林果树木机械化修枝技术与装备研究进展

doi:10.11707/j.1001-7488.LYKX20240500

Abstract

Abstract:

In recent years, China’s fruit and forestry industry is booming, fruit and tree planting scale continues to expand, the forestry industry structure is increasingly perfect. However, the level of mechanization of tree pruning operations is still insufficient, and the lack of tree pruning equipment and related supporting equipment is prominent, which restricts the high-quality development of the forest and fruit industry. This paper analyses the development history and current situation of tree pruning mechanization at home and abroad, and discusses the basic structure and technical characteristics of domestic tree pruning machine. Firstly, it describes the main technology and equipment of human hand-held forest fruit tree pruning, and discusses the applicability and operational efficiency under different operating conditions. Secondly, the application of lifting platform-assisted forest fruit tree pruning technology and equipment is introduced, and its advantages in improving pruning operation efficiency and safety are analysed. Once again, intelligent pruning technology is introduced, and the pruning robot integrates the application of image recognition technology and three-dimensional reconstruction technology to discriminate the spatial position of branches, intelligently plan the pruning path, and control the end-effector to realise the automated pruning operation. Finally, it points out the problems in the development of domestic pruning mechanization, puts forward the development of applicable models and equipment for the integration of agro-mechanics and agronomy, promotes the application of a new generation of artificial intelligence pruning technology, improves the support policies for the forest and fruit industry, and attaches importance to the training of professional talents and other development suggestions.

Key words: fruit tree management, pruning machinery, mechanized development, intelligent

CLC Number:

Quancheng Liu,Haoming Lei,Yaxiong Wang,Yunpeng Jing,Hong Xing,Lei Yan. Current Situation and Development Trend of Tree Pruning Mechanization in China’s Forestry and Fruit Industry[J]. Scientia Silvae Sinicae, 2025, 61(11): 226-241.

Figures/Tables 10

Table 1

Overview of manually operated branch pruning equipment"

装备类型 Equipment type	功能介绍 Function introduction	装备外观 Equipment appearance
常规手动修枝剪 Conventional manual pruning shears	人工手持作业，操作简单，适用小面积的果园枝条修剪，适于不同环境下的冬、夏枝条修剪 Manual handheld operation, simple to use, suitable for pruning branches in small orchard areas, and effective for both winter and summer branch trimming in various environments
VS-8R手摇式修枝机 VS-8R hand-cranked pruner	可实现转动手柄进行方向控制和修剪，适合小规模的果园和枝干直径较小的果树修剪 Directional control and pruning via rotating handle, ideal for small-scale orchards and trees with relatively thin branches
气动修枝剪 Pneumatic pruning shears	通过压缩空气驱动，实现快速修剪，提高工作效率，振动反冲力较大 Powered by compressed air for rapid pruning and improved efficiency, though it produces relatively strong vibration and recoil
电动修枝剪 Electric pruning shears	电力驱动，操作简便，适用于直径较小的枝条，作业时间较短，需配备充电设备 Electrically powered, easy to operate, suitable for pruning smaller diameter branches; short operation time requires compatible charging equipment
待夹持机构的锯齿式修枝机 Sawtooth pruning machine with clamping mechanism	将枝条夹持在锯片之间，利用锯片高速旋转切割枝条，作业过程平稳、切口平整光洁 Branches are clamped between saw blades that rotate at high speed to cut smoothly and steadily, resulting in clean and neat cuts
Star40型气动修枝机 Star40 pneumatic pruner	空气压缩机提供动力，高压气体推动活塞带动剪刀实现直径较粗的枝条剪切 Powered by an air compressor, high-pressure gas drives a piston inside the cylinder to operate the shears for cutting branches, capable of pruning thicker branches
背负式圆锯高枝修剪机 Backpack circular saw pole pruner	采用小型汽油机提供动力，配合控制系统操作，操作杆可自由伸缩，适合不同高度及直径的枝条修剪 Powered by a small gasoline engine with a control system, featuring an extendable and retractable pole, suitable for pruning branches of varying heights and diameters
背负式可调高枝修剪机 Backpack adjustable pole pruner	可完成不同高度的枝条修剪，提高修枝的工作效率，作业效果较好，成本较低 Capable of pruning branches at multiple heights, improving pruning efficiency with good performance and relatively low cost
背负式电动枝条修剪机 Backpack electric branch pruner	工作效率较高、噪声小，剪枝动力较小，适合直径较小的枝条，具有较好的修枝效果 High work efficiency with low noise and moderate pruning power; suitable for smaller diameter branches, delivering good pruning results

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Table 4

Parameters and performance of domestic pruning robot"

