Blueberries are one of the more economically rewarding fruits for fruit growers. Identifying blueberry fruit at different stages of maturity is economically important and can aid fruit growers in planning pesticide applications, estimating yields, and efficiently conducting harvesting operations, among other benefits. Visual methods for identifying the different ripening stages of fruits are increasingly receiving widespread attention. However, due to the complex natural environment and the serious shading caused by the growth characteristics of blueberries, the accuracy and efficiency of blueberry detection are reduced to varying degrees. To address the above problems, in the study presented herein, we constructed an improved YOLOv9c detection model to accurately detect and identify blueberry fruits at different ripening stages. The size of the network was reduced by introducing the SCConv convolution module, and the detection accuracy of the network in complex and occluded environments was improved by introducing the SE attention module and the MDPIoU loss function. Compared to the original model, the mAP0.5 and mAP0.5:0.95 of the improved YOLOv9c network improved by 0.7% and 0.8%, respectively. The model size was reduced by 3.42 MB, the number of model parameters was reduced by 1.847 M, and the detection time of a single image was reduced by 4.5 ms. The overall performance of the detection model was effectively improved to provide a valuable reference for accurate detection and localization techniques for agricultural picking robots.

In precision seeding, the final displacements of the seeds are determined as a working result of the profiling mechanism, opener, seed-metering device, covering apparatus and compacting machine. For a better understanding of the disturbance of seed displacement during soil covering and compaction in the actual working process, experiments and simulations have been performed. In this paper, a type of soybean seeding monomer was taken as the research object, and a soil bin test of soil covering and compacting was executed. The experimental results showed that the traction velocity and the open angle of the covering discs had a significant influence on the changes in the horizontal and vertical displacements of seeds during the soil covering processing. With an increasing traction velocity, the vertical displacements of seeds increased after soil covering; in contrast, the horizontal displacements decreased. When the covering apparatus had a larger open angle it had a smaller disturbance influence on the soil. Therefore, with an increase in the opening angle, the changes in the vertical and horizontal displacements of seeds showed a decreasing trend. Inversely, in the process of compacting, the forward velocity had little effect on the three-dimensional displacement change in the seeds after compacting. The analysis model of the precision seeding unit was established based on the coupling model of the DEM (discrete element method) with MBDs (multi-body dynamics). The process of soil covering and compacting was simulated and analyzed. The comparison between the experimental results and the simulated results showed that the trend was similar, and the two results were close. Thus, the feasibility and applicability of the coupling method were verified. It also provided a new method for the design and optimization of covering and compacting components of a precise seeding monomer.

Given the lack of accurate and reliable discrete element simulation parameters to study the interactions between soft soil and soil casting components after ginseng land cultivation in Northeast China and the design of ginseng land-specific borders, this paper calibrates the relevant model parameters of ginseng soil using the Hertz–Mindlin with JKR contact model in EDEM to standardize the contact parameters between soil particles and between soil and Q235 steel in soft soil after cultivation in ginseng land. Taking the soil particle accumulation angle as the response value, a Box–Behnken design (BBD) was introduced to establish a regression model for the soil accumulation angle; the surface energy, static friction coefficient, rolling friction coefficient, and coefficient of restoration parameters were obtained, respectively, through the optimization of the model, at which time, the simulated value of the soil accumulation angle was 37°, which is a 4% relative error to the actual measured accumulation angle of 35.5°. Taking the sliding friction angle of the soil on the Q235 steel plate as the response value, the regression model of the soil sliding friction angle was obtained based on the BBD. The static friction factor, rolling friction factor, and coefficient of restitution between the soil particles and the Q235 steel were obtained, respectively. Based on the combination of these parameters, the simulated value of the sliding friction angle was 32.2°, which is a 2% relative error to the measured accumulation angle of 31.5°. To verify the accuracy of the optimized simulation parameters, field and simulation tests of soil-throwing components were conducted. The results show that the maximum relative error between the measured value and the simulation value is 5.6% and 3.4%. The error is within an acceptable range, and the simulation test and field test soil-throwing effects are the same, which verifies the accuracy and reliability of the reference soil parameter calibration. The results of the study can be used for discrete element simulation analysis of the interaction between ginseng loam and touchdown components and their structural optimization.

To apply the discrete element method (DEM) to simulate the interaction process between soda saline–alkali soil and subsoiling component in Northeast China, establishing the soda saline–alkali soil particle model and selecting more accurate simulation parameters are important. In this paper, we studied the soda saline–alkali soil of the Songnen Plain in China. First, we studied the geometric shape of soda saline–alkali soil particles and proposed a modeling method for single soil particles based on the multisphere combination method. Considering the cohesion of soda saline–alkali soil particles, the Hertz–Mindlin with JKR (JKR) model was used as the contact model between soil particles. Then, the calibration method was used to obtain simulation parameters of soils that are difficult to obtain experimentally. We conducted soil angle of repose (AoR) tests, the Plackett–Burman (PB) tests, and steepest ascent (SA) tests in turn to perform a sensitivity analysis for microscopic contact parameters and select the parameters that have a significant effect on the response value (static AoR), i.e., soil surface energy, soil–soil static friction coefficient, and soil–soil rolling friction coefficient. Then, the optimal combination of simulation parameters was obtained via the Box–Behnken (BB) tests, using ANOVA to optimize the multiple regression equation. Finally, the optimal parameter combination was verified by the AoR test and the direct shear (DS) test. The results showed that the parameters had good adaptability for the AoR test. However, the simulation results of the DS test were significantly different from the experimental values. Therefore, the contact model needs to be further modified by adding Bonding bonds between soil particles based on the JKR model and further correcting for Rayleigh time step, shear modulus, and surface energy. By comparing the simulation and the experimental results, it was found that the simulation results obtained from both the DS test and AoR test had relatively small errors relative to physical tests, the two trends are the same, and the values are similar. This verified the feasibility and effectiveness of the soda saline–alkali soil particle modeling method and parameter selection proposed in this paper.

In this paper, the Multisphere (MS) models of three varieties of Cyperus esculentus seeds are modeled based on DEM. In addition, for comparison, other particle models based on automatic filing in EDEM software are also introduced. Then, the direct shear test, piling test, bulk density test, and rotating hub test are used to verify the feasibility of particle models of Cyperus esculentus seeds that we proposed. By comparing the simulated results and experimental results, combined with the CPU computation time, the proposed particle models achieved better simulation accuracy with fewer filing spheres. According to simulation results, some limitation was present when using one single verification test; varieties of verification tests used could improve the verification reliability, and a more appropriate particle model could be selected. Additionally, the issue of multicontact points in the MS model was studied. The Hertz Mindlin (no slip) (HM) model and Hertz Mindlin new restitution (HMNR) model were both considered in simulations for comparison. The rotating hub test and particle–wall impact test were used, and the influences of multiple contact points on the motion behavior of individual particles and particle assemblies were analyzed. Simulation results showed that the multiple contact points affected the motion behavior of individual particles; in contrast, the influence of multiple contact points on the motion behavior of the particle assembly was insignificant. Moreover, the relationships between moisture content of seeds and Young’s modulus, Young’s modulus, and the number of contact points were also considered. Young’s modulus decreased with increasing moisture content. The number of contact points increased with a decreasing Young’s modulus.

To build a DEM model of Cyperus esculentus seed particles, the shape and size of the Cyperus esculentus seed particles were measured and analyzed. The results showed that the dispersity in size had a normal distribution. Additionally, a certain functional relationship between the primary dimension and secondary dimensions was determined. The width of the seed was the primary dimension, and the other secondary dimensions (length and thickness) were calculated based on their relationships with the primary dimension. On this basis, an approach for modeling Cyperus esculentus seed particles based on the multi-sphere (MS) method was proposed. The discrete element analysis models of three varieties of Cyperus esculentus seeds were established with different numbers of filing spheres. Moreover, to obtain more accurate simulation parameters, first, a range of values of the simulation parameters was obtained by the experimental method. Second, the Plackett–Burman (PB) test and the path of steepest ascent method were both adopted to correct and calibrate the simulation parameters, which were difficult to obtain through experiments, and simulation of the direct shear test was used for calibration. All of the methods guaranteed that the selected parameters were reasonable. The test results showed that the static friction coefficient of seed–seed had a significant effect on the simulation results. Finally, piling tests and the bulk density test were used for modeling verification. By comparing the simulated results and experimental results in the piling tests and bulk density test, when the number of filing spheres increased, the simulated results were close to those obtained experimentally. Therefore, the feasibility and validity of the modeling method for Cyperus esculentus seed particles that we proposed and the simulation parameters that were obtained were verified.