Portable smart sorting and grading machine for fruits using computer vision

This paper discusses the development of portable fruit sorting and grading machine based on computer vision for small agro-industries. The mechanical system is designed from low cost material in the form of inclined and segmented plane to substitute the utilization of conveyor belt. In this case, motor servos are used as gate opener and director for the mechanical system. The autonomous system collects video image from a Logitech C920 webcam placed on the top of analysis area, then the image will be analyzed due to the process of computer vision. Firstly, the computer vision algorithm transforms the RGB (Red, Green, and Blue) color space to HSV (Hue, Saturation, and Value) color space of the image to facilitate the processes of color segmentation that are robust to the light intensity fluctuation. To speed up the process, every single frame is classified to 2 ROI (Region of Interest) based on fruit position in queuing and analysis area. Then the system will cluster fruit quality according to the level of maturity and its dimension. In the end, the autonomous system will actuate the servos to move the fruit to a specific bin according to their quality grade. Then the result of fruit analysis data will be displayed on PC´s monitor. The system can do the task in 500 ms with precision result.