中国农机化学报2026，Vol.47Issue(2)：138-147,10.DOI:10.13733/j.jcam.issn.2095-5553.2026.02.020
国内柑橘采摘机器人研究进展
Research progress on citrus picking robot in China
摘要
Abstract
Citrus is one of the important agricultural products in China.With the improvement of residents'living standards,the consumption of citrus has been increasing year by year,making it the largest category of fruit in China.However,citrus picking relies heavily on manual labor currently,which not only brings heavy labor to farmers but also greatly increases production costs.Developing new agricultural machinery to partially or even completely replace manual picking will help reduce farmers'workload and lower citrus production costs.Based on the current development status of the citrus industry in China and the actual working conditions of citrus-picking robots,this article introduces the research advancements in the design of mobile platforms for citrus-picking robots,fruit recognition and positioning algorithms,and end-effector design.It emphasizes an analysis of the current performance of robot platforms regarding mobility and fruit picking,the effectiveness of citrus fruit recognition and positioning algorithms,the design characteristics and fruit separation efficiency of end-effectors,and the performance of robotic arm path planning algorithms.Additionally,the article summarizes the existing limitations of citrus-picking robots and outlines potential future development trends.Citrus-picking robots encounter intricate working conditions due to the diversity of orchard terrain,tree cultivation environments,and tree growth,which present challenges related to the mobile platform's size,center of gravity,and off-road capabilities.The overlap of multiple fruits,along with occlusion caused by leaves and branches,adversely affects the real-time performance and accuracy of the robot's vision system in fruit recognition and positioning.Furthermore,the current cost of citrus-picking robots remains relatively high.Therefore,it is imperative to promote the standardization and regulation of citrus cultivation practices,engage in comprehensive research on innovative algorithms for citrus recognition and positioning,and utilize diversified tasks alongside multi-robot collaboration in the context of citrus-picking robots.These strategies will facilitate the provision of precise services throughout the entire citrus production process,thereby promoting the high-quality development of the citrus industry in China.关键词
柑橘采摘机器人/机器人移动平台/机器视觉/末端执行器/路径规划Key words
citrus picking robot/robot's mobility platform/machine vision/end effectors/path planning分类
信息技术与安全科学引用本文复制引用
Zhao Yixin,Li Zhengyuan,Qiu Quan,Ge Shiyao,Gao Yong..国内柑橘采摘机器人研究进展[J].中国农机化学报,2026,47(2):138-147,10.基金项目
国家自然科学基金资助项目(61973040) （61973040）
