Development and Testing of Automatic Grading Machine for Citrus
ISBN 978-602-95924-0-5
.
International Symposium
AGRICULTURAL ENGINEERING TOWARDS
SUSTAINABLE AGRICULTURE IN ASIA
PROCEEDINGS
TABLE OF CONTENTS
,
,
PREFACE
GROUP A : FARM MACHINERY AND MANAGEMENT (FMM)
Screen Types Affecting Efficiency of Soil Separation from Sugar Cane
Stalks (Y.Suphan W.Seree and L. Juckamas)
1
Design of Simple Nyamplung Oil Presser (Puspitahati, Tri Tunggal, Edward
Saleh)
9
Optimum Soil Tillage Method on Dry Land Sugarcane Cultivation (Gatot
Pramuhadi)
16
Application of Neuro-Fuzzy Controller to Autonomous Agricultural Vehicle
Operating on Unstructured Changing Terrain- Control Software
Development (Lilik Sutiarso, Tomohiro Takigawa)
24
Analysis on Optimal Sugar Cane Harvesting System in Jatitujuh SCP,
,Majalengka
(Setyo Pertiwi and Vidy Haryanti)
34
City Waste Reduction Efforts for Environmental Quality Improvement
(Trough Improved Agricultural Commodities Distribution System)
(Emmy Darmawati)
42
Specific Soil Draft Resistance of Some Mould Board Ploughs Performed in
Wetland Paddy Soil (Ade Moetangad Kramadibrata)
52
Mathematical Model for Turf Grass Mowing Torque by Using Rotary-Type
Mower Blade (I Nengah Suastawa, Siti Suharyatun)
59
Machine Vibration Analysis for Determining Optimum Operational Engine
Speed
(Gatot Pramuhadi, Mad Yamin and Siti Khoirunnisa)
72
Two Wheels Hybrid Corn Seeds Holes Maker (TWHYCOM) (Astiti Puriwigati,
Arief Sabdo Yuwono)
76
Development of Push Type Rotary Mower Powered by Engine of Back Pack
Brush Cutter (A Modification from Potrum BBE-01 Prototype to
Potrum BBE-02 Prototype) (I Nengah Suastawa)
86
Design of a Ditcher Equipped With Scrapers for Making Drainage Channel
on Dry Land Sugar Cane Plantation (Wawan Hermawan, I Nengah
Suastawa and Samsul Bahri)
95
Design and Traction Performance of Movable Lug Wheel Equipped with
Spring Mechanism (Wawan Hermawan)
103
Development of Powered Disk Type Sugar cane Stubble Saver (Radite
P.A.S., Lisyanto, 1 N. Suastawa)
111
>
Evaluation of Diesel and Farm
Cocodiesel (CME) (Desrial)
Tractor
Performance
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by
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121
Development and Testing of Automatic Sorting and Grading Machine for
Citrus (Usman Ahmad, Mardison S., Rudy Tjahjohutomo, and Ana
Nurhasanah)
132
Sieving Effect of Sorting Machine with Vibration Table Type on Cocoa Pod
Based Compost (Siswoyo Soekarno, Edy Suharyanto, Ahmad Hudi Arif)
142
Mechanical Cocoa Pod breaker Utilization in Cocoa Handling for Improving
Labor and Production Efficiency (Sukrisno Widyotomo, Sri mulato and
Siswoyo Soekarno)
152
The Effect of Tractor Traffic and Organic Matter on Soil Compaction and
Performance of Peanut Crop (Iqbal, Tineke Mandang, E. Namaken
Sembiring)
162
GROUP B : LAND, WATER AND ENVIRONMENT
Development of ANN Extension on Arcview-GIS for Prediction Land
Plantation Productivity (Hermantoro Sastrohartono)
169
Hydraulical Approach in Designing of Proportional Division Structures in
Traditional Irrigation Schemes (M. Hasan Yahya)
176
Plant Speaking Approach For Automatic Fertigation System In Greenhouse
(Usman Ahmad, I Dewa Made Subrata, Chusnul Arif)
185
Study on Phisic & Hidro-Meteorologycal Characteristics of Two Identical
Catchments (Indarto and Sri Wahyuningsih)
194
Landuse Classification Using Aster Multispectral Data : Case Study at
Sampean Watershed (East Java) (Indarto and Arif Faisol)
204
Land Use Classification at Sampean Watershed Using Multispectral Spot
Image (Januar Ferry Irawan and Indarto)
213
Development of Digital Elevation Model For East Java (DEM-JATIM) Using
Catchmentsim and Mapwindow GIS (Indarto)
220
Climate Change Adaption Using Reservoir Rule (M. Yanuar J. Purwanto)
231
Quantification of Methane (CH4) Gas Emission as Selection Parameter of
Rice Variety (P. Setyanto, S. Ambarwati, Arief Sabdo Yuwono)
240
Trend Study of Greenhouse Gases Emission and Carbon Balance of
Several of Rice-Plant Management System (P. Setyanto, Isminingsih,
Rina Kartikawati, Arief Sabdo Yuwono)
247
11
Analysis of Water Absorption at Bandarlampung City (Ahmad Tusi and Moh.
