BLOB analysis of an automatic vision guided system for a fruit picking and placing robot
Tresna Dewi, Zarqa Mulya, Pola Risma, Yurni Oktarina
Abstract
The agriculture efficiency can be increased by robotics application. This paper presents the BLOB analysis method as the visual cue for a harvest handling robot. BLOB analysis is achieved by filtering objects and extracting BLOB using morphological operators to detect fruit based on colour and shape. The online images are captured by a PI camera functioning as an 'eye' for the robot, where the image plane is a 600 × 480-pixel frame. Experiments were conducted to prove the effectiveness of the proposed method where the average time of picking and placing fruit is 6.69 s for fruit in position 1 with a range of 332-334 of x and 255-266 of y coordinates respectively, and 7.63 s for position 2 with a range of 475-576 in x and 205-206 of y coordinates. The experiment shows that the proposed method is effective as an automatic vision guided system for a fruit picking and placing robot.