Potted plant canopy extraction requires a fast, accurate, stable, and affordable detection system for precise pesticide application. In this study, we propose a new method for extracting three-dimensional canopy information of potted plants using millimeter-wave radar and evaluate the system on plants in static, rotating, and rotating-while-spraying states. The position and rotation speed of the rotating platform are used to compute the rotation–translation matrix between point clouds, enabling the multi-view point clouds to be overlaid on the world coordinate system. Point cloud extraction is performed by applying the Density-Based Spatial Clustering of Applications with Noise algorithm (DBSCAN), while an Alpha-shape algorithm is used for three-dimensional reconstruction of the canopy. Our measurement results for the 3D reconstruction of plants at different growth stages showed that the reconstruction model has higher accuracy under the rotation condition than that under the static condition, with average relative errors of 41.61% and 10.21%, respectively. The significant correlation between the sampling data with and without spray reached 0.03, indicating that the effect of the droplets on radar detection during the spray process can be neglected. This study provides guidance for plant canopy detection using millimeter-wave radar for advanced agricultural informatization and automation.

A high-speed camera was applied to observe the shaking detachment tests with ‘Guiwei’ litchi clusters using 7 Hz, 9.5 Hz, and 12 Hz and the amplitudes of 40 mm, 60 mm, and 80 mm. The fruit’s detachment time and the number of fruit–fruit impacts were affected by the vibrational parameters and the fruit position (inside or outside of the cluster). A high and stable detachment speed and a low number of impacts could be achieved with the parameter combination of 9.5 Hz/80 mm. The cluster index, considering both the shaking position and the total fruit mass, was found to have a stronger correlation with the detachment time than the average fruit-to-shaker distance (distance from the shaker to the fruit). Thus, the detachment time can be estimated based on the cluster indexes. The fruit-to-shaker distance also affected the fruit-to-shaker impact. A fruit-to-shaker distance of 50~60 mm was recommended to avoid almost all the impacts, depending on the shaking parameters. The horizontal throw distance of the fruit was calculated based on the detachment velocity and angle, which can be used as the design basis for the catching devices. With a high enough drop height, a disc-shaped catching surface with a radius of 475 mm, 489 mm, 591 mm, 741 mm, 844 mm, and 832 mm, respectively, could collect 90% of all the fruit at six different vibrational parameter combinations. A closer catching surface to the fruit could effectively reduce the horizontal throw distance.

Banana crowns’ intricate vascular systems facilitate nutrient transport for fruit growth and provide mechanical support. Analyzing vascular bundle morphology facilitates understanding of its influence on the banana de-handing process. In this study, we employed X-ray Computed Tomography (CT) scanning and microscopic observation of paraffin sections to characterize the morphological traits of the banana crown’s vascular tissue system and reconstructed its 3D vascular tissue system throughout the banana bunch. Based on the internal tissue characteristics and external morphology, the banana crown is categorized into three regions: the central stalk–crown transition region (CSCTR), the crown expansion region (CER), and the crown–finger transition region (CFTR). Cutting experiments indicated that variations in the cutting strength and specific cutting energy across positions within the banana bunch were insignificant but significantly distinct among the three regions. Specifically, the CER showed a 19.7% reduction in cutting strength and a 15.5% decrease in energy consumption compared to the other regions. This was due to the unique cross-distribution of fibers within the CER, which were primarily parallel to the cutting blade, significantly reducing cutting forces and energy consumption, making the CER the optimal region for cutting. The orientation of vascular bundles relative to the blade is key to optimizing plant cutting mechanics.