,'.;..:
Amin)
255
Evaluation of Moments on Water Scoop-Wheel (Kincir) for Irrigation By
Kincirmod (Mohammad Agita Tjandra)
265
The Environmentally Design of Water Management System for Sustainable
Peat Land Development in Indonesia (Dedi Kusnadi Kalsim)
274
Urban Water Demand on Interbasin Water Resources Management System
(Sutoyo, M. Yanuar J. Purwanto, Kato Tasuku and Goto Akira)
285
Tide-Aquifer Interaction Dynamics in Unconfined and Confined Coastal
Aquifer Systems (Madan K. Jha, Yasunori Kamii)
297
Model 2D of Bank Erosion for Non Cohesive Soil River Banks (Case Study
: Sorachigawa River, Hokkaido Japan) (Januar Fery Irawan)
310
Intelligent Computation of Potential Land for Food Production Using a
Spatial-Based System (Rakhmat Jaya Lahay, Kudang B. Seminar, Ade
Komara Mulyana)
319
Determining Defferences in Soil Organic Matter Content Between Two
Compost Types Used in Urban Agriculture (Ida Ayu Gede Bintang
Madrini, Sakae Shibusawa)
331
Design of Supervisory Environmental Parameter Ammonia (NH3) Control
of Closed House System Model For Broilers (Alimuddin, Kudang Bora
Seminar, I Dewa Made Subrata, Sumiati)
342
Influence of Water in Sri Method to Yield and Growth of Paddy Hybrid
Variety on Field Experimental Plot at Desa Gemuruh, Kundur Islan,
Karimun Regency, Kepulauan Riau Province (Wagiono)
354
Utilization of Sidoarjo Mud to Develop Pitcher for Irrigation (Budi I.
Setiawan, M.Bagus Hermanto, Agus Pakpaha)
363
SESSION C : FOOD AND AGRICULTURAL PRODUCTS PROCESS
ENGINEERING (FAPE)
Drying Characteristics and Quality Attributes of Asiatic Pennyworth
Leather (Wiriya Phomkong, Nittiya Homhuan, Sukanya Noranate)
371
Degradation of ascorbic acid during preparation and heat treatment of
syrup from guava fruit (Psidium guajava) (Indera Sakti N)
383
Non Destructive Inner Quality Prediction In Intact Mango With Near
Infrared Reflectance Spectroscopy (Agus A. Munawar & I Wayan
Budiastra)
391
Effects of Water contents and Packaging Materials on Storage Life Time of
Stick Sweet Potato Chip (Tamrin & Lela Ameli)
400
ll1
Simple Refining Technique of Coconout Oil for Small Holder Industries
(Sugeng Triyono and Agus Haryanto)
ｾ
406
Effect of Heat Shock Treatment and Aloe Vera Coating to Chilling Injury
Induced in Tomato (Sutrisno, Y. Aris Purwanto, Sugiyono, Ismi M. Edris,
Oily S. Hutabarat)
413
Improving Volatile and Lipid Quality of Macadamia Nut Through the Use of
Hybrid Drying (Phatanayindee, S.,Borompichaichartkul,G. ,Craske,J.and
Wooton,M)
420
3D Visualization of Cell Membrane of Cucumber Fruits Stored Under
Chilled and Non Chilled Temperature (Yohanes Aris Purwanto, Seiichi
Oshita, Yoshinori Kawagoe, Yoshio Makino)
427
Study of Respiration Rate and Texture of Bali Snake Fruit Using
Polyethyline Plastic Packaging During Modified Atmosphere Storage
(I.A. Rina Pratiwi Pudja)
434
Preparation of Styrene and Methyl Methacrylate Grafted Onto Natural
Rubber (Ahmad Randy, Dewi Sondari, Kuntari A.S., Ariadi B., Surasno)
439
Improvement of The Technology Packaging for The Transportation of
Mangosteen (Niluh Yulianti, Sutrisno, Emmy Darmawati)
444
Influence of Potassium Persulfate Initiator in Emulsion Polymeryzation of
Polymethyl Methacrylate Onto Natural Rubber (Dewi Sondari, Agus
Haryono and Evi Triwulandari)
452
Ultrasonic Wave Characteristic of Arumanis Mangoes and Damage
arumanis mangoes by fruit fly (Warji and Rokhani Hasbullah)
460
Biodegradable Plasticizers From Isobutyl Oleate Based on Palm Oil as The
Substitute of Dop on PVC Resin (Evi Triwulandari and Agus Haryono)
469
Technical Performance Evaluation of Cooffee Bean Roaster with Rotating
Cylinder Type (Sutarsi, Siswoyo Soekarno and Sukrisno Widyotomo)
479
Thin Layer Charateristic of Fermented and Unfermented Cocoa Beans (S.
Salengke)
488
Determination of Soluble Solids Content (SSC) of Orange and Lemon by a
Portable NIR Spectroscopy (Rudiati Evi Masitoh, Sumio Kawano,
Sirinnapa Saranwong)
500
Identification and Quantitative Analysis of Catechin in Dried "Gambir"
Leaves Extract (Devi Yuni Susanti, Umar Santoso, Kapti Rahayu)
508
Mathematical Model of Heat Transfer During Compression at Tablet
Processing (Ansar, Budi Rahardjo, Zuheid Noor, and Rochmadi)
519
IV
The Novel of Benzaldehyde In Controlling the Growth of Green Mould
(Penicillium Digitatum) Valencia Oranges (I Made S. Utama)
528
Characteristic of Six Indonesia Corn Grains and Their Flours (Titi C. Sunarti,
Riyani, N.A. Permatasari, N.Richana, F. Kasim)
538
Retention Pond Design and Charateristics Modelling in Fermented Pulp
Cocoa (Pandu Gunawan, Gardjito)
548
Grafting Ability of Plasticized Tapioca on Poly (butylenes adipate-coterephthalate) (Raffi Paramawati, Weipeng Liu, Ramani Narayan)
559
Characteristics of Easter Lily Flower (Lilium longitflorum Thunb) in Cool
Storage (I. A. Longdong, D. Tooy)
570
",
Fruitfly Disinfestation of Mango cv Gedong Gincu Using Vapor Heat
Treatment (VHT) Method (Rokhani Hasbullah, Elpodesy Marlisa, Dadang) ....... 579
Group D : GLOBAL ISSUES (BIOENERGY AND RENEWABLE ENERGY,
WORK SAFETY AND ERGONOMICS) (GIS)
Kinetic Model of Biodiesel Processing with Ultrasound (Bambang Susilo)
590
Effect of Crude Glycerol Addition on Hardwood Ships Gasification Using a
Downdraft Gasifier (Agus Haryanto, Lester R. Pordesimo, Sandun D.
