Research status and development trend of orchard picking machinery

doi:10.3969/j.issn.1004-1524.20240750

Acta Agriculturae Zhejiangensis ›› 2026, Vol. 38 ›› Issue (1): 184-196.DOI: 10.3969/j.issn.1004-1524.20240750

• Review • Previous Articles

Research status and development trend of orchard picking machinery

TANG Zhiyong¹^,²^,³(), HE Yichuan¹^,⁴^,^*(), TANG Zhihui²^,³, ZHANG Chao⁵, LIU Zhan¹^,²^,³, LIU Xiaoyu¹^,²^,³

1. College of Mechanical and Electrical Engineering, Tarim University, Aral 843300, Xinjiang, China
2. Xinjiang Production and Construction Corps(XPCC)Key Laboratory of Utilization and Equipment of Special Agricultural and Forestry Products in Southern Xinjiang, Aral 843300, Xinjiang, China
3. Modern Agricultural Engineering Key Laboratory at Universities of Education Department of Xinjiang Uygur Autonomous Region, Aral 843300, Xinjiang, China
4. College of Engineering, Huazhong Agricultural University, Wuhan 430070, China
5. Center of Agricultural Machinery Extension of Xinjiang Production and Construction Corps, Urumqi 830002, China

Received:2024-08-22 Online:2026-01-25 Published:2026-02-11

Abstract

Abstract:

With the acceleration of agricultural modernization, traditional manual picking methods can no longer meet market demands. The development of mechanized picking has become an inevitable trend in the modernization of orchard agriculture in China. The research and development of orchard picking machinery are of great significance for improving picking efficiency and reducing picking costs. This paper systematically elaborated on the importance of mechanized orchard picking, analyzed the classification and characteristics of orchard picking machinery, and reviewed the development history, current status, and features of semi-mechanized assisted picking equipment and fully mechanized picking robots both domestically and internationally. At the same time, against the backdrop of China’s main fruit tree planting patterns, fruit varieties, and cultivation areas, it pointed out some challenges and constraints currently facing orchard picking machinery. Finally, the paper provided an outlook on future development trends, aiming to offer reference for the improvement and advancement of orchard picking machinery in China.

Key words: orchard picking machinery, picking robot, mechanization, picking efficiency

CLC Number:

S225.93

TANG Zhiyong, HE Yichuan, TANG Zhihui, ZHANG Chao, LIU Zhan, LIU Xiaoyu. Research status and development trend of orchard picking machinery[J]. Acta Agriculturae Zhejiangensis, 2026, 38(1): 184-196.

Figures/Tables 7

References 65

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水果种类 Fruit type	种植面积/(10³ hm²) Planting area/(10³ hm²)	产量/10⁴ t Yield/10⁴ t
香蕉Banana	326.85	1 177.68
苹果Apple	1 955.77	4 757.18
柑橘Citrus	2 995.81	6 003.89
梨Pear	914.97	1 926.53
葡萄Grape	705.11	1 537.79

水果种类 Fruit type	种植面积/(10³ hm²) Planting area/(10³ hm²)	产量/10⁴ t Yield/10⁴ t
香蕉Banana	326.85	1 177.68
苹果Apple	1 955.77	4 757.18
柑橘Citrus	2 995.81	6 003.89
梨Pear	914.97	1 926.53
葡萄Grape	705.11	1 537.79

采摘方式 Picking methods	优点 Advantage	缺点 Shortcoming
振摇式 Shake	适合果皮果肉较硬的水果种类 Suitable for fruit types with hard peel and flesh	会降低采摘品质,不适宜鲜水果 Will reduce picking quality, not suitable for fresh fruit
撞击式 Percussive	适用于果皮果肉较硬或树干较大的果树 Suitable for fruit trees with hard rinds and flesh or with large stems	采摘造成损伤率过高,对果树损伤较大 Harvesting causes excessive damage rates and greater damage to fruit trees
切割式 Cut	对果树枝条损伤率较低,操作方便省时省力 Low damage rate to fruit tree branches, easy to operate and save time and labour	采摘作业效率低,具有一定危险性 Picking operations are inefficient and hazardous
采摘作业平台 Picking platform	自动化程度较高,研制成本低,作业效率高 High degree of automation, low development costs and high operational efficiency	创新性较低,人机结合性较差,作业环境有局限性 Less innovative, less human-machine integration, limited operating environment

