Fruit Grading Robot for Apple, Pear, Peach, and Tomato.
-
Upload
amanda-byrd -
Category
Documents
-
view
230 -
download
0
Transcript of Fruit Grading Robot for Apple, Pear, Peach, and Tomato.
Fruit Grading Robotfor Apple, Pear, Peach, and Tomato
Robotization in Agriculture
Field management
Residue process InformationShipment
Seedling productionPlant management
Harvest
Pre-Processing
Grading
Cutting sticking robotGrafting robot
Transplanting robot
Strawberry harvesting robot
Fruit grading robot
Leek pre-processing robot
Robotic sprayer
Autonomous tractorAutonomous rice transplanter
Autonomous combine harvester
Under developmentCommercialized
Soil sensor
PearApplePeachPersimmonTomatoOrange
Fruit Grading Robotsize, color, shape, disease, insect injurysugar and acid contents, residual chemical
②
Pusher
TV camera
Halfway stage
x
Lifter
①③④⑤
⑥
⑦
⑧
z
Blower
Fruit providing robot
Gradingrobot
Pusher
Rotation
Product Reception
Container Transfer
Bar-code reading
Fruit Grading by Robot
Upper Image Acquisition
Fruit Providing by Robot
Inside Quality Inspection
Fruit Packing
Labeling of Grading and Size
Box Closure and Sealing
Box Transfer
Shipping
Fruit providing robot and Grading robot
(Two 3 Degrees of Freedom Cartesian Coordinate Manipulators)
2250
2500
2800
(mm)
Stroke : 1165mm
①④
③
⑤
②
100
467
308
290
Path
Speed
① ④③ ⑤② ④
1000mm/s
250 317 308 145 145 (mm)
(s)0.5 0.317 0.683 0.6 0.3 0.3
2.7 s
Cycle time of the stroke : 4.25 s Items
2.7 s ( Go )0.4 s ( Initial movement )
1.0 s ( Return )0.15 s ( wait )
回転
Performance of grading robot on a condition of 80% 24 fruit containers and 20% 15fruit containers:12/4.25×3600×0.8=8131 fruits10/4.25×3600×0.2=1694 fruits Total 9825fruits/hour/robot
Rotation
Action and performance of fruit grading robot
(mm)
PC-A
PC-B
PC-C
PC-D
PC-E
PC-J
Trigger
Trigger
Trigger
Trigger
Trigger
Robot Controller
PhotoInterrupter
Bottom and side images
Top images
Image acquisition system
80
85
Suction pad Fruit conveying tray
Suction pressure at Blower Peach : 30 kPa Pear : 45 kPa Apple : 45 kPa
147
Data carrier
85
(256byte EE ROM)
illuminationTV cameraCapture boardSoftware
Image processing
Direct lighting Indirect lighting
MirrorDiffuserLight
True color
HalationWhitish color
Camera
Light
Camera
Reflecting plate
Direct Lighting(DL)
PL filter Heat absorption filters
Fan
“DL” is an Ishii-original illumination equipment for image acquisition to make direct lighting possible.
Small power ( 50W ) and high conversion efficiency from electricity into light.
PL filter: makes no halation on inspecting part of work in image.
Heat absorption filter: absorbs heat to protect PL filter whose polarizing material is melted at 60 .℃
(more than 1000nm)
(800 ~ 1000nm)
DL (Direct Light) made by Ishii
Halogen lamp
Color TV Camera“8300BT3” (separated camera head, CIS Corporation) was used for image acquisition. 6 mm lenses with C mount and PL filters were used for no halation.
Specification
● Single CCD type image sensor
●Flame shutter type
(non-interlace)
●RGB original color filters
●works under 70 temp.℃●Random trigger shutter
● Variable shutter speed (1/1000s)
●Small, simple, light, and cheap
Specification
● Single CCD type image sensor
●Flame shutter type
(non-interlace)
●RGB original color filters
●works under 70 temp.℃●Random trigger shutter
● Variable shutter speed (1/1000s)
●Small, simple, light, and cheap
Extracted features from processed image
Items Processing
① SizeSize is measured from the maximum length or areaon upper image or calculated volume from severalimages.
② Color
Color value and degree of color distribution areMeasured based on R, G, and B color component ratio.
③ ShapeShape is measured as boundary-based features, region-based features, mathematical morphology, and so on.
④ BruiseBruise is detected by combination of hue, value,and chroma.
+Internal quality by photo-sensor
Information of fruit appearance
Side(1) Side(2)
Side(3) Side(4)
TopBottom
Side(1) Side(2)
Side(3) Side(4)
Top Bottom
Side(1) Side(2)
Side(3) Side(4)
Top Bottom
+ Internal quality information (Sugar & acid contents, rot, ….etc.)
Original images Color conversion images Processed images
Nansui Criteria for fruit appearance grade Sep.24, 2002Color L1 L2 L3 L4 L5Hue(Whole) 135-175 175 130-180 0-190Hue(Top) 135 135 130Hue(Bottom) 175 175 180 190Reddish area(Bottom) 58 63 68 80Saturation(Whole) 268 270 272 280Shape L1 L2 L3 L4 L5Roundness(Top & Bot.) 110 115 120Complexity(Top & Bot.) 120 130 157Deformativity(Side) 130 180 320Bruise, Disease L1 L2 L3 L4 L5Serious injury(Top) 4 20 50Serious injury(Bottom) 6 30 70
Medium injury(Top) 12 25 100Medium injury(Bottom) 15 30 130
Slight injury(Top) 15 40 110Slight injury(Bottom) 30 60 160
Shipping quantity of fruits
0
500
1,000
1,500
2,000
2,500
1 6 11 16 21 26 31 36 41Producer No.
Fruit No.
L1
L2
L3
L4
L5
L2
Grading result of pear on Sep.24, 2002
1. Objective and fair judgment on grading operation c.f. Human judgment depends on time, place, operator’s physical condition….
2. Labor substitution makes intelligent farming instead of grading and packing operations. >>credit and trust of production district 3. Accumulation of product information makes traceability system and precision farming guidance. (The information have been kept only in operator’s memory so far.)
Effectiveness of Fruit Grading Robot Introduction(Technology innovation)
FertilizingChemical sprayingIrrigation……
Accumulation to DB
•Appearance•Internal quality
Data from grading system can be used for precision farming
Geographical data Grading system
Product
Farming support system based on GIS
Field information
Geographical features
環境
Weather information
Chemical information
Yield information
Quality information
Gradient
Mapping on GIS data
Soil analysis centerSoil analysis centerProduct information centerProduct information center
Agricultural Cooperative Association
Soil sensor
Grading robot
Intelligent farmingPrecision farming
Consumer Market (Distribution)
Product informationField information
Farming guidanceDSS for farmers
ResidueCarbonization
BRAND BRANDVoice of consumer Quantity and
marketing value
Analysis of soil and chemicalsGIS, DSS
Variable distribution channelMarketing route
BiomassRe-uses
Transport
Operation recordsSensing information
ID tags
FreshProduct
New flow of product and information
Information oriented field Information added product