【摘要】 针对设施温室番茄垂直栽培条件下采摘作业空间受限、采摘果穗高度差异大及障碍物分布复杂等问题，设计并制造了一台集视觉感知、升降解耦合运动规划与柔性夹剪执行功能于一体的番茄采摘机器人。系统采用7自由度协作型机械臂与滑轨式升降机构的复合构型，结合RGB-D相机构建远景-近景双层视觉感知体系，实现成熟果穗检测与果梗剪切位姿精确定位。为提升在不同高度与姿态约束下的采摘路径可行性，提出一种基于可达性地图的升降关节与机械臂解耦合规划方法，并结合改进PB-PSO逆运动学优化与基于引力场的RRT~*路径规划，实现快速、无碰撞的采摘位姿生成与执行。温室现场试验结果表明，所提出采摘方法在剪切位姿求解准确率和抓取位姿规划成功率方面分别较基线方法提高了5.9个百分点和7.5个百分点，整体采摘成功率(未考虑末端执行器剪切失败情况)达到65.8%,验证了系统在复杂设施温室环境下的可行性。更多还原

【Abstract】 Aiming to address the challenges of limited operating space, large variations in fruit-cluster height, and complex obstacle distributions in tomato harvesting under vertical cultivation conditions in protected greenhouses, a tomato harvesting robot that integrated visual perception, decoupled motion planning for the lifting mechanism, and a flexible gripping-cutting end-effector was designed and developed. The system adopted a hybrid configuration consisting of a 7-DOF collaborative manipulator and a rail-mounted lifting mechanism, and employed a dual-layer RGB-D perception framework combining long-range and close-range sensing to enable accurate detection of ripe fruit clusters and precise localization of pedicel cutting poses. To improve the feasibility of harvesting trajectories under varying height and posture constraints, a decoupled planning method based on a reachability map for the lifting joint and manipulator was proposed. This method was further combined with improved PB-PSO inverse kinematics optimization and attraction-field-guided RRT~* path planning to achieve fast and collision-free generation and execution of harvesting trajectories. Field experiments in greenhouse environments demonstrated that the proposed method improved the accuracy of cutting-pose estimation and the success rate of grasping-pose planning by 5.9 percentage points and 7.5 percentage points, respectively, compared with baseline methods, achieving an overall harvesting success rate of 65.8%. These results validated the feasibility of the system in complex protected-greenhouse environments and underscored its potential to advance efficient and intelligent protected agriculture.更多还原