Huarui Wu’s research while affiliated with Beijing Academy of Agriculture and Forestry Sciences and other places

Smart agricultural machinery is built upon traditional agricultural equipment, further integrating modern information technologies to achieve automation, precision, and intelligence in agricultural production. Currently, significant progress has been made in the autonomous operation and monitoring technologies of smart agricultural machinery in China. However, challenges remain, including poor adaptability to complex environments, high equipment costs, and issues with system implementation and standardization integration. To help industry professionals quickly understand the current state and promote the rapid development of smart agricultural machinery, this paper provides an overview of the key technologies related to autonomous operation and monitoring in China’s smart agricultural equipment. These technologies include environmental perception, positioning and navigation, autonomous operation and path planning, agricultural machinery status monitoring and fault diagnosis, and field operation monitoring. Each of these key technologies is discussed in depth with examples and analyses. On this basis, the paper analyzes the main challenges faced by the development of autonomous operation and monitoring technologies in China’s smart agricultural machinery sector. Furthermore, it explores the future directions for the development of autonomous operation and monitoring technologies in smart agricultural machinery. This research is of great importance for promoting the transition of China’s agricultural production towards automation and intelligence, improving agricultural production efficiency, and reducing reliance on human labor.

Background As an important economic crop, the growth status of the root system of cabbage directly affects its overall health and yield. To monitor the root growth status of cabbage seedlings during their growth period, this study proposes a new network architecture called Swin-Unet++. This architecture integrates the Swin-Transformer module and residual networks and uses attention mechanisms to replace traditional convolution operations for feature extraction. It also adopts the residual concept to fuse contextual information from different levels, addressing the issue of insufficient feature extraction for the thin and mesh-like roots of cabbage seedlings. Results Compared with other backbone high-precision semantic segmentation networks, SwinUnet + + achieves superior segmentation results. The results show that the accuracy of Swin-Unet + + in root system segmentation tasks reached as high as 98.19%, with a model parameter of 60 M and an average response time of 29.5 ms. Compared with the classic Unet network, the mIoU increased by 1.08%, verifying that the Swin-Transformer and residual networks can accurately extract the fine-grained features of roots. Furthermore, when images after different semantic segmentations are compared to locate the root position through contours, Swin-Unet + + has the best positioning effect. On the basis of the root pixels obtained from semantic segmentation, the calculated maximum root length, extension width, and root thickness are compared with actual measurements. The resulting goodness of fit R² values are 94.82%, 94.43%, and 86.45%, respectively. Verifying the effectiveness of this network in extracting the phenotypic traits of cabbage seedling roots. Conclusions The Swin-Unet + + framework developed in this study provides a new technique for the monitoring and analysis of cabbage root systems, ultimately leading to the development of an automated analysis platform that offers technical support for intelligent agriculture and efficient planting practices.

Reducing damage and missed harvest rates is essential for improving efficiency in unmanned cabbage harvesting. Accurate real-time segmentation of cabbage heads can significantly alleviate these issues and enhance overall harvesting performance. However, the complexity of the growing environment and the morphological variability of field-grown cabbage present major challenges to achieving precise segmentation. This study proposes an improved YOLOv8n-seg network to address these challenges effectively. Key improvements include modifying the baseline model’s final C2f module and integrating deformable attention with dynamic sampling points to enhance segmentation performance. Additionally, an ADown module minimizes detail loss from excessive downsampling by using depthwise separable convolutions to reduce parameter count and computational load. To improve the detection of small cabbage heads, a Small Object Enhance Pyramid based on the PAFPN architecture is introduced, significantly boosting performance for small targets. The experimental results show that the proposed model achieves a Mask Precision of 92.2%, Mask Recall of 87.2%, and Mask mAP50 of 95.1%, while maintaining a compact model size of only 6.46 MB. These metrics indicate superior accuracy and efficiency over mainstream instance segmentation models, facilitating real-time, precise cabbage harvesting in complex environments.

