[1]郭自良,殷程凯,吴玄博,等.水果采摘机械手关键技术研究现状与展望[J].江苏农业学报,2024,(06):1142-1152.[doi:doi:10.3969/j.issn.1000-4440.2024.06.021]
　GUO Ziliang,YIN Chengkai,WU Xuanbo,et al.Research status and prospect of key technologies of fruit picking manipulator[J].,2024,(06):1142-1152.[doi:doi:10.3969/j.issn.1000-4440.2024.06.021]
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水果采摘机械手关键技术研究现状与展望()
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江苏农业学报[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2024年06期
页码:
1142-1152
栏目:
综述
出版日期:
2024-06-30

文章信息/Info

Title:
Research status and prospect of key technologies of fruit picking manipulator
作者:
郭自良1; 殷程凯1; 吴玄博1; 陈青1; 2; 王金鹏1; 2; 周宏平1; 2
(1.南京林业大学机械电子工程学院,江苏南京210037；2.南京林业大学林业资源高效加工利用协同创新中心,江苏南京210037)
Author(s):
GUO Ziliang1; YIN Chengkai1; WU Xuanbo1; CHEN Qing1; 2; WANG Jinpeng1; 2; ZHOU Hongping1; 2
(1.College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China；2.Co-innovation Center of Efficient and Utilization of Forestry Resources, Nanjing Forestry University, Nanjing 210037, China)
关键词:
水果采摘机器人; 机械手; 运动规划; 末端执行器
Keywords:
fruit picking robot; manipulator; motion planning; end-effector
分类号:
TP241
DOI:
doi:10.3969/j.issn.1000-4440.2024.06.021
摘要:
采摘机器人的研究对推动水果产业的发展有着重要作用。采摘机械手的运动规划与其硬件结构是采摘机器人的关键技术,影响水果采摘的效率与水果品质。本文分析了传统运动规划算法、基于生物智能的运动规划算法、基于概率采样的运动规划算法以及基于深度强化学习的运动规划算法等运动规划算法的优点和不足。同时总结了采摘机械手硬件结构的研发现状,指出目前采摘机械手存在采摘效率低、规划算法效率低、系统成本高与采摘对象单一等问题,对未来水果采摘机器人的研究进行了展望。本文为未来采摘机器人的研发提供了参考。
Abstract:
Research on picking robots plays an important role in promoting the development of fruit industry. Motion planning and hardware structure of fruit picking manipulator are the key technologies of the picking robot, which affect the picking efficiency and fruit quality. This paper analyzed the advantages and shortcomings of motion planning algorithms such as traditional motion planning algorithm, motion planning algorithm based on biological intelligence, motion planning algorithm based on probability sampling and motion planning algorithm based on deep reinforcement learning. At the same time, the current status of research and development of the hardware structure of the picking manipulator were summarized. The problems of low picking efficiency, low planning algorithm efficiency, high system cost and single picking object were pointed out. The future research of fruit picking robot was prospected. This paper provides a reference for future research and development of picking robot.

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备注/Memo

备注/Memo:
收稿日期：2023-07-04基金项目：江苏省重点研发计划项目(BE2021016)作者简介：郭自良(1998-),男 ,河南南阳人,硕士研究生,主要研究方向为机械臂路径规划。(E-mail)gzl@njfu.edu.cn通讯作者：陈青,(E-mail)qchen@njfu.edu.cn
更新日期/Last Update: 2024-07-15