Phase 2 Report — Selective Harvesting Robotics Intelligence
主控 Claude Code (Opus 4.7) · 2026-05-20
Round 1 + Round 2 全部完成。本报告为综合性整理与下一步建议。
0. 顶层数字 (最终)
| 指标 | 数量 |
|---|---|
| 作物 registered | **41** （初始 31 + scope_discovery R1 admit 10 + 4 边界 hold 未入册） |
| 全局唯一项目（in-scope） | **315** |
| 出范围记录（stage_0） | 5 (Saga Thorvald 葡萄园 UV-C, Spread Techno Farm lettuce 集成产线, Foodcollect II 掉落柿子, GearRover 花卉监测, 另 1 已标) |
| 全局组织 (`master_organizations.jsonl`) | **474** |
| BibTeX entries (`master_bibliography.bib`) | **92** |
| issues 已审 (`issues_log.jsonl`) | 83 |
| 待审 (`review_queue.jsonl`) | 181 |
| findings_inbox 累积 | 630 |
| Workspace size | ~9 MB |
1. 运行经过
1.1 Round 1 (2026-05-19 14:21-15:03, ~42 min wall-clock)
8 个 sub-agent 并行：scope_discovery / literature_patent / company_funding / review + 4 crop_workers (strawberry/apple/tomato/pepper)。 主控 Opus 同步直跑 9 个作物 (blueberry/cherry/tea/cucumber/grape/kiwifruit/caneberries/asparagus/mushroom) 的轻量级 overview。
1.2 Round 2 (2026-05-19 15:21 - 17:55, ~155 min wall-clock)
7 个 batch 串行，每 batch 2-5 个 sub-agent 并行：
- R2A: 032-036 新 admit 作物（broccoli, lettuce, avocado, eggplant, saffron）
- R2B: 037-041 新 admit 作物（melon, date_palm, coconut, radicchio, artichoke）
- R2C: 013/004/014/007/017 (citrus, peach, pear, dragon_fruit, mango)
- R2D: 022 lychee + 4 deepens (tea, mushroom, asparagus, caneberries)
- R2E: 027 coffee, 031 flower, 006 Sichuan pepper, 016 plum, 023 longan
- R2F1+R2F2+R2F3: 剩余 priority 4-5 + deepens
- R2X: 2nd company_funding + 2nd literature_patent + 2nd review
总计 ~36 个 sub-agent 跑完（2 个 budget 超限：persimmon, cherry — 仍部分留下产出）。
2. Stage 分布
| stage | count |
|---|---|
| stage_x_terminated_or_dormant | 4 |
| stage_unknown | 5 |
| stage_9_commercial_scaled | 3 |
| stage_8_commercial_limited | 32 |
| stage_7_pilot_trial | 29 |
| stage_7 | 2 |
| stage_6_field_or_greenhouse_prototype | 61 |
| stage_6 | 5 |
| stage_5_controlled_environment_demo | 35 |
| stage_5 | 4 |
| stage_4_single_arm_or_end_effector_prototype | 49 |
| stage_4 | 9 |
| stage_3_lab_bench_prototype | 29 |
| stage_3 | 4 |
| stage_2_algorithm_or_component_only | 35 |
| stage_2 | 7 |
| stage_1_concept | 2 |
3. Status 分布
| status | count |
|---|---|
| research_only | 135 |
| active | 93 |
| dormant | 29 |
| unknown | 25 |
| commercial | 24 |
| terminated | 4 |
| acquired | 3 |
| pivoted | 1 |
| pilot | 1 |
4. 地理分布（按国家）
| Country | Projects |
|---|---|
| CN | 82 |
| US | 47 |
| other | 35 |
| JP | 27 |
| UK | 17 |
| NL | 17 |
| IT | 15 |
| IL | 11 |
| KR | 10 |
| IN | 10 |
| DE | 8 |
| ES | 5 |
| CA | 5 |
| NZ | 5 |
| IR | 5 |
| BE | 3 |
| SE | 3 |
| EU | 2 |
| BR | 2 |
| AU | 2 |
| CH | 1 |
| FR | 1 |
| TR | 1 |
| GCC | 1 |
5. 商业化第一梯队 (stage_9 / stage_8 confirmed)
stage_9 commercial_scaled (3)
- Dogtooth Technologies Strawberry Harvesting Robot (strawberry, UK) — Active commercial sales UK and Australia; Gen5; Dyson Farming (20 units)
- Advanced Farm Technologies TX Robotic Strawberry Harvester (strawberry, USA) — Active commercial operations in California strawberry fields; expanding to apple harvesting
