基于FBS-TRIZ模型的蔬果采摘机器人设计研究

巩超; 宋欣儒; 张龙; 郑雨薇; 金硕; 朱家谊; 汤羽京

doi:10.19554/j.cnki.1001-3563.2025.12.007

PDF(6478 KB)

包装工程（设计栏目） ›› 2025, Vol. 46 ›› Issue (12) : 83-96. DOI: 10.19554/j.cnki.1001-3563.2025.12.007

专题：融智于形·交叉赋能

基于FBS-TRIZ模型的蔬果采摘机器人设计研究

巩超, 宋欣儒^*, 张龙, 郑雨薇, 金硕, 朱家谊, 汤羽京

作者信息 +

Design of Vegetable and Fruit Picking Robot Based on FBS-TRIZ Model

GONG Chao, SONG Xinru^*, ZHANG Long, ZHENG Yuwei, JIN Shuo, ZHU Jiayi, TANG Yujing

Author information +

文章历史 +

摘要

目的为解决采摘机器人产业化进程中“功能实现与用户体验脱节”的问题,旨在构建一套以用户体验为导向的功能识别与优化路径,提升人机装备交互系统的适配性与用户满意度。方法首先,采用扎根理论,聚焦装备特性,从现有文献中提炼蔬果采摘机器人核心功能,构建功能框架;其次,结合用户行为特征和典型使用情境开展用户调研,融合深度访谈与Kano模型识别影响满意度的核心功能要素;最后,基于FBS模型构建“功能-行为-结构”映射,并利用TRIZ发明原理,为化解设计矛盾生成创新设计方案提供理论指导。结果通过结合典型用户场景下的主观评估,引入JACK人体工效仿真工具对关键交互动作进行模拟分析。结果表明,优化方案在操作便捷性、协作安全性等方面表现优异,显著提升用户满意度。结论本研究建立的用户体验导向功能识别与设计优化路径,强化了功能逻辑与体验感知的协同,FBS-TRIZ融合策略为解决蔬果采摘机器人产业化进程中的用户体验瓶颈提供了规范化、可复制的参考框架,具有良好的推广应用潜力。

Abstract

The work aims to solve the problem of "disconnection between function implementation and user experience" in the industrialization process of picking robots, construct a user experience oriented path for function recognition and optimization, and improve the adaptability and user satisfaction of the human-machine interaction system of the whole machine. Firstly, focusing on device characteristics, the grounded theory was used to extract the core functions of vegetable and fruit picking robots from existing literature, and construct a functional framework; Then, combined with user behavior characteristics and typical usage scenarios, user research was conducted, and in-depth interviews were integrated with Kano models to identify the core functional elements that affected satisfaction. Finally, based on the FBS model, a functional behavioral structural mapping was constructed, and the TRIZ invention principle was utilized to provide theoretical guidance for resolving design conflicts and generating innovative design solutions. Through combination with subjective evaluation in typical user scenarios and the introduction of JACK ergonomic simulation tools, key interactive actions were simulated and analyzed. The results indicated that the optimization scheme performed excellently in terms of operational convenience, and collaborative security, significantly improving user satisfaction. The user experience oriented functional identification and design optimization path established in this study strengthens the synergy between functional logic and experience perception. The FBS-TRIZ fusion strategy provides a standardized and replicable reference framework for solving the user experience bottleneck in the industrialization process of vegetable and fruit picking robots, and has good potential for promotion and application.

导出引用

巩超, 宋欣儒, 张龙, 郑雨薇, 金硕, 朱家谊, 汤羽京. 基于FBS-TRIZ模型的蔬果采摘机器人设计研究[J]. 包装工程（设计栏目）. 2025, 46(12): 83-96 https://doi.org/10.19554/j.cnki.1001-3563.2025.12.007

GONG Chao, SONG Xinru, ZHANG Long, ZHENG Yuwei, JIN Shuo, ZHU Jiayi, TANG Yujing. Design of Vegetable and Fruit Picking Robot Based on FBS-TRIZ Model[J]. Packaging Engineering. 2025, 46(12): 83-96 https://doi.org/10.19554/j.cnki.1001-3563.2025.12.007

