森林工程2026，Vol.42Issue(2)：305-316,12.DOI:10.7525/j.issn.1006-8023.2026.02.007
基于YOLOv11的德化梨采摘机器人视觉定位设计
Visual Positioning Design of Dehua Pear Picking Robot Based on YOLOv11
摘要
Abstract
In Dehua pear cultivation,manual picking is inefficient,with labor costs exceeding 15%per mu.Traditional mechanical picking,due to the rigidity of its equipment,often results in a fruit breakage rate exceeding 20%,making it difficult to adapt to the thin skin(0.2-0.3 mm)and crispy flesh of the pear.To address this industry pain point,this paper designs an integrated harvesting robot system using a'bionic end effector+YOLOv11 visual positioning'ap-proach.The core of the system consists of a six-degree-of-freedom robotic arm,a binocular depth camera,and an electri-cally driven,separate end effector.The actuator utilizes a three-finger flexible gripping and shearing mechanism,bal-ancing non-destructive grasping with precise stalk severing.The visual system,based on YOLOv11,introduces the C2PSA attention module to enhance the distinction between fruit and leaf features,and combines it with a binocular cam-era for three-dimensional positioning.Experiments based on samples from a pear orchard in Dehua,Fujian,show that the recall rate for the'pear'category remained above 0.85 at a confidence level≥0.7,with an optimal F1 value of 0.83(confidence level 0.565)and a stable mAP50 of 0.87.Field tests also demonstrate that the system achieved four times the efficiency of manual picking,while keeping the fruit breakage rate below 5%.This solution provides technical sup-port for automated Dehua pear harvesting,and its design principles are valuable for the development of harvesting equip-ment for fragile fruits such as peaches and strawberries.关键词
YOLOv11/采摘末端执行器/无损伤抓取/视觉定位/德化梨/三指柔性夹持/六自由度机械臂/双目深度相机Key words
YOLOv11/picking end effector/non-destructive grasping/visual positioning/Dehua pear/three-finger flexible gripping/six-degree-of-freedom robotic arm/binocular depth camera分类
农业科技引用本文复制引用
李滨,赖诗党..基于YOLOv11的德化梨采摘机器人视觉定位设计[J].森林工程,2026,42(2):305-316,12.基金项目
2017年哈尔滨市应用技术研究与开发项目(2017RALXJ011). （2017RALXJ011）
