Experimental Study on High-quality Tea Plucking by Robot

LI Yatao; ZHOU Yujie; WANG Shaoqing; CHEN Jianneng; HE Leiying; JIA Jiangming; WU Chuanyu

doi:10.13305/j.cnki.jts.2024.01.003

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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

Experimental Study on High-quality Tea Plucking by Robot

LI Yatao^1,2,3, ZHOU Yujie¹, WANG Shaoqing¹, CHEN Jianneng^1,2, HE Leiying^1,2, JIA Jiangming^1,2, WU Chuanyu^1,2,*

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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

harvesting time / high-quality tea plucking / plucking success rate / robot

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LI Yatao, ZHOU Yujie, WANG Shaoqing, CHEN Jianneng, HE Leiying, JIA Jiangming, WU Chuanyu. Experimental Study on High-quality Tea Plucking by Robot[J]. Journal of Tea Science. 2024, 44(1): 75-83 https://doi.org/10.13305/j.cnki.jts.2024.01.003

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