研究机构 Research Institution	装备型号 Equipment type	技术原理 Technical principle	末端执行器类型 End-effector type	性能参数分析 Performance paramete
北京林业大学 Beijing Forestry University	BSR-Z23立木修枝机器人 BSR-Z23 standing tree pruning robot	弹性夹持机构夹持树干，遥控自主完成修枝 Elastic clamping mechanism grips the tree trunk；remote-controlled autonomous pruning	链锯 Chainsaw	螺旋正反向上升下落，修枝车轮转速13 r·min^?1 Spiral bidirectional vertical movement, pruning vehicle wheel speed 13 r·min?1
北京林业大学 Beijing Forestry University	苹果智能修枝机器人 Apple intelligent pruning robot	智能化剪枝作业平台并结合高精度枝条分割模型 Intelligent pruning platform combined with a high-precision branch segmentation model	电动修枝剪 Electric pruning shears	果树一级枝内部修剪，修剪成功率73.3%，单根枝条修建时间17.8 s Internal pruning of primary fruit tree branches, pruning success rate 73.3%, single branch pruning time 17.8 s
山东农业大学 Shandong Agricultural University	速生林爬树修枝机器人 Fast-growing forest climbing pruning robot	八轮可摆动螺旋爬升，铣刀修切树枝 Eight-wheel oscillating spiral climbing, milling cutter trims branches	四刃白钢立式铣刀 Four-flute white steel vertical milling cutter	修枝直径60 mm，爬升速度0.15 m·s^?1 Pruning diameter 60 mm, climbing speed 0.15 m·s?1
华南理工大学 South China University of Technology	枇杷修枝机器人 Loquat pruning robot	超广角摄像机标定，视觉完成对枝条定位切割 Ultra-wide-angle camera calibration, vision-based branch positioning and cutting	前角10°、后角40°圆型齿刀 Circular serrated blade with 10° front angle and 40° rear angle	工作转速1 100~2 600 r·min^?1，切径直径8~10 mm，平均切削时间1.8 s Operating speed 1 100 to 2 600 r·min?1, cutting diameter 8 to 10 mm, average cutting time 1.8 s
浙江工业大学 Zhejiang University of Technology	葡萄树冬剪修枝机器人 Grape winter pruning robot	对葡萄树先预整枝，然后基于机器视觉进行修枝作业 Pre-pruning of grapevines followed by machine vision-based pruning	切割锯 Cutting saw	实时获取葡萄树二值图像，树芽点平均识别率66.4% Real-time acquisition of grapevine binary images, average bud recognition rate 66.4%
广西大学 Guangxi University	桉树爬树修枝机器人 Eucalyptus climbing pruning robot	対置分布驱动轮攀爬，自身可沿着树干往上爬升修枝 Oppositely arranged driving wheels enable vertical climbing along the trunk	定刀片倾角10°，动刀片倾角12° Fixed blade tilt angle 10°, moving blade tilt angle 12°	切径直径10 mm，最大爬升速度 2.97 m·s^?1，打滑率 10.03% Cutting diameter 10 mm, maximum climbing speed 2.97 m·s?1, slip rate 10.03%
南京航空航天大学 Nanjing University of Aeronautics and Astronautics	多旋翼空中修枝机器人 Multirotor aerial pruning robot	多旋翼飞行器搭配作业刀具空中飞行快速到达作业现场 Multirotor UAV equipped with pruning tools to quickly reach the work site	圆盘刀 Disc blade	—

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装备型号 Equipment type	规格 Specifications	配套空气压缩机 Compatible air compressor	最大剪切直径 Maximum cutting diameter/mm	修枝效率 Pruning efficiency/(s·cut^?1)
Star 35型低枝剪 Star 35 low branch pruner	长度260 mm，质量650 g Length 260 mm, weight 650 g	压力1 MPa，耗气量80 L·min^?1 Pressure 1 MPa, air consumption 80 L·min^?1	35	0.45
Star 30V型低枝剪 Star 30V low branch pruner	长度260 mm，质量570 g Length 260 mm, weight 570 g	压力1 MPa，耗气量80 L·min^?1 Pressure 1 MPa, air consumption 80 L·min^?1	30	0.40
Star 40型高枝剪 Star 40 high branch pruner	长度860 mm，质量580 g Length 860 mm, weight 580 g	压力1 MPa，耗气量100 L·min^?1 Pressure 1 MPa, air consumption 100 L·min^?1	50	0.50
Felco 70型高枝剪 Felco 70 high branch pruner	长度860 mm，质量580 g Length 860 mm, weight 580 g	压力1 MPa，耗气量100 L·min^?1 Pressure 1 MPa, air consumption 100 L·min^?1	30	0.45
AP-1800型加长高枝剪 AP-1800 extended high branch pruner	长度1 800 mm，质量1 400 g Length 1 800 mm, weight 1 400 g	压力0.95 MPa，耗气量90 L·min^?1 Pressure 0.95 MPa, air consumption 90 L·min^?1	20	0.50
ST-360型加长高枝剪 ST-360 extended high branch pruner	长度2 500 mm，质量1 650 g Length 2 500 mm, weight 1 650 g	压力0.65 MPa，耗气量90 L·min^?1 Pressure 0.65 MPa, air consumption 90 L·min^?1	25	0.60

作业方式 Operation mode	作业时间 Operation time/s		作业时间均值 Average operation time/s		效率比值 Efficiency ratio
LG-1型自走履带式升降平台 LG-1 self-propelled crawler lifting platform	97.2	98.6	81.3	92.38	1.48
纯人工作业Pure manual operation	136.5	140.8	132.6	136.6	1.48

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Current Situation and Development Trend of Tree Pruning Mechanization in China’s Forestry and Fruit Industry

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