基于双视觉系统的柑橘辅助采摘器设计

为减轻柑橘采摘过程中劳动强度大、效率低及传统采摘器易损伤果实从而影响果实保鲜及品相等问题,设计了一种可高效、安全、精准地实现快速采摘柑橘果实的采摘器。采摘器通过光学视觉、机械视觉双视觉辅助定位系统,对果实进行精准定位,由漏斗式捕捉口对果实进行捕获,由双圆盘滑切锯片将果梗切断,果实落入缓冲管道中。试验结果表明:柑橘采摘器可以有效提高采摘效率,减轻果农的采摘劳动强度。

The Design of Funnel-type Whole Process Auxiliary Citrus Picker Based on Double Vision Positioning System

In order to alleviate the problems of high labor intensity,low efficiency and easily damaged fruits of traditional pikers in the process of citrus fruit,thus affecting the fruit preservation and product equality,this paper designs a kind of picker that can efficiently,safely and accurately realize the rapid picking of citrus fruit.The picker uses optical vision and mechanical vision dual-vision auxiliary positioning system to precisely locate the fruit.The fruit is captured by a funnel-type capture port,and the fruit-stalk is cut off by a double-disc sliding cutting saw blade,finally the fruit falls into the buffer pipe.The experiment verifies that this citrus picker can effectively improve the picking efficiency and reduce the picking labor intensity of fruit growers.