The rapid, stable, and undamaged picking of small-sized spherical fruits are one of the key technologies to improve the level of intelligent picking robots and reduce grading operations. Cherry tomatoes were selected as the research object in this work. Picking strategies of two-stage “Holding-Rotating” and finger-end grasping were determined. The end-effector was designed to separate the fruit from the stalk based on the linear motion of the constraint part and the rotating gripper. This work first studied the human hand-grasping of cherry tomatoes and designed the fingers with sinusoidal characteristics. The mathematical model of a single finger of the gripper was established. The structural parameters of the gripper were determined to meet the requirements of the grabbing range from 0 to 61.6 mm. Based on the simulation model, the constraint part was set to 6 speeds, and the fruit sizes were set to 20 mm, 30 mm, and 40 mm, respectively. When the speed was 0.08m/s, the results showed that the grabbing time was 0.5381 s, 0.387 s, and 0.2761 s, respectively, and the maximum grabbing force was 0.9717 N, 3.5077 N, and 4.0003 N now of clamping, respectively. It met the picking requirements of high speed and low loss. The criterions of two-index stability and undamaged were proposed, including the grasping index of the fixed value and the slip detection of variance to mean ratio. Therefore, the control strategy and algorithm based on two-stage and two-index for rapid, stable, and non-destructive harvesting of small fruit were proposed. The results of the picking experiment for seventy-two cherry tomatoes showed that the picking success rate was 95.82%, the average picking time was 4.86 s, the picking damage rate was 2.90%, the browning rate was 2.90% in 72 h, and the wrinkling rate was 1.49% in 72 h, which can meet the actual small spherical fruit picking requirements. The research will provide an idea for the flexible end-effectors with humanoid grasp function and provides a theoretical reference for small spherical fruit picking.

Crops were the main source of human food, which have met the increasingly diversified demand of consumers. Sensors were used to monitor crop phenotypes and environmental information in real time, which will provide a theoretical reference for optimizing crop growth environment, resisting biotic and abiotic stresses, and improve crop yield. Compared with non-contact monitoring methods such as optical imaging and remote sensing, wearable sensing technology had higher time and spatial resolution. However, the existing crop sensors were mainly rigid mechanical structures, which were easy to cause damage to crop organs, and there were still challenges in terms of accuracy and biosafety. Emerging flexible sensors had attracted wide attention in the field of crop phenotype monitoring due to their excellent mechanical properties and biocompatibility. The article introduced the key technologies involved in the preparation of flexible wearable sensors from the aspects of flexible preparation materials and advanced preparation processes. The monitoring function of flexible sensors in crop growth was highlighted, including the monitoring of crop nutrient, physiological, ecological and growth environment information. The monitoring principle, performance together with pros and cons of each sensor were analyzed. Furthermore, the future opportunities and challenges of flexible wearable devices in crop monitoring were discussed in detail from the aspects of new sensing theory, sensing materials, sensing structures, wireless power supply technology and agricultural sensor network, which will provide reference for smart agricultural management system based on crop flexible sensors, and realize efficient management of agricultural production and resources.

Multi-class detection of cherry tomatoes using improved Yolov4-tiny model

The demand for identification of maize varieties has increased dramatically due to the phenomenon of mixed seeds and inferior varieties pretending to be high‐quality varieties continuing to occur. It is urgent to solve the problem of efficient and accurate identification of maize varieties. A hyperspectral image acquisition system was used to acquire images of maize seeds. Regions of interest (ROI) with an embryo size of 10 × 10 pixel were extracted, and the average spectral information in the range of 949.43–1709.49 nm was intercepted for the subsequent study in order to eliminate random noise at both ends. Savitzky–Golay (SG) smoothing algorithm and multiple scattering correction (MSC) were used to pretreat the full‐band spectrum. The feature wavelengths were screened by successive projection algorithms (SPA), competitive adaptive reweighted sampling (CARS) single screening, and two combinations of CARS‐SPA and CARS + SPA, respectively. Support vector machines (SVMs) and models optimized based on genetic algorithm (GA), particle swarm optimization (PSO) were established by using full bands (FB) and feature bands as the model input. The results showed that the MSC‐(CARS‐SPA)‐GA‐SVM model had the best performance with 93.00% of the test set accuracy, 8 feature variables, and a running time of 24.45 s. MSC pretreatment can effectively eliminate the scattering effect of spectral data, and the feature wavelengths extracted by CARS‐SPA can represent all wavelength information. The study proved that hyperspectral imaging combined with GA‐SVM can realize the identification of maize varieties, which provided a theoretical basis for maize variety classification and authenticity identification.

Introduction: As the third largest food crop in the world, maize has wide varieties with similar appearances, which makes identification difficult. To solve the problem of identification of hybrid maize varieties, a method based on hyperspectral image technology combined with a convolutional neural network (CNN) is proposed to identify maize varieties.Methods: In this study, 735 maize seeds from seven half-parent hybrid maize varieties were regarded as the research object. The maize seed images in the range of 900 ~ 1700nm were obtained by hyperspectral image acquisition system. The region of interest (ROI) of the embryo surface was selected, and the spectral reflectance of maize seeds was extracted. After Savitzky-Golay (SG) Smoothing pretreatment, Maximum Normalization (MN) pretreatment was performed. The 56 feature wavelengths were selected by Competitive Adaptive Reweighting Algorithm (CARS) and Successive Projection Algorithm (SPA). And the 56 wavelengths were mapped to high-dimensional space by high-dimensional feature mapping and then reconstructed into three-dimensional image features. A five-layer convolution neural network was used to identify three-dimensional image features, and nine (SG+MN)-(CARS+SPA)-CNN maize variety identification models were established by changing the input feature dimension and the depth factor size of the model layer.Results and Discussion: The results show that the maize variety classification model works best, when the input feature dimension is 768 and the layer depth factor d is 1.0. At this point, the model accuracy of the test set is 96.65% and the detection frame rate is1000 Fps/s in GPU environment, which can realize the rapid and effective non-destructive detection of maize varieties. This study provides a new idea for the rapid and accurate identification of maize seeds and seeds of other crops.