Fernando, James R. Wooten, Eugene P. Colombus, Lin Wei)
600
Performance of Pressurize Stove by Utilizing Plant Oils in Indonesia
(Bam bang Prastowo, Srimulato and Elita Rahmarestia)
610
Comprasion of Two Burners on Charcoal Yield and Compositons
(W.Songchai, Y. Suphan and L. Juckamas)
Production of Charcoal Mixed with Egg - shell (Bopit Bubphachot and
Songchai Wiriyaumpaiwong)
618
623
Energy Auditing in Urea Production Process (Case Study in PT Pupuk
Kujang-Cikampek, West Java) (S. Endah Agustina and Hera Pratiwi)
630
in
Dissemination
Sustainability
Parameters
Technologies (Kamaruddin Abdullah)
641
Renewable
Energy
Supporting ESSV Program with The E31 Village Concept (Kamaruddin
Abdullah)
648
Design of Rotary Rack Type Greenhouse Effect (GHE) Hybrid Solar Dryer
for Cardamon (Wulandani, D., S.E Agustina, Y. Aris Purwanto,
L.O.Nelwan)
657
Analysis of Energy Consumption for Paddy Production in Indonesia
(Agung Hendriadi and Lilik Mulyantoro)
666
v
Session A : Farm Machinery and Management (FMM)
DEVELOPMENT AND TESTING OF AUTOMATIC
GRADING MACHINE FOR CITRUS
Usman Ahmad
Department of Agricultural Engineering - IPB
Darmaga Campus PO Box 220 Bogor 16002
Mardison S., Rudy Tjahjohutomo, and Ana Nurhasanah
Indonesian Center for Agricultural Engineering Research and Development
Situgadung, Legok, Tromol Pos 2 - Serpong, Banten
Dw43xc
ABSTRACT
Citrus is an important fruits in Indonesia and its production increases from year
to year because citrus is one of the fruits supported by national fruits development
program. However, postharvest equipment for citrus is very limited, leading to low
postharvest technology utilization. The objective of this research was to develop and
test a real-time grading machine for citrus using an image sensor and processing unit
for quality evaluation of the acquired image of the citrus being evaluated. The grading
machine consists of a rotating fruit feeder, a belt conveyor, a color CCO camera placed
in an image acquisition chamber, four channels to pass four different grades of citrus,
four collecting boxes for graded citrus, a logic control panel, a computer with an image
frame grabber, and a software to run all the installed hardware. The rotating fruits
feeder and the conveyor are actuated by two different electrical motors. The
constructed machine then was tested to observe if all the hardware worked well, and
the result of citrus classification were also observed visually to determine the
performance of the machine. The result of testing showed that the machine could work
properly as it was design, and the classification of citrus could be done based on the
size as current manual work, or even based on the size and color of skin as an
improvement. However, the speed of the machine is still very low and some problem
with the feeder is still happening, especially when citrus variation in size was big.
Keywords: citrus, image processing, grading machine
BACKGROUND
Citrus is an important fruits in Indonesia and its production increases from year
to year because citrus is one of the fruits supported by national fruits development
program. The government of Indonesia, through the ministry of agriculture, has a
program to increase local citrus production and consumption to replace import citrus,
and later on to export high quality citrus to other countries. The production increases
from year to year since 1999 and in 2006 the volume of production was about five
times of that in 1999. The increase of citrus production in Indonesia both due to
extensification and intensification programs. The extensification program increases the
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogar, Indonesia, November 18-19,2009
132
Session A : Farm Machinery and Management (FMM)
harvest area of 25,210 hectars in 1999 to 67,152 hectars in 200'6, while the
intensification program was able to increase tonage production per hectar of citrus from
17.83 ton/ha in 1999 to 36.93 ton/ha in 2006. As a result, total production of citrus in
Indonesia has increased from 449,531 tons in 1999 to 2,479,852 in 2006. The
complete data was shown in Table 1.
Table 1.
Year
1999
2000
2001
2002
2003
2004
2005
2006
Increase of citrus production in Indonesia during the year of 1999 - 2006
(Ministry of Agriculture, 2008)
Harvest area
(ha)
25,210
37,120
35,367
47,824
69,139
66,071
62,578
67,152
Criteria
Production
(ton)
449,531
644,052
691,433
968,132
1,529,824
1,994,760
2,150,219
2,479,852
Productivity
(ton/ha)
17.83
17.35
19.55
20.24
22.13
30.19
34.36
36.93
While the production of citrus is increasing due to government program, some
problems in postharvest technology remain exist. The main problem found for citrus in
Indonesia is low quality product due to poor postharvest technology. Most of the citrus
arrives in the market with mix quality and visually not attractive for buyers. The citrus
available in Jakarta from production center like Pontianak in West Kalimantan, enter
the market in different size, color that are not uniform, and dirty because of dust sticks
on the skin during the growing period in the field. Increasing in quantity but not in quality
causes some other probiems such as oversupply since the captive market is the same,
and this problem will cause decreasing in price that will cause another serious problem
in the farmer's side. Furthermore, low quality citrus will not suitable for export to othe
countries, even will not be able to replace import citrus, and this means the national
program is not successful.