- Tevel FAR — Flying Autonomous Robots (plum; apricot, Israel (HQ); deployed: Italy, USA (CA, WA), Chile, Israel) — Commercial service in Israel, Italy, USA (CA/WA), Chile
stage_8 commercial_limited (32)
| Crop | Project | Org | Country |
|---|---|---|---|
| strawberry | Agrobot E-Series Robotic Strawberry Harvester | Agrobot S.L. | Spain |
| strawberry | Oishii Farm Indoor Strawberry Robotic Harvesting | Oishii Farm | USA |
| strawberry | Octinion Rubion Strawberry Picking Robot | Octinion Technology Group | Belgium |
| strawberry | Zordi Indoor Strawberry Farm Robot | Zordi | USA |
| strawberry | Beyond Robotics (비욘드로보틱스) Strawberry Harvesting Robot | Beyond Robotics (비욘드로보틱스) | South Korea |
| blueberry | Harvy500 blueberry harvester | Munckhof Fruit Tech Innovators (nee | NL (deployed in |
| apple | Abundant Robotics Apple Harvester | Abundant Robotics Inc. (SRI Interna | USA |
| peach | Tevel Flying Autonomous Robots (FAR) — Peach/Nectarine/ | Tevel Aerobotics Technologies | Israel (operati |
| peach | FFRobotics Multi-Fruit Fresh Picker — Peach | FFRobotics (Fresh Fruit Robotics Lt | Israel (operati |
| pepper (ピーマン / | AGRIST "L" — Autonomous Pepper Harvesting Robot | AGRIST Inc. (宮崎県新富町, Japan) | Japan |
| tomato | Artemy® Cherry Truss Tomato Harvesting Robot | DENSO Corporation + Certhon Build B | Japan / Netherl |
| tomato | GR-100 Tomato Harvesting Robot | Four Growers | USA (Pittsburgh |
| tomato | K2 Tech Autonomous Tomato Harvesting Robot | K2 Tech | unknown |
| cucumber | AGRIST cucumber harvesting robot (2024 wheeled model) | AGRIST Inc. | JP |
| cucumber | Saia Agrobotics - plant-to-robot greenhouse automation | Saia Agrobotics B.V. | NL |
| cucumber | Crux Agribotics / VDL Agrobotics cucumber harvesting ro | Crux Agribotics (originally Beltech | NL |
| pear | Tevel Aerobotics FAR Flying Autonomous Robot — Pear Har | Tevel Aerobotics Technologies | Israel; Italy ( |
| kiwifruit | 乔戈里科技 (Qiaogelike) — 吸附式猕猴桃采摘机器人 (Hangzhou, China) | 杭州乔戈里科技有限公司 (Hangzhou Qiaogelike Te | CN |
| raspberry | Fieldwork Robotics Fieldworker 1 raspberry harvester | Fieldwork Robotics (University of P | UK; commercial |
| asparagus | Cerescon Sparter selective asparagus harvester (white & | Cerescon BV (NL) | NL |
| asparagus | Muddy Machines Sprout green asparagus robot | Muddy Machines (UK) | GB |
| asparagus | inaho Asparagus Harvester (RaaS) | inaho Inc. (JP) | JP (HQ Kanagawa |
| asparagus | AvL Motion Compact S9000 white asparagus robot | AvL Motion (NL) | NL |
| mushroom | 4AG Robotics Autonomous Mushroom Harvesting System | 4AG Robotics Inc. (formerly TechBre | CA |
| mushroom | Mycionics Robotic Mushroom Harvesting System | Mycionics Inc. | CA |
| mushroom | GTL Europe / Limbraco Blue Belt + Robot Packing System | GTL Europe / Limbraco International | NL |
| flower (saffron | BlueRedGold Indoor Saffron System | BlueRedGold AB | Sweden |
| broccoli | RoboVeg RV1/RV3 Broccoli Harvester | KMS Projects Limited / RoboVeg Ltd | UK |
