Robotization in fruit grading system

被引：29

作者：

Kondo N. ^{[1
]}

机构：

[1] Kyoto University, Sakyo-ku, Kyoto 606-8502, Kitashirakawa-Oiwakecho

来源：

Sensing and Instrumentation for Food Quality and Safety | 2009年 / 3卷 / 01期

关键词：

Fruit; Grading; Informatization; Machine vision; Robot; Traceability;

D O I：

10.1007/s11694-008-9065-x

中图分类号：

学科分类号：

摘要：

A grading robot system, which automatically provides fruits from containers and inspects all sides of the fruits was developed. The robot system consists of two fruit providing robots and a grading robot. Both robots had 3 DOF Cartesian coordinate manipulators, and 12 suction pads as end-effectors for transporting fruits. The grading robot had 12 color TV cameras, and 28 lighting devices as a machine vision system. The grading robot sucked 12 fruits up at a time and 12 bottom images of all the fruits were acquired during the manipulator moving from a halfway stage to carriers on a conveyor line. Before releasing the fruits to the carriers, 4 side images of each fruit were acquired by rotating the suction pads for 270°. The stroke of the manipulators was about 1.2 m and it took about 4.3 s to move back to the initial position that meant that this robot could grade three fruits per second. This grading robot system made following effects: (1) Labor substitution, (2) Objective grading operation without human subjective judgment, (3) Data accumulation on fruit grading for traceability and farming guidance to producer. © Springer Science+Business Media, LLC 2008.

引用

页码：81 / 87

页数：6

共 8 条

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