Blueberries are grown worldwide because of their high nutritional value; however, manual picking is difficult, and expert pickers are scarce. To meet the real needs of the market, picking robots that can identify the ripeness of blueberries are increasingly being used to replace manual operators. However, they struggle to accurately identify the ripeness of blueberries because of the heavy shading between the fruits and the small size of the fruit. This makes it difficult to obtain sufficient information on charac…