Özet:

: This study proposes an improved algorithm based on the You Only Look Once v7 (YOLOv7) to address the low accuracy of apple fruit target recognition caused by high fruit density, occlusion, and overlapping issues. Firstly, we proposed a preprocessing algorithm for the split image with overlapping to improve the robotic intelligent picking recognition accuracy. Then, we divided the training, validation, and test sets. Secondly, the MobileOne module was introduced into the backbone network of YOLOv7 to achieve parametric fusion and reduce network computation. Afterward, we improved the SPPCSPS module and changed the serial channel to the parallel channel to enhance the speed of image feature fusion. We added an auxiliary detection head to the head structure. Finally, we conducted fruit target recognition based on model validation and tests. The results showed that the accuracy of the improved YOLOv7 algorithm increased by 6.9%. The recall rate increased by 10%, the mAP1 algorithm increased by 5%, and the mAP2 algorithm increased by 3.8%. The accuracy of the improved YOLOv7 algorithm was 3.5%, 14%, 9.1%, and 6.5% higher than that of other control YOLO algorithms, verifying that the improved YOLOv7 algorithm could significantly improve the fruit target recognition in high-density fruits.

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