首页分享智能水果采摘器通过DNK210视觉模块采集果实图像，经灰度拉伸、噪声滤波处理后，由YOLOv5算法与动态阈值技术精准识别果实位置及成熟度。STM32主控芯片支持双模式控制：自动模式利用Dijkstra算法规划路径，实现8秒/次高速采摘；手动模式通过电位计精准调节机械臂关节。末端执行器配备力传感器与柔性夹具，借助PID闭环控制将采摘力控制在安全区间，结合坡度传感与超声波避障，确保复杂地形下高效作业。系统显著提升采摘效率，降低果实损伤至0.3%，助力果农降本增效。

智能水果采摘器通过DNK210视觉模块采集果实图像，经灰度拉伸、噪声滤波处理后，由YOLOv5算法与动态阈值技术精准识别果实位置及成熟度。STM32主控芯片支持双模式控制：自动模式利用Dijkstra算法规划路径，实现8秒/次高速采摘；手动模式通过电位计精准调节机械臂关节。末端执行器配备力传感器与柔性夹具，借助PID闭环控制将采摘力控制在安全区间，结合坡度传感与超声波避障，确保复杂地形下高效作业。系统显著提升采摘效率，降低果实损伤至0.3%，助力果农降本增效。

来源：花匠小妙招时间：2025-10-09 23:15

python爬虫import requests import json import time from bs4 import BeautifulSoup import csv import hashlib import re f = open('data.csv', 'w', encoding='utf-8',newline='') csv_writer = csv.DictWriter(f,fieldnames=[ '店铺', '价格', '销量', '地区' ]) csv_writer.writeheader() em_token = '268b29f3fd4f22143dead58d0ace27ba' eT = int(time.time() * 1000) eC = '12574478' ep_data = '{"appId":"34385","params":"{\"device\":\"HMA-AL00\",\"isBeta\":\"false\",\"grayHair\":\"false\",\"from\":\"nt_history\",\"brand\":\"HUAWEI\",\"info\":\"wifi\",\"index\":\"4\",\"rainbow\":\"\",\"schemaType\":\"auction\",\"elderHome\":\"false\",\"isEnterSrpSearch\":\"true\",\"newSearch\":\"false\",\"network\":\"wifi\",\"subtype\":\"\",\"hasPreposeFilter\":\"false\",\"prepositionVersion\":\"v2\",\"client_os\":\"Android\",\"gpsEnabled\":\"false\",\"searchDoorFrom\":\"srp\",\"debug_rerankNewOpenCard\":\"false\",\"homePageVersion\":\"v7\",\"searchElderHomeOpen\":\"false\",\"search_action\":\"initiative\",\"sugg\":\"_4_1\",\"sversion\":\"13.6\",\"style\":\"list\",\"ttid\":\"600000@taobao_pc_10.7.0\",\"needTabs\":\"true\",\"areaCode\":\"CN\",\"vm\":\"nw\",\"countryNum\":\"156\",\"m\":\"pc\",\"page\":4,\"n\":48,\"q\":\"%E9%94%AE%E7%9B%98\",\"qSource\":\"url\",\"pageSource\":\"a21bo.tmall/a.search_manual.0\",\"channelSrp\":\"\",\"tab\":\"mall\",\"pageSize\":\"48\",\"totalPage\":\"100\",\"totalResults\":\"5000\",\"sourceS\":\"96\",\"sort\":\"_coefp\",\"bcoffset\":\"-35\",\"ntoffset\":\"-10\",\"filterTag\":\"\",\"service\":\"\",\"prop\":\"\",\"loc\":\"\",\"start_price\":null,\"end_price\":null,\"startPrice\":null,\"endPrice\":null,\"categoryp\":\"\",\"ha3Kvpairs\":null,\"myCNA\":\"+EKrIESL+XoBASQJilz6i1eS\",\"screenResolution\":\"1707x1067\",\"userAgent\":\"Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/136.0.0.0 Safari/537.36 Edg/136.0.0.0\",\"couponUnikey\":\"\"}"}' params = {"device":"HMA-AL00","isBeta":"false","grayHair":"false","from":"nt_history","brand":"HUAWEI","info":"wifi","index":"4","rainbow":"","schemaType":"auction","elderHome":"false","isEnterSrpSearch":"true","newSearch":"false","network":"wifi","subtype":"","hasPreposeFilter":"false","prepositionVersion":"v2","client_os":"Android","gpsEnabled":"false","searchDoorFrom":"srp","debug_rerankNewOpenCard":"false","homePageVersion":"v7","searchElderHomeOpen":"false","search_action":"initiative","sugg":"_4_1","sversion":"13.6","style":"list","ttid":"600000@taobao_pc_10.7.0","needTabs":"true","areaCode":"CN","vm":"nw","countryNum":"156","m":"pc","page":1,"n":48,"q":"%E9%94%AE%E7%9B%98","qSource":"url","pageSource":"a21bo.tmall/a.search_manual.0","channelSrp":"","tab":"mall","pageSize":48,"totalPage":100,"totalResults":4800,"sourceS":"0","sort":"_coefp","bcoffset":"","ntoffset":"","filterTag":"","service":"","prop":"","loc":"","start_price":None,"end_price":None,"startPrice":None,"endPrice":None,"itemIds":None,"p4pIds":None,"p4pS":None,"categoryp":"","ha3Kvpairs":None,"myCNA":"+EKrIESL+XoBASQJilz6i1eS","screenResolution":"1707x1067","userAgent":"Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/136.0.0.0 Safari/537.36 Edg/136.0.0.0","couponUnikey":""} ep_data_1 = { "appId":"34385", "params":json.dumps(params)} ep_data = json.dumps(ep_data_1).replace(' ','') string = em_token + "&" + str(eT) + "&" + eC + "&" + ep_data MD5 = hashlib.md5() MD5.update(string.encode('utf-8')) sign = MD5.hexdigest() print(sign) # 模拟浏览器，伪装 headers = { 'cookie':'thw=xx; t=71547f0f34210634dc97776a569b1c77; _tb_token_=55d80553ff3a1; xlly_s=1; miid=6477255995475608816; cookie2=187249ae6f3410cca3357494faab1be4; tk_trace=oTRxOWSBNwn9dPyorMJE%2FoPdY8zMG1aAN%2F0TkjYGZjkj6rrK3kv4LgxGhtlxvv5CwTD%2BouWTjev%2BFfv7Xsw9yZeW1XCdLG2Ohf%2FucBvVB5xkmHsB7kHJX9ir15LwTGxC8X8rar4f0x5tvxdiO3ziakq2jYqHfAFp%2FeJfW1V6El8r9rB56fXPHQK3cXYNmMgHOL6hk9l%2B3CjDxzQQuiEQHx6%2Bo4UL1mBj2QkfR1h7QU9%2BxBSO11ftpRF3%2BxqPsGmko9cr8tYmS2bUKiavvQW8w8jCw08%2BsPXsAb%2BYR0sg80qWEhPF5QOTrnHpjOJRcqaHVkMy30ZzOWtlDbnoT9rOMW4z5hMxdoJlCCydCICfEeHaKkV3raH2W3dapUPPFIEyd5WEAKDB49d8GV8w3JJiYBgOuy4Bc%2Bp6Yy1Hj%2FhhHCA8wT%2FzWJMyVBkPtln9BzkK2JDcbarXAIsoLapHKMZF1aexVyC6%2FBVMMys7FXmhMbm7SmVA8OwrGqtNLS3X3QpjFDZW1fS9PAUkojvyjaWDBUK0%2FPoU9KPKs1x6yw3tlOTVYn8SYwZi5oGtzeScyjGDRI4ef6WllV6He%2FE%3D; tkSid=1747231617354_557676703_1.0; _samesite_flag_=true; 