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基于YOLO11n改进的自然环境下云南澳洲坚果花识别

Improved YOLO11n-based identification of Yunnan Australian nut flowers in natural environments

  • 摘要: 为实现复杂自然环境下云南澳洲坚果花序发育状态的高精度实时检测,该研究提出了一种基于改进YOLO11n的目标检测方法。设计了多尺度特征聚合(partial multi-scale feature aggregation,PMSFA)模块,可高效捕获并聚合多源异构特征信息以提升复杂背景下花序的检测精度;通过引入分组混合卷积(group-shuffle convolution,GSConv)替换传统卷积模块,并以跨阶段局部模块(variety of view group shuffle cross stage partial network,VoV-GSCSP)替代C3k2模块,构建Slim-neck架构保障高识别精度,优化特征融合效率并有效控制计算负载;将YOLO11n的损失函数由CIoU(center intersection of union)替换为Focaler-PIoU v2,以增强检测器对花序关键特征的聚焦与定位能力。试验结果表明:改进后的YOLO11n模型IoU=0.5时的平均精度均值(mean average precision,mAP)达92.4%,较原始YOLO11n模型提高了3.6个百分点;相较于经典Faster R-CNN、SSD、RT-DETR、YOLOv5s、YOLOv8n、YOLOv10n和YOLO12n,改进模型mAP0.5分别高出6.4、15.9、5.7、4.3、4.1、5.0和3.3个百分点。通过在Orange Pi AI Pro边缘计算平台上部署与多线程优化,改进的YOLO11n模型检测速度可达72.8帧/s,能有效满足自然环境下云南澳洲坚果花实时精准识别的实际需求。该研究为云南澳洲坚果花期智能化调控装备的开发提供了关键技术支撑。

     

    Abstract: Australian nut flowers, known as macadamia inflorescences, is one variety of the Australian native trees in Yunnan Province, China. However, large-scale cultivation under high altitude has led to frequent off-season flowering and asynchronous flowering in the same tree. Reducing flowering synchrony is also detrimental to pollination, fertilization, fruit set, fruit retention, and uniform harvesting, thereby affecting yield stability and fruit quality. In addition, conventional flowering regulation can rely heavily on manual operations, leading to labor-intensive, low efficient, costly, and highly dependent on subjective experience. As a result, it is urgent demand for the high precision regulation of the macadamia inflorescences in smart orchard. In this study, an intelligent identification was proposed for macadamia inflorescences under natural environments using an improved YOLO11n object detection model. Specifically, several challenges were solved in real orchard environments, including complex background interference, multi-scale morphologies of inflorescences, partial occlusion, and the constraints of real-time edge deployment. 1) Partial Multi-Scale Feature Aggregation (PMSFA) module was introduced to integrate the partial convolution with multi-scale feature extraction. Multi-source heterogeneous features were efficiently captured from different network layers. Thereby, the small and easily occluded inflorescences were detected under cluttered natural backgrounds. 2) A Slim-neck architecture was constructed to balance accuracy and computational efficiency using Group-Shuffle Convolution (GSConv) and the Variety of View Group Shuffle Cross-Stage Partial Network (VoV-GSCSP). Computational complexity and parameter size were reduced to maintain the high accuracy of the detection, thus improving the edge deployment. 3) In terms of loss function optimization, Focaler-PIoU v2 was selected to replace the original Complete Intersection over Union (CIoU) loss in YOLO11n. The stability of bounding-box regression was improved from the gradient contribution of high-quality samples during training. Localization accuracy was enhanced under challenging conditions, such as occlusion and scale variation. A comparison was finally conducted on the macadamia inflorescences dataset from Yunnan Province. The results demonstrated that the improved YOLO11n model consistently outperformed mainstream object detection over all evaluation metrics. Specifically, precision increased by 20.1, 5.4, 1.7, 3.5, 3.6, 2.0, and 0.8 percentage points, respectively, while Recall increased by 1.4, 16.2, 8.1, 5.0, 6.4, 9.1, and 6.7 percentage points, respectively, compared with the Faster R-CNN, SSD, RT-DETR, YOLOv5s, YOLOv8n, YOLOv10n, and YOLOv12n. Mean average precision at an IoU threshold of 0.5 (mAP0.5) was also improved by 6.4, 15.9, 5.7, 4.3, 4.1, 5.0, and 3.3 percentage points, respectively. Furthermore, the improvements reached 20.1, 33.5, 11.9, 13.5, 10.6, 11.0, and 9.7 percentage points, respectively, under the more mAP0.5–0.95 threshold. There were superior precision, recall, and overall detection accuracy under complex natural conditions. To verify the feasibility, the improved model was also deployed on the Orange Pi AI Pro edge-computing platform. A real-time detection speed of 72.8 frames per second (FPS) was achieved using Neural Processing Unit (NPU) inference with multi-threaded scheduling, fully meeting the requirements of accurate and real-time recognition in natural orchard environments. Overall, there was a favorable balance among detection accuracy, computational efficiency, and deployment feasibility. The finding can also provide strong technical support for the precise flowering-period regulation for macadamia production in Yunnan Province, China.

     

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