国内柑橘采摘机器人研究进展

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中图分类号：TP242；S666 文献标识码：A 文章编号：2095-5553（2026）02-0138-10

Abstract：Citrus isone of the important agricultural products in China.With the improvement of residents'living standards，the consumption of citrus has ben increasing year by year，making it the largest category of fruit in China. However，citrus pickingrelies heavilyonmanual laborcurrently，which notonlybrings heavy labor tofarmers but also greatlyincreases production costs.Developing new agricultural machinery to partiallorevencompletelyreplace manual picking willhelpreduce farmers'workload and lower citrus production costs.Basedon the current development status of thecitrusindustryin Chinaandtheactualworkingconditionsofcitrus-pickingrobots，thisarticleintroducestheresearch advancementsinthedesignof mobileplatforms forcitrus-pickingrobots，fruitrecognitionandpositioningalgorithms，and end-effectordesign.Itemphasizesananalysisof thecurrent performanceofrobotplatformsregarding mobilityandfruit picking，theefectivenessof citrus fruitrecognitionandpositioningalgorithms，thedesign characteristicsand fruit separation eficiencyofend-effectors，andtheperformanceofroboticarmpath planningalgorithms.Aditionally，the articlesummarizes the existing limitationsof citrus-pickingrobotsandoutlinespotential future development trends. Citrus-pickingrobotsencounterintricateworkingconditionsduetothediversityoforchardterain，treecultivation environments，and tree growth，which presentchalenges related tothemobile platform'ssize，center of gravity，and offroadcapabilities.Theoverlapof multiplefruits，along withoclusioncaused byleavesand branches，adverselyaffects thereal-time performanceandaccuracyof therobot'svision system infruitrecognitionand positioning.Furthermore，the currentcostof citrus-pickingrobotsremains relativelyhigh.Therefore，itis imperativetopromotethe standardizationand regulationofcitruscultivationpractices，engageincomprehensiveresearchoninnovativealgorithms forcitrusrecognition andpositioning，andutilize diversified tasksalongsidemultirobotcolaboration inthecontextofcitruspickingrobots. These strategies will facilitate the provision of precise services throughouttheentire citrus production process，thereby promoting the high-quality development of the citrusindustry in China.

Keywords：citrus picking robot；robot's mobility platform；machine vision; end efectors； path planning

0 引言

我国是世界上最大、最重要的柑橘生产国，截至2022年，我国柑橘种植面积已达 2 995.81khm2 ，产量达到 60 038.9kt[1] 。（剩余21465字）