关键词: 串番茄, 成熟度检测, 注意力机制, 通道剪枝, 果蔬巡检机器人

Abstract:

[Objective] As a major crop in protected horticulture, cluster tomatoes grow in clusters with dense overlapping fruits. In greenhouse environments, light conditions are complex and variable, and the fruit color transitions continuously from green to red across different ripening stages, showing continuous gradation characteristics. These factors result in low efficiency and strong subjectivity of traditional manual recognition methods. Meanwhile, deep learning-based detection models often suffer from decreased detection accuracy, large localization errors, and slow inference speed when facing complex backgrounds and color interference, making it difficult to meet the dual requirements of real-time performance and high precision in practical applications. Therefore, to meet the practical application requirements of high accuracy, high real-time performance, and strong robustness for cluster tomato ripeness detection, this paper proposes a lightweight target detection model for cluster tomato ripeness, namely LampCT-YOLO (Cluster Tomato YOLO with LAMP pruning), which is based on improved YOLOv10. Through structural optimization and lightweight transformation of the baseline model, the detection accuracy, inference speed, and robustness are effectively improved, providing a novel technical solution for cluster tomato ripeness detection. [Methods] Taking YOLOv10 as the baseline model, first, this study addressed the issue of insufficient feature extraction capability in complex scenarios by introducing the SegNeXt attention mechanism into the backbone network. By adaptively adjusting attention weights and calculating the correlation matrix between different feature channels, the mechanism automatically identified color channels strongly associated with the three ripeness levels of cluster tomatoes and assigned them higher attention weights, while suppressing feature responses from irrelevant background channels such as greenhouse frames, soil, and irrigation pipes. To achieve lightweight deployment of the model and meet the real-time detection requirements of edge devices, a gradient-based global channel importance method—LAMP channel pruning technology—was introduced after model training. The core principle of this technology was to evaluate the contribution of each channel to the model's detection performance by calculating the gradient magnitude of channels in each network layer, thereby eliminating redundant channels. This significantly reduced the model size and computational complexity while effectively maintaining the model's high detection performance for the three-category ripeness classification of cluster tomatoes. [Results and Discussions] Experiments showed that under the environment of NVIDIA A100 graphics card, for 240 cluster tomato images in the test set, the LampCT-YOLO model exhibited excellent detection performance. The mean Average Precision at 50 intersection over union (mAP50) for the early ripe, mid-ripe, and late ripe stages of cluster tomatoes was 84.6%, 89.5%, and 88.4%, respectively, which represented increases of 5.5, 7.7, and 0.9 percent points compared with YOLOv10. The average mAP50 for the three ripeness categories of cluster tomatoes reached 87.6%, a 4.7 percent points improvement over YOLOv10, demonstrating outstanding performance in both detection accuracy and stability. In addition, the model was found to maintain high recognition accuracy when facing variations in light intensity, fruit occlusion ratio, and background complexity, indicating good robustness and environmental adaptability. Regarding the lightweight effect, after applying the LAMP channel pruning technology, the number of model parameters and computational complexity were reduced by 63.07% and 50.06%, respectively, while the inference speed was improved by 23.1%. This effectively met the requirements of edge computing devices for real-time detection and low power consumption, alleviating the trade-off between model accuracy and inference speed. To verify the practical application value of the LampCT-YOLO model, the model was deployed on a self-developed fruit and vegetable inspection robot, which conducted field tests on 456 clusters of tomatoes in a real greenhouse environment. The results showed that the inspection robot successfully identified 78, 61, and 248 clusters of early ripe, mid-ripe, and late ripe cluster tomatoes, respectively, with detection accuracies of 84.8%, 87.1%, and 84.4%, and an average accuracy of 85.4%. Meanwhile, there were 5, 7, and 10 false detections, as well as 9, 2, and 36 missed detections for the early ripe, mid-ripe, and late ripe stages respectively, which to a certain extent reflected the practical application potential of the model. [Conclusions] The optimized LampCT-YOLO model not only significantly improves the recognition accuracy of cluster tomatoes at different ripening stages but also greatly reduces the model complexity, successfully achieving efficient deployment in resource-constrained scenarios. This model effectively balances the dual requirements of detection accuracy and real-time performance for inspection robots, and further constructs a reusable technical framework for the ripeness detection of protected horticultural fruits and vegetables. It provides strong support for the transformation of protected agriculture from labor-intensive to technology-intensive, and injects key innovative impetus into the large-scale and diversified implementation of smart agriculture.

Key words: cluster tomato, ripeness detection, attention mechanism, channel pruning, fruit and vegetable inspection robot