Target Positioning and Sorting Strategy of Fruit Sorting Robot Based on Image Processing

To a certain extent, automated fruit sorting systems reflect the degree of automated production in modern food industry, and boast a certain theoretical and application value. The previous studies mostly concentrate on the design of robot structure, and the control of robot motions. There is little report on the feature extraction of fruits in specific applications of fruit sorting. For this reason, this paper explores the target positioning and sorting strategy of fruit sorting robot based on image processing. Firstly, the authors constructed a visual sorting system for fruit sorting robot, and explained the way to recognize objects in three-dimensional (3D) scene and to reconstruct the spatial model based on sorting robot. Next, the maturity of the identified fruits was considered the prerequisite of dynamic sorting of fruit sorting robot. Finally, the program flow of the fruit sorting robot was given. The effectiveness of our strategy was verified through experiments.

Ripeness Level Classification of Banana Fruit Based on Hue Saturate Value (HSV) Color Space Using K-Nearest Neighbor Algorithm

Many types of bananas are cultivated locally in Indonesia, including the Muli Banana or Musa Acuminata Linn. During the post-harvest period of banana fruit, there is a problem in the sorting process of bananas based on their level of maturity. The fruit sorting process manually uses the human eye, but it is ineffective due to decreased vision and the large quantity of fruit. Therefore, we need a system that can quickly classify the ripeness of the banana fruit. This study aims to create a system that can organize the maturity level of the banana fruit. The classification system designed using the HSV color feature extraction method and the K-Nearest Neighbor classification algorithm. After going through the testing phase, the system can classify bananas into three classes: unripe, ripe, and rotten. System testing used 30 test data images, and the results show 2 test images whose classification results are wrong and 28 other test images whose classification results are correct. Based on calculations, the accuracy achieved by the system is 93.333%.

Development and Testing of a Low-Cost Belt-and-Roller Machine for Spheroid Fruit Sorting

Sorting is one of the most critical factors in the marketing development of fruit and vegetable and should be performed without any damage to the product. This article reports results of the development and testing of a prototype of a low-cost mechanical spherical fruit sorter based on a belt-and-roller device built at the State University of Tabriz, Iran. The efficiency and damage effect of the prototype of the machine was tested at different sorting rates on apples (Red Delicious and Golden Delicious) and oranges. Performance tests indicated that the speed of the feeding belt and transporting belt as well as the spherical coefficient significantly affect the machine’s sizing performance and damages. The results of the test showed a 95.28% and 92.48% accuracy in sorting for Red Delicious and Golden Delicious, respectively, and 94.28% for orange. Furthermore, the machine sorts fruits without any significant damage.

A hybrid deep learning-based fruit classification using attention model and convolution autoencoder

Image recognition supports several applications, for instance, facial recognition, image classification, and achieving accurate fruit and vegetable classification is very important in fresh supply chain, factories, supermarkets, and other fields. In this paper, we develop a hybrid deep learning-based fruit image classification framework, named attention-based densely connected convolutional networks with convolution autoencoder (CAE-ADN), which uses a convolution autoencoder to pre-train the images and uses an attention-based DenseNet to extract the features of image. In the first part of the framework, an unsupervised method with a set of images is applied to pre-train the greedy layer-wised CAE. We use CAE structure to initialize a set of weights and bias of ADN. In the second part of the framework, the supervised ADN with the ground truth is implemented. The final part of the framework makes a prediction of the category of fruits. We use two fruit datasets to test the effectiveness of the model, experimental results show the effectiveness of the framework, and the framework can improve the efficiency of fruit sorting, which can reduce costs of fresh supply chain, factories, supermarkets, etc.

PENERAPAN REKAYASA MESIN SORTIR SEBAGAI PENENTU KEMATANGAN BUAH JERUK DAN TOMAT MERAH BERBASIS IMAGE PROCESSING

The embedded systems in the industrial, especially image processing, is increasingly leading to the study of production automation systems such as fruit sorting. Post-harvest sorting system implemented by the industry is manual, so it’s not effective. The solution was to conduct research aimed at modifying post-harvest sorting tools by engineering tomato and orange sorting machines based on their color. The method uses image processing. It’s the most efficient alternative in terms of cost and complexity of hardware design, does not require many sensors, but produces an accurate output. The camera is placed on the mechanical sorting machine system, taking images to determine the sorting execution after the fruit color type are recognized. The results of the research were carried out through several tests, namely: light intensity, color image data, and organoleptics. Light intensity test showed that the position of the tool had a value of 0.78% of the outside light disturbance. Color image shows the range of ripeness values (R/G) for raw tomatoes 0<=1.04; half ripe tomatoes 1.04<=1.39; ripe tomatoes 1.39<=3.59; raw orange 0<=0.92; undercooked oranges 0.92<=0.98; and ripe oranges 0.98<=1.66. Organoleptic test from five observers had the same results as the reading on the fruit sorting tool. Keywords : engineering, fruit maturity, oranges, sorting machines, tomatoes

Fruit sorting robot based on color and size for an agricultural product packaging system

Indonesia's location in the equator gives an ideal condition for agriculture. However, agriculture suffers the issue of old farming due to a lack of youth interest working in this sector. This problem can be overcome by applying digital farming methods, in which one of them is by employing robots. Robotics technology is suitable for handling the harvested product, such as a sorting robot. This paper presents the application of a 4DOF fruit sorting robot based on color and size in a packaging system. The sorting is made possible by image processing where color is recognized by HSV analysis, and the diameter is known in the grayscale image and setting the thresholding. The fruit to be sorted is red and green tomatoes and red and green grapes. The experiments were conducted to show the effectiveness of the proposed method. The time requires for the robot to accomplish the task is 11.91s for red tomatoes, 11.76s for green tomatoes, 12.56s for red grapes, and 12.92s for green grapes. The time difference is due to the position of the boxes for the sorted fruit. The experimental results show that the arm robot manipulator is applicable for a sorting robot using the proposed method.

Estimasi Volume Buah Kiwi Menggunakan Metode Pencitraan dan Aturan Simpson

Volume is one of important quantities that have been applied to fruit sorting based on size. Imaging method or computer vision is a simple non destructive method that has been proposed to measure fruits volume. This study was aimed to estimate the volumes of kiwi fruits using Computer Vision imaging method and compared to a water displacement method. The samples were 20 green kiwi fruits (Actinidia deliciosa). A smartphone camera was used to record the kiwifruit images and Python based program to drive the camera and process the images. Images resulted in Computer Vision are two dimensions (2D) images. The 1/3 rd Simpson rule was employed to determine the volume of kiwi fruits based on the volume integration of a spinning object where surface image of kiwi was divided into 8 parts and then summed. The results show that the 2D imaging method assisted by the Simpson rule was successfully able to determine the kiwi fruit volumes with 4.57 % average difference percentage compared to the water displacement method. This was about 4.97 cm3 of average volume difference of 20 samples. The sample volumes measured using this method ranges from 82,48 cm3 - 126,85 cm3. These results will be one of steps toward the development of machine vision for fruit sorter based on volume

A Review of Convolutional Neural Network Applied to Fruit Image Processing

Agriculture has always been an important economic and social sector for humans. Fruit production is especially essential, with a great demand from all households. Therefore, the use of innovative technologies is of vital importance for the agri-food sector. Currently artificial intelligence is one very important technological tool widely used in modern society. Particularly, Deep Learning (DL) has several applications due to its ability to learn robust representations from images. Convolutional Neural Networks (CNN) is the main DL architecture for image classification. Based on the great attention that CNNs have had in the last years, we present a review of the use of CNN applied to different automatic processing tasks of fruit images: classification, quality control, and detection. We observe that in the last two years (2019–2020), the use of CNN for fruit recognition has greatly increased obtaining excellent results, either by using new models or with pre-trained networks for transfer learning. It is worth noting that different types of images are used in datasets according to the task performed. Besides, this article presents the fundamentals, tools, and two examples of the use of CNNs for fruit sorting and quality control.