"Digital" agriculture is rapidly affecting the value of agricultural output. Robotic picking of the ripe agricultural product enables accurate and rapid picking, making agricultural harvesting intelligent. How to increase product output has also become a challenge for digital agriculture. During the cherry growth process, realizing the rapid and accurate detection of cherry fruits is the key to the development of cherry fruits in digital agriculture. Due to the inaccurate detection of cherry fruits, environmental problems such as shading have become the biggest challenge for cherry fruit detection. This paper proposes an improved YOLO-V4 deep learning algorithm to detect cherry fruits. This model is suitable for cherry fruits with a small volume. It is proposed to increase the network based on the YOLO-V4 backbone network CSPDarknet53 network, combined with DenseNet The density between layers, the a priori box in the YOLO-V4 model, is changed to a circular marker box that fits the shape of the cherry fruit. Based on the improved YOLO-V4 model, the feature extraction is enhanced, the network structure is deepened, and the detection speed is improved. To verify the effectiveness of this method, different deep learning algorithms of YOLO-V3, YOLO-V3-dense and YOLO-V4 are compared. The results show that the mAP (average accuracy) value obtained by using the improved YOLO-V4 model (YOLO-V4-dense) network in this paper is 0.15 higher than that of yolov4. In actual orchard applications, cherries with different ripeness of cherries in the same area can be detected, and the fruits with larger ripeness differences can be artificially intervened, and finally, the yield of cherry fruits can be increased.
展开▼
