农业工程学报2025，Vol.41Issue(17)：1-14,14.DOI:10.11975/j.issn.1002-6819.202504018
猕猴桃作业机器人研究进展及全程智能化生产展望
Research progress of the kiwifruit operation robots and prospects for fully intelligent production
摘要
Abstract
Kiwifruit is recognized as a favorite fruit crop in China,due to the significant economic and nutritional value.However,the large-scale production has still remained largely on the manual labor,particularly in the key operations,such as the pollination,pruning,thinning,and harvesting.Efficiency and quality are often required in its rapid industrial expansion in recent years,due to the highly labor-intensive and time-sensitive.It is a pressing need for the labor-saving,precise,and reliable alternatives in industry,with the increasing cost of seasonal labor.Among them,the agricultural robots have received growing attention in kiwifruit production.As a representative direction of smart agriculture,the agricultural robots can typically integrate the machine vision,intelligent decision-making,and automated execution.The broad application prospects can also improve the precision for the standardized management of the orchards throughout the year.Multi-degree-of-freedom manipulators,and environment-aware perception modules can also suitable for the complex environment of field orchard.This study aims to systematically review the recent technologies in the kiwifruit robots,particularly on their system structures,perception strategies,motion planning,and end-effector designs.The robot enabling technology was also examined to clarify the current research landscape and development bottlenecks in intelligent horticulture.Special emphasis was placed on the robotic applications during pollination and harvesting.The system performance was evaluated to fully meet the short operation windows and high accuracy requirements.Meanwhile,the intelligent robotic equipment was integrated into the broader context of fully intelligent kiwifruit production(such as bud and young fruit thing,as well as branch pruning).The entire production cycle was involved the sensing,decision-making,execution,and feedback.The selective operation techniques were further enhanced the production efficiency.The targeted interventions were employed to manage only the necessary fruits,flowers,or buds.This selective process was optimized the resource use for the overall productivity without excessive input.Furthermore,a comprehensive framework was also proposed to adapt the intelligent technologies in real-world orchards,including the spatial compatibility between robotic equipment and orchard infrastructure,biological coordination with the phenological development of crops,and the modularity in equipment design to accommodate diverse operational scenarios.The need was highlighted to coordinate the planning in orchard,the standardization in cultivation practices,and equipment innovation.An integrated production was fully met the demands of modern fruit farming.Representative case studies and experimental results were presented to assess the feasibility,efficiency,and practical challenges after robotic deployment in kiwifruit production.Strategic guidance can also provide for the future innovation,standardization,and industrial application,ultimately supporting the transition toward a fully automated,efficient,and sustainable kiwifruit production.关键词
猕猴桃/智能化/标准化/农业机器人/人工智能Key words
kiwifruit/intelligentization/standardization/agricultural robots/artificial intelligence分类
农业科技引用本文复制引用
贺磊磊,辜煜,夏满,李瑞,ZHANG Qin,傅隆生..猕猴桃作业机器人研究进展及全程智能化生产展望[J].农业工程学报,2025,41(17):1-14,14.基金项目
国家自然科学基金项目(32371999) （32371999）
陕西省重点研发计划项目(2024PT-ZCK-27,2024NC-YBXM-195,2023JBGS-21) （2024PT-ZCK-27,2024NC-YBXM-195,2023JBGS-21）
人力资源和社会保障部外国专家局项目(H20240238) （H20240238）
西安市科技计划项目(23NYGG0071,24NYGG0035) （23NYGG0071,24NYGG0035）