Transplanting is a critical step in vegetable production, and the application of automatic transplanters can significantly reduce labor intensity, improve production efficiency, and enhance the precision and consistency of operations. However, automatic transplanters are structurally complex, with diverse components, each design and function offering its own advantages and limitations. To assist industry professionals in quickly understanding and selecting transplanters suited to specific crops and environments, this paper reviews three key technologies in current vegetable transplanters: planting mechanisms, automated seedling picking and placing, and tray conveyance. Each technology is classified, compared, and analyzed to evaluate its applicability. Based on the current state of technology, the paper identifies major challenges in the development of vegetable transplanters in China, including insufficient integration of machinery and agronomy, high demands for equipment adaptability, lack of standardized systems, and delays in the development of core technologies for fully automated transplanting. Solutions are proposed for each of these issues. Finally, the paper discusses future directions for the development of automatic transplanters, including enhancing transplanting efficiency, achieving autonomous navigation, digitalizing operations, developing supporting systems for transplanting, and unmanned transplanting.

Transporting harvested vegetables in the field or greenhouse is labor-intensive. The utilization of small harvest-aid vehicles can reduce non-productive time for farmers and improve harvest efficiency. This paper models the process of harvesting vegetables in response to non-productive waiting delays caused by the scheduling of harvest-aid vehicles. Taking into consideration harvesting speed, harvest-aid vehicle capacity, and scheduling conflicts, a harvest-aid vehicle scheduling model is constructed to minimize non-production waiting time and coordination costs. Subsequently, to meet the collaborative needs of harvesters, this paper develops a discrete multi-objective Jaya optimization algorithm (DMO-Jaya), which combines an opposition-based learning mechanism and a long-term memory library to obtain scheduling schemes suitable for agricultural environments. Experiments show that the studied model can schedule harvest-aid vehicles without conflicts. Compared to the NSGA-II algorithm and the MMOPSO, the DMO-Jaya algorithm demonstrates a better diversity of solutions, resulting in a shorter non-productive waiting time for harvesters. This research provides a reference model for improving the efficiency of vegetable harvesting and transportation.

The labor shortage and rising costs in the greenhouse industry have driven the development of automation, with the core of autonomous operations being positioning and navigation technology. However, precise positioning in complex greenhouse environments and narrow aisles poses challenges to localization technologies. This study proposes a multi-sensor fusion positioning and navigation robot based on ultra-wideband (UWB), an inertial measurement unit (IMU), odometry (ODOM), and a laser rangefinder (RF). The system introduces a confidence optimization algorithm based on weakening non-line-of-sight (NLOS) for UWB positioning, obtaining calibrated UWB positioning results, which are then used as a baseline to correct the positioning errors generated by the IMU and ODOM. The extended Kalman filter (EKF) algorithm is employed to fuse multi-sensor data. To validate the feasibility of the system, experiments were conducted in a Chinese solar greenhouse. The results show that the proposed NLOS confidence optimization algorithm significantly improves UWB positioning accuracy by 60.05%. At a speed of 0.1 m/s, the root mean square error (RMSE) for lateral deviation is 0.038 m and for course deviation is 4.030°. This study provides a new approach for greenhouse positioning and navigation technology, achieving precise positioning and navigation in complex commercial greenhouse environments and narrow aisles, thereby laying a foundation for the intelligent development of greenhouses.

To address the problems of low recognition accuracy and slow processing speed when identifying harvest-stage cabbage heads in complex environments, this study proposes a lightweight harvesting period cabbage head recognition algorithm that improves upon YOLOv8n. We propose a YOLOv8n-Cabbage model, integrating an enhanced backbone network, the DyHead (Dynamic Head) module insertion, loss function optimization, and model light-weighting. To assess the proposed method, a comparison with extant mainstream object detection models is conducted. The experimental results indicate that the improved cabbage head recognition model proposed in this study can adapt cabbage head recognition under different lighting conditions and complex backgrounds. With a compact size of 4.8 MB, this model achieves 91% precision, 87.2% recall, and a mAP@50 of 94.5%—the model volume has been reduced while the evaluation metrics have all been improved over the baseline model. The results demonstrate that this model can be applied to the real-time recognition of harvest-stage cabbage heads under complex field environments.