中国农机化学报2026，Vol.47Issue(2)：217-225,9.DOI:10.13733/j.jcam.issn.2095-5553.2026.02.029
基于CNNs和Transformer混合的茶田路径分割模型
A tea field path segmentation model based on CNNs—Transformer hybrid network
摘要
Abstract
The usable part of tea crops is the leaves,which cannot be directly used for agricultural operations in the air.Currently,the widely used drones cannot meet the demand.Therefore,tea field automatic navigation technology applied to agricultural unmanned vehicles is becoming increasingly important.To provide real-time navigation path calculation for rapid reasoning in edge computing,a new tea field path segmentation model,Tea—CNN—Transformer—YOLO(TCT—YOLO),based on hybrid strategies of CNN and Transformer is proposed.Under the backdrop of differentiated agricultural conditions,TCT—YOLO,based on YOLOv8,implements Transformer-Convolution Blocks(TCB)and(TTB)in a stackable deployment.It exhibits superior generalization capabilities in tea field road segmentation tasks,with mIoU improvement of 4.8%.Transformer Blocks in the task may lead to overfitting and gradient explosion,Leaky ReLU activation functions and Layer Normalization are adopted in TCB and TTB,demonstrating outstanding performance in accuracy-speed comparisons with various models in downstream tasks.YOLO models'use of Feature Pyramid Networks(FPN)for feature extraction overlooks the problem of inter-layer information loss,it is expected to improvethem by Gather-and-Distribute(GD)mechanism,fusing,and distributing features from different hierarchical levels,resulting in an total Intersection over Union improvement of 2.2%.关键词
茶田路径分割/实例分割/信息聚集—分发/边缘计算/轻量化模型Key words
tea field path segmentation/instance segmentation/gather-and-distribute(GD)mechanism/edge computing/lightweight model分类
农业科技引用本文复制引用
Mai Yanheng,Huang Haoyi,Zheng Jiaqi,Luo Zefeng,Liao Zhongliang,Tang Jingchi..基于CNNs和Transformer混合的茶田路径分割模型[J].中国农机化学报,2026,47(2):217-225,9.基金项目
广东省重点领域研发计划项目(2023B0202120001) （2023B0202120001）
广东省甘蔗剑麻产业技术体系创新团队项目(2023KJ104-11) （2023KJ104-11）
以农产品为单元的广东省现代农业产业技术体系创新团队建设项目(2023KJ120) （2023KJ120）
广东省大学生创新创业训练项目(S202310564019) （S202310564019）
