Multi-target recognition and positioning using robots in orchards is a challenging task in modern precision agriculture owing to the presence of complex noise disturbance, including wind disturbance, changing illumination, and branch and leaf shading. To obtain the target information for a bud-cutting robotic operation, we employed a modified deep learning algorithm for the fast and precise recognition of banana fruits, inflorescence axes, and flower buds. Thus, the cutting point on the inflorescence axis was identified using an edge detection algorithm and geometric calculation. We proposed a modified YOLOv3 model based on clustering optimization and clarified the influence of front-lighting and backlighting on the model. Image segmentation and denoising were performed to obtain the edge images of the flower buds and inflorescence axes. The spatial geometry model was constructed on this basis. The center of symmetry and centroid were calculated for the edges of the flower buds. The equation for the position of the inflorescence axis was established, and the cutting point was determined. Experimental results showed that the modified YOLOv3 model based on clustering optimization showed excellent performance with good balance between speed and precision both under front-lighting and backlighting conditions. The total pixel positioning error between the calculated and manually determined optimal cutting point in the flower bud was 4 and 5 pixels under the front-lighting and backlighting conditions, respectively. The percentage of images that met the positioning requirements was 93 and 90%, respectively. The results indicate that the new method can satisfy the real-time operating requirements for the banana bud-cutting robot.

The real-time detection of banana bunches and stalks in banana orchards is a key technology in the application of agricultural robots. The complex conditions of the orchard make accurate detection a difficult task, and the light weight of the deep learning network is an application trend. This study proposes and compares two improved YOLOv4 neural network detection models in a banana orchard. One is the YOLO-Banana detection model, which analyzes banana characteristics and network structure to prune the less important network layers; the other is the YOLO-Banana-l4 detection model, which, by adding a YOLO head layer to the pruned network structure, explores the impact of a four-scale prediction structure on the pruning network. The results show that YOLO-Banana and YOLO-Banana-l4 could reduce the network weight and shorten the detection time compared with YOLOv4. Furthermore, YOLO-Banana detection model has the best performance, with good detection accuracy for banana bunches and stalks in the natural environment. The average precision (AP) values of the YOLO-Banana detection model on banana bunches and stalks are 98.4% and 85.98%, and the mean average precision (mAP) of the detection model is 92.19%. The model weight is reduced from 244 to 137 MB, and the detection time is shortened from 44.96 to 35.33 ms. In short, the network is lightweight and has good real-time performance and application prospects in intelligent management and automatic harvesting in the banana orchard.

A series of Ag₃PO₄/graphene oxide catalysts were dip-coated onto 3D nickel foam for photocatalytic degradation of norfloxacin antibiotics.

In recent years, fatigue has become an important issue in modern life that cannot be ignored, especially in some special occupations. Agricultural workers are high-risk occupations that, under fatigue conditions over a long period, will cause health problems. In China, since very few studies have focused on the fatigue state of agricultural workers, we were interested in using electrocardiogram (ECG) signals to analyze the fatigue state of agricultural workers. Healthy agricultural workers were randomly recruited from hilly orchards in South China. Through the field experiment, 130 groups of 5-min interval ECG signals were collected, and we analyzed the ECG signal by HRV. The time domain (meanHR, meanRR, SDNN, RMSSD, SDSD, PNN20, PNN50 and CV), frequency domain (VLF percent, LF percent, HF percent, LF norm, HF norm and LF/HF) and nonlinear parameters (SD1, SD2, SD1/SD2 and sample entropy) were calculated and Spearman correlation coefficient analysis and Mann–Whitney U tests were performed on each parameter for further analysis. For all subjects, nine parameters were slightly correlated in nonfatigue and fatigue state. Six parameters were significantly increased and ten HRV parameters were significantly decreased compared the nonfatigue state. As for males, fifteen parameters were significantly different, and for females, eighteen parameters were significantly different. In addition, the probability density functions of SDNN, SDSD, VLF%, HFnorm and LF/HF were significantly different in nonfatigue and fatigue state for different genders, and the nonlinear parameters become more discrete compared the nonfatigue state. Finally, we obtained the most suitable parameters, which reflect the fatigue characteristics of orchard workers under different genders. The results have instructional significance for identifying fatigue in orchard workers and provide a convincing and valid reference for clinical diagnosis.