中国农业大学学报2026，Vol.31Issue(8)：218-230,13.DOI:10.11841/j.issn.1007-4333.2026.08.19
基于机器视觉的设施葡萄自动采收机设计与试验
Design and evaluation of an automatic grape harvester for protected cultivation based on machine vision
摘要
Abstract
To address the low level of mechanization level in the harvesting of protected vineyards and the insufficient operational efficiency of existing grape-harvesting robots,this study developed an automatic harvester for protected grapes based on machine vision.An average cutting-position localization algorithm utilizing cluster positional information,along with a corresponding control strategy for the harvesting execution system,was proposed.A grape cluster detection model was established using YOLOv5.Field experiments were conducted to determine the optimal operating parameters and to evaluate the harvesting performance systematically.The results showed that the detection model achieved an F1-score of 0.95 and a mean average precision(mAP)of 0.98,with a field recognition accuracy(Rr)of 95.35％.The harvester could position its cutting system while the chassis was moving forward,enabling continuous harvesting.The optimal performance was obtained at a forward speed of 1 km/h,yielding a harvesting success rate(Rh)of 91.68％,a damage rate(Rb)of 3.99％,and a picking efficiency(Re)of 0.91 s per cluster.This study provides an innovative solution for intelligent,efficient,and low-damage harvesting of protected grapes,offering a valuable reference for advancing mechanization in this field.关键词
采收机器人/机器视觉/控制算法/田间试验/葡萄采收Key words
harvesting robot/machine vision/control algorithm/field experiment/grape harvesting分类
农业科技引用本文复制引用
马帅,马俊龙,蒋相,郭朝阳,周慧能,沈聪聪,徐丽明..基于机器视觉的设施葡萄自动采收机设计与试验[J].中国农业大学学报,2026,31(8):218-230,13.基金项目
新疆维吾尔自治区重点研发计划项目(2022B02034-1) （2022B02034-1）
财政部和农业农村部:国家现代农业产业技术体系资助(CARS-29) （CARS-29）
