现代农业装备2025，Vol.46Issue(6)：17-22,76,7.DOI:10.3969/j.issn.1673-2154.2025.06.003
菠萝采摘末端执行器及控制策略研究现状分析
Current Situation Analysis of Research Progress on Pineapple Picking End Effectors and Control Systems
摘要
Abstract
Pineapple,as an important tropical fruit,is widely cultivated in Guangdong,Hainan,Guangxi and other regions in China.Due to the special nature of asexual reproduction of pineapples,the mother plants need to be protected during the harvesting process.Currently,the existing harvesting equipment is not yet suitable for large-scale commercial application,so pineapples are still harvested manually at present.The pineapple harvesting operation faces many challenges such as high labor intensity,low harvesting efficiency,and high safety risks.With the development of robotics and artificial intelligence technology,the research and development of automated pineapple harvesting systems has become an important research direction in the field of agricultural robots.As the mechanism that directly interacts with the fruit,the design of the end effector affects the overall efficiency and performance.This paper systematically analyzed the current research status of domestic harvesting end effectors and control strategies in recent years,compared and analyzed the structural design,driving mode and control strategy of different end effectors,and summarized the existing bottlenecks and future development directions of current research on pineapple harvesting end effectors.It pointed out that the structural design and driving mode of the end effector should take into account the fruit damage rate,harvesting success rate and harvesting efficiency;the control strategy adopts PID for clamping force control and twists and breaks the pineapple for harvesting.The research status,key technologies and development trends in this field were deeply analyzed.Combining the key factors of fruit harvesting success rate,harvesting efficiency and fruit damage rate of the end effector,the idealized pineapple harvesting end effector was pointed out.关键词
菠萝采摘/末端执行器/结构设计/驱动方式/控制策略Key words
pineapple harvesting/end-effector/structural design/actuation mode/control strategy分类
农业科技引用本文复制引用
LIU Jialiang,LI Guojie,DENG Ganran,HE Fengguang..菠萝采摘末端执行器及控制策略研究现状分析[J].现代农业装备,2025,46(6):17-22,76,7.基金项目
国家自然科学基金项目(52405300) （52405300）
中央级公益性科研院所基本科研业务费专项(1630012025402) （1630012025402）
海南省科技专项(ZDYF2024XDNY180) （ZDYF2024XDNY180）