To increase the quality of local citrus in general, quality assurance system for
citrus is necessary to develop, through these actions.
1. Government policy to support citrus program
2. Adequate infrastructure and facility
3. Information system
4. Supporting institutions and management, both in farmer level to increase the
production, and in higher level to facilitate marketing
5. Appropriate technology for the farmer, both preharvest and postharvest
technology
6. High capacity human resource
In the free trade in the near future, high quality product is a must to compete with
the same product from other countries, even to sell the product in the local market.
In"emational Symposium Agricultural Engineering Towards
uistainable Agriculture in Asia, Bogar, Indonesia, November 18-19, 2009
133
Session A : Farm Machinery and Management (FMM)
Moreover, to export the citrus to other countries, quality standard is determined by
importing countries, which might be higher than the standard applied for local market.
Many countries apply new standard with Good Agricultural Practices (GAP) application
in different names such as Malaysian Field Accreditation Scheme in Malaysia, Australia
with Fresh Care regulation, New Zaeland with Approved Supplier Program regulation,
England with Assured Produce Scheme regulation, and European Union with EUREP
GAP. These regualtions are mostly applied in the production field, in the on-farm
activities.
For the off-farm activities where the postharvest technolgy is needed, process
automation is very important to maintain quality of the product. Automation in
agricultural activities is considered necessary based on the following reasons; 1)
although many agricultural operations have been mechanized, many taks are still
laborious and monotonous which are not suitable for human, but require certain
intelligence to perform, 2) the availability of farming workforce is decreasing at an
alarming rate in many countries, 3) the problem of labor shortage frequently result in
rising in labor cost, and 4) the market demand for product quality has becaome an
important factor in bioproduction (Kondo and Ting, 1998).
In the case of Indonesia, the first, second, and third reasons might not apply, but
the fourth one is very relevan in the free trade era, especially for export market.
Therefore, the use of high technology in postharvest handling of fruits for export is
necessary to consider, planned, and developed from the beginning of fuits
development program in Indonesia.
Many researcher has tried to use high technology for agricultural products quality
evaluation. Near infrared (NIR) technology can be used to predict sucrose content and
malic 'acid in the fruit flesh so NIR can be used to measure non-destructively as an
opposite of destructive analysis such as HPLC method to measure important content of
fruit flesh. The research reports show that NIR technology has been used to measure
sucrose content without cutting off the fruit such as in tomato (Suparlan and Itoh, 2001),
in peach (Kawano et aI., 1992), and in apple (Murakami et al.,1994). In the developed
countries, this technology has been applied in sorting and grading machine and other
types of quality control machines for agricultural products including fruits. In Indonesia,
this kind of technology is very expensive to be used in agricultural products due to the
price of the prodcuts that relatively low. However, if the price of the products increases
by shifting from local market to export market, the price of high technology might no
longer expensive.
Another technology that can be applied in automatic sorting and grading
machine is image processing. Image processing is one of many technologies
developed to obtain important information from an object through its image that
captured by any capturing device including normal camera. the important information of
an object can be obtain through its image is done by modifying the image or convert
the image into another more informatif image (Jain et aI., 1995). A simple example for
image convertion is converting color image into binary image, so that object inside the
image can be separated from its background and analysis of the object can be
conducted easily. If image processing technology is combined with a specific machine
where the result of image analysis is used to take action by the machine, the system is
called machine vision (Jain et aI., 1995). In simple words, it can be said that the output
of image processing is another image, while the output of machine vision can be an
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19, 2009
134
Session A : Farm Machinery and Management (FMM)
>
action, or other representation of the result. This technology is becoming cheaper and
cheaper because rapid development in hardware for computer and other electronic
parts including CCO camera. Moreover, integration of CCO camera and the computer
is becoming easier by using many interface connection such universal serial bus and
firewire which are commercially available, so that computer does not need an image
frame grabber.
The use of image processing technology in automatic grading machine is
expected to increase accuracy of fruit sorting and grading based on size and color of
skin. Fruit condition can be approached from object size to represent fruit size, and the
ripeness of the fruit can be represented by skin color, if there is correlation between the
two. Another advantage is image processing can be used also to detect defect such as
dried latex in mango, that might be exist on the fruit and downgrades the quality. Image
processing technology has been tried to detect and locate cherry tomato among the
leaves in cherry tomato plants by selecting suitable color signals, and the result of
detection was used to drive cherry tomato harvesting robot (Kondo et aL, 1996).
Another example of image processing application is mushroom harvesting robot, which
utilized image proceesing to detect and locate mushroom that ready to harvest (Reed
et aL, 1995), and watermelon harvesting robot, which also used image processing to do
the same thing (Tokuda et aL, 1995).
The objective of this research was to develop and test a real-time grading
machine for citrus using a CCO camera as an image sensor and image processing unit
for quality evaluation from the acquired image of the citrus being evaluated.
METHODOLOGY
Some important parameters of visual quality from different quality of citrus were
studied by analyzing them using the developed image processing computer program.
Formerly, five groups of different quality of Pontianak citrus (A, 8, C, 0, and E classes),
obtained from a big trader in wholesale market in Kramatjati, Jakarta were used for
samples. The images of the citrus were captured and then the captured images were
analyzed using image processing computer program. The results of image processing
were analyzed to determine whether there were parameters that correlates with size or
weight of the citrus, sweetness, and firmness, to be used for quality evaluation. Visual
parameters that figures the real quality of citrus will be selected to be used for quality
parameters to develop a real-time quality evaluation system for citrus as first step in
developing grading machine.
