苹果机器人采摘存在的关键问题及对策  

Key problems and countermeasures of apple machine picking

作　　者：陈光明[1,2] 孔浩然 章永年 李佩娟[3] CHEN Guang-ming;KONG Hao-ran;ZHANG Yong-nian;LI Pei-juan(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China;Jiangsu Key Laboratory of Intelligent Agricultural Equipment,Nanjing 210031,China;Industrial Center,School of Innovation and Entrepreneurship,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京农业大学工学院,江苏南京210031 [2]江苏省智能化农业装备重点实验室,江苏南京210031 [3]南京工程学院工业中心/创新创业学院,江苏南京211167

出　　处：《江苏农业学报》2022年第6期1709-1714,共6页Jiangsu Journal of Agricultural Sciences

基　　金：江苏省重点研发计划项目(BE2021016-5)。

摘　　要：中国果园面临收获装备亟缺、劳动力成本上升等问题。目前,苹果采摘机器人机械化、智能化水平的提高已经成为农业机械研究的主要方向之一。本文分类综述了国内外苹果采摘机器人的最新研究成果,对其信息收集处理系统、机械系统等的特点进行对比分析。此外,本文针对苹果采摘机器人关键系统面临的难点进行探讨,总结得出如下要点:工作环境复杂多变、目标果实识别定位困难、机械系统选型及设计困难等。最后,本文提出构建现代果园无人化收获成套技术体系与建立示范基地的展望。由此可见,研发一款适合本土商业化应用的苹果采摘机器人对当前苹果产业的发展有着至关重要的作用。China is faced with problems such as shortage of equipment for orchard harvesting and rising labor costs. The improvement of mechanization and intelligence level of apple picking robot has become one of the main research directions of agricultural machinery. The latest research achievements of apple picking robot at home and abroad were reviewed, and the characteristics of its information collection and processing system and mechanical system were compared and analyzed. This paper discussed the difficulties faced by the key system of apple picking robot: complicated and changeable working environment, difficult recognition and positioning of target fruit, difficult selection and design of mechanical system, etc. Countermeasures and prospects were put forward: the construction of modern unmanned orchard harvest technology system and demonstration base. The development of an apple-picking robot suitable for local commercial applications plays a vital role in the development of the current apple industry.

关 键 词：苹果 采摘机器人 柔性夹爪 移动底盘 

分 类 号：S232.5[农业科学—农业机械化工程]