| broccoli | Cythe Robotic Broccoli Harvester | Cythe Inc | USA |
| lettuce_leafy_g | Iron Ox — Autonomous Indoor Robot Farm (Lettuce & Green | Iron Ox (startup) | USA |
| lettuce_leafy_g | FingerVision Visual-Tactile Lettuce Harvesting Robot @ | FingerVision Inc. (developer); PLAN | Japan |
| saffron | Österlensaffran Autonomous Saffron Harvesting Robot | Österlensaffran (Johannes Melin / S | Sweden (Skåne) |
6. 按作物分类的项目计数
| Crop ID | Name | Projects |
|---|---|---|
| 001 | 草莓/strawberry | 16 |
| 002 | 蓝莓/blueberry | 11 |
| 003 | 苹果/apple | 11 |
| 004 | 桃/peach | 6 |
| 005 | 茶叶/tea | 8 |
| 006 | 花椒/Sichuan pepper | 5 |
| 007 | 火龙果/dragon fruit | 6 |
| 008 | 樱桃/cherry | 4 |
| 009 | 辣椒/甜椒/彩椒/pepper | 8 |
| 010 | 番茄/tomato | 12 |
| 011 | 黄瓜/cucumber | 12 |
| 012 | 葡萄/grape | 16 |
| 013 | 柑橘类/citrus | 9 |
| 014 | 梨/pear | 7 |
| 015 | 猕猴桃/kiwifruit | 9 |
| 016 | 李/梅/杏/plum/apricot | 3 |
| 017 | 芒果/mango | 7 |
| 018 | 香蕉/banana | 10 |
| 019 | 菠萝/pineapple | 6 |
| 020 | 石榴/pomegranate | 4 |
| 021 | 柿子/persimmon | 2 |
| 022 | 荔枝/lychee | 3 |
| 023 | 龙眼/longan | 2 |
| 024 | 枣/jujube/Chinese date | 5 |
| 025 | 无花果/fig | 3 |
| 026 | 覆盆子/黑莓/树莓/caneberries | 6 |
| 027 | 咖啡/coffee | 7 |
| 028 | 可可/cocoa | 4 |
| 029 | 芦笋/asparagus | 11 |
| 030 | 蘑菇/食用菌/mushroom | 20 |
| 031 | 花卉/flower | 7 |
| 032 | 西兰花/花椰菜/broccoli/cauliflower | 12 |
| 033 | 生菜/叶菜/lettuce/leafy greens | 8 |
| 034 | 鳄梨/avocado | 5 |
| 035 | 茄子/eggplant | 8 |
| 036 | 藏红花/saffron | 10 |
| 037 | 甜瓜/西瓜/melon/watermelon | 11 |
| 038 | 椰枣/海枣/date palm | 8 |
| 039 | 椰子/coconut | 8 |
| 040 | 红菊苣/拉迪奇奥/radicchio | 2 |
| 041 | 朝鲜蓟/artichoke | 3 |
7. 关键洞察（高置信）
商业化最成熟的子领域
1. 草莓: 3 个 stage_9（Dogtooth UK Gen5 多年部署、Advanced Farm US 多场 CA、Harvest CROO US）+ 多个 stage_8（Agrobot ES、Octinion/Octiva BE/NL、Oishii US 室内、Zordi US、Beyond Robotics KR）
2. 芦笋: 3 家 stage_8（Cerescon NL 白芦笋已交付 6 台、Muddy Machines UK 绿芦笋 16h 续航、inaho JP RaaS）
3. 温室番茄: DENSO/Certhon Artemy® 樱桃番茄 stage_8 2024 商业订单开放、Four Growers GR-100 部署 NL/CA
4. 辣椒/甜椒: AGRIST L (JP, RaaS) 已商业、+ Korea KIMM 与 paprika 兼用
5. 西兰花: RoboVeg (UK) RV1/RV3 已交付、Cythe 商业、SAMI 4.0 试点
6. 覆盆子: Fieldwork Robotics UK + 葡萄牙商业部署
7. 苹果: 商业最早起步但失败率最高（Abundant US 2021 倒闭）；正在试点的 advanced.farm/Tevel/FFRobotics/Nanovel
终止 / 转型 / 收购案例（lessons learned）
- Abundant Robotics 2021 苹果, COVID 期市场未起，IP→Wavemaker Labs
- Root AI + AppHarvest 2023 番茄, $341M 债务破产
- Iron Ox terminated, 叶菜温室
- Tortuga AgTech → Oishii 2025-03, 草莓/葡萄/蓝莓 → 转型垂直农场
- Octinion → Pizzabot (转型，Rubion 草莓产品线由 Octiva 继承)
高产团队 (跨作物多次出现)
- Wageningen University & Research (NL) — 黄瓜、辣椒 (CROPS/SWEEPER)、番茄、苹果 (RIWO/KUKA 合作)
- Carnegie Mellon University (US) — 辣椒 VADER + Imitation Learning、苹果（KantorLab）
- University of Plymouth (UK) — Stoelen team → Robofruit → Fieldwork Robotics 覆盆子+草莓
- SCAU / 江苏大学 / 中国农大 — 苹果、葡萄、茶、火龙果、蘑菇、香蕉、荔枝 多作物
- Volcani Center + Ben-Gurion University (IL) — 辣椒 SWEEPER、番茄
- NARO (JP) — 茄子、苹果、樱桃、cucumber 多个早期开拓
- QUT (AU) — Harvey 甜椒
- Robotics Plus + UoA + UoW + Plant&Food (NZ) — 猕猴桃、苹果
范围争议项已结案 (主控应用 review 建议)
- Saga Thorvald (UV-C 非采摘) — out of scope
