Robust low-cost vision system for fruit grading

A complete modular system for fruit sorting and grading is described. Special attention is paid to the vision sub-system for measuring the degree of ripeness according to parameters programmed by the user. The main features of the system are excellent cost vs performance ratio, high scalability, robustness and open architecture. Every module can sort up to five fruits per second in two lanes simultaneously. The system has been working for half a year in several fruit packaging facilities in Spain.