Lightweight and efficient deep learning models for fruit detection in orchards

Abstract The accurate recognition of apples in complex orchard environments is a fundamental aspect of the operation of automated picking equipment. This paper aims to investigate the influence of dense targets, occlusion, and the natural environment in practical application scenarios. To this end, it constructs a fruit dataset containing different scenarios and proposes a real-time lightweight detection network, ELD(Efficient Lightweight object Detector). The EGSS(Efficient Ghost-shuffle Slim module) module and MCAttention(Mix channel Attention) are proposed as innovative solutions to the problems of feature extraction and classification. The attention mechanism is employed to construct a novel feature extraction network, which effectively utilizes the low-latitude feature information, significantly enhances the fine-grained feature information and gradient flow of the model, and improves the model’s anti-interference ability. Eliminate redundant channels with SlimPAN to further compress the network and optimise functionality. The network as a whole employs the Shape-IOU loss function, which considers the influence of the bounding box itself, thereby enhancing the robustness of the model. Finally, the target detection accuracy is enhanced through the transfer of knowledge from the teacher’s network through knowledge distillation, while ensuring that the overall network is sufficiently lightweight. The experimental results demonstrate that the ELD network, designed for fruit detection, achieves an accuracy of 87.4%. It has a relatively low number of parameters ( $$4.3 \times 10^5$$ 4.3 × 10 5 ), a GLOPs of only 1.7, and a high FPS of 156. This network can achieve high accuracy while consuming fewer computational resources and performing better than other networks.