DOI：10.3969/j.issn.1672-3872.2025.12.006
基金项目：大学生创新创业训练计划项目“集合RRT算法与新能源的通用性智能薯芋类收获机器人”（CXXL2024091）；广东海洋大学深蓝智能机电产品创新团队（CCTD201811）
作 者：邝宇然 1，2 ，沈小云 1，2 ，黄土杰 2，3 ，王振宇 1，2 ，黎展弘 1，2
（1. 广东海洋大学机械工程学院，广东 湛江 524088；2. 广东海洋大学机器人实验室创新团队，广东 湛江 524088；3. 广东海洋大学电子与信息工程学院，广东 湛江 524088）
摘 要：【目的】解决魔芋传统手工收获方式成本高、效率低的问题，推动魔芋种植业的发展。【方法】设计了一种集成杆茎切割与块茎挖掘的魔芋收获机器人，深入探讨了机器人的底盘结构、切割装置、挖掘运输系统以及收集机构的设计细节，同时还介绍了嵌入式系统中上位机与下位机之间的协调控制策略。【结果】该机器人结合先进的卫星定位技术和高清摄像头，能够精准识别魔芋的位置，先完成杆茎切割，再进行块茎挖掘。通过高效的链杆传送带和收集机构，实现了块茎的筛选、运输及自动收集。【结论】这一创新设计不仅显著提高了魔芋的收获效率，降低了人力成本，而且具有高度的通用性和灵活性，未来有望应用于其他薯芋类作物的机械化收获。
关键词：魔芋；收获机器人；杆茎切割；块茎挖掘；卫星定位；嵌入式系统
Design of a Konjac Harvesting Robot Integrating Stem Cutting and Tuber Excavation
Author: Kuang Yuran1,2, Shen Xiaoyun1,2, Huang Tujie2,3, Wang Zhenyu1,2, Li Zhanhong1,2
(1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.Innovation Team of Robotics Laboratory, Guangdong Ocean University, Zhanjiang 524088, China; 3.School of Electronic and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China)
Abstract: [Objective] To solve the problems of high cost and low efficiency in traditional manual harvesting of konjac and promote the development of konjac planting industry. [Method] A konjac harvesting robot integrating stem cutting and tuber excavation was designed, and the design details of the robot’s chassis structure, cutting device, excavation and transportation system, and collection mechanism were deeply discussed. At the same time, the coordination control strategy between the upper and lower computers in the embedded system was also introduced. [Result] The robot, combined with advanced satellite positioning technology and high-definition cameras, can accurately identify the position of konjac, complete stem cutting first, and then excavate tubers. Through efficient chain conveyor belts and collection mechanisms, the screening, transportation, and automatic collection of tubers have been achieved. [Conclusion] This innovative design not only significantly improves the harvesting efficiency of konjac and reduces labor costs, but also has high universality and flexibility, and is expected to be applied to mechanized harvesting of other potato crops in the future.
Keywords: konjac; harvesting robot; stem cutting; tuber excavation; satellite positioning; embedded system
引文信息：[1]邝宇然，沈小云，黄土杰，等.集成杆茎切割与块茎挖掘的魔芋收获机器人设计[J].南方农机，2025，56(12)：27-30.
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