Özet:

Robotic systems have become essential in the industrial field today. Robotic systems used in many areas of industry enable the development of mechanization of agriculture. Researches in recent years have focused on the introduction of automatic systems and robot prototypes in the field of agriculture in order to reduce production costs. The developed smart harvest robots are systems that can work uninterrupted for hours and guarantee minimum cost and high production. The main element of these systems is the determination of the location of the product to be harvested by image processing. In addition to the programs used for image processing, deep learning models have become popular today. Deep learning techniques offer high accuracy in analyzing and processing agricultural data. Due to this feature, the use of deep learning techniques in agriculture is becoming increasingly widespread. During the harvest of the artichoke, its head should generally be cut off with one or two leaves. One main head and usually two side heads occur from one shoot. Harvest maturity degree is the time when the heads reach 2/3 of their size, depending on the variety character. In this study, classification was made by using the deep learning method, considering the head size of the fruit. YOLOv5 (nano-small-medium and large models) was used for the deep learning method. All metric values ​​of the models were examined. It was observed that the most successful model was the model trained with the YOLOv5n algorithm, 640x640 sized images with 20 Batch, 90 Epoch. Model values ​​results were examined as “metrics/precision”, “metrics/recall”, “metrics/mAP_0.5” and “metrics/mAP_0.5:0.95”. These are key metrics that measure the detection success of a model and indicate the performance of the relevant model on the validation dataset. It was determined that the metric data of the “YOLOv5 nano” model was higher compared to other models. The measured value was Model 1= Size: 640x640, Batch: 20, Epoch: 90, Algorithm: YOLOv5n. Hence, it was understood that “Model 1” was the best detection model to be used in separating artichokes from branches in robotic artichoke harvesting.

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