Abstract:  At present, China still adopts the traditional manual method of picking famous tea, and the mechanized, intelligent and efficient picking of famous tea has become a research hotspot. In this paper, the research progress and characteristics of famous tea picking robots at home and abroad are analyzed from the aspects of identification and positioning of famous and highquality tea buds, the design of robotic arms, and the design of end effectors, and it is pointed out that the current tea picking robots have problems such as poor recognition and positioning and slow picking speed.The research and development of universal and versatile bud recognition and positioning algorithms, efficient picking manipulators and their control systems, and protective flexible endeffectors are the key problems to be solved in the future of famous and highquality tea picking robots.

Key words: famous tea picking, tea bud detection, picking manipulator, end effector

摘要： 目前我国仍采用传统的人工方式采摘名优茶，实现名优茶机械化、智能化、高效率采摘成为当前一个研究热点。从名优茶嫩芽的识别和定位、机械臂的设计、末端执行器的设计等方面，介绍国内外名优茶采摘机器人的研究进展、特点，指出当前采茶机器人存在识别定位较差、采摘速度较慢等问题。研发具有普适性和通用性的嫩芽识别定位算法、高效的采摘机械臂及其控制系统、具有保护性的柔性末端执行器都是未来名优茶采摘机器人需要解决的关键问题。

关键词: 名优茶采摘, 茶叶嫩芽检测, 机械臂, 末端执行器