林业工程学报2025，Vol.10Issue(3)：13-24,12.DOI:10.13360/j.issn.2096-1359.202312004
苹果机械化采收技术与装备研究现状
Research status of apple mechanized harvesting technology and equipment
摘要
Abstract
As an important fruit,apples have become a major source of income for farmers due to their high economic value.However,challenges such as labor shortage and low harvesting efficiency during the apple harvesting process present significant obstacles to the development of the apple industry.Therefore,strengthening the development of mechanized apple harvesting technology and supporting equipment plays an important role in improving harvesting efficiency and ensuring fruit quality.In this context,this article systematically reviews three types of mechanized apple harvesting technologies:apple vibration harvesting,harvesting operation platforms,and harvesting robots.It also offers an overview of the commercially available harvesting equipment in China and around the world.Among them,apple vibration harvesting machinery and loss reduction technology were discussed separately,combined with planting modes to achieve large-scale harvesting.We analyze the differentiated development of apple picking platforms both domestically and internationally,and categorize and summarize the research characteristics of two types of picking platforms.This article introduces the current research status of apple picking robots and summarizes the hot topics in the development of multi arm collaborative picking robots in China.Based on the high requirements for the maturity and quality of fresh apples in China,as well as the current development direction of agricultural intelligent robots,the core technologies involved in fruit recognition,positioning,and precise grasping of apple picking robots are elaborated in detail.This article presents apple recognition technology based on digital images and deep learning,apple positioning technology using active and passive distance measurement,and the design of three end effectors for fruit picking:biomimetic grasping,shearing,and suction.The aim is to ensure that the apple picking robot accurately grasps and recognizes selected apples,thereby achieving the goal of automated,efficient,and non-destructive apple selective harvesting.Finally,the existing problems and future development directions of three types of apples harvesting machinery are discussed again,and the overall research direction of combining agricultural machinery with agronomy and reducing equipment costs is further summarized,to provide reference for the current research and development of mechanized apple harvesting technology and equipment in China.关键词
苹果采摘/振动式采收/采摘作业平台/采摘机器人/识别定位/末端执行器Key words
apple picking/vibrating harvesting/picking operation platform/picking robots/identification and locationend/end effector分类
农业工程引用本文复制引用
陈青,吴玄博,殷程凯,郭自良,丁文芹,周宏平..苹果机械化采收技术与装备研究现状[J].林业工程学报,2025,10(3):13-24,12.基金项目
江苏省重点研发计划项目(BE2021016). （BE2021016）
