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ResearchStatusandDevelopmentDirectionofDesign
andControlTechnologyofFruitandVegetablePicking
RobotSystem
1223
WUJianqiao,FANShengzhe,GONGLiang,YUANJin,
42
ZHOUQiang,LIUChengliang
（1.ShanghaiAgriculturalMachineryResearchInstitute,Shanghai201106,China;
2.SchoolofMechanicalEngineering,ShanghaiJiaoTongUniversity,Shanghai200240,China;
3.CollegeofMechanicalandElectronicEngineering,ShandongAgriculturalUniversity,Tai''an271018,China.
4.ShanghaiAcademyofAgriculture,Shanghai201403,China）
Abstract:Vegetableandfruitharvestingisthemostdifficultproductionprocesstoachievemechanizedoperations.High-effi‐
ciencyandlow-losspickingisalsoaworldwideprobleminthefieldofagriculturalrobotresearchanddevelopment,resultingin
fewproductionandapplicationequipmentcurrentlyonthemarket.Inresponsetothedemandforpickingvegetablesandfruits,
toimprovethetime-consuming,labor-intensive,low-efficiency,andlow-automationproblemsofmanualpicking,scholarshave
designedaseriesofautomatedpickingequipmentintherecent30years,whichhaspromotedthedevelopmentofagriculturalro‐
bottechnology.Intheresearchanddevelopmentoffreshvegetableandfruitpickingequipment,firstly,theharvestingobject
andharvestingsceneshouldbedeterminedaccordingtothegrowthposition,shapeandweightofthecrop,thecomplexityof
thescene,thedegreeofautomationrequired,throughcomplexityestimation,mechanicalcharacteristicsanalysis,posemodeling
andothermethodsclarifythedesignrequirementsofagriculturalrobots.Secondly,asthecoreexecutoroftheentirepickingac‐
tion,thedesignoftheendeffectorofthepickingrobotisparticularlyimportant.Inthisarticle,thestructureoftheendeffector
wasclassified,thedesignprocessandmethodoftheendeffectorsweresummarized,thecommonendeffectordrivingmethods
andcuttingmethodswereexpounded,andthefruitcollectionmechanismwassummarized.Furthermore,theoverallcontrol
schemeofthepickingrobot,recognitionandpositioningmethod,adaptivecontrolschemeofobstacleavoidancemethod,quali‐
tyclassificationmethod,human-computerinteractionandmulti-machinecooperationschemeweresummarized.Finally,inor‐
dertoevaluatetheperformanceofthepickingrobotoverall,theindicatorsofaveragepickingefficiency,long-termpickingeffi‐
ciency,harvestquality,pickingmaturityrateandmissedpickingratewereproposed.Theoveralldevelopmenttrendwaspointed
thatpickingrobotswoulddeveloptowardgeneralizationofpickingtargetscenes,diversifiedstructures,fullautomation,intelli‐
gence,andclusteringwereputforwardintheend.
Keywords:pickingmachinery;sceneanalysis;mechanicalgripper;automaticcontrol;evaluationindex;developmenttrend
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