采摘方式 Picking methods	优点 Advantage	缺点 Shortcoming
振摇式 Shake	适合果皮果肉较硬的水果种类 Suitable for fruit types with hard peel and flesh	会降低采摘品质,不适宜鲜水果 Will reduce picking quality, not suitable for fresh fruit
撞击式 Percussive	适用于果皮果肉较硬或树干较大的果树 Suitable for fruit trees with hard rinds and flesh or with large stems	采摘造成损伤率过高,对果树损伤较大 Harvesting causes excessive damage rates and greater damage to fruit trees
切割式 Cut	对果树枝条损伤率较低,操作方便省时省力 Low damage rate to fruit tree branches, easy to operate and save time and labour	采摘作业效率低,具有一定危险性 Picking operations are inefficient and hazardous
采摘作业平台 Picking platform	自动化程度较高,研制成本低,作业效率高 High degree of automation, low development costs and high operational efficiency	创新性较低,人机结合性较差,作业环境有局限性 Less innovative, less human-machine integration, limited operating environment

区别 Distinction	农业机器人 Agricultural robots	工业机器人 Industrial robots
工作场景 Working environment	工作场景多变,具有随机性,受环境因素影响较大 Work scenarios are variable, random and influenced by environmental factors	工作场景单一,不受环境影响 Single working scenario, independent of the environment
工作量大小 Size of workload	作业目标不固定,需不断判断并计算路线、作业动作等 The target of the operation is not fixed, and constant judgement and calculation of the route and operation actions are required	作业动作单一,重复程度高 Single action and high repetition of work
构造设计 Tectonic design	构造设计复杂,需要较高的灵活度 The structural design is complex and requires a high degree of flexibility	只做简单运动,固定不变 Simple movements only, fixed

Research status and development trend of orchard picking machinery

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不同成熟期 Different maturation periods	果梗切断力Fruit stalk cutting force
不同成熟期 Different maturation periods	番茄Tomato	柑橘Citrus	茄子Eggplant	鲜梨Fresh pear	黄瓜Cucumber	猕猴桃Kiwifruit	苹果Apple
青果期Green fruit period	21.89	17.73	28.05	12.31	17.70	10.33	11.62
绿熟期Green ripening period	22.40	19.60	29.82	12.73	18.32	10.73	12.03
初熟期First maturity period	22.99	25.32	30.07	13.69	18.67	11.02	12.37
半熟期Semi-ripe period	23.71	32.77	34.29	13.90	20.07	11.66	12.79

运动形式 Athletic forms	坐标构成 Coordinate composition	工作空间 Workspace	所占空间 Space occupied	控制难度 Control the difficulty	典型代表 Typical representatives
SCARA型 SCARA type	3R和1P 3R and 1P	半圆柱体 Half cylinder	较小 Smaller	难 Difficult	SCARA装配机器人 SCARA assembly robot
关节坐标型 Joint coordinates type	3R	球缺形 The ball is out of shape	最小 Least	较难 Harder	MOTOMAN机器人 MOTOMAN robot
直角坐标型 Cartesian coordinates type	3P	矩形六面体 Rectangular hexahedron	最大 Most	容易 Easy	龙门机器人 Gantry robot
球坐标型 Spherical coordinates type	1P和2R 1P and 2R	空心开口截锥体 Hollow open truncated cone	较小 Smaller	难 Difficult	Unimate机器人 Unimate robot
圆柱坐标型 Cylindrical coordinate type	2P和1R 2P and 1R	开口空心圆柱体 Open hollow cylinder	较大 Larger	较容易 Easier	Versatran机器人 Versatran robot

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