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The accuracy, speed, and robustness of object detection and recognition are directly related to the harvesting efficiency, quality, and speed of fruit and vegetable harvesting robots. In order to explore the development status of object detection and recognition techniques for fruit and vegetable harvesting robots based on digital image processing and traditional machine learning, this article summarizes and analyzes some representative methods. This article also demonstrates the current challenges and future potential developments. This work aims to provide a reference for future research on object detection and recognition techniques for fruit and vegetable harvesting robots based on digital image processing and traditional machine learning.