Development of a Computer Vision Based Fruit Sorting System Operated Using a Graphical User Interface (GUI)

Fruit sorting is an important process in the food industry, which requires a reliable and efficient system to ensure high-quality fruits. Therefore, in the present study, a computer vision-based fruit sorting system is proposed which utilizes an interactive graphical user interface (GUI) to control the system. The proposed system is mainly designed to classify the fruits type (“good” or “spoilt”) and their damage level based on their color. The interactive GUI enables the user to configure and control the system easily by selecting the fruit type, adjusting the sorting criteria, and setting the threshold percentage of spoiled fruits. Additionally, the GUI allows the user to monitor the system's performance, including the total number of sorted fruits and the percentage of good and spoiled fruits. A 5-DOF manipulator is used to pick and place the fruits to the appropriate bin based on the fruit's classification. Inverse kinematics-based approach is developed to control the robotic arm (manipulator). Experimental results demonstrate that the system takes an average time of 6 s for the robot to pick and place the fruit and a time of 0.0195 s for the sorting process. Overall, the proposed system offers a reliable solution for fruit sorting, providing a simple and interactive interface to control and monitor the system's performance.