茶叶智能机械化采摘技术与装备研究进展  

Research progress of intelligent mechanized tea picking technology and equipment

作　　者：王明龙 徐垚 张智浩 朱立学[1] 林桂潮 Wang Minglong;Xu Yao;Zhang Zhihao;Zhu Lixue;Lin Guichao(College of Mechanical and Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou,510220,China;Zhongkai Guangmei Research Institute,Meizhou,514700,China)

机构地区：[1]仲恺农业工程学院机电工程学院,广州市510220 [2]仲恺广梅研究院,广东梅州514700

出　　处：《中国农机化学报》2024年第9期305-310,共6页Journal of Chinese Agricultural Mechanization

基　　金：国家自然科学基金(32101632);梅州市科技计划(2021A0304004)。

摘　　要：为实现茶叶的智能机械化采摘,以增产增量、节约成本、增加市场竞争力、满足数字农业农村的发展需求,围绕末端执行器、检测与定位、采摘顺序规划等限制茶叶采摘机械装备发展的关键技术展开综述,对研究现状进行阐述和分析,总结当前茶叶智能机械化采摘领域突出研究成果。当前受茶园环境的非结构化性影响,茶叶智能机械化采摘存在末端执行器实时性较低、检测与定位算法精度受非线性光照变化影响大、茶叶采摘顺序规划算法的全局寻优实时性较差。对发展低损伤、高效率的智能机械化茶叶采摘装备提出开发剪切—收集一体式末端执行器、研究融合多尺度特征的小目标精准检测算法、设计多机械臂连贯采摘顺序规划方法、推进农机与农艺结合等发展建议。以期为促进我国茶叶智能机械化采摘装备的研究与推广提供参考。In order to realize intelligent mechanized tea picking,increase production increase,save cost,increase market competitiveness and meet the development needs of digital agriculture and rural areas,the key technologies limiting the development of tea picking machinery and equipment such as end‑effector,detection and positioning and picking sequence planning were summarized,and the research status was described and analyzed.The current outstanding research achievements in the field of intelligent mechanized tea picking were summarized.At present,due to the unstructured nature of the tea garden environment,the real‑time performance of the end effector was low,the accuracy of the detection and positioning algorithm was greatly affected by nonlinear illumination changes,and the real‑time performance of the global optimization of the tea picking sequence planning algorithm was poor.Suggestions were put forward for the development of intelligent mechanized tea picking equipment with low damage and high efficiency,such as the development of cut‑collection integrated end‑effector,the study of small‑target accurate detection algorithm integrating multi‑scale features,the design of multi‑arm coherent picking sequence planning method,and the promotion of the combination of agricultural machinery and agronomy,so as to provide reference for promoting the research and popularization of intelligent mechanized tea picking equipment in China.

关 键 词：茶叶采摘机器人 末端执行器 检测定位 采摘顺序规划 

分 类 号：S225.93[农业科学—农业机械化工程]