In the fresh tomato market, it is crucial to sort and sell tomatoes based on their quality. This is important to enhance the competitiveness and profitability of the market. However, the manual sorting process is subjective and inefficient. To address this issue, we have developed an automatic tomato sorting system that uses the Raspberry PI 4B as the control platform for the robot arm. This system has been integrated with a human–computer interaction interface sorting system. Our experimental results indicate that this sorting method has an accuracy rate of 99.1% and an efficiency of 1350 tomatoes per hour. This development is in line with modern agricultural mechanization and intelligence needs.

Lettuce is an annual plant of the family Asteraceae. It is most often grown as a leaf vegetable, but sometimes for its stem and seeds, and its growth status and quality are evaluated based on its morphological phenotypic traits. However, traditional measurement methods are often labor-intensive and time-consuming due to manual measurements and may result in less accuracy. In this study, we proposed a new method utilizing RGB images and Mask R-Convolutional Neural Network (CNN) for estimating lettuce critical phenotypic traits. Leveraging publicly available datasets, we employed an improved Mask R-CNN model to perform a phenotypic analysis of lettuce images. This allowed us to estimate five phenotypic traits simultaneously, which include fresh weight, dry weight, plant height, canopy diameter, and leaf area. The enhanced Mask R-CNN model involved two key aspects: (1) replacing the backbone network from ResNet to RepVGG to enhance computational efficiency and performance; (2) adding phenotypic branches and constructing a multi-task regression model to achieve end-to-end estimation of lettuce phenotypic traits. Experimental results demonstrated that the present method achieved high accuracy and stable results in lettuce image segmentation, detection, and phenotypic estimation tasks, with APs for detection and segmentation being 0.8684 and 0.8803, respectively. Additionally, the R² values for the five phenotypic traits are 0.96, 0.9596, 0.9329, 0.9136, and 0.9592, with corresponding mean absolute percentage errors (MAPEs) of 0.1072, 0.1522, 0.0757, 0.0548, and 0.0899, respectively. This study presents a novel technical advancement based on digital knowledge for phenotypic analysis and evaluation of lettuce quality, which could lay the foundation for artificial intelligence expiation in fresh vegetable production.