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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.

Considering that the occurrence and spread of diseases are closely related to the planting environment, a tomato disease diagnosis method based on Multi-ResNet34 multi-modal fusion learning based on residual learning is proposed for the problem of limited recognition rate of a single RGB image of a tomato disease. Based on the ResNet34 backbone network, this paper introduces transfer learning to speed up training, reduce data dependencies, and prevent overfitting due to a small amount of sample data; it also integrates multi-source data (tomato disease image data and environmental parameters). The feature-level multi-modal data fusion method is used to retain the key information of the data to identify the feature, so that the different modal data can complement, support and correct each other, and obtain a more accurate identification effect. Firstly, Mask R-CNN was used to extract partial images of leaves from complex background tomato disease images to reduce the influence of background regions on disease identification. Then, the formed image environment data set was input into the multi-modal fusion model to obtain the identification results of disease types. The proposed multi-modal fusion model Multi-ResNet34 has a classification accuracy of 98.9% for six tomato diseases: bacterial spot, late blight, leaf mold, yellow aspergillosis, gray mold, and early blight, which is higher than that of the single-modal model. With the increase by 1.1%, the effect is obvious. The method in this paper can provide an important basis for the analysis and diagnosis of tomato intelligent greenhouse diseases in the context of agricultural informatization.

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.

Wireless sensor network (WSN) is the key sensing resource for the internet of things (IoT) in vegetable greenhouse. The coverage control ensures that WSN can obtain enough effective information. However, the current coverage researches ignore the object size and lack of attention to the occlusion between targets. There are many leaves and fruits in vegetables, which can easily cause blind area and low utilization of directional sensors. Based on the geometric relationship between the directional sensors and targets, this paper studies a non-occlusion coverage scheme for the greenhouse IoT. Firstly, combined with the traditional coverage theory, a directional coverage model without occlusion is constructed by analysing the multivariate relationship between the sensor nodes and monitored targets. An objective function is then established to maximize the effective coverage. Based on the directional coverage model, this paper studies a hierarchical cooperative particle swarm optimization algorithm, which decomposes the global effective coverage problem into the utilization optimization of each sensor and finally get the orientation angle set. The experimental results show that the studied model and algorithm can avoid occlusion between covered objects while improving sensor utilization to a certain degree.

In view of the differences in appearance and the complex backgrounds of crop diseases, automatic identification of field diseases is an extremely challenging topic in smart agriculture. To address this challenge, a popular approach is to design a Deep Convolutional Neural Network (DCNN) model that extracts visual disease features in the images and then identifies the diseases based on the extracted features. This approach performs well under simple background conditions, but has low accuracy and poor robustness under complex backgrounds. In this paper, an end-to-end disease identification model composed of a disease-spot region detector and a disease classifier (YOLOv5s + BiCMT) was proposed. Specifically, the YOLOv5s network was used to detect the disease-spot regions so as to provide a regional attention mechanism to facilitate the disease identification task of the classifier. For the classifier, a Bidirectional Cross-Modal Transformer (BiCMT) model combining the image and text modal information was constructed, which utilizes the correlation and complementarity between the features of the two modalities to achieve the fusion and recognition of disease features. Meanwhile, the problem of inconsistent lengths among different modal data sequences was solved. Eventually, the YOLOv5s + BiCMT model achieved the optimal results on a small dataset. Its Accuracy, Precision, Sensitivity, and Specificity reached 99.23, 97.37, 97.54, and 99.54%, respectively. This paper proves that the bidirectional cross-modal feature fusion by combining disease images and texts is an effective method to identify vegetable diseases in field environments.

Precision weeding is crucial for maximizing crop yields and minimizing herbicide use. However, deploying standard deep learning models in agriculture faces challenges due to the high morphological diversity of weeds and the computational constraints of edge devices. Hence, this study proposes MCS-YOLO, a lightweight detection model based on the YOLOv8 architecture. First, a channel-level Mamba module is integrated into the backbone to model long-range feature dependencies and enhance global texture representation. The LMAB module employs parallel depthwise separable convolutions with varying receptive fields and coordinate attention to improve multi-scale weed discrimination. To mitigate feature blurring and misalignment during upsampling, the LCAU module adopts dynamic offset sampling beyond fixed interpolation methods. Finally, the SCS-Head integrates dual-branch depthwise separable convolution with channel shuffling to reduce parameter redundancy while preserving efficient feature expression. Experimental results on the Weed-Crop dataset demonstrate that MCS-YOLO achieves 76.4% mAP@50 and 38.3% mAP@50–95, outperforming YOLOv8s by 3.1% and 1.5%, respectively. Furthermore, the parameter count is reduced by 20.7%, from 11.13 M to 8.83 M, and GFLOPs are reduced by 39.6%, from 28.5 to 17.2. These results confirm that MCS-YOLO effectively balances a lightweight design with high detection accuracy, offering a viable solution for real-time weed detection and automated weeding on embedded agricultural platforms.

