苹果采摘机器人关键技术研究现状与发展趋势  

Current status and future development of the key technologies for apple picking robots

作　　者：陈青[1,2] 殷程凯 郭自良 王金鹏[1,2] 周宏平[1,2] 蒋雪松[1,2] CHEN Qing;YIN Chengkai;GUO Ziliang;WANG Jinpeng;ZHOU Hongping;JIANG Xuesong(Co-Innovation Center of Efficient Processing and Utilization of Forest Resources,Nanjing Forestry University,Nanjing 210037,China;College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学林业资源高效加工利用协同创新中心,南京210037 [2]南京林业大学机械电子工程学院,南京210037

出　　处：《农业工程学报》2023年第4期1-15,共15页Transactions of the Chinese Society of Agricultural Engineering

基　　金：江苏省重点研发计划项目(BE2021016);江苏省现代农机装备与技术示范推广项目(NJ2021-18)。

摘　　要：目前国内苹果基本采用人工采摘方式,随着劳动力资源短缺以及机械自动化技术的迅速发展,利用机器人采摘替代人工作业成为必然趋势,开发苹果采摘机器人用于果园收获作业具有重要意义。由于苹果采摘作业环境复杂,严重制约了采摘自动化的发展。目标识别、定位与果实分离是苹果采摘机器人的关键技术,其性能决定了苹果采摘的效率及质量。该文概述了具有市场化前景的苹果采摘机器人发展和应用现状,综述了在复杂自然环境光照变化、枝叶遮挡、果实重叠、夜间环境下以及同色系苹果的识别方法,介绍了多种场景并存的复杂环境下基于深度学习的苹果识别算法,遮挡、重叠及振荡果实的定位方法,并对采用末端执行器实现果实与果树的分离方法进行了分析。针对现阶段苹果采摘机器人采摘速度低、成功率低、果实损伤、成本高等问题,指出今后苹果采摘机器人商业化发展亟需在农机农艺结合、优化识别算法、多传感器融合、多臂合作、人机协作、扩展设备通用性、融合5G与物联网技术等方面开拓创新。Fruit picking has been one of the most important operations in modern agriculture.Manual picking cannot fully meet large-scale apple production in recent years,due to the labor-intensive and time-consuming task.Alternatively,robot picking can be expected to replace manual work.However,the conventional semi-automatic picking machine can seriously vibrate the branches and damage the fresh apples during batch harvesting in the existing orchard.The picking aid platform still requires manual picking and does not fundamentally solve the problem of labor shortage.The development of apple picking robots capable of detecting apples in complex environments and picking them without damaging the fruit or the trees is therefore of great importance to orchard picking operations.The performance of picking robots can be assessed using the picking speed,picking success,and fruit damage rates.These parameters depend on three key technologies:target recognition,localization,and fruit separation.In this paper,an overview was provided of the history and current status of commercial apple-picking robots.Specifically,the performance and robustness were highlighted,in terms of the picking efficiency,structural composition,the type of orchard,and adaptability to the external environment.The main technical features were then summarized from the application of apple-picking robots.Since the apple picking was operated in an unstructured orchard environment,the most serious challenge remained in the application of target recognition,localization,and fruit separation techniques.Therefore,the recognition techniques were reviewed for the apples in the complex natural environments with changing light,branch and leaf shading,overlapping fruit,night-time environments,and same-colored apples.Deep learning-based apple recognition algorithms were the far-reaching prospects in complex environments,particularly in multiple scenarios.The accuracy and speed of apple recognition were improved using deep learning recognition algorithms in the field of appl

关 键 词：机器人 机器视觉 图像处理 苹果采摘 末端执行器 研究进展 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]