As the computer program to perform real-time quality evaluation of the citrus by
analyzing its image was ready, the hardware needed for the system to run was
designed and constructed, as the second step in developing grading machine. The
hardware consists of a rotating fruit feeder with two pneumatic solenoids that open and
close one after another to release one fruit at a time, a belt conveyor to convey the fruit,
a color CCO camera placed in an image acquisition chamber with lighting system for
image capturing, four channels with three pneumatic solenoids that open and close
according to the fruit grade to pass four different grades of citrus, four collecting boxes
for graded citrus, a logic control panel for computer interfacing, and a computer with an
image frame grabber to process the captured image.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
135
Session A : Farm Machinery and Management (FMM)
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Computer
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Figure 1. Schematic diagram of the automatic grading machine
All the installed hardware components communicates each other managed by a
single computer program, which was also performing image processing for quality
evaluation. Since the program for image processing was also controlled the hardware,
the result of image processing was able to be used as information needed for quality
judgement. The result of classification would be applied to separate the citrus according
to its grade when they were transport through the belt conveyor, by opening one of the
three channels according to the quality of citrus being moved to one of the collecting
boxes, A, B, or C class. For 0 class, all the three channels will stay close and the citrus
will enter the fourth channel that always open, as default condition. Schematic diagram
of the automatic grading machine was shown in Fig. 1.
Finally, the automatic grading machine was tested to observe if all the hardware
work well, and the result of citrus classification were also observed visually to
determine the performance of the machine.
RESUL1S AND DISCUSSION
In the first step, a still image processing program was developed and used to
analyze all the sample images (Fig. 2). Every image was captured in 400 by 300 pixels
resolution, and then was analyzed for the size of citrus represented by area of object in
image, also sweetness and ripeness represented by skin color in RGB color model.
The results of image analysis then were compared to the results of direct measurement,
by weighing for the size or weight of the citrus, by portable Brix meter for sweetness,
and by rheometer for firmness.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
136
Session A : Farm Machinery and Management (FMM)
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Figure 2. Still image processing program developed for image analysis
Among the area of the object to represent citrus size, and the skin color to
represent the sweetness and ripeness of the citrus, only area that correlates with the
size or weight of the citrus, as shown in Fig. 3. After that, area of the object was used to
classify the fruits based on the size, using equation y 205 x + 7018, where y is area
(pixel) and x is weight (gram). Classification rules referred to Indonesia Standard for
citrus (SNI 01-3165-1992) as shown in Table 1. The rules of classification then were
insert to the real-time image processing program.
The skin color has no relationship with sweetness and ripeness. However, the
skin color can be used to separate the citrus with different color that can be combined
with the size. So, by applying area of the object
=
230
200
---
170
ｾ
110
y= 5.0173x - 38.188
R2 = 0.982
C)
..c
C)
140
80
o
o
50
20
10
15
20
25
30
35
40
45
50
55
Area (thousand pixel)
Fig. 3. Relationship between weight of the citrus with area of object
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
137
Session A : Farm Machinery and Management (FMM)
,
'
Tabel1. Weight based classification criteria for citrus converted to 'Pixel for area
of the object in image
B
c
D
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101-150
51 -100
::::;50
ｾ
37919
27687 - 37715
17455 - 27483
::::; 17251
A 1 grade: big and yellow
A2 grade: big and green-yellow
A3 grade: big and green
Fig. 4. Skin color can separate one into three different grades
and skin color, we can separate and grade the citrus based on the size and skin color,
if necessary, to get diferent classification. For example, A 1 grade which is big and
yellow, A2 grade which is big and green-yellow, A3 grade which is big and green, and
so on, instead of based on the size only (Fig. 4).
In the second step, a real-time image processing software was developed and
tested in the laboratory. In the laboratory, the motors to rotate the feeder and to move
the belt conveyor, and the solenoids to open and close the channels were substituted
with light bulbs, so that the hardware controlling process can be demonstrated while
the sorting and grading machine was constructed. The real-time image processing
program utilized only two visual parameters, size and skin color. The size was chosen
based on the results of image analysis of captured images, which was found to have
correlation with the size of the citrus as discussed earlier, while the skin color was
chosen for better visual appearance of grading result.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
138
Session A : Farm Machinery and Management (FMM)
Fig. 5. Constructed automatic grading machine for citrus
The grading machine consists of a rotating fruit feeder with a channel, a belt
conveyor, a color CCO camera placed in an image acquisition chamber, four collecting
boxes for graded citrus, four channels to pass four different grades of citrus, a logic
control panel, a computer with an image frame grabber, and a developed software to
run all the installed hardware (Fig. 5). The rotating fruits feeder and the belt conveyor
are actuated by two different electrical motors. Two pneumtic solenoids that open and
close one after another to release one fruit at a time, and three pneumatic solenoids
are used to open and close the three channels for A, 8, and C grades, while the fourth
channel for 0 grade is always open. A photo sensor was placed in the image
acquisition chamber to detect the passing fruit. If there is a fruit, the photo sensor will
send a signal to the system and the system will stop the electrical motor to halt the
conveyor, and the CCO camera will capture and analyze the image of the fruit. The
real-time image processing software then was sincronized to run all the hardware
attached to the control system in the sorting and grading machine. For the testing,
where the two parameters, size and skin color were used in classification, while the
initial output grades were only four (A, 8, C, and 0), the output grades were changed
into A 1 (big and yellow), A2 (big and green), 81 (small and yellow), and 82 (small and
green). This new classification was used for testing purpose only. In the future, if skin
color is considered important for classification, more than four output grades are
needed and the modification will not change the machanism of the system drastically.
