The invention relates to a method for identifying sheltered and overlapped fruits for a picking robot, which belongs to the field of image identification, proposes a Dense-TRH-YOLO model, fuses a Denseblock module into a backbone network on the basis of YOLOv5, creates a segment path from an early stage layer to a later stage layer, and fuses a Transfomer module into the model, thereby improving semantic distinguishability and reducing category confusion. The method comprises the following steps of: firstly, extracting image features of each layer through a Unit + +-PAN neck structure, and finally, replacing a CIOU of an original model with an Officient IOU Loss loss function to carry out frame regression so as to output a detection frame position and classification confidence, respectively calculating a width-height difference value on the basis of the CIOU so as to replace an aspect ratio, and introducing Focal Loss to solve the problem of difficult and easy sample imbalance.