Aiming at the limitations of current citrus detection methods in complex orchard environments, especially the problems of poor model adaptability and high computational complexity under different lighting, multiple occlusions, and dense fruit conditions, this study proposes an improved citrus detection model, YOLO-PBGM, based on You Only Look Once v7 (YOLOv7). First, to tackle the large size of the YOLOv7 network model and its deployment challenges, the PC-ELAN module is constructed by introducing Partial Convolution (PConv) for lightweight improvement, which reduces the model’s demand for computing resources and parameters. At the same time, the Bi-Former attention module is embedded to enhance the perception and processing of citrus fruit information. Secondly, a lightweight neck network is constructed using Grouped Shuffle Convolution (GSConv) to simplify computational complexity. Finally, the minimum-point-distance-based IoU (MPDIoU) loss function is utilized to optimize the boundary return mechanism, which speeds up model convergence and reduces the redundancy of bounding box regression. Experimental results indicate that for the citrus dataset collected in a natural environment, the improved model reduces Params and GFLOPs by 15.4% and 23.7%, respectively, while improving precision, recall, and mAP by 0.3%, 4%, and 3.5%, respectively, thereby outperforming other detection networks. Additionally, an analysis of citrus object detection under varying lighting and occlusion conditions reveals that the YOLO-PBGM network model demonstrates good adaptability, effectively coping with variations in lighting and occlusions while exhibiting high robustness. This model can provide a technical reference for uncrewed intelligent picking of citrus.

To address the challenges of poor model adaptability and high computational complexity in complex orchard environments characterized by variable lighting, severe occlusion, and dense fruit clusters, an enhanced kiwifruit detection network, Kiwi-YOLO, is proposed based on YOLOv8. Firstly, replacing the main network with the MobileViTv1 module reduces computational load and parameters, thus enhancing inference efficiency for mobile deployment. Secondly, incorporating BiFPN into the model’s neck as a replacement for PANet improves feature distinguishability between background regions and target instances. Additionally, incorporating MCA module promotes cross-dimensional feature interactions, strengthening model robustness and generalization performance. Finally, the MPDIoU loss function is adopted to minimize bounding box vertex distances, mitigating detection box distortion caused by sample heterogeneity while accelerating convergence and enhancing localization accuracy. Experimental results indicate that the enhanced model achieves improvements of 2.1%, 1.5% and 0.3% in precision, recall, and mAP, respectively, over the baseline YOLOv8, while reducing parameters (Params) and computational complexity (GFLOPs) by 19.71 million and 2.8 billion operations. Moreover, it surpasses other comparative models in performance. Furthermore, in experiments detecting kiwifruit targets under complex lighting and occlusion conditions, the Kiwi-YOLO model demonstrated excellent adaptability and robustness. Its strong environmental adaptability provides technical guidance for advancing the practical application of unmanned intelligent kiwifruit harvesting.

Peanut leaf disease detection in complex field environments faces two major challenges: distinguishing visually similar symptoms and identifying severely occluded lesions. This study presents YOLOv8-MSDH, a lightweight detection model built upon an improved YOLOv8 framework to address these issues. Four architectural enhancements are introduced. First, the MHSA attention mechanism is integrated to enhance sequential feature dependency modeling and suppress background noise. Second, the Slim-Neck module is adopted for neck reconstruction, which lowers computational cost and facilitates multi-scale feature fusion. Third, the original C2f module is replaced with the C2f-Dual module to further reduce computational load. Last, the HWD downsampling module is incorporated into the backbone to improve the retention of disease-specific features while promoting lightweight design. Evaluated on a peanut leaf disease dataset, YOLOv8-MSDH achieves 90.14% precision, 82.16% recall, 90.71% mAP50 and 72.14% mAP50-95 under complex conditions—surpassing the baseline YOLOv8 by 3.5, 0.7, 1.5 and 2.89 percentage points, respectively. Parameter count and computational complexity are reduced by 12.9% and 20.7%, confirming effective lightweighting. Operating at 509.95 FPS, the model maintains strong real-time performance and exhibits high robustness across varying lighting conditions.