After combining the developed hardware components and the real-time image
processing program, the machine was tested to observe if all the hardware
components worked well, and the result of citrus classification were also observed
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogar, Indonesia, November 18-19, 2009
139
Session A : Farm Machinery and Management (FMM)
visually to determine the performance of the machine. The result ot"testing with the
machine showed that the automatic sorting and grading machine for citrus was working
as it was designed. However, the machine run very slow, only about 700 fruit/hr or
approximately 7-8 kg/hr, due to some problems found during the testing. Most of the
problems are caused by the hardware performance, one of the problems caused slow
performance is feeding system which was not always successful, especially when the
size of the citrus used as samples varied in big range. Two small fruits tend to leave the
feeder outlet at the same time and caused a clogging. When the clogging happened,
the feeder failed to put one citrus at a time on a belt conveyor and the system stopped.
Manual work could help to overcome this problem, but that means the automatic feeder
was not working properly as it is expected. More accurate design of channel for feeder
is needed, or pre-classification of the citrus might be needed to reject very small citrus.
Another problem that caused slow performance of the machine is the movement
of belt conveyor that was also too slow. Speeding up the electrical motor for the belt
conveyor was possible to do to eliminate this problem, but the fruit tends to slip and the
fruit position on the belt conveyor when it entered the image acquisition chamber was
not in the center of frame anymore for camera to capture. Beside, fruit slip on the belt
conveyor caused distance between two fruits was not uniform and sometimes two fruits
were entered the image acquisition chamber at the same time which caused another
problem in image processing. More rough belt conveyor to avoid the slip is needed to
overcome this problem.
CONCLUSIONS
From this research, two important information has been obtained and can be
cocluded as follows:
1. Image processing can be used to classify citrus into several quality classes based
on the area of object to represent fruit size according the quality standard issued by
the government. Skin color can also be used as additional parameter to get more
uniform color after classification.
2. The designed and constructed automatic grading machine with image processing
as quality evaluation method has been tested and worked as it was designed.
However, the capacity is still very small and still need many improvements before
putting it into practice.
ACKNOWLEDGEMENT
The authors would like to thank to the Research and Development Institute of
the Ministry of Agriculture who has funded this research through the program of
Institute-University Collaborative Research on Agriculture Issue, during 2007-2009.
REFERRENCES
Kondo, N. and K.C. Ting. 1998. Robotics for Bioproduction Systems. The Society of
for Engineering in Agricultural, Foods, and Biological System (ASAE) Book. St.
Joseph, USA.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogar, Indonesia, November 18-19, 2009
140
Session A : Farm Machinery and Management (FMM)
,
'
Suparlan and Itoh, K. (2001). Nondestructive method for determining thE! quality of
tomatoes using visible and near-infrared spectroscopy. J. Hokkaido Branch of
the Japanese Society of Agricultural Machinery. 41: 21-27.
Kawano, S., Watanabe, H. and Iwamoto, M. (1992) Determination of Sugar Content
in Intact Peaches by Near Infrared Spectroscopy with Fiber Optics in
Interactance Mode. J. Japan Soc. Hort. Sci. 61 (2), 445-451.
Murakami, M., Himoto, J. and Itoh, K. (1994) Analysis of Apple Quality by Near
Infrared Reflectance Spectroscopy. J. Fac. Agric. Hokkaido Univ. 66(1), 51-61.
Jain, R, R Kasturi and B.G. Schunck. 1995. Machine Vision. McGraw-Hili Book, Inc.
New York, USA.
Kondo, N., Y. Nishitsuji, P. Ling, and K. C. Ting. 1996. Visual feedback guided
robotic cherry tomato harvesting, Transactions of the ASAE Vol. 39 NO.6 Hal.
2331-2338.
Reed, J. N., W. He, and R D. Tillett. 1995. Picking mushrooms by robot.
Proceedings of International Symposium on Automation and Robotics in
Bioproduction and Processing, Vol. 1 Hal. 27-34, Kobe, Japan.
Research and Development Institution. 2008. Citrus agribusiness prospect and
development. Ministry of Agriculture, Indonesia.
Tokuda M., K. Namikawa, M. Sugari, M. Umeda, and M. lida. 1995. Development of
watermelon harvesting robot (1): machine vision system for watermelon
harvesting robot, Proceedings of International Symposium on Automation and
Robotics in Bioproduction and Processing. Vol. 2 Hal. 9-16. Kobe, Japan.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
141
.
