摘要
林果采摘是一项季节性和劳动密集型的工作,作业耗时长且由于老龄化带来的劳动力短缺,人工采摘已经不能满足产业发展需求.随着深度学习等技术的发展,结合种植、保存和加工技术的变化,智能采摘机器人成为解决上述问题的有效方法.以苹果和草莓采摘机器人为例,分析当前国内外林果智能采摘机器人发展现状、特点与制约因素,重点阐述图像识别、果实定位和果实分离三大关键技术的研究进展,从结构化种植环境、识别定位算法、智能末端执行器等方面展望采摘机器人的发展方向,以期为后续林果采摘机器人的进一步研究提供借鉴.
Abstract
Forest fruit picking is a seasonal and labor-intensive task,which will affect the quality of fruits and the economic benefits of fruit farmers if the fruits are not harvested in time.Due to the high labor intensity of the picking process,the time-consuming task and the aging and shortage of the agricultural labor force in recent years,manual picking can no longer fully meet the rapid demand of various markets.With the development of deep learning and other technologies,combined with changes in planting,preservation and processing technologies,intelligent robots picking had become an effective way to solve the above problems.Taking apple and strawberry picking robots as examples,the current development status,characteristics,and limiting factors of intelligent fruit picking robots at home and abroad were analyzed.It focused on the research progress of three key technologies respectively for image recognition,fruit positioning,and fruit separation.The development direction of picking robots was discussed from three aspects:structured planting environment,recognition positioning algorithm,and intelligent end effector,to provide reference for further research on forest fruit picking robots in the future.
基金项目
山东省重点研发计划(2022CXGC020701)
山东省自然科学基金青年基金(ZR2022QE172)
山东省科技型中小企业创新能力提升工程项目(2022TSGC2253)
黄三角国家农高区省级科技创新发展专项(2022SZX46)
国家科技期刊平台
NSTL
万方数据