment of mango picking robot. Journal of Shihezi University. 2025, 43(2): 152-159 https://doi.org/10.13880/j.cnki.65-1174/n.2025.21.008

参考文献

[1] 丁莉,张益.我国芒果发展现状分析及发展对策研究[J].云南农业大学学报(社会科学),2021,15(5):65-69.
DING L,ZHANG Y.China’s mango industry development situation and countermeasures[J].Journal of Yunnan Agricultural University(Social Science),2021,15(5):65-69.
[2] 李日旺,黄国弟,苏美花等.我国芒果产业现状与发展策略[J].南方农业学报,2013,44(5):875-878.
LI R W,HUANG G D,SU M H,et al.Status and developmental strategies of mango industry in China[J].Journal of Southern Agriculture,2013,44(5):875-878.
[3] 黄海峰.浅谈海南芒果产业发展的现状及应对措施[J].农业科技通讯,2018(4):33-35.
HUANG H F.A brief discussion on the current status and countermeasures for the development of mango industry in Hainan[J].Bulletin of Agricultural Science and Technology,2018(4):33-35.
[4] 海南省统计局,国家统计局海南调查总队. 海南统计年鉴[M].北京:中国统计出版社,2024:216-219.
[5] 刘世豪,王菲,林茂,等.芒果采收车机械臂运动特性分析及试验[J].农业工程学报,2024,40(1):58-67.
LIU S H,WANG F,LIN M,et al.Analysis and test of the kinematics characteristics of the robotic arm for a mango harvesting vehicle[J].Transactions of the Chinese Society of Agricultural Engineering,2024,40(1):58-67.
[6] 赵敬,王全有,褚幼晖,等.农业采摘机器人发展分析及前景展望[J].农机使用与维修,2023(6):63-70.
ZHAO J,WANG Q Y,CHU Y H,et al.Development analysis and prospect of agricultural picking robot[J].Agricultural Machinery Using & Maintenance,2023(6):63-70.
[7] 李会宾,史云.果园采摘机器人研究综述[J]. 中国农业信息,2019,31(6):1-9.
LI H B, SHI Y.Review of research on orchard picking robots[J].China Agricultural Informatics,2019,31(6):1-9.
[8] ZEESHAN S,AIZED T,RIAZ F. In-depth evaluation of automated fruit harvesting in unstructured environment for improved robot design[J].Machines,2024,12(3):151.
[9] PARK Y,SEOL J,PAK J,et al.Human-centered approach for an efficient cucumber harvesting robot system: Harvest ordering, visual servoing, and end-effector[J].Computers and Electronics in Agriculture,2023,212:108116.
[10] PARSA S,DEBNATH B,KHAN M A,et al.Modular autonomous strawberry picking robotic system[J].Journal of Field Robotics,2024,41(7):2226-2246.
[11] GUNDERMAN A L,COLLINS J A,MYERS A L,et al.Tendon-driven soft robotic gripper for blackberry harvesting[J].IEEE Robotics and Automation Letters,2022,7(2):2652-2659.
[12] SOBOL Z,KURPASKA S,NAWARA P,et al.Prototype of a new head grabber for robotic strawberry harvesting with a vision system[J].Sensors,2024,24(20):6628.
[13] 王焱清,汤旸,杨光友.面向机器人柑橘采摘的控制系统设计与试验[J].中国农机化学报,2023,44(9):146-153.
WANG Y Q,TANG Y,YANG G Y.Design and experiment of control system for robot citrus picking[J].Journal of Chinese Agricultural echanization,2023,44(9):146-153.
[14] 谢晓轩,孔德义,潘斌,等.基于ROS的植物工厂番茄采摘机器人控制系统设计[J]. 农机化研究,2025,47(1):1-8.
XIE X X,KONG D Y,PAN B,et al.ROS-based control system design for tomato picking robot in plant factory[J].Journal of Agricultural Mechanization Research,2025,47(1):1-8.
[15] 董乃深,程泓超,应仇凯,等.垄作草莓双臂采摘机器人设计与试验[J].农业机械学报,2024,55(S1):29-40.
DONG N S,CHENG H C, YING Q K,et al. Design and experiment of picking robot with dual arms for ground planting strawberries[J].Transactions of the Chinese Society for Agricultural Machinery,2024,55(S1):29-40.
