ПОВЫШЕНИЕ ЭФФЕКТИВНОСТИ СБОРА ЛЕСНЫХ СЕМЯН С ПРИМЕНЕНИЕМ АВТОМАТИЗИРОВАННЫХ УСТРОЙСТВ
Authors: Дручинин Д.Ю. , Гнусов М.А. 
Published: February 2025

Цель исследования заключалась в проведении аналитического обзора существующих способов автоматизированного сбора плодов и семян в сельском хозяйстве и садоводстве для определения перспективного направления разработки робототехнического комплекса-сборщика для лесного семеноводства. Установлено, что в данных отраслях успешно применяются опытные образцы роботизированных устройств для сбора урожая. Рассмотрены алгоритм применения, конструктивные особенности и принцип реализации технического зрения данных устройств. Отмечено, что в лесном хозяйстве также существуют примеры создания автоматизированных сборочных устройств шишек и плодов. Представлен разработанный принцип компоновки и алгоритм работы технического зрения роботизированного устройства для сбора хвойных шишек с использованием пневмозахвата.

Introduction. Negatively developing climatic factors, contributing to the occurrence of forest fires, and the increasing anthropogenic load on forests require timely reforestation work. The solution to this problem is impossible without creating a high-quality forest seed base and increasing the efficiency of harvesting and processing of forest seeds. The purpose of the study is to evaluate the possibility of creating and using a robotic complex to increase the efficiency of performing a monotonous and low-productivity operation of collecting cones of conifers at forest seed production facilities. Materials and research methods. An analytical review of existing methods of automated collection of fruits and seeds in agriculture and horticulture is carried out. It is established that in these industries, prototypes of robotic devices for harvesting are successfully used - there are developments in the field of creating robots for picking apples, peppers, strawberries, cucumbers, tomatoes, nuts, coconuts, etc. Design features and an algorithm for using these devices are considered. An important system in assembly robots that provides the creation of an image of the workspace and its automatic processing for the subsequent formation of control commands for the capture device is the technical vision system. For the equipment under consideration, the principle of implementing technical vision is evaluated. It consists in the use of ultrasonic devices or special cameras that enable the recognition of fruits by color. It is noted that in forestry there are also examples of the creation of automated harvesting devices for forest coniferous cones. To raise the collecting device of the robot with capture elements to the height of a tree crown, a manipulator equipped with a hydraulic drive is used. Research results. Based on the considered technical solutions, the developed principle of a robotic device for collecting coniferous cones is presented. As a collecting device, it is advisable to use a pneumatic gripper that does not damage the cones. To determine the location of the cone in the crown of a coniferous tree, a high-resolution camera is used. It takes photographs of the working area at a high frame rate, creating a stream of photo data that is transmitted to a PC for processing and generating a control action in the working mechanism. Conclusion. The studies prove the effectiveness of replacing manual labor for collecting forest seeds with an autonomous assembly robot.