苹果机械化采收发展历程、模式及其技术现状  

Development process,mode and technology status of apple mechanized harvesting

作　　者：马瑞峻[1] 陈瑜[1] 张小花 Arash Toudeshki Reza Ehsani Ma Ruijun;Chen Yu;Zhang Xiaohua;Arash Toudeshki;Reza Ehsani(College of Engineering,South China Agricultural University,Guangzhou,510642,China;College of Automation,Zhongkai University of Agriculture and Engineering,Guangzhou,510225,China;Mechanical Engineering Department,School of Engineering,University of California,Merced,CA 95434,United States)

机构地区：[1]华南农业大学工程学院,广州市510642 [2]仲恺农业工程学院自动化学院,广州市510225 [3]Mechanical Engineering Department,School of Engineering,University of California,Merced,CA 95434

出　　处：《中国农机化学报》2024年第1期301-306,329,共7页Journal of Chinese Agricultural Mechanization

基　　金：国家留学基金委公派访问学者项目(201808440136)。

摘　　要：经过近千年的进化发展,苹果伴随着品种及树形的改良,经历从自然熟落到人工采摘,从辅助工具、辅助收获平台、振动捡拾到智能机器人采收的发展历程及相应的不同的机械化作业模式。介绍苹果机械化采收的发展历程及技术现状、不同收获模式下所使用的机具设备以及不同收获模式所应用的场景与条件,为我国苹果主产区因地制宜地选择适合当地苹果收获作业模式提供借鉴。如人工或机器人采摘适用于苹果鲜售市场,非选择性振动捡拾收获方式适用于苹果的二次加工领域;而为提高机器人的作业效率,需要对苹果树的树形进行结构简化改良,需要考虑农机与栽培农艺的结合。Over the last thousand years of evolution and development,with the improvement of varieties and tree shape,apple production has evolved in the development process from natural ripening to manual picking,from auxiliary tools,auxiliary harvesting platforms,vibration picking to intelligent robot harvesting and corresponding different mechanized operation modes.This paper introduces the development history and technical status of apple mechanized harvesting,the machines and equipment used in different harvesting modes,as well as the application scenarios and conditions of different harvesting modes,which provides reference for the selection of local apple harvesting modes according to local conditions in China s main apple production areas.For example,manual or robot picking of apple is suitable for the fresh market use of apple and non-selective vibration picking and mass harvesting machines such as a limb shaker,trunk shaker,rotating beater bars,and pick-up-machine are only applicable for processing apples,such as apple juice,jams,or apple pies.In order to improve the working efficiency of the robot,it is necessary to simplify and improve the structure of the apple tree,and consider the combination of agricultural machinery and cultivation agronomy.

关 键 词：苹果 机械化采摘 采摘模式 采摘机器人 

分 类 号：S-1[农业科学] S225.93S233.4