نویسندگان
چکیده
کلیدواژهها
عنوان مقاله [English]
نویسندگان [English]
The use of digital image processing (DIP) has made it possible to exactly locate fruits to survey the performance. Moreover, advancements in the use of sensors and the robot technology have provided an opportunity to develop mechatronic crop harvesting systems as agricultural tools to facilitate gardening and harvesting mechanization. Walnuts are among crops that require proper and science-based management when harvesting. Traditional walnut harvesting has a high cost and high risk for Harvesting workers. In addition to the high cost and relatively low performance of walnut shakers, tall and large-trunk trees and irregular and rolling gardens make it difficult to widely employ mechanized harvesting technologies and machinery. One of the precision agricultural tools is crop yield mapping for local management and higher crop production. Product performance increases with local management based on understanding the causes of changes in different environments. Hence, to evaluate performance and build a harvesting machine, a DIP algorithm is proposed to detect and locate walnuts on trees in a natural light condition. The proposed algorithm functions based on image texture characteristics, light and shade density, and edge detection. The use of texture characteristics in combination with the light and shade density as an innovative method has worked well in conditions where fruits and leaves have a common color spectrum. In this method, fruit detection was independent of its shape to minimize the effect of fruits appearance obstruction on the algorithm's performance. The results indicated that the proposed method was able to detect walnuts in images taken from trees with a detection rate of ??.?%. The fruits that were next to each other were also distinguished at ??% resolution. Walnut detection-inhibiting factors were image darkness-induced errors with ?.?%, low resolution with ?.?%, improper scale with ?.?%, distinguish the tandem walnuts with ?.?%, and walnut appearance obstruction with ?.?%
کلیدواژهها [English]
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