Computer-Vision-Based Industrial Algorithm for Detecting Fruit and Vegetable Dimensions and Positioning
摘要
A computer-vision-based industrial algorithm is proposed in this study for the detection of the dimensions and the spatial positioning of fruit and vegetables on a conveyor belt for their movement to a packing machine with a robotic arm. The principal purpose of the algorithm is to identify the dimensions (length, width), and position (angle of inclination, and Cartesian coordinates) of the vegetable mesh netting without taking the product label into account. The proposed algorithm has four functions. A convolutive neuronal network model is applied for object detection, with which all objects are identified in the image while the product label is suppressed, so that recognition of the vegetable mesh netting and its dimensions is not impaired. Moreover, the Canny edge detector and the Border following algorithms are applied to perform image pre-processing and edge improvements, respectively, yielding optimal results with more clearly defined noise-free objects. The feature extraction function for dimensions yielded detection precision results of 99.60% for length, 99.00% for width, and 97.80% for inclination angle, showing optimal performance in the test phases.