Fuente: WIPO "processing tomato" The invention discloses a fusion detection system for panicle tomato maturity identification and picking point positioning. The fusion detection system comprises a data processing module, a DBS-YOLOv5s target detection model, a Mask R-CNN segmentation model and a fusion calculation module. The generalization ability of the model is improved through data enhancement, a double-layer routing attention mechanism and a dynamic up-sampler are introduced into the DBS-YOLOv5s model, and high-precision identification of the maturity of the panicle tomatoes is realized in combination with an improved Shape-IoU loss function; a Mask R-CNN model optimizes a segmentation label strategy, a stalk mask region is generated, and the segmentation accuracy is ensured. And the fusion calculation module positions the optimal picking point through mathematical operation, so that the problems of large positioning error and low detection efficiency in the prior art are solved, the model is light in weight and wide in applicability, and the intelligent level of automatic identification and picking of the panicle tomatoes is remarkably improved.