Fruit Sorting Robotic Arm Based on Image Processing

Abstract

This paper present the smart approach of sorting the fruit. This food sorting system is based on image processing and it gives us various information like color, shape, size, defect, etc of fruit. In today's world image processing grabs exceptionally large attention it possibilities of widen application in many field of higher technology. The system consist of one digital USB camera, personal computer, PIC micro-controller, DC motor. The samples of different fruits are situated in front of camera and are calibrated off line and stored in different storage. A regular USB digital camera was used to acquire the images and all process were in matlab environment. The performance of system strongly depends on the thresholds used, although optimal thresholds tend to vary with images but developed method did not require an adjustment of threshold values for fruit detection from each image because image segmentation was conducted based on classification models generated in accordance with the color, shape, texture and size of the images. The DC motor is used for the movement of the robotic arm. Manual method is slow, costly and also lacks reliability and objectivity required in competitive food industries. In this project embedded system is designed for multi sorting and it is implemented through Matlab. External inspection is done through image processing. The system utilizes image-processing techniques to classify and grade fruits.