BR3-6 : Image Recognition of Position and Orientation of Persimmons for Automatic Peeling Machine

Peeling in fruit processing has been a painstaking and time-wasting task for manual labor, thus the automation of peeling could effectively improve productivity especially for persimmons that has limited storage life. To provide the specific peeling machine with persimmons via a robot arm made by corporate partners requires data on position and orientation of persimmon with certain accuracy. To meet such demand,we designed two systems which respectively using openCV on Visual C++ to measure current persimmon orientation by detecting its symmetry axis and using Deep Learning on a library named Keras programmed by Python in recognizing the center point of persimmon’s pedicel from above. Up till now, we achieved 92% accuracy in detecting symmetry axis with processing speed of 1 second and a 85% accuracy in recognizing pedicel center points. The former is satisfactory and we are now still working on improving the accuracy of Deep Learning performance.