Technical vision system for quality control of objects of the ball-shaped form when sorting on the conveyor

Abstract

A functional diagram of a robotic complex mock-up for rejecting ball-shaped objects transported on a roller conveyor is presented. The software of the complex is designed to detect an object on the conveyor and determine its coordinates. To detect objects of control, their images obtained in the visible range of the optical spectrum and Viola–Jones object detection algorithms are employed. The developed software is based on a trained cascade classifier, the optimal settings of which are determined. To detect surface defects of objects, their spectrograms obtained in the range of 400… 1000 nm are used. The presented results can be applied to the process automation of sorting fruits and vegetables and other ball-shaped objects.