目的 设计并制作一款柑橘类水果采摘机器，对柑橘等水果进行采摘和装箱。方法 对整机的机械和控制部分进行设计，机械部分包括末端执行器、机械臂、移动平台、上升机构、存储机构和运输机构；控制部分基于OpenMV系统对指定颜色的柑橘进行扫描，通过串口通信将坐标值传输给STM32单片机，基于STM32单片机对各模块进行控制，利用Altium Designer软件对各模块的控制电路图进行设计与仿真。结果 制作出实物样机且在果园试验成功，采摘1次的平均时间为5.4 s，采摘的最大高度是1.85 m。结论 该机器能够完成对柑橘识别、采摘、分拣和装箱一体化功能，满足使用要求。

The work aims to design and manufacture a citrus fruit picking machine to pick and pack fruits such as citrus. The mechanical part and the control part of the whole machine were designed. The mechanical part comprised an end effector, a manipulator, a moving platform, a rising mechanism, a storage mechanism and a transport mechanism. The control part scanned the citrus in specified color based on the OpenMV system, transmitted the coordinate value to the STM32 MCU through serial communication, controlled each module based on STM32 MCU, and designed and simulated the control circuit diagram of each module with Altium Designer software. A physical prototype was produced and tested successfully in the orchard. The average time for one-time picking was 5.4 s and the maximum height for picking was 1.85 m. The machine is capable of integrating citrus identification, picking, sorting and packing to meet the requirements of use.