多机械臂协同采摘技术通过集成多个机械臂，实现果蔬采摘的高效、精准和自动化，有效解决传统人工采摘面临的成本高与效率低的难题。综述了多机械臂协同采摘技术的研究进展，梳理了多机械臂协同采摘系统框架。针对协同采摘中的决策难题，分析了协同采摘任务规划中的协同方式以及任务分配，综述了多机械臂协同采摘中的碰撞检测与避障策略，以及路径规划技术。最后，对多机械臂协同采摘技术未来发展方向进行展望，提出机与农艺结合、人机协作、决策大模型和多算法融合等方面的发展趋势。

The efficiency, precision, and automation of fruit and vegetable picking are realized through the integration of multiple mechanical arms in multi-mechanical arm cooperative picking technology, effectively addressing the high costs and low efficiency associated with traditional manual picking methods. The research progress in multi-mechanical arm cooperative picking technology was summarized, and the framework of the multi-mechanical arm cooperative picking system was comprehended. In light of the decision-making challenges in cooperative picking, the cooperative methods and task allocation within cooperative picking task planning was analyzed, and the collision detection, obstacle avoidance strategies, and path planning techniques utilized in cooperative picking with multiple robotic arms was reviewed. The future development direction of multi-mechanical arm cooperative picking technology is outlined, with a proposed development trend that envisions the combination of machine and agronomy, human-machine collaboration, decision-making big models, and multi-algorithm fusion.