摘要
农业机械手对实现农业现代化具有重要意义。近年来,随着传感技术、计算机视觉以及运动控制技术的快速发展,农业机械手逐渐向智能化、自主化和多功能化方向发展。本研究概述了农业机械手的研究现状及主要结构。基于农业机械手作业环境的复杂性以及作业对象的多样性和差异性,将农业机械手的关键技术归纳为末端执行器设计、传感感知技术、视觉技术和运动控制技术,进一步对末端执行器类型进行分类归纳,分析不同末端执行器的研究现状;对现阶段农业机械手领域的目标识别和定位技术进行了分析和归纳;对当前农业机械手领域的传感感知技术进行了系统总结;对农业机械手作业控制过程进行了综述。最后,针对当前农业机械手存在的问题进行了讨论,并对农业机械手的未来研究进行了展望。
Agricultural manipulators are of great significance to realize agricultural modernization.In recent years,with the rapid development of sensing technology,computer vision and motion control technology,agricultural manipulators have gradually developed in the direction of intelligence,autonomy and multi-function.This paper summarizes the research status and main structures of agricultural manipulators.Based on the complexity of the operating environment of agricultural manipulators and the diversity and difference of the operating objects,the key technologies of agricultural manipulators are summarized as end-effector design,sensing and perception technology,vision technology and motion control technology.The types of end effectors are further classified and summarized,and the research status of different end effectors is analyzed.The target recognition and positioning technologies in the field of agricultural manipulators at this stage are analyzed and summarized.The sensing technologies in the field of agricultural manipulators are systematically summarized.The operation control process of agricultural manipulators is reviewed.Finally,the existing problems of current agricultural manipulators are discussed,and the future research of agricultural manipulators is prospected.
作者
赵煜
方国艾
李永国
ZHAO Yu;FANG Guoai;LI Yongguo(College of Engineering Science and Technology,Shanghai Ocean University,Shanghai 201306,China)
出处
《江苏农业学报》
北大核心
2025年第2期404-416,共13页
Jiangsu Journal of Agricultural Sciences
基金
国家自然科学基金面上项目(51876114)。
关键词
农业机械手
末端执行器
传感感知技术
视觉技术
运动控制技术
agricultural manipulators
end-effector
sensing and perception technology
vision technology
motion control technology
