农业装备与车辆工程2026，Vol.64Issue(4)：58-65,8.DOI:10.3969/j.issn.1673-3142.2026.04.009
机械臂在经济作物采收中的应用现状与展望
Development status and prospect of application of robotic arm in cash crop harvesting process
摘要
Abstract
To analyze the recognition capability and picking accuracy of robotic arms in the harvesting of agricultural cash crops under complex environments,the research progress of key technologies for various cash crop picking robots was reviewed,and it was pointed out that key problems such as the influence of illumination and branch/leaf occlusion on fruit recognition accuracy in complex orchard environments,low efficiency of multi-arm collaborative operation,and insufficient adaptability to different terrains were still faced by current domestic agricultural robotic arm harvesting.The application status of robotic arms in the harvesting of fruits and vegetables such as kiwifruit,apples,strawberries,tomatoes,grapes,and eggplants was emphatically expounded,the research achievements of core technologies including image recognition,motion planning,multi-arm collaboration,and end-effector design were analyzed,as well as the structural design,operation modes,and harvesting efficiency of robotic arms for different crops.The shortcomings of current agricultural robotic arms in terms of recognition algorithms,intelligent integration,and balanced regional development were identified by the research,and targeted development suggestions were proposed.The research results provide theoretical reference and practical support for the technological optimization and equipment development of agricultural robotic arms in cash crop harvesting,and have certain significance for promoting the intelligent,information-based,and industrialized development of agricultural picking.关键词
机械臂/经济作物/智能采收/图像识别/应用现状Key words
mechanical arms/economic crops/intelligent harvesting/image recognition/current application status分类
农业科技引用本文复制引用
潘恺,何红丽,李玉成,谭绍辉,赵金辉..机械臂在经济作物采收中的应用现状与展望[J].农业装备与车辆工程,2026,64(4):58-65,8.基金项目
中国烟草总公司重点研发项目(110202301016) （110202301016）
湖南省科技厅十大技术攻关项目(2023NK1020) （2023NK1020）
2025年湖南省研究生科研创新项目(CX20251069) （CX20251069）