International Symposium
AGRICULTURAL ENGINEERING TOWARDS
SUSTAINABLE AGRICULTURE IN ASIA
PROCEEDINGS
TABLE OF CONTENTS
,
,
PREFACE
GROUP A : FARM MACHINERY AND MANAGEMENT (FMM)
Screen Types Affecting Efficiency of Soil Separation from Sugar Cane
Stalks (Y.Suphan W.Seree and L. Juckamas)
1
Design of Simple Nyamplung Oil Presser (Puspitahati, Tri Tunggal, Edward
Saleh)
9
Optimum Soil Tillage Method on Dry Land Sugarcane Cultivation (Gatot
Pramuhadi)
16
Application of Neuro-Fuzzy Controller to Autonomous Agricultural Vehicle
Operating on Unstructured Changing Terrain- Control Software
Development (Lilik Sutiarso, Tomohiro Takigawa)
24
Analysis on Optimal Sugar Cane Harvesting System in Jatitujuh SCP,
,Majalengka
(Setyo Pertiwi and Vidy Haryanti)
34
City Waste Reduction Efforts for Environmental Quality Improvement
(Trough Improved Agricultural Commodities Distribution System)
(Emmy Darmawati)
42
Specific Soil Draft Resistance of Some Mould Board Ploughs Performed in
Wetland Paddy Soil (Ade Moetangad Kramadibrata)
52
Mathematical Model for Turf Grass Mowing Torque by Using Rotary-Type
Mower Blade (I Nengah Suastawa, Siti Suharyatun)
59
Machine Vibration Analysis for Determining Optimum Operational Engine
Speed
(Gatot Pramuhadi, Mad Yamin and Siti Khoirunnisa)
72
Two Wheels Hybrid Corn Seeds Holes Maker (TWHYCOM) (Astiti Puriwigati,
Arief Sabdo Yuwono)
76
Development of Push Type Rotary Mower Powered by Engine of Back Pack
Brush Cutter (A Modification from Potrum BBE-01 Prototype to
Potrum BBE-02 Prototype) (I Nengah Suastawa)
86
Design of a Ditcher Equipped With Scrapers for Making Drainage Channel
on Dry Land Sugar Cane Plantation (Wawan Hermawan, I Nengah
Suastawa and Samsul Bahri)
95
Design and Traction Performance of Movable Lug Wheel Equipped with
Spring Mechanism (Wawan Hermawan)
103
Development of Powered Disk Type Sugar cane Stubble Saver (Radite
P.A.S., Lisyanto, 1 N. Suastawa)
111
>
Evaluation of Diesel and Farm
Cocodiesel (CME) (Desrial)
Tractor
Performance
ｐｯｷｾｲ･､
by
:'.'
121
Development and Testing of Automatic Sorting and Grading Machine for
Citrus (Usman Ahmad, Mardison S., Rudy Tjahjohutomo, and Ana
Nurhasanah)
132
Sieving Effect of Sorting Machine with Vibration Table Type on Cocoa Pod
Based Compost (Siswoyo Soekarno, Edy Suharyanto, Ahmad Hudi Arif)
142
Mechanical Cocoa Pod breaker Utilization in Cocoa Handling for Improving
Labor and Production Efficiency (Sukrisno Widyotomo, Sri mulato and
Siswoyo Soekarno)
152
The Effect of Tractor Traffic and Organic Matter on Soil Compaction and
Performance of Peanut Crop (Iqbal, Tineke Mandang, E. Namaken
Sembiring)
162
GROUP B : LAND, WATER AND ENVIRONMENT
Development of ANN Extension on Arcview-GIS for Prediction Land
Plantation Productivity (Hermantoro Sastrohartono)
169
Hydraulical Approach in Designing of Proportional Division Structures in
Traditional Irrigation Schemes (M. Hasan Yahya)
176
Plant Speaking Approach For Automatic Fertigation System In Greenhouse
(Usman Ahmad, I Dewa Made Subrata, Chusnul Arif)
185
Study on Phisic & Hidro-Meteorologycal Characteristics of Two Identical
Catchments (Indarto and Sri Wahyuningsih)
194
Landuse Classification Using Aster Multispectral Data : Case Study at
Sampean Watershed (East Java) (Indarto and Arif Faisol)
204
Land Use Classification at Sampean Watershed Using Multispectral Spot
Image (Januar Ferry Irawan and Indarto)
213
Development of Digital Elevation Model For East Java (DEM-JATIM) Using
Catchmentsim and Mapwindow GIS (Indarto)
220
Climate Change Adaption Using Reservoir Rule (M. Yanuar J. Purwanto)
231
Quantification of Methane (CH4) Gas Emission as Selection Parameter of
Rice Variety (P. Setyanto, S. Ambarwati, Arief Sabdo Yuwono)
240
Trend Study of Greenhouse Gases Emission and Carbon Balance of
Several of Rice-Plant Management System (P. Setyanto, Isminingsih,
Rina Kartikawati, Arief Sabdo Yuwono)
247
11
Analysis of Water Absorption at Bandarlampung City (Ahmad Tusi and Moh.
,'.;..:
Amin)
255
Evaluation of Moments on Water Scoop-Wheel (Kincir) for Irrigation By
Kincirmod (Mohammad Agita Tjandra)
265
The Environmentally Design of Water Management System for Sustainable
Peat Land Development in Indonesia (Dedi Kusnadi Kalsim)
274
Urban Water Demand on Interbasin Water Resources Management System
(Sutoyo, M. Yanuar J. Purwanto, Kato Tasuku and Goto Akira)
285
Tide-Aquifer Interaction Dynamics in Unconfined and Confined Coastal
Aquifer Systems (Madan K. Jha, Yasunori Kamii)
297
Model 2D of Bank Erosion for Non Cohesive Soil River Banks (Case Study
: Sorachigawa River, Hokkaido Japan) (Januar Fery Irawan)
310
Intelligent Computation of Potential Land for Food Production Using a
Spatial-Based System (Rakhmat Jaya Lahay, Kudang B. Seminar, Ade
Komara Mulyana)
319
Determining Defferences in Soil Organic Matter Content Between Two
Compost Types Used in Urban Agriculture (Ida Ayu Gede Bintang
Madrini, Sakae Shibusawa)
331
Design of Supervisory Environmental Parameter Ammonia (NH3) Control
of Closed House System Model For Broilers (Alimuddin, Kudang Bora
Seminar, I Dewa Made Subrata, Sumiati)
342
Influence of Water in Sri Method to Yield and Growth of Paddy Hybrid
Variety on Field Experimental Plot at Desa Gemuruh, Kundur Islan,
Karimun Regency, Kepulauan Riau Province (Wagiono)
354
Utilization of Sidoarjo Mud to Develop Pitcher for Irrigation (Budi I.
