Study on an automatic sorting system for Date fruits

Abstract

In the present study, a machine vision based, online sorting system was developed, the aim being to sort Date fruits (Berhee CV.) based at different stages of maturity, namely Khalal, Rotab and Tamar to meet consumers’ demands. The system comprises a conveying unit, illumination and capturing unit, and sorting unit. Physical and mechanical features were extracted from the samples provided, and the detection algorithm was designed accordingly. An index based on color features was defined to detect Date samples. Date fruits were fed on a conveyor belt in a row. When they were at the center of the camera’s field of view, a snapshot was taken, the image was processed immediately and the maturity stage of the Date was determined. When the Date passed the sensor, positioned at the end of the conveyor belt, a signal was sent to the interface circuit and an appropriate actuator, driven by a step motor, was actuated, leading the Date toward an appropriate port. For validation of proposed system performance, entire samples were again sorted by experts visually. Detection rate of the system for Tamar and Khalal was satisfactory. Although the detection rate was insufficient for the Rotab stage, there was no a significant difference between system accuracy and that obtained by the experts. The speed of image processing system was 0.34s. System capacity was 15.45kg/h.