3PcFlag=1747231646558; cna=+EKrIESL+XoBASQJilz6i1eS; wk_cookie2=14022c8a4064938fcfeb427561f70514; wk_unb=UUphzW5Vu8wUZjlFGg%3D%3D; sgcookie=E100AEpe6%2BY1O40k47oBptqkoV4veuwYf88u7e5xA%2B8BUlL8WfgJJNHYTs1U7zn9ddescSInFA6CoHFPzKixGfXpHxHLZYdg6ytb%2B6ehW6JoyLkC9w0A3tEtjydRdv5xzOwj; unb=2207937850738; csg=ad4d4b95; lgc=tb451784979; cancelledSubSites=empty; cookie17=UUphzW5Vu8wUZjlFGg%3D%3D; dnk=tb451784979; skt=3cac585e86fb47bf; tracknick=tb451784979; _cc_=UIHiLt3xSw%3D%3D; _l_g_=Ug%3D%3D; sg=982; _nk_=tb451784979; cookie1=BqRz5vDi%2BN%2FlzB4MVyhoZGNRIrijusW%2BSl6WgIA5wsg%3D; uc1=pas=0&cookie15=UtASsssmOIJ0bQ%3D%3D&existShop=false&cookie14=UoYajLe%2FYFrrPg%3D%3D&cookie21=UIHiLt3xTIkz&cookie16=Vq8l%2BKCLySLZMFWHxqs8fwqnEw%3D%3D; sn=; uc3=lg2=UtASsssmOIJ0bQ%3D%3D&nk2=F5RBwKIM%2FgHsguU%3D&vt3=F8dD2EXQe8p0U6OYrqY%3D&id2=UUphzW5Vu8wUZjlFGg%3D%3D; existShop=MTc0NzIzMTY1OQ%3D%3D; uc4=nk4=0%40FY4KpXrc7tevLMlev9ZPh1VQMHDTUQ%3D%3D&id4=0%40U2grFnGUNFLHx2GpYQ%2BqjmMkackbJnT%2B; _hvn_lgc_=0; havana_lgc_exp=1747262763961; havana_lgc2_0=eyJoaWQiOjIyMDc5Mzc4NTA3MzgsInNnIjoiOWMxMWJhOGQwYTNhNTY0YjZkODNiMmQ4MWNjNjk0M2YiLCJzaXRlIjowLCJ0b2tlbiI6IjFGWmVVd25RbUF5ZTQ2SnVrd2xCVzBBIn0; sdkSilent=1747318062447; mtop_partitioned_detect=1; _m_h5_tk=268b29f3fd4f22143dead58d0ace27ba_1747238874120; _m_h5_tk_enc=276b4bc291afca11c66bdf294cbf9387; tfstk=gZQqNogi-rUq5gpvmaTZYLUqrILv8FyQuN96s1fMGKvDh1AM7TX_MK1gHO7wE1IbMhwx_jQPLVgbHoCi7FTgdJaQRsCXWF2B9V0RcKdOZdVWmx5DkjYgdJaIVbxYhFX1S8Pua0ApEIAMiCVyrCA6SC0GILxktBMDSOXMZ4AM1VcDIqYuaCpkIFYGIUVy_LviTg6ABvOHm5Np16Ct9QK2Ksvr7sQyinoAiLuiSaSy0p0BUV0GzIfwSmEn8l9hvKtBeT4SuF5k_9RF3Y2yS_7A83b0eVWFUMYywgeZbpSGGMIM4S4caEJ2YatSic8VjtQwDilT9_YceMppmueJaZ_BbpKrE-f5aKxFbtw-SKsFZT-CPYgBr6jyzgooBQmukNIqIc-DwQJQa7zrM2WOZ9swycn9qHAydSKiXcKDwQJQa7otXn3HapNvj; isg=BPLyIY23zin7MvIVuKO8AesAQzjUg_YdAp83HbzLH6WRT5JJpBGqLWapP-tzP261', 'user-agent':'Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/136.0.0.0 Safari/537.36 Edg/136.0.0.0'} url = 'https://h5api.m.taobao.com/h5/mtop.relationrecommend.wirelessrecommend.recommend/2.0/' # 查询参数 data = { 'jsv':'2.7.4', 'appKey':'12574478', 't':eT, 'sign':sign, 'api':'mtop.relationrecommend.wirelessrecommend.recommend', 'v':'2.0', 'timeout':'10000', 'type':'jsonp', 'dataType':'jsonp', 'callback':'mtopjsonp5', 'data':ep_data } # 发送请求 response = requests.get(url=url,params=data,headers=headers) # 获取数据 text = response.text str_json = re.findall('mtopjsonpd+((.*)',text)[0].replace(')','') json_data = json.loads(str_json) itemsArray = json_data['data']['itemsArray'] for index in itemsArray: dit = { '店铺': index['nick'], '价格': index['price'], '销量': index['realSales'], '地区': index['procity'] } csv_writer.writerow(dit) print(dit) 爬取多页数据