Setiawan, M.Bagus Hermanto, Agus Pakpaha)
363
SESSION C : FOOD AND AGRICULTURAL PRODUCTS PROCESS
ENGINEERING (FAPE)
Drying Characteristics and Quality Attributes of Asiatic Pennyworth
Leather (Wiriya Phomkong, Nittiya Homhuan, Sukanya Noranate)
371
Degradation of ascorbic acid during preparation and heat treatment of
syrup from guava fruit (Psidium guajava) (Indera Sakti N)
383
Non Destructive Inner Quality Prediction In Intact Mango With Near
Infrared Reflectance Spectroscopy (Agus A. Munawar & I Wayan
Budiastra)
391
Effects of Water contents and Packaging Materials on Storage Life Time of
Stick Sweet Potato Chip (Tamrin & Lela Ameli)
400
ll1
Simple Refining Technique of Coconout Oil for Small Holder Industries
(Sugeng Triyono and Agus Haryanto)
ｾ
406
Effect of Heat Shock Treatment and Aloe Vera Coating to Chilling Injury
Induced in Tomato (Sutrisno, Y. Aris Purwanto, Sugiyono, Ismi M. Edris,
Oily S. Hutabarat)
413
Improving Volatile and Lipid Quality of Macadamia Nut Through the Use of
Hybrid Drying (Phatanayindee, S.,Borompichaichartkul,G. ,Craske,J.and
Wooton,M)
420
3D Visualization of Cell Membrane of Cucumber Fruits Stored Under
Chilled and Non Chilled Temperature (Yohanes Aris Purwanto, Seiichi
Oshita, Yoshinori Kawagoe, Yoshio Makino)
427
Study of Respiration Rate and Texture of Bali Snake Fruit Using
Polyethyline Plastic Packaging During Modified Atmosphere Storage
(I.A. Rina Pratiwi Pudja)
434
Preparation of Styrene and Methyl Methacrylate Grafted Onto Natural
Rubber (Ahmad Randy, Dewi Sondari, Kuntari A.S., Ariadi B., Surasno)
439
Improvement of The Technology Packaging for The Transportation of
Mangosteen (Niluh Yulianti, Sutrisno, Emmy Darmawati)
444
Influence of Potassium Persulfate Initiator in Emulsion Polymeryzation of
Polymethyl Methacrylate Onto Natural Rubber (Dewi Sondari, Agus
Haryono and Evi Triwulandari)
452
Ultrasonic Wave Characteristic of Arumanis Mangoes and Damage
arumanis mangoes by fruit fly (Warji and Rokhani Hasbullah)
460
Biodegradable Plasticizers From Isobutyl Oleate Based on Palm Oil as The
Substitute of Dop on PVC Resin (Evi Triwulandari and Agus Haryono)
469
Technical Performance Evaluation of Cooffee Bean Roaster with Rotating
Cylinder Type (Sutarsi, Siswoyo Soekarno and Sukrisno Widyotomo)
479
Thin Layer Charateristic of Fermented and Unfermented Cocoa Beans (S.
Salengke)
488
Determination of Soluble Solids Content (SSC) of Orange and Lemon by a
Portable NIR Spectroscopy (Rudiati Evi Masitoh, Sumio Kawano,
Sirinnapa Saranwong)
500
Identification and Quantitative Analysis of Catechin in Dried "Gambir"
Leaves Extract (Devi Yuni Susanti, Umar Santoso, Kapti Rahayu)
508
Mathematical Model of Heat Transfer During Compression at Tablet
Processing (Ansar, Budi Rahardjo, Zuheid Noor, and Rochmadi)
519
IV
The Novel of Benzaldehyde In Controlling the Growth of Green Mould
(Penicillium Digitatum) Valencia Oranges (I Made S. Utama)
528
Characteristic of Six Indonesia Corn Grains and Their Flours (Titi C. Sunarti,
Riyani, N.A. Permatasari, N.Richana, F. Kasim)
538
Retention Pond Design and Charateristics Modelling in Fermented Pulp
Cocoa (Pandu Gunawan, Gardjito)
548
Grafting Ability of Plasticized Tapioca on Poly (butylenes adipate-coterephthalate) (Raffi Paramawati, Weipeng Liu, Ramani Narayan)
559
Characteristics of Easter Lily Flower (Lilium longitflorum Thunb) in Cool
Storage (I. A. Longdong, D. Tooy)
570
",
Fruitfly Disinfestation of Mango cv Gedong Gincu Using Vapor Heat
Treatment (VHT) Method (Rokhani Hasbullah, Elpodesy Marlisa, Dadang) ....... 579
Group D : GLOBAL ISSUES (BIOENERGY AND RENEWABLE ENERGY,
WORK SAFETY AND ERGONOMICS) (GIS)
Kinetic Model of Biodiesel Processing with Ultrasound (Bambang Susilo)
590
Effect of Crude Glycerol Addition on Hardwood Ships Gasification Using a
Downdraft Gasifier (Agus Haryanto, Lester R. Pordesimo, Sandun D.
Fernando, James R. Wooten, Eugene P. Colombus, Lin Wei)
600
Performance of Pressurize Stove by Utilizing Plant Oils in Indonesia
(Bam bang Prastowo, Srimulato and Elita Rahmarestia)
610
Comprasion of Two Burners on Charcoal Yield and Compositons
(W.Songchai, Y. Suphan and L. Juckamas)
Production of Charcoