Fruits with various maturity levels coexist among the harvested jujubes, and have different tastes and uses. Manual grading has a low efficiency and a strong subjectivity. The number of “Hupingzao” jujubes between different maturity levels is unbalanced, which affects the performance of the classifier. To solve the above issue, the class balance loss (CB) was used to improve the MobileNet V2 network, and a transfer learning strategy was used to train the model. The model was optimized based on the selection of an optimizer and learning rate. The model achieved the best classification results using the AdamW optimizer and a learning rate of 0.0001. The application of transfer learning and class balance loss improved the model’s performance. The precision was 96.800~100.000%, the recall was 95.833~100.000%, and the F1 score was 0.963~1.000. To compare the CB-MobileNet V2 performance, the CB-AlexNet, CB-GoogLeNet, CB-ShuffleNet, CB-Inception V3, CB-ResNet 50, and CB-VGG 16 with transfer learning were used to build classification models. Achieving a validation accuracy of 99.058%, and a validation loss value of 0.055, the CB-MobileNet V2 model showed a better overall performance compared with other models. The maturity detection system of “Hupingzao” jujubes was developed to test the model. The testing accuracy of the CB-MobileNet V2 model was 99.294%. The research indicates that the CB-MobileNet V2 model improves the performance of maturity classification, and provides a theoretical basis for intelligent classification of the quality of “Hupingzao” jujubes.

With increasing consumer expectations for the quality and safety of agricultural products, intelligent quality detection and gradation have considerable significance in agricultural production. The surface defect is an important indicator of quality, but is classified mainly using inefficient manual identification for “Yuluxiang” pears. Because of the uncertainty and high difficulty of image acquisition in agriculture, the data imbalance between categories is a common problem. For the resolution of these problems, the class balance (CB) was used to re-weight the sigmoid cross-entropy loss (SGM-CE), softmax cross-entropy loss (SM-CE), focal loss (FL) functions in this study. CB-SGM-CE, CB-SM-CE, and CB-FL were used to construct a GoogLeNet network as a convolutional neural network (CNN) generalized feature extractor, and transfer learning was combined to build detection models, respectively. The results showed that CB-SGM-CE, CB-SM-CE, and CB-FL were better than SGM-CE, SM-CE, and FL, respectively. CB-FL achieved the best detection results (F1 score of 0.993–1.000) in 3 CB loss functions. Then, CB-FL was used to construct VGG 16, AlexNet, SqueezeNet, and MobileNet V2 networks based on transfer learning, respectively. Machine learning (ML) and CNN were used to build classification models in this study. Compared with ML models and the other 4 CNN models, the CB-FL-GoogLeNet model achieved the best detection results (accuracy of 99.78%). A system for surface defect detection was developed. The results showed that the testing accuracy of the CB-FL-GoogLeNet model was 95.28% based on this system. This study realizes the surface defect detection of the “Yuluxiang” pear with an unbalanced dataset, and provides a method for intelligent detection in agriculture.

Rapid and precise detection of cucumbers is a key element in enhancing the capability of intelligent harvesting robots. Problems such as near-color background interference, branch and leaf occlusion of fruits, and target scale diversity in greenhouse environments posed higher requirements for cucumber target detection algorithms. Therefore, a lightweight YOLOv5s-Super model was proposed based on the YOLOv5s model. First, in this study, the bidirectional feature pyramid network (BiFPN) and C3CA module were added to the YOLOv5s-Super model with the goal of capturing cucumber shoulder features of long-distance dependence and dynamically fusing multi-scale features in the near-color background. Second, the Ghost module was added to the YOLOv5s-Super model to speed up the inference time and floating-point computation speed of the model. Finally, this study visualized different feature fusion methods for the BiFPN module; independently designed a C3SimAM module for comparison between parametric and non-parametric attention mechanisms. The results showed that the YOLOv5s-Super model achieves mAP of 87.5%, which was 4.2% higher than the YOLOv7-tiny and 1.9% higher than the YOLOv8s model. The improved model could more accurately and robustly complete the detection of multi-scale features in complex near-color backgrounds while the model met the requirement of being lightweight. These results could provide technical support for the implementation of intelligent cucumber picking.

In response to the global labor shortage in the pear industry, the use of robots for harvesting has become an inevitable trend. Developing pear harvesting robots for orchard operations is of significant importance. This paper systematically reviews the progress of three key technologies in pear harvesting robotics: Firstly, in the field of recognition technology, traditional methods are limited by sensitivity to lighting conditions and occlusion errors. In contrast, deep learning models, such as the optimized YOLO series and two-stage architectures, significantly enhance robustness in complex scenes and improve handling of overlapping fruits. Secondly, positioning technology has advanced from 2D pixel coordinate acquisition to 3D spatial reconstruction, with the integration of posture estimation (binocular vision + IMU) addressing occlusion issues. Finally, the end effector is categorized based on harvesting mechanisms: gripping–twisting, shearing, and adsorption (vacuum negative pressure). However, challenges such as fruit skin damage and positioning bottlenecks remain. The current technologies still face three major challenges: low harvesting efficiency, high fruit damage rates, and high equipment costs. In the future, breakthroughs are expected through the integration of agricultural machinery and agronomy (standardized planting), multi-arm collaborative operation, lightweight algorithms, and 5G cloud computing.

Accurate counting of cucumber flowers using intelligent algorithms to monitor their sex ratio is essential for intelligent facility agriculture management. However, complex greenhouse environments impose higher demands on the precision and efficiency of counting algorithms. This study proposes a dual-area counting algorithm based on an improved YOLOv8n-Track (YOLOv8n-T) and ByteTrack cascaded framework. This method accomplishes the cucumber flower counting task by detecting flower targets, tracking them frame-by-frame, and validating the count through dual-area counting. The YOLOv8n-T incorporates a Coordinate Attention (CA) mechanism and lightweight modules while optimizing the loss function, thereby improving floral feature extraction capabilities and reducing computational complexity. By integrating the ByteTrack tracking algorithm with a dual-area counting strategy, the robustness of flower counting in dynamic environments is strengthened. Experimental results show that the improved YOLOv8n-T achieves mAP and F1 scores of 86.9% and 82.1%, surpassing YOLOv8n by 3% and 2.6%, respectively, with a 0.3 G reduction in model parameters. The integrated framework achieves a detection accuracy of 82.4% for cucumber flower counting. This research provides a new method for monitoring cucumber flower sex ratios in facility agriculture, promoting the development of intelligent agricultural management.

Swarm control technology, leveraging artificial intelligence algorithms to coordinate multiple devices, offers an effective solution for developing precision and intelligent operation systems in orchard management. This paper focuses on the core technologies underpinning swarm coordination and reviews the current state of research on collaborative communication, path planning, task allocation, and formation control, with reference to both domestic and international studies. Based on the full growth cycle of fruit trees, encompassing monitoring, precision management, and harvesting, the paper summarizes the applications and research progress of swarm control technology at each stage. Furthermore, it identifies key challenges in applying swarm technology to orchard environments, including low efficiency in heterogeneous system coordination, delayed responses to dynamic conditions, resource constraints in large-scale swarm systems, and limited adaptability to agricultural contexts, and offers strategic recommendations to address these limitations.