This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed, and the influence of varied structure parameters during gripping is discussed accordingly. Second, we develop a mechanical model of the suggested servo-driven soft gripper based on the mappings of gripping force, pulling force, and servo torque. Third, a real-time control strategy for the servo is proposed, to monitor the relative position relationship between the gripper and the fruit by an ultrasonic sensor to avoid damage from the slip between the fruit and fingers. The experimental results show that the proposed soft gripper can non-destructively grasp and separate apples. In outdoor orchard experiments, the damage rate for the grasping experiments of the gripper with the force feedback system turned on was 0%; while the force feedback system was turned off, the damage rate was 20%, averaged for slight and severe damage. The three cases of rigid fingers and soft fingers with or without slip detection under the gripper structure of this study were tested by picking 25 apple samples for each set of experiments. The picking success rate for the rigid fingers was 100% but with a damage rate of 16%; the picking success rate for soft fingers with slip detection was 80%, with no fruit skin damage; in contrast, the picking success rate for soft fingers with slip detection off increased to 96%, and the damage rate was up to 8%. The experimental results demonstrated the effectiveness of the proposed control method.

With the acceleration of agricultural intelligent transformation, deep reinforcement learning (DRL), leveraging its adaptive perception and decision-making capabilities in complex environments, has emerged as a pivotal technology in advancing the intelligent upgrade of agricultural machinery and equipment. For example, in UAV path optimization, DRL can help UAVs plan more efficient flight paths to cover more areas in less time. To enhance the systematicity and credibility of this review, this paper systematically examines the application status, key issues, and development trends of DRL in agricultural scenarios, based on the research literature from mainstream Chinese and English databases spanning from 2018 to 2024. From the perspective of algorithm–hardware synergy, the article provides an in-depth analysis of DRL’s specific applications in agricultural ground platform navigation, path planning for intelligent agricultural end-effectors, and autonomous operations of low-altitude unmanned aerial vehicles. It highlights the technical advantages of DRL by integrating typical experimental outcomes, such as improved path-tracking accuracy and optimized spraying coverage. Meanwhile, this paper identifies three major challenges facing DRL in agricultural contexts: the difficulty of dynamic path planning in unstructured environments, constraints imposed by edge computing resources on algorithmic real-time performance, and risks to policy reliability and safety under human–machine collaboration conditions. Looking forward, the DRL-driven smart transformation of agricultural machinery will focus on three key aspects: (1) The first aspect is developing a hybrid decision-making architecture based on model predictive control (MPC). This aims to enhance the strategic stability and decision-making interpretability of agricultural machinery (like unmanned tractors, harvesters, and drones) in complex and dynamic field environments. This is essential for ensuring the safe and reliable autonomous operation of machinery. (2) The second aspect is designing lightweight models that support edge-cloud collaborative deployment. This can meet the requirements of low-latency responses and low-power operation in edge computing scenarios during field operations, providing computational power for the real-time intelligent decision-making of machinery. (3) The third aspect is integrating meta-learning with self-supervised mechanisms. This helps improve the algorithm’s fast generalization ability across different crop types, climates, and geographical regions, ensuring the smart agricultural machinery system has broad adaptability and robustness and accelerating its application in various agricultural settings. This paper proposes research directions from three key dimensions-“algorithm capability enhancement, deployment architecture optimization, and generalization ability improvement”-offering theoretical references and practical pathways for the continuous evolution of intelligent agricultural equipment.

The rapid and accurate estimation of leaf chlorophyll content (LCC), an important indicator of crop photosynthetic capacity and nutritional status, is of great significance for precise nitrogen fertilization management. To explore the existence of a versatile regression model that can be successfully used to estimate the LCC for different varieties under different growth stages and nitrogen stress conditions, a study was conducted in 2023 across the growing season for winter wheat with five species and five nitrogen application levels. Two machine learning regression algorithms, support vector machine (SVM) and random forest (RF), were used to establish the bridge between UAV-derived multispectral vegetation indices and ground truth LCC (relative chlorophyll content, SPAD), taking the multivariate linear regression (MLR) algorithm as a reference. The results show that the visible atmospherically resistant index, vegetative index, and normalized difference vegetation index had the highest correlation with ground truth LCC, with a Pearson’s correlation coefficient of 0.95. All three regression algorithms (MLR, RF, and SVM) performed well on the training dataset (R²: 0.932–0.944, RMSE: 3.96 to 4.37), but performed differently on validation datasets with different growth stages, species, and nitrogen application levels. Compared to winter wheat species and nitrogen application levels, the growth stages had the greatest influence on the generalization ability of LCC estimation models, especially for the dough stage. At the dough stage, compared to MLR and RF, SVM performed best, with R² increasing by 0.27 and 0.10, respectively, and RMSE decreasing by 1.13 and 0.46, respectively. Overall, this study demonstrated that the combination of UAV-derived multispectral VIs and the SVM regression algorithm could be successfully applied to map the LCC of winter wheat for different species, growth stages, and nitrogen stress conditions. Ultimately, this research is significant as it shows the successful application of UAV data for mapping the LCC of winter wheat across diverse conditions, offering valuable insights for precision nitrogen fertilization management.

