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

摘要： 实现菠萝的机械化采摘对于提升我国菠萝国际市场竞争力具有重要意义。针对我国菠萝采收机械的发展现状，从采收方式、工作原理、机械化程度等角度对现有采收装备进行梳理，将菠萝机械化采收技术与装备划分为人工采摘辅助设备、半机械化采摘设备、机械化采摘设备和自动化采摘设备，从人工辅助到智能采摘，技术提升显著但各有优劣：辅助设备便捷但省力有限，半机械化效率不高，机械化高效但果实易发生损伤，智能采摘减损但效率有待提升。在此基础上，归纳我国菠萝采收机械存在农机农艺融合不够，智能化识别和定位不准确，采摘损伤率高和采摘机结构不完善等问题，并提出农机农艺协同发展规范标准化种植模式，加强基础性研究因地制宜优化采收方案和多学科领域交叉融合实现采摘自动化与智能化的发展建议，以期为菠萝采摘机械的后续研究和发展提供参考。

关键词: 菠萝, 采收机, 末端执行器, 视觉识别