研制新一代履带式名优茶采摘机器人并以其为试验对象,在田间进行龙井茶采摘试验,对其检测、定位、末端采摘的精度以及各环节耗时进行试验评估。结果表明,所研制的名优茶采摘机器人检测成功率为88.54%,定位成功率为84.07%,末端采摘成功率为87.22%,整机采摘成功率为61.30%,所采茶叶可满足中端龙井茶要求。单芽采摘时间约1.51 s,1 h可采摘2 000多个,基本实现一台机器替代一个工人的采摘效率。
This study evaluated the performance of a newly developed track-type tea plucking robot on Longjing tea picking, including its detection accuracy, localization accuracy, end effector plucking accuracy, time consumption across each stage. The results show that the detection success rate of the developed robot was 88.54%, the localization success rate was 84.07%, the end effector plucking success rate was 87.22%, and the overall plucking success rate was 61.30%. The plucked tea leaves met the requirements of middle-grade Longjing tea. The single tea shoot plucking time was approximately 1.51 s, and the machine could pluck over 2 000 tea shoots per hour, basically achieving the picking efficiency of one machine replacing one worker.
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