LNC (leaf nitrogen content) in crops is significant for diagnosing the crop growth status and guiding fertilization decisions. Currently, UAV (unmanned aerial vehicles) remote sensing has played an important role in estimating the nitrogen nutrition of crops at the field scale. However, many existing methods of evaluating crop nitrogen based on UAV imaging techniques usually have used a single type of imagery such as RGB or multispectral images, seldom considering the usage of information fusion from different types of UAV imagery for assessing the crop nitrogen status. In this study, GS (Gram–Schmidt Pan Sharpening) was utilized to fuse images from two sensors of digital RGB and multispectral cameras mounted on UAV, and the specific bands of the multispectral cameras are blue, green, red, rededge and NIR. The color space transformation method, HSV (Hue-Saturation-Value), was used to separate soil background noise from crops due to the high spatial resolution of UAV images. Two methods of optimizing feature variables, the Successive Projection Algorithm (SPA) and the Competitive Adaptive Reweighted Sampling method (CARS), combined with two regularization regression algorithms, LASSO and RIDGE, were adopted to estimate the LNC, compared to the commonly used Random Forest algorithm. The results showed that: (1) the accuracy of LNC estimation using the fusion image is improved distinctly by a comparison to the original multispectral image; (2) the denoised images performed better than the original multispectral images in evaluating LNC in rice; (3) the RIDGE-SPA combined method, using SPA to select the MCARI, SAVI and OSAVI, had the best performance for LNC in rice, with an R² of 0.76 and an RMSE of 10.33%. It can be demonstrated that the information fusion of multiple-sensor imagery from UAV coupling with the methods of optimizing feature variables can estimate the rice LNC more effectively, which can also provide a reference for guiding the decision making of fertilization in rice fields.

A good planting bed is a prerequisite for improving planting quality, while complex ground excitation often leads to machine bouncing and operation vibration, which then affects the operation effect. In order to improve the quality of rotary tillage operations, it is necessary to study the effects of various vibration excitations on the unit during tractor rotary tillage operations and analyze the vibration interaction relationship among the tractor, the three-point suspension mechanism, and the rotary tiller. For this purpose, multiple three-way acceleration sensors were installed at different positions on the rotary tiller unit of a Lexing LS1004 tractor(Lexing Agricultural Equipment Co. Ltd., Qingdao, China) to collect vibration data at different operating speeds and conduct vibration characteristic analysis between different components. The test results showed that when the unit moved forward at 2.1 km/h, 3.6 km/h, and 4.5 km/h, respectively, the vibration acceleration of the tractor, the three-point suspension mechanism, and the rotary tiller increased with the increase in speed, and there was indeed interaction between them. The vertical acceleration change during the test in the three-point suspension mechanism was the most significant (5.914 m/s²) and was related to the increase in the speed of the vehicle and the vibration transfer of the rotary tiller. Meanwhile, the vertical vibration acceleration of the tractor’s symmetrical structure was not similar, suggesting the existence of structural assembly problems. From the perspective of frequency domain analysis, the resonant frequency at the cab of the tractor was reduced in a vertical vibration environment, with relatively low frequencies (0~80 Hz) and small magnitudes, which might be beneficial to the driver’s health. The rotary tillage group resonated around 350 Hz, and this characteristic can be used to appropriately increase the vibration of the rotary tiller to reduce resistance. The tractor cab resonated around 280 Hz, which must be avoided during field operations to ensure driver health and reduce machine wear. The research results can provide a reference for reducing vibration and resistance during tractor rotary tillage operations, as well as optimizing and improving the structure of rotary tillers and tractors.

The resulting maps of land use classification obtained by pixel-based methods often have salt-and-pepper noise, which usually shows a certain degree of cluttered distribution of classification image elements within the region. This paper carries out a study on crop classification and identification based on time series Sentinel images and object-oriented methods and takes the crop recognition and classification of the National Modern Agricultural Industrial Park in Jalaid Banner, Inner Mongolia, as the research object. It uses the Google Earth Engine (GEE) cloud platform to extract time series Sentinel satellite radar and optical remote sensing images combined with simple noniterative clustering (SNIC) multiscale segmentation with random forest (RF) and support vector machine (SVM) classification algorithms to classify and identify major regional crops based on radar and spectral features. Compared with the pixel-based method, the combination of SNIC multiscale segmentation and random forest classification based on time series radar and optical remote sensing images can effectively reduce the salt-and-pepper phenomenon in classification and improve crop classification accuracy with the highest accuracy of 98.66 and a kappa coefficient of 0.9823. This study provides a reference for large-scale crop identification and classification work.