[16] 林桂潮,吴志铭,严茂森,等.基于机器视觉的多机械臂菠萝采摘机器人设计与试验[J].机电工程技术,2023,52(10):141-144.
LIN G C,WU Z M,YAN M S,et al.Design and testing of a multi-arm pineapple picking robot based on machine vision[J]. Mechanical & Electrical Engineering Technology,2023,52(10):141-144.
[17] FU M,GUO S,CHEN A,et al.Design and experimentation of multi-fruit envelope-cutting kiwifruit picking robot[J].Frontiers in Plant Science,2024,15:1338050.
[18] HUANG W,MIAO Z,WU T,et al.Design of and experiment with a dual-arm apple harvesting robot system[J].Horticulturae, 2024,10(12):1268.
[19] YIN H,SUN Q,REN X,et al.Development, integration, and field evaluation of an autonomous citrus-harvesting robot[J].Journal of field robotics,2023,40(6):1363-1387.
[20] RONG J,WANG P,WANG T,et al.Fruit pose recognition and directional orderly grasping strategies for tomato harvesting robots[J].Computers and Electronics in Agriculture,2022,202:107430.
[21] 杨坚,陈爱军,秦宇,等.基于YOLOv5深度学习算法的鹅场视觉导航技术研究[J].农机使用与维修,2025(2):8-13.
YANG J,CHEN A J,QIN Y,et al.Research on visual navigation technology in goosery based on YOLOv5 deep learning algorithm[J]. Agricultural Machinery Using & Maintenance,2025(2):8-13.
[22] 彭成,张乔虹,唐朝晖,等.基于YOLOv5增强模型的口罩佩戴检测方法研究[J].计算机工程,2022,48(4):39-49.
PENG C,ZHANG Q H,TANG Z H,et al.Research on mask wearing detection method based on YOLOv5 enhancement model[J].Computer Engineering,2022,48(4):39-49.
[23] 乔峰丽,苗鸿宾,纪慧君,等.面向数字孪生的工业机械臂手眼标定方法的研究[J].机床与液压,2023,51(1):31-35.
QIAO F L,MIAO H B,JI H J,et al.Research on hand-eye calibration method for digital twin oriented industrial manipulator[J]. Machine Tool & Hydraulics,2023,51(1):31-35.
[24] SARABANDI S,PORTA J M,THOMAS F.Hand-eye calibration made easy through a closed-form two-stage method[J].IEEE Robotics and Automation Letters,2022,7(2):3679-3686.
[25] CHEN J,ZHANG H,WANG Z,et al.An image restoration and detection method for picking robot based on convolutional auto-encoder[J].Computers and Electronics in Agriculture,2022,196:106896.
[26] LEHNERT C,MCCOOL C,SA I,et al. Performance improvements of a sweet pepper harvesting robot in protected cropping environments[J].Journal of Field Robotics,2020,37(7):1197-1223.
[27] NING Z, LUO L, DING X M, et al. Recognition of sweet peppers and planning the robotic picking sequence in high-density orchards[J]. Computers and Electronics in Agriculture, 2022, 196: 106878.
[28] LI Y, WU S, HE L, et al. Development and field evaluation of a robotic harvesting system for plucking high-quality tea[J]. Computers and Electronics in Agriculture, 2023, 206: 107659.

基金

海南省重点研发项目(ZDYF2022XDNY231,ZDYF2024GXJS298)

PDF(15173 KB)

Accesses

Citation

Detail

段落导航

摘要
Abstract
关键词
Key words
引用本文
参考文献
基金

总访问:86242,今日访问:66, 当前在线:2

〈

〉

Received	Published
2025-02-16	2025-04-20
Issue Date
2025-05-08

选择文件类型/文献管理软件名称

选择包含的内容

摘要

Abstract

关键词

Key words

引用本文

{{custom_sec.title}}

{{custom_sec.title}}

参考文献

{{custom_fnGroup.title_cn}}

脚注

基金