Fecha de publicación: 05/03/2024 Fuente: WIPO "processing tomato" The invention discloses a protected tomato branch wiping method based on branch length and branch wiping point positioning. The method comprises the steps of obtaining a target recognition model and an instance segmentation model according to an obtained image data set of a tomato plant; when the branch wiping operation is carried out, the target identification model is used for identifying the whole tomato branch, then the identification frame is cut, the instance segmentation model is used for segmenting an image in the identification frame, and a mask of the trunk of the tomato branch is output; performing binarization processing on the mask to obtain the contour of the trunk of the tomato branch, traversing contour points to obtain pixel coordinates of two points with the farthest Euclidean distance, and determining the length of the trunk of the tomato branch and the length of the whole tomato branch; when the branch wiping requirement is met, branch wiping points are determined on branch trunks, and tomato plant branch wiping is carried out. By determining the length of the trunk of the tomato branch and the length of the whole tomato branch, the branch wiping time is determined according to the length of the whole tomato branch, and the branch wiping point is positioned according to the length of the trunk of the tomato branch, so that the mechanical branch wiping accuracy is improved.