关键词: 菠萝, 采收机, 末端执行器, 视觉识别

Abstract: Mechanized harvesting technology is an important bottleneck that restricts the development of pineapple industry, and achieving mechanized harvesting of pineapple is one of the important ways to transform the development mode of forest fruit industry, save cost and increase efficiency, and enhance the competitiveness of international market, as well as the research focus and difficulty of the whole mechanization and scale of pineapple production. In this paper, the development status of pineapple harvesting machinery in China is addressed, and the existing harvesting equipment is sorted out from the perspectives of harvesting mode, working principle and mechanization degree, and the pineapple mechanized harvesting technology and equipment are classified into manual picking auxiliary equipment, semimechanized picking equipment, mechanized picking equipment and intelligent picking equipment, and their research status and technical characteristics are elaborated and analyzed. Manual picking auxiliary equipment is simple in structure, easy to be operated and adaptable, but still requires a large amount of manpower and is not significant in terms of labor savings. Semimechanized picking equipment requires manual positioning and can only harvest one fruit at a time, making harvesting even less efficient than manual harvesting. Mechanized picking equipment enables batch harvesting of fruit, significantly improving harvesting efficiency and reducing labor requirements. However, it is not possible to harvest separately according to ripeness, and there are cases of fruit leakage and damage. Intelligent pineapple picking equipment can realize automatic pineapple picking and less damage to the fruit, which greatly liberates the labor force. However, the fruit picking efficiency is low due to the limitation of fruit identification rate and picking method. On this basis, the problems of pineapple harvesting machinery in China are summarized, and the development suggestions of intelligence, high efficiency and reliability are put forward so as to provide reference for the subsequent research and development of pineapple harvesting machinery.

Key words: pineapple, gathering equipment, endeffector, visual recognition