智能化农业装备学报（中英文）

机器人技术在蔬菜生产领域的应用现状及发展趋势

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梁明旭 ¹^,² , 袁昌荣 ¹ , 夏先飞 ²^,^*^,^* , 宫庆硕 ²

智能化农业装备学报（中英文） | 2025,6(4): 50-63

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智能化农业装备学报（中英文） | 2025 , 6 (4) : 50 -63

机器人技术在蔬菜生产领域的应用现状及发展趋势

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梁明旭¹^,², 袁昌荣¹, 夏先飞²^,^*^,^*, 宫庆硕²

作者信息

^1.南京工程学院机械工程学院，江苏南京，211167

^2.农业农村部南京农业机械化研究所，江苏南京，210014

通讯作者:

^* 夏先飞，男，1987年生，重庆人，博士，研究员；研究方向为收获机械化及农业机器人技术。E-mail：xiaxianfei@caas.cn

作者简介:

梁明旭，男，2000年生，江苏淮安人，硕士研究生；研究方向为农业机器人技术。E-mail：1175063865@qq.com

The current application and future trends of robotics in vegetable production

Mingxu LIANG¹^,², Changrong YUAN¹, Xianfei XIA², Qingshuo GONG²

Affiliations

^1.School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China

^2.Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China

Corresponding Author:

^* XIA Xianfei, E-mail: xiaxianfei@caas.cn

LIANG Mingxu, E-mail: 1175063865@qq.com

出版时间: 2025-11-15 doi: 10.12398/j.issn.2096-7217.2025.04.005

文章导航

摘要

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中国作为世界最大的蔬菜生产国和消费国，蔬菜种植面积不断扩大，但面临机械化、智能化水平偏低以及人工成本连年增长的挑战。随着机器人技术的发展，农业机器人日益广泛地应用于蔬菜生产领域，已成为替代人工劳动、提升生产效率与质量的关键技术手段。为系统了解蔬菜生产领域机器人技术的研究现状并明确其未来发展方向，首先对农业机器人的定义进行了阐述。其次，聚焦蔬菜生产中播种移栽、田间管理和收获分选3大核心作业环节，整理国内外先进研究成果，分别从感知、决策和控制3个层面剖析相关研究进展，包括基于多信息融合的SLAM自主导航技术与路径规划原理；机器视觉在蔬菜生产各环节应用的技术路线与关键技术研究水平；以及针对特定农艺要求和作业环境特征，在作业执行机构及末端执行器控制技术方面取得的进展。最后，分析当前农业机器人在蔬菜生产中面临的主要技术挑战，即适用性和作业效率仍存在显著瓶颈，并对未来发展方向进行展望。未来研究应重点发展多功能作业机器人，需突破多机协同控制技术、深化专业化与模块化设计；同时，政策支持亦不可或缺。随着技术的持续进步和多方的协同努力，机器人技术有望成为推动农业劳动力结构优化、提升蔬菜生产效率、实现智慧农业的关键支撑。

关键词

蔬菜生产 / 农业机器人 / 自主导航 / 机器视觉 / 作业执行与末端控制 / 多机协同控制

Abstract

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As the world's largest vegetable producer and consumer, the area of vegetable cultivation in China is constantly increasing. However, it faces challenges such as relatively low levels of mechanization and intelligentization, as well as the annual increase in labor costs. With the development of robot technology, agricultural robots have been increasingly widely applied in the vegetable production field and have become a key technical means to replace manual labor and improve production efficiency and quality. To systematically understand the research status of robotic technology in vegetable production and clarify its future development direction, this paper first elaborates on the definition of agricultural robots. Secondly, focusing on the three core operation links in vegetable production: sowing and transplanting, field management, and harvesting and sorting, it sorts out advanced research results at home and abroad, and analyzes the relevant research progress from three dimensions: perception, decision-making, and control. This includes the SLAM-based autonomous navigation technology and path planning principles based on multi-information fusion; the technical routes and key technology research levels of machine vision application in various links of vegetable production; and the progress achieved in the control technology of operation execution mechanisms and end-effectors in response to specific agronomic requirements and operational environment characteristics. Finally, the paper analyzes the main technical challenges faced by current agricultural robots in vegetable production, namely the significant bottlenecks in applicability and operational efficiency, and looks forward to future development directions. Future research should focus on the development of multi-functional operation robots, which requires breaking through multi-robot collaborative control technology and deepening specialized and modular design; at the same time, policy support is also indispensable. With the continuous advancement of technology and the joint efforts of various parties, robotic technology is expected to become a key support for optimizing the agricultural labor structure, improving vegetable production efficiency, and realizing smart agriculture.

Key words

vegetable production / agricultural robotics / autonomous navigation / machine vision / task execution and end-effector control / multi-robot coordination

引用本文

梁明旭, 袁昌荣, 夏先飞, 宫庆硕. 机器人技术在蔬菜生产领域的应用现状及发展趋势. 智能化农业装备学报（中英文）, 2025 , 6 (4) : 50 -63 . DOI: 10.12398/j.issn.2096-7217.2025.04.005

Mingxu LIANG, Changrong YUAN, Xianfei XIA, Qingshuo GONG. The current application and future trends of robotics in vegetable production[J]. Journal of Intelligent Agricultural Mechanization, 2025 , 6 (4) : 50 -63 . DOI: 10.12398/j.issn.2096-7217.2025.04.005

基金

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中国农业科学院科技创新工程基础科学研究中心(CAAS-BRC-SAE-2025-02)

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2025年第6卷第4期

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doi: 10.12398/j.issn.2096-7217.2025.04.005

接收时间：2025-07-09
首发时间：2026-11-05
出版时间：2025-11-15

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收稿日期：2025-07-09
修回日期：2025-09-17

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Basic Research Center, Innovation Program of Chinese Academy of Agricultural Sciences(CAAS-BRC-SAE-2025-02)

中国农业科学院科技创新工程基础科学研究中心(CAAS-BRC-SAE-2025-02)

作者信息

^1.南京工程学院机械工程学院，江苏南京，211167

^2.农业农村部南京农业机械化研究所，江苏南京，210014

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^* 夏先飞，男，1987年生，重庆人，博士，研究员；研究方向为收获机械化及农业机器人技术。E-mail：xiaxianfei@caas.cn

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2种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

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