农业机器人关键技术研究现状与发展趋势  

Current Status and Development Trends of Agricultural Robots

作　　者：刘成良[1,2] 贡亮[1,2] 苑进[3] 李彦明[1,2] LIU Chengliang;GONG Liang;YUAN Jin;LI Yanming(School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200240,China;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China;College of Mechanical and Electronic Engineering,Shandong Agricultural University,Taian 271018,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240 [3]山东农业大学机械与电子工程学院,泰安271018

出　　处：《农业机械学报》2022年第7期1-22,55,共23页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2019YFE0125200,2019YFB1312301)。

摘　　要：农业机器人是机器人领域重要分支,农业机器人代替人工作业成为现代农业发展的重要趋势。本文给出了农业机器人定义和分类,分析了农业机器人国内外发展现状、应用需求和技术挑战,划分了农业机器人3个发展阶段。通过对各类应用场景农业机器人的研究分析,提出了农业机器人的物境信息智能感知、智慧决策与智能控制、灵巧臂手精准作业、自主导航稳定行走、端边云协同机器人系统5大技术要素,阐明了农业机器人关键技术发展趋势,给出了其技术标准体系架构方案。指出了农业机器人共性关键技术是助推智能农机升级、智慧农业产业快速发展的重要抓手,同时指出我国农业机器人正进入快速发展期,也是我国追赶国际技术前沿的战略机遇期,最后为我国农业机器人产业发展提供了方向性建议。Agricultural robot is an important branch of robot family,and it reshapes the modern agriculture industry via replacing human with machines.The definition and classification of agricultural robots were presented,followed by the analysis of its current status,application requirements and technical challenges.Therefore,the phases of agricultural robots were divided into three stages.Through investigating a broad spectrum of agricultural robots with in diverse productional scenes,totally five aspects of the key technologies of agricultural robots,i.e.,the biological and environment perception,smart decision-making and control,dexterous robotic arm and hand operation,autonomous navigation,and end-terminal-cloud coordinated robotic system integration,were highlighted to foresee its developing trends.Relevant standard architecture was proposed to forge the foundation of agricultural robotics.The agricultural robot common key technologies were beneficial to the intelligent agricultural machinery and smart agriculture industry development,indicating that the agricultural robots were in rapid progress which can be seized to catch up and overtake international counterparts.Finally,the developing direction suggestions and roadmaps were given for guiding the domestic agricultural robot industry in the future.

关 键 词：农业机器人 智能感知 决策控制 自主作业 标准体系 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]