中图分类号： TB472

参考文献

[1] 唐文丽. 农业机械自动化与智能化应用方式及发展途径[J]. 农业灾害研究, 2024, 14(9): 64-66.
TANG W L.Application and Development Path of Agricultural Machinery Automation and Intelligence[J]. Agricultural Disaster Research, 2024, 14(9): 64-66.
[2] 刘继展, 江应星. 农业采摘机器人产业化进程分析与多臂高速化技术走向[J]. 农业机械学报, 2024, 55(10): 1-17.
LIU J Z, JIANG Y X.Analysis of the Industrialization Process of Agricultural Picking Robots and the Trend of Multi arm High speed Technology[J]. Journal of Agricultural Machinery, 2024, 55(10): 1-17.
[3] 敖进, 车林仙, 段胜峰, 等. 工业设计主导下的非标装备设计研究现状及发展趋势[J]. 机械设计, 2023, 40(增刊.2): 214-219.
AO J, CHE L X, DUAN S F, et al.Research Status and Development Trends of Non standard Equipment Design under the Guidance of Industrial Design[J]. Mechanical Design, 2023, 40(Sup.2): 214-219.
[4] 孙成宇, 闫建伟, 张富贵, 等. 蔬菜采摘机器人及其关键技术研究进展[J]. 中国农机化学报, 2023, 44(11): 63-72.
SUN C Y, YAN J W, ZHANG F G, et al.Research Progress on Vegetable Picking Robots and Their Key Technologies[J]. China Agricultural Machinery Chemistry Journal, 2023, 44(11): 63-72.
[5] 李隽钰, 董帮源. 农业机械自动化及农业智能化应用分析[J]. 南方农机, 2023, 54(6): 60-62.
LI J Y, DONG B Y.Analysis of Agricultural Machinery Automation and Agricultural Intelligence Application[J]. Southern Agricultural Machinery, 2023, 54(6): 60-62.
[6] 闫全涛, 李丽霞, 邱权, 等. 小型移动式农业机器人研究现状及发展趋势[J]. 中国农机化学报, 2019, 40(5): 178-186.
YAN Q T, LI L X, QIU Q, et al.Research Status and Development Trends of Small Mobile Agricultural Robots[J]. China Agricultural Machinery Chemistry Journal, 2019, 40(5): 178-186.
[7] 陈青, 殷程凯, 郭自良, 等. 苹果采摘机器人关键技术研究现状与发展趋势[J]. 农业工程学报, 2023, 39(4): 1-15.
CHEN Q, YIN C K, GUO Z L, et al.Research Status and Development Trends of Key Technologies for Apple Picking Robots[J]. Journal of Agricultural Engineering, 2023, 39(4): 1-15.
[8] 王明友, 王达, 宋卫东, 等. 菇类采摘机器人研究现状和展望[J]. 农业机械学报, 2024, 55(增刊.1): 1-8.
WANG M Y, WANG D, SONG W D, et al.Research Status and Prospects of Mushroom Picking Robots[J]. Journal of Agricultural Machinery, 2024, 55(Sup.1): 1-8.
[9] ZHOU H, WANG X, AU W, et al.Intelligent Robots for Fruit Harvesting: Recent Developments and Future Challenges[J]. Precision Agriculture, 2022, 23(5): 1856-1907.
[10] SHAMSHIRI R, WELTZIEN C, HAMEED I A, et al.Research and Development in Agricultural Robotics: A Perspective of Digital Farming[J]. International Journal of Agricultural and Biological Engineering, 2018, 11(4): 1-14.
[11] 姚科艳, 刘传俊, 薛洲. 新质生产力视域下农机装备科技创新: 逻辑理路、现实困境与推进策略[J]. 华中农业大学学报(社会科学版), 2024(6): 61-73.
YAO K Y, LIU C J, XUE Z, et al.Technological Innovation of Agricultural Machinery and Equipment from the Perspective of New Quality Productivity: Logical Path, Realistic Difficulties, and Promotion Strategies[J]. Journal of Huazhong Agricultural University (Social Sciences Edition), 2024(6):61-73.
[12] 董佳丽, 张健瑞, 郑明霄. 基于FBS-TRIZ的园艺拖拉机设计研究[J]. 包装工程, 2024, 45(4): 115-122.
DONG J L, ZHANG J R, ZHENG M X.Research on Horticultural Tractor Design Based on FBS-TRIZ[J]. Packaging Engineering, 2024, 45(4): 115-122.
[13] 赵可恒. 工业设计导入装备制造业产业升级的路径探析[J]. 现代装饰(理论), 2013(10): 9-11.
ZHAO K H.Exploration of the Path of Industrial Design Importing Equipment Manufacturing Industry Upgrading[J]. Modern Decoration (Theory), 2013(10): 9-11.
[14] 朱月红, 贾德强. 面向装备制造业的区域性工业设计协同创新模式探索[J]. 机械研究与应用, 2013, 26(5): 188-190.
ZHU Y H, JIA D Q.Exploration of Regional Industrial Design Collaborative Innovation Model for Equipment Manufacturing Industry[J]. Mechanical Research and Application, 2013, 26(5): 188-190.
[15] 陈领, 赵武. 基于创新方法的环卫机械产品设计[J]. 机械设计与制造, 2010(12): 253-255.
