Fruit- and vegetable-harvesting robots are a great addition to Agriculture 4.0 since they are gradually replacing human labor in challenging activities. In order to achieve the harvesting process accurately and efficiently, the picking robot’s end-effector should be the first part to come into close contact with the crops. The design and performance requirements of the end-effectors are affected by the fruit and vegetable variety as well as the complexity of unstructured surroundings. This paper summarizes the latest research status of end-effectors for fruit- and vegetable-picking robots. It analyzes the characteristics and functions of end-effectors according to their structural principles and usage, which are classified into clamp, air suction, suction holding, and envelope types. The development and application of advanced technologies, such as the structural design of end-effectors, additional sensors, new materials, and artificial intelligence, were discussed. The typical applications of end-effectors for the picking of different kinds of fruit and vegetables were described, and the advantages, disadvantages, and performance indexes of different end-effectors were given and comparatively analyzed. Finally, challenges and potential future trends of end-effectors for picking robots were reported. This work can be considered a valuable guide to the latest end-effector technology for the design and selection of suitable end-effectors for harvesting different categories of fruit and vegetable crops.

Visual simultaneous localization and mapping (VSLAM) is a foundational technology that enables robots to achieve fully autonomous locomotion, exploration, inspection, and more within complex environments. Its applicability also extends significantly to agricultural settings. While numerous impressive VSLAM systems have emerged, a majority of them rely on static world assumptions. This reliance constrains their use in real dynamic scenarios and leads to increased instability when applied to agricultural contexts. To address the problem of detecting and eliminating slow dynamic objects in outdoor forest and tea garden agricultural scenarios, this paper presents a dynamic VSLAM innovation called MOLO-SLAM (mask ORB label optimization SLAM). MOLO-SLAM merges the ORBSLAM2 framework with the Mask-RCNN instance segmentation network, utilizing masks and bounding boxes to enhance the accuracy and cleanliness of 3D point clouds. Additionally, we used the BundleFusion reconstruction algorithm for 3D mesh model reconstruction. By comparing our algorithm with various dynamic VSLAM algorithms on the TUM and KITTI datasets, the results demonstrate significant improvements, with enhancements of up to 97.72%, 98.51%, and 28.07% relative to the original ORBSLAM2 on the three datasets. This showcases the outstanding advantages of our algorithm.

Accurately detecting tea bud leaves is crucial for the automation of tea picking robots. However, challenges arise due to tea stem occlusion and overlapping of buds and leaves, presenting varied shapes of one bud–one leaf targets in the field of view, making precise segmentation of tea bud leaves challenging. To improve the segmentation accuracy of one bud–one leaf targets with different shapes and fine granularity, this study proposes a novel semantic segmentation model for tea bud leaves. The method designs a hierarchical Transformer block based on a self-attention mechanism in the encoding network, which is beneficial for capturing long-range dependencies between features and enhancing the representation of common features. Then, a multi-path feature aggregation module is designed to effectively merge the feature outputs of encoder blocks with decoder outputs, thereby alleviating the loss of fine-grained features caused by downsampling. Furthermore, a refined polarized attention mechanism is employed after the aggregation module to perform polarized filtering on features in channel and spatial dimensions, enhancing the output of fine-grained features. The experimental results demonstrate that the proposed Unet-Enhanced model achieves segmentation performance well on one bud–one leaf targets with different shapes, with a mean intersection over union (mIoU) of 91.18% and a mean pixel accuracy (mPA) of 95.10%. The semantic segmentation network can accurately segment tea bud leaves, providing a decision-making basis for the spatial positioning of tea picking robots.

In recent years, heavy metal pollution in farmland soil has become a crisis due to human activities or natural impacts, with particular emphasis on cases from China, where this issue is prominent, greatly affecting crop production and food safety. In the context of a low heavy metal (HM) content in farmland soil, which is difficult to monitor in real time, effective and rapid monitoring of soil plays a decisive role in subsequent targeted protection measures. To this end, this paper provides a narrative review of the application of spectral sensing technology on the basis of the quantitative inversion of heavy metal content in farmland soil using different platforms (ground, airborne, and spaceborne). The sensing process evaluates the mechanism by which soil produces different weak spectral features from the perspective of the heterogeneity of farmland soil. Different methods used for the quantitative inversion of heavy metals (by studying the correlation between soil heavy metals and organic matter, clay minerals, metal oxides, crop vegetation index, etc.) and their feasibility were clarified. At the same time, relevant research on key technologies used in various processes—such as follow-up pretreatment, spectral feature extraction, and the establishment of inversion models for spectral data of different farmland soil types—was summarized, with a primary focus on cases in China. Finally, the challenges, applications, and research directions related to heavy metal spectral inversion in farmland soil were discussed.

In unstructured tea garden environments, accurate recognition and pose estimation of tea bud leaves are critical for autonomous harvesting robots. Due to variations in imaging distance, tea bud leaves exhibit diverse scale and pose characteristics in camera views, which significantly complicates the recognition and pose estimation process. This study proposes a method using an RGB-D camera for precise recognition and pose estimation of tea bud leaves. The approach first constructs an for tea bud leaves, followed by a dynamic weight estimation strategy to achieve adaptive pose estimation. Quantitative experiments demonstrate that the instance segmentation model achieves an mAP@50 of 92.0% for box detection and 91.9% for mask detection, improving by 3.2% and 3.4%, respectively, compared to the YOLOv8s-seg instance segmentation model. The pose estimation results indicate a maximum angular error of 7.76°, a mean angular error of 3.41°, a median angular error of 3.69°, and a median absolute deviation of 1.42°. The corresponding distance errors are 8.60 mm, 2.83 mm, 2.57 mm, and 0.81 mm, further confirming the accuracy and robustness of the proposed method. These results indicate that the proposed method can be applied in unstructured tea garden environments for non-destructive and precise harvesting with autonomous tea bud-leave harvesting robots.

Tea red scab, a contagious disease affecting tea plants, can infect both buds and mature leaves. This study developed discrimination models to assess the severity of this disease using RGB and hyperspectral images. The models were constructed from a total of 1188 samples collected in May 2024. The results demonstrated that the model based on hyperspectral Imaging (HSI) data significantly outperformed the RGB-based model. Four spectral preprocessing methods were applied, among which the combination of SNV, SG, and FD (SNV-SG-FD) proved to be the most effective. To better capture long-range dependencies among spectral bands, a hybrid architecture integrating a Gated Recurrent Unit (GRU) with a one-dimensional convolutional neural network (1D-CNN), termed CNN-GRU, was proposed. This hybrid model was compared against standalone CNN and GRU benchmarks. The hyperparameters of the CNN-GRU model were optimized using the Newton-Raphson-based optimizer (NRBO) algorithm. The proposed NRBO-optimized SNV-SG-FD-CNN-GRU model achieved superior performance, with accuracy, precision, recall, and F₁-score reaching 92.94%, 92.54%, 92.42%, and 92.43%, respectively. Significant improvements were observed across all evaluation metrics compared to the single-model alternatives, confirming the effectiveness of both the hybrid architecture and the optimization strategy.