农业采摘机器人产业化进程分析与多臂高速化技术走向  

Industrialization Trends and Multi-arm Technology Direction of Harvesting Robots

作　　者：刘继展[1,2] 江应星 LIU Jizhan;JIANG Yingxing(Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University,Zhenjiang 212013,China;National Digital Agricultural Equipment(Artificial Intelligence and Agricultural Robotics)Innovation Sub-center,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学教育部现代农业装备与技术重点实验室,镇江212013 [2]江苏大学国家数字农业装备(人工智能和农业机器人)创新分中心,镇江212013

出　　处：《农业机械学报》2024年第10期1-17,共17页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(31971795);江苏省(现代农业)重点研发计划项目(BE2022363);江苏省现代农机装备与技术示范推广项目(NJ2022-03)。

摘　　要：在经历了长期的摸索和积累后,全球采摘机器人的产品化进程正在不断加速。随着我国农业生产对采摘机器人需求的快速刚性化,众多企业纷纷加入,生产销售逐步展开,但作业效率不足已成为其全面产业化和生产应用的核心障碍。本文在分析我国采摘机器人效率现状的基础上,归纳了机器人采摘的提效技术模式和多臂化途径,指出了国内外采摘机器人多臂高速并行的发展态势。在总结多臂采摘机器人臂型设计、视觉技术、任务与运动规划技术发展现状的基础上,提出了采摘机器人产业化的发展趋势与目标,认为从手眼高精准向综合强容差、从专用定制化向通用模块化、从专业性装备向用户型产品发展是采摘机器人产业化的技术走向。After a long period of exploration and accumulation,the global productization process of harvesting robot is accelerating.With the increasingly irreplaceable demand for robotic harvesting in agricultural production in China,many enterprises have entered the market and gradually opened up the production and sales.However,insufficient work efficiency has become the core bottleneck for its comprehensive industrialization and production applications.Based on the analysis of the efficiency status of harvesting robots in China,the technology modes and the multi-arm approach of efficiency improvement were summarized.And with the rapid development of agricultural harvesting technology in the future,multi-arm high-speed simultaneous harvesting would become a global trend.On the basis of summarizing the development status of arm design,vision technology,task and motion planning technology of multi-arm harvesting robots,the development trend and goals of the industrialization of harvesting robots were proposed.It was believed that the technological direction for the industrialization of harvesting robots would shift from hand-eye high-precision positioning to strong comprehensive tolerance capability,from specialized customized technology model to universal modular technology solution,and from complex human involvement in professional equipment to an easy-to-use technology system for household products.

关 键 词：农业采摘机器人 产业化 多臂 作业效率 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]