The governance of rural living environments is one of the important tasks in the implementation of a rural revitalization strategy. At present, the illegal behaviors of random construction and random storage in public spaces have seriously affected the effectiveness of the governance of rural living environments. The current supervision on such problems mainly relies on manual inspection. Due to the large number and wide distribution of rural areas to be inspected, this method is limited by obvious disadvantages, such as low detection efficiency, long-time spending, and huge consumption of human resources, so it is difficult to meet the requirements of efficient and accurate inspection. In response to the difficulties encountered, a low-altitude remote sensing inspection method on rural living environments was proposed based on a modified YOLOv5s-ViT (YOLOv5s-Vision Transformer) in this paper. First, the BottleNeck structure was modified to enhance the multi-scale feature capture capability of the model. Then, the SimAM attention mechanism module was embedded to intensify the model’s attention to key features without increasing the number of parameters. Finally, the Vision Transformer component was incorporated to improve the model’s ability to perceive global features in the image. The testing results of the established model showed that, compared with the original YOLOv5 network, the Precision, Recall, and mAP of the modified YOLOv5s-ViT model improved by 2.2%, 11.5%, and 6.5%, respectively; the total number of parameters was reduced by 68.4%; and the computation volume was reduced by 83.3%. Relative to other mainstream detection models, YOLOv5s-ViT achieved a good balance between detection performance and model complexity. This study provides new ideas for improving the digital capability of the governance of rural living environments.

The disease image recognition models based on deep learning have achieved relative success under limited and restricted conditions, but such models are generally subjected to the shortcoming of weak robustness. The model accuracy would decrease obviously when recognizing disease images with complex backgrounds under field conditions. Moreover, most of the models based on deep learning only involve characterization learning on visual information in the image form, while the expression of other modal information rather than the image form is often ignored. The present study targeted the main invasive diseases in tomato and cucumber as the research object. Firstly, in response to the problem of weak robustness, a feature decomposition and recombination method was proposed to allow the model to learn image features at different granularities so as to accurately recognize different test images. Secondly, by extracting the disease feature words from the disease text description information composed of continuous vectors and recombining them into the disease graph structure text, the graph convolutional neural network (GCN) was then applied for feature learning. Finally, a vegetable disease recognition model based on the fusion of images and graph structure text was constructed. The results show that the recognition accuracy, precision, sensitivity, and specificity of the proposed model were 97.62, 92.81, 98.54, and 93.57%, respectively. This study improved the model robustness to a certain extent, and provides ideas and references for the research on the fusion method of image information and graph structure information in disease recognition.

Addressing the challenges of multi-scene precision pesticide application for field broccoli crops and computational limitations of edge devices, this study proposes a lightweight broccoli detection method named DWG-YOLOv8, based on an improved YOLOv8s architecture. Firstly, Ghost Convolution is introduced into the C2f module, and the standard CBS module is replaced with Depthwise Separable Convolution (DWConv) to reduce model parameters and computational load during feature extraction. Secondly, a CDSL module is designed to enhance the model’s feature extraction capability. The CBAM attention mechanism is incorporated into the Neck network to strengthen the extraction of channel and spatial features, enhancing the model’s focus on the target. Experimental results indicate that compared to the original YOLOv8s, the DWG-YOLOv8 model has a size decreased by 35.6%, a processing time reduced by 1.9 ms, while its precision, recall, and mean Average Precision (mAP) have increased by 1.9%, 0.9%, and 3.4%, respectively. In comparative tests on complex background images, DWG-YOLOv8 showed reductions of 1.4% and 16.6% in miss rate and false positive rate compared to YOLOv8s. Deployed on edge devices using field-collected data, the DWG-YOLOv8 model achieved a comprehensive recognition accuracy of 96.53%, representing a 5.6% improvement over YOLOv8s. DWG-YOLOv8 effectively meets the lightweight requirements for accurate broccoli recognition in complex field backgrounds, providing technical support for object detection in intelligent precision pesticide application processes for broccoli.

Poppy is a special medicinal plant. Its cultivation requires legal approval and strict supervision. Unauthorized cultivation of opium poppy is forbidden. Low-altitude inspection of poppy illegal cultivation through unmanned aerial vehicle is featured with the advantages of time-saving and high efficiency. However, a large amount of inspection image data collected need to be manually screened and analyzed. This process not only consumes a lot of manpower and material resources, but is also subjected to omissions and errors. In response to such a problem, this paper proposed an inspection method by adding a larger-scale detection box on the basis of the original YOLOv3 algorithm to improve the accuracy of small target detection. Specifically, ResNeXt group convolution was utilized to reduce the number of model parameters, and an ASPP module was added before the small-scale detection box to improve the model’s ability to extract local features and obtain contextual information. The test results on a self-created dataset showed that: the mAP (mean average precision) indicator of the Global Multiscale-YOLOv3 model was 0.44% higher than that of the YOLOv3 (MobileNet) algorithm; the total number of parameters of the proposed model was only 13.75% of that of the original YOLOv3 model and 35.04% of that of the lightweight network YOLOv3 (MobileNet). Overall, the Global Multiscale-YOLOv3 model had a reduced number of parameters and increased recognition accuracy. It provides technical support for the rapid and accurate image processing in low-altitude remote sensing poppy inspection.