顶生作物机械化采收关键技术研究现状

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中图分类号：S225.93；TP391 文献标识码：A 文章编号：2095-5553（2026）04-0031-09

Abstract：Theharvestingoftop-growthcropsismainlycarriedout manuall，with highlabour intensityandhigh labour cost.With therapid developmentof artificial inteligenceandroboticstechnology，thereplacementof manual operations by mechanical harvestinghasbecomeaninevitable trend，andmechanizedharvesting oftop-growth cropsisof great significance.Atpresent，thekeytechnologiesfor intellgent harvestingof top-growthcropsaremainlyfocusedon the research of identificationand positioning of harvesting objects，robotic armsand their trajectory planning and end-effector. This paperreviews therecognitionmethodof thetarget object with lightchange，branchandleafshade，crop overlapin thecomplexnaturalenvironment，analyzesthepositioning methodof top-growthcrop in two-dimensional imageand thre-dimensionalspace，outlines thepath planning algorithmandoptimization strategyof theroboticarm in the harvesting process，and finally，forthecharacteristicsof diferenttop-growth crops，analyzesthe technical strategyofcropharvesting byusing theend-effector，andput forward thecorrespondingoptimization strategy.Aiming attheproblemssuchaslow speed，low success rate and high cost of mechanized harvesting of top-growthcrops at this stage，the development of mechanized harvestingof top-growthcrops needstofocusontheoptimizationof identificationand positioning algorithms， trajectoryplanningand thecomprehensiveoptimizationofend-efector，andtorealize theintegrationandapplicationof these key technologies.

Keywords：top-growth crops；identification and localisation；robotic arm；path planning；end-effector

0 引言

菊花、茶叶和红花等作物的生长特性与形态表现主要受制于其顶端生长状况的影响。（剩余20115字）