Accurate detection method and system for dense plums picked by robot

The invention discloses a method and a system for accurately detecting dense plums picked by a robot. The method comprises the following steps: acquiring images of fruits in an orchard through image acquisition equipment; performing inspection processing to obtain a target detection image meeting requirements; performing data annotation of fruits with different maturity degrees on the target detection image to obtain an annotated image; dividing the marked image into a training set and a test set according to a proportion, and obtaining the number of mature proportion fruits in the training set; judging whether data balance processing is needed or not according to the fruit ripening proportion in the training set; performing data enhancement processing on the balance training set data; improving the target detection model; training and predicting the data enhancement training set by improving the target detection model to obtain a detection result; according to the invention, the deep learning model is applie