CHEN L, ZHAO W.Design of Environmental Sanitation Machinery Products Based on Innovative Methods[J]. Mechanical Design and Manufacturing, 2010(12): 253-255.
[16] RUSSO D, SPREAFICO C.TRIZ 40 Inventive Principles Classification through FBS Ontology[J]. Procedia Engineering, 2015(131): 737-746.
[17] MA J, HU J, FENG J F, et al.Constrained FBS Knowledge Cell Model, Representation, and Applications for Conceptual Design[J]. Journal of Mechanical Engineering Science, 2016, 230(11): 1773-1786.
[18] 席上琳, 刘键, 付思雯. 基于需求分析和TRIZ的草莓采摘机器人产品创新方法研究[J]. 包装工程, 2024, 45(22): 114-126.
XI S L, LIU J, FU S W.Research on Innovative Methods for Strawberry Picking Robot Products Based on Demand Analysis and TRIZ[J]. Packaging Engineering, 2024, 45(22): 114-126.
[19] 胡鹏骁, 邓益民. 基于SA-FBS-TRIZ理论的可变功能应急产品设计方法[J]. 机械设计与研究, 2022, 38(03): 7-11.
HU P X, DENG Y M.Design Method for Variable Function Emergency Products Based on SA-FBS-TRIZ Theory[J]. Mechanical Design and Research, 2022, 38(3): 7-11.
[20] 白仲航, 张资恒, 李晨辉, 等. 功能-行为-结构(FBS)模型方法研究综述[J]. 图学学报, 2022, 43(5): 765-775.
BAI Z H, ZHANG Z H, LI C H, et al.A Review of Functional Behavioral Structural (FBS) Model Methods[J]. Journal of Graphic Science, 2022, 43(5): 765-775.
[21] 鲍秀兰, 马志涛, 马萧杰, 等. 丘陵果园自然环境下柑橘采摘机器人设计与试验[J]. 农业机械学报, 2024, 55(4): 124-135.
BAO X L, MA Z T, MA X J, et al.Design and Experiment of Citrus Picking Robot in Natural Environment of Hilly Orchard[J]. Journal of Agricultural Machinery, 2024, 55(4): 124-135.
[22] 赵静娟, 郑怀国, 董瑜, 等. 全球农业机器人研发趋势预测及对我国的启示[J]. 中国农机化学报, 2021, 42(4): 157-162.
ZHAO J J, ZHENG H G, DONG Y, et al.Prediction of Global Trends in Agricultural Robot Research and Development and Its Implications for China[J]. China Agricultural Machinery Chemistry Journal, 2021, 42(4): 157-162.
[23] 刘成良, 贡亮, 苑进, 等. 农业机器人关键技术研究现状与发展趋势[J]. 农业机械学报, 2022, 53(7): 1-22.
LIU C L, GONG L, YUAN J, et al.Research Status and Development Trends of Key Technologies for Agricultural Robots[J]. Journal of Agricultural Machinery, 2022, 53(7): 1-22.
[24] 高文硕, 宋卫东, 王教领, 等. 果蔬菌采摘机械研究综述[J]. 中国农机化学报, 2020, 41(10): 9-15.
GAO W S, SONG W D, WANG J L, et al.A Review of Research on Fruit and Vegetable Mushroom Harvesting Machinery[J]. China Agricultural Machinery Chemistry Journal, 2020, 41(10): 9-15.
[25] 陈光明, 孔浩然, 章永年, 等. 苹果机器人采摘存在的关键问题及对策[J]. 江苏农业学报, 2022, 38(6): 1709-1714.
CHEN G M, KONG H R, ZHANG Y N, et al.Key Problems and Countermeasures of Apple Robot Picking[J]. Jiangsu Agricultural Journal, 2022, 38(6): 1709-1714.
[26] 张凤芹. 采摘机器人语音识别系统设计——基于英语词汇整合和WAP平台[J]. 农机化研究, 2022, 44(5): 223-226.
ZHANG F Q.Design of Speech Recognition System for Picking Robot - Based on English Vocabulary Integration and WAP Platform[J]. Agricultural Mechanization Research, 2022, 44(5): 223-226.
[27] 费小冬. 扎根理论研究方法论:要素、研究程序和评判标准[J]. 公共行政评论, 2008(3): 23-43.
FEI X D.Grounded Theory Research Methodology: Elements, Research Procedures, and Evaluation Criteria[J]. Public Administration Review, 2008(3): 23-43.
[28] KANO N.Attractive Quality and Must-be Quality[J]. The Journal of the Japanese Society for Quality Control, 1984, 31(4): 147-156.
[29] GOEL A K, RUGABER S, VATTAM S. Structure, Behavior,Function of Complex Systems: The Structure, Behavior, and Function Modeling Language[J]. Ai Edam, 2009, 23(1): 23-35.
[30] ILEVBARE I M, PROBERT D, PHAAL R.A Review of TRIZ, and Its Benefits and Challenges in Practice[J]. Technovation, 2013, 33(2-3): 30-37.
[31] 王帅, 张芳兰, 侯雨雷, 等. 穿刺手术机器人虚拟仿真与人因工效研究[J]. 机械设计, 2025, 42(2): 83-91.
WANG S, ZHANG F L, HOU Y L, et al.Virtual Simulation of Puncture Surgery Robot and Research on Human Factors and Ergonomics[J]. Mechanical Design, 2025, 42(2): 83-91.