基于双目相机和深度学习的电驱动自走悬臂式仿形采茶机设计与试验

Design and Experiment of Self-propelled Cantilever Profiling Tea-picking Machine Based on Binocular Vision and Deep Learning

摘要:

针对目前大宗茶采收效率低、质量不稳定、劳动强度大的问题,结合茶园地形环境特征、种植管理要求及农艺作业规范,设计了一种电驱动自走悬臂式仿形采茶机。首先,开展了电驱动自走悬臂式仿形采茶机整机结构设计,包括履带式底盘、位姿调整装置、茶叶采收装置和图像采集装置等4部分;其次,基于双目相机与YOLOv8s算法实现对茶蓬面鲜叶的实时检测和定位,采用最小二乘法求解采茶机理论作业位姿,通过位姿自适应调整装置和智能采收执行机构的协同作用,完成仿形调控与大宗茶自动化采收;最后,研制了自走悬臂式仿形采茶机样机,开展整机稳定性分析,明确转场与作业工况下纵坡、横坡极限翻倾角范围,验证整机安全作业边界,并在茶园开展了大宗茶实地采收试验。试验结果表明:茶叶采收过程中整机位姿误差稳定控制在预设阈值内,实际作业位姿可动态适配茶树蓬面的高度与倾斜角度变化;鲜叶平均芽叶完整率达83.9%,漏集率0.74%,漏采率0.95%,一芽三叶及以下芽叶占比87.8%,各项指标均符合采茶机作业质量行业标准,为大宗茶高效、精准采收提供了技术装备支撑。

Abstract:

Aiming to address the current challenges of low efficiency, inconsistent quality, and high labor intensity in bulk tea harvesting, a motorized self-propelled profiling tea harvester was designed by incorporating the topographic and environmental characteristics of tea plantations, cultivation management requirements, and agronomic operational protocols. Firstly, the overall structural design of the electric- driven self-propelled cantilever profiling tea harvester was carried out, including four parts: the crawler chassis, posture adjustment device, tea harvesting device, and image acquisition device. Subsequently, a binocular camera and YOLO v8s were employed to detect and locate fresh leaves on the tea canopy in real time, after which the least squares method was used to solve the theoretical operating posture of the tea harvester. Through the coordinated action of a posture adaptive adjustment device and an intelligent harvesting actuator, profiling control and automated harvesting of bulk tea were achieved. Finally, a prototype of the self-propelled cantilever profiling tea harvester was developed. The stability of the entire machine was analyzed to determine the critical tipping angles under longitudinal and transverse slopes during both transfer and operation conditions, thereby verifying the safe operating boundaries. Field harvesting experiments for bulk tea were conducted in a tea plantation. The experimental results demonstrated that the positional error of the machine remained consistently within the preset threshold during the tea harvesting process, and the actual working posture dynamically adapted to changes in the height and tilt angle of the tea canopy. The average bud integrity rate reached 83. 9% , with a missed collection rate of 0. 74% and a missed picking rate of 0. 95% . The proportion of apical buds with three leaves or fewer accounted for 87. 8% . All performance indicators met the industry standards for tea harvester operation quality, providing technical and equipment support for efficient and precise harvesting of bulk tea.