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Journal of Tea Science ›› 2024, Vol. 44 ›› Issue (1): 75-83.doi: 10.13305/j.cnki.jts.2024.01.003

• Research Paper • Previous Articles     Next Articles

Experimental Study on High-quality Tea Plucking by Robot

LI Yatao1,2,3, ZHOU Yujie1, WANG Shaoqing1, CHEN Jianneng1,2, HE Leiying1,2, JIA Jiangming1,2, WU Chuanyu1,2,*   

  1. 1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China;
    2. Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China;
    3. Fujian Key Laboratory of Big Data Application and Intellectualization for Tea Industry (Wuyi University), Wuyishan 354300, China
  • Received:2023-09-18 Revised:2023-12-14 Online:2024-02-25 Published:2024-03-13

Abstract: 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.

Key words: high-quality tea plucking, robot, plucking success rate, harvesting time

CLC Number: