Research on the Automatic Picking and Sorting System of Apples Based on Machine Vision
To improve the efficiency of automatic apple picking and sorting,an automatic apple picking and sorting system based on machine vision is designed.Firstly,the apple picking process of the picking robot is proposed based on the analysis of the struc-ture of the picking robot manipulator,the end-effector,and the obstacle avoidance method of the manipulator.Then,an apple au-tomatic sorting system platform based on the real-time data processing is constructed.This platform consists of two types of trans-porter conveyors,a programmable logic controller,a personal computer and an enclosed pods with sensors of machine vision and weighing,and control panel units.To verify the effectiveness of the designed automatic apple picking and sorting system,183 apples from 3 different apple varieties are tested.The experimental results show that,for the designed automatic picking and sort-ing system,the accuracy rates of apple sorting by color and size can reach 96.17% and 92.77% respectively.In addition,the error in estimating the weight of apples is only 5.44 grams for the automatic picking and sorting system.What's more,the automatic sorting system can detect scab,stain and rot regions on apples in 100% accuracy.The designed automatic picking and sorting sys-tem has high picking and sorting efficiency,which has certain practical value to promote the development of apple industry.
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