双臂采茶机器人的协同采摘规划

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中图分类号：S571.1；TS272.3

文献标识码：A

文章编号：1000-369X（2025）04-0671-16

Collaborative Picking Planning for A Dual-Arm Tea-Picking Robot

JIA Jiangming1，3， WANG Xiang1， ZHOU Yujie1， WU Chuanyu 1，2* ， CHEN Jianneng1，3 YU Rong'，LI Yujie1

1.SchoolofecalEgig，jgShUsitygoa;2jgeanUesity

316022，China;3.KeyaboratoryofAgriculturalIntellgentPerceptonandRoboticofZejiangProvice，Hangzou18Cina

Abstract： In recent years， multi-arm tea-picking robots have become aresearch hotspot due to the shortage of labor， rising laborcosts，and the demand forhigh-precision picking inthe high-qualitytea industry.Acolaborative planning method that dynamically allcates the space for picking points was proposed，and the path planning of the robotic arm was optimized by combining the ant colony algorithm and the picking point priority in order to improve the operational efficiency of the tea-picking robot. Simulation results show that the average time for one-shoot picking was 1.41 s， and the time ratio for dual-arm synchronous operation was 91.95% .Compared to the 62.86% （24号 coverage rate of the two-space segmentation method， this method achieved fullcoverage of the space.To overcome the limitations of the existing independent operation mode of the depth camera，a dynamic adition of picking point planning was further proposed， which realized the synchronous operation of the depth camera and the robotic arm. Field experiment results show that the tea-picking robot adopts the picking point allocation method that dynamically divides the operating space and the double-arm collaborative planning method that dynamically divides the space for picking point allocation. The average time for one-shoot picking was 1.52 s， a 29.95% improvement compared to the one-arm tea-picking robot.This method not only significantly improves the operational eficiency of the tea-picking robot but also achieves full coverage of the space， ensuring efficient collaborative picking. Keywords： picking robot， multi-arm， collaborative picking planning， dynamic picking point addition planning

随着全球茶产业的发展，茶叶种植面积逐渐扩大，产量逐年增加[1-2]。（剩余13570字）