水果防碰损采摘的视觉认知及其执行机构研究进展

研发水果采摘机器人对提高收获效率、保证果实品质和减轻劳动强度具有重要意义，但由于果园环境的非结构性，使得采摘机器人极易因目标定位不准、采摘顺序不当、夹剪位姿不合理等导致果实碰伤或刮落，造成该损伤的主要原因是防碰损采摘的视觉认知与执行机构耦合问题尚未得到解决。为梳理水果采摘机器人防碰损作业的最新研究进展，从防碰损采摘中果实多维信息（采摘点、果梗位姿、防碰空间包围体等）的视觉感知、采摘机器人的视觉认知与智能防碰损采摘行为规划、防损采摘机构设计及其行为控制等三方面进行了全面综述和分析，并对今后需重点解决的核心关键问题进行总结和展望，为进一步研究和攻克非结构环境下水果智能防碰损采摘问题提供参考和依据。

Research progress on visual perception and end-effecter of undamaged operation for fruit-picking robot

Research and development of fruit-picking robot is of great significance for improving harvest efficiency, guaranteeing fruit quality and reducing labor intensity. However, picking-robot under the effect of non-structural factors including over lapping, adhesion and occlusion between bunched fruits may damage the fruits very easily due to inaccurate target positioning, incorrect clamping-cutting sequence and improper clamping-cutting gesture. The main cause of the damage is that the coupling mechanism between visual cognition and clamping-cutting actuators for undamaged picking has not been well settled. In order to comb the latest research progress on anti damage operation of fruit-picking robot, this paper makes a comprehensive review and analysis on undamaged harvesting from three aspects: the multi-dimensional information of targets by visual perception, such as picking point, peduncle position, bounding volume of grape for undamaged fruit-picking and so on; visual cognition and intelligent anti damage picking planning of fruit-picking robots; anti damage picking mechanism design and its behavior control. Moreover, the key problems that need to be solved in the future are summarized and prospected. This paper may provide reference and views for further research on the problems of fruit intelligent undamaged picking in unstructured environment.