- Spread Techno Farm (集成生产线非选择性) — out of scope
- Persimmon Foodcollect II (掉落果) — out of scope
- GearRover 花卉 (监测+标记) — out of scope
- Harvy500 蓝莓 (振动头) — 仍标记 boundary，待 round 3 primary-source 核
8. 跨作物组织 (master_organizations.jsonl 中)
总 {len(orgs)} 个组织。包含公司、大学、研究所、政府机构、investments。
详见 global/organizations/_index.md。
9. 文献 (BibTeX)
92 条 BibTeX entry 已写入 master_bibliography.bib，覆盖：
- 综述论文（Bac 2014、Kootstra 2020、Rajendran 2024、Li 2023）
- 各作物专项（Tanigaki 2008 cherry、van Henten 2002 cucumber、Arad 2020 SWEEPER pepper 等）
- 70 篇 R2 papers (literature_patent agent 2nd pass)
完整 papers/patents/cross-crop 在 outboxes/literature_patent/*.jsonl。
10. 数据质量与下一步
已修复
- REV-001 to REV-020 (R1+R2 review_agent 提出的 high-severity issues 已应用到 master)
- 多个 stage/status 冲突
- 范围错误项 (collects fallen fruit, integrated pipeline, monitoring-only) 已标 out_of_scope
待处理 (Round 3 候选)
1. project_id 命名空间统一：当前混合 P0002-01 / proj_009_001 / TOM-001 / proj_apple_001 / PRJ-021-ES-001 等多套，需统一为全局命名空间（如 G-<crop_id>-<seq> 或 G-<company_slug>-<seq>）。
2. organizations 去重：474 条中部分仍是 R1+R2 partial 命名变体（"Carnegie Mellon University" vs "Carnegie Mellon University (Kantor Lab"）。需第三轮 dedup。
3. 图片审查未做: 第一轮+第二轮均未启 image_review 子流程；视频/图片仅以链接 + metadata 形式记录。第三轮可专项跑 image_review_agent。
4. review_queue 181 项目未应用: 主要是 medium/low 优先级建议，需 round 3 批量处理。
5. 中国国内公司覆盖不足: company_funding 偏欧美/日韩，CN 国内 startup 多未覆盖。建议第三轮专门跑 china_funding 子任务。
6. 4 边界候选作物 hold: durian / olive / kelp / sugar_snap_pea 仍未升入 registry。如需扩充，可在 round 3 重新审视。
7. persimmon 与 cherry budget 限: 这两个作物 worker 触 $3 上限退出，输出不完整。可单独以更高预算重跑。
8. 跨作物 project_id 重复使用: 如 P0002-02 在 blueberry/grape/strawberry 出现，需要规范化。
11. 项目工作区导航
selective_harvesting_robotics_intel/
├── README.md, project_scope.md, research_protocol.md # 顶层规范
├── progress_dashboard.md, unresolved_questions.md # 状态 / TODO
├── master_*.jsonl, master_index.csv, master_bibliography.bib # 全局聚合
├── shared/ # 协作 JSONL（registry, queue, candidates, findings_inbox, issues_log, review_queue）
├── prompts/ # 主控 + 6 个子 agent 提示词模板
├── global/ # 综合分析
│ ├── PHASE1_REPORT.md, PHASE2_REPORT.md (本文)
│ ├── COMMERCIAL_LEADERBOARD.md
│ ├── TECHNOLOGY_MAP.md, GEOGRAPHY_MAP.md
│ ├── CROP_COVERAGE_MATRIX.md, CROSS_CROP_TEAMS.md
│ ├── RESEARCH_METHODOLOGY.md
│ ├── organizations/ (474 个 markdown 简档 + _index.md)
│ ├── terminated_projects/_index.md
│ ├── funding/, literature/, patents/
├── crops/ (41 个作物目录，每个含 13+ 文件)
├── outboxes/ (各 sub-agent 私有 outbox)
├── logs/orchestrator.log (Round 2 自动化日志)
└── scripts/ (launch_agent.sh, start_tmux.sh, orchestrate_rounds.sh, merge_outboxes.sh, agent_status_dashboard.sh, init_crop_dir.sh)
12. 立即可继续的工作
主控本身可在不再增加并行 sub-agent 的前提下做（节约 rate-limit）：
1. dedup master_organizations — 字符串规范化 + 合并重复名
2. 重新生成 global/organizations/ — 用新去重后的 master
3. 生成最终 master_index.csv with all 319 entries
4. 应用 review_queue 中 high 级别 items
5. 写一个 stage_8+ 商业项目深度档案（含融资 / 试点 / 用户）
下一段时间 (≈ 6-8 h 余) 计划：
- 立即执行 12.1-12.5
- 然后做 Round 3 重点：persimmon / cherry 单独重跑（更高 budget）
- 文献综合 → master_bibliography.bib 二次清理
- 最终用户 deliverable: 一篇 5-10 页中英双语综合 brief