香蕉采摘机械的研究现状与发展趋势

Research status and development trend of banana picking machine

采取文献综述与经验总结相结合的方法,对国内外香蕉采摘机械的现状进行研究;从香蕉采摘机械手与自动化采摘机械2个方面对文献知识进行梳理与归纳。结果表明:1)国内外出现众多的香蕉采摘机械手,包括采摘机械夹持装置、支撑装置、切割装置等,可以实现替代人工,降低果实损伤的目的。2)目前集采摘、运动于一体的自动化香蕉采摘机械,极大的提高了香蕉采摘的效率,促进香蕉产业快速发展。3)多功能、智能化香蕉采摘机械仍然是当前香蕉采摘机械的研究重点。针对香蕉采摘机械发展过程中存在的不足,提出如下的发展方向:深入研究香蕉采摘机械的行走装置,实现快速运动与灵活转向;在当前自动化采摘机械的基础之上,全面研究香蕉果实视觉识别系统与计算机决策系统;进一步研究移动小车与机械臂,增强香蕉采摘机械的抗倾覆能力;香蕉采摘、落梳与包装一体机或可更换机械手的多功能化果实采摘机是未来香蕉采摘机械的研究热点。

By combining the theoretical analysis with experience summarization,the current research of banana picking machinery at home and abroad is studied.The literatures are then summarized and classified from two aspects,banana picking manipulator and automatic picking machinery.The results show that:1)Numerous banana picking manipulators appeared at home and abroad,including gripping device,supporting device and cutting device,which can replace labor and reduce fruit damage.2)At present,the automated banana picking machine that combines picking and movement has greatly improved the efficiency of banana picking and promoted the rapid development of the banana industry.3)Multifunctional and intelligent banana picking machinery is still the focus of current banana picking machinery.In view of the shortcomings in the development of banana picking machinery,it is proposed that we need to delve into the walking device of the banana picking machine to achieve fast movement and flexible steering.Based on the current automated picking machine,the banana fruit visual recognition system and computer decision-making system are comprehensively studied.Further research on mobile trolley and robotic arm to enhance the anti-overturning ability of banana picking machine is suggested.Future research hotspots would be multiple-function banana picking machine construction such as picking,packaging and falling comb or multi-function fruit picking machine with replaceable robot manipulator.