农业机械学报2026，Vol.57Issue(16)：63-72,10.DOI:10.6041/j.issn.1000-1298.2026.16.006
基于视觉引导的平面并联棉花打顶装置设计与试验
Design and Experiment of Vision-guided Planar Parallel Cotton Topping Device
摘要
Abstract
Cotton topping is a crucial agronomic practice to suppress apical dominance,promote boll growth,and increase yield.To achieve intelligent and precise cotton topping operations,a vision-guided planar parallel cotton topping device was designed.The device consisted of a machine vision system,a planar parallel positioning mechanism,an end effector,and a control system.A lightweight planar parallel five-bar mechanism was introduced as the positioning actuator,combining high stiffness with fast response characteristics,with the workspace covering the typical apical growth region.Based on the YOLO 11n object detection model and cotton canopy images acquired by an RGB-D camera,recognition and spatial localization of cotton apices were achieved.A hybrid positioning strategy combining visual coarse localization and raster fine triggering was proposed,and a finite state machine control logic was implemented based on an STM32 microcontroller to ensure operational timing and reduce the vertical positioning deviation of the end effector.Experiments were conducted on cotton during the topping period.Results showed that the horizontal positioning error of the planar parallel positioning mechanism was 7.92 mm and the vertical positioning error was 1.88 mm.Preliminary field trials indicated that at blade speeds of 1 200 r/min and machine forward speeds of 0.2 m/s,the system achieved an average identification rate of 91.56％and an average topping rate of 86.89％,realizing full-process automated operation and verifying the effectiveness and feasibility of the device.关键词
棉花/打顶装置/平面并联机构/视觉引导Key words
cotton/topping device/planar parallel mechanism/vision-guided分类
农业科技引用本文复制引用
韩长杰,刘耀,徐阳,仇世龙,罗燕,钱庆濮,胡斌,毛罕平..基于视觉引导的平面并联棉花打顶装置设计与试验[J].农业机械学报,2026,57(16):63-72,10.基金项目
国家重点研发计划项目(2022YFD2002401)、自治区天山英才青年拔尖项目(2024TSYCCX0035)、新疆维吾尔自治区天山创新团队项目(2021D14010)和农业农村部火花计划项目(13230369) （2022YFD2002401）
