机电工程技术2025，Vol.54Issue(13)：41-47,80,8.DOI:10.3969/j.issn.1009-9492.2025.13.006
基于慧鱼模型的莴笋采收机器人
Lettuce Harvesting Robot Based on Fischertechnik
摘要
Abstract
A lettuce harvesting robot is designed based on the Fischertechnik model,aiming to solve the problems of low efficiency,high labor intensity,waste of lettuce leaves,and easy oxidation of lettuce after harvesting in traditional manual harvesting.The robot is built using the Fischertechnik creative combination model,combined with Raspberry Pi and Fischertechnik control board as the control core,and has functions such as automatic recognition and positioning,leaf removal,cutting,packaging and collection.In terms of mechanical structure design,a stable leaf removal is achieved through a lifting mechanism driven by a single motor and a synchronous belt with dual lead screws and a variable diameter leaf removal device based on the shutter mechanism principle.The conveying and packaging mechanism adopts a packaging arm and a three-degree-of-freedom worktable to ensure efficient conveying and packaging of the lettuce stem and effectively avoid oxidation loss after harvesting.In the control program design,the YOLOv4-tiny model combined with the Canny edge detection algorithm is used to achieve automatic recognition and positioning of lettuce and precise measurement of the lettuce diameter for adaptive control of the leaf removal device.In addition,the robot also integrates 5G communication technology and Alibaba Cloud platform to achieve real-time data transmission and analysis,providing technical support for smart agriculture.Experimental results show that the robot can achieve automatic lettuce harvesting and demonstrates good performance in lettuce recognition and positioning,leaf removal,cutting,packaging and collection,effectively improving the efficiency of lettuce harvesting and reducing losses,providing a feasible solution for realizing automated agricultural production.关键词
慧鱼模型/自动化采收/机器视觉/5G通信/智慧农业Key words
Fischertechnik/automated harvesting/machine vision/5G communication/smart agriculture分类
信息技术与安全科学引用本文复制引用
朱立红,蒋晨,胡于航,谢代榆,倪书阳,陈虞徽..基于慧鱼模型的莴笋采收机器人[J].机电工程技术,2025,54(13):41-47,80,8.基金项目
大学生创新创业训练计划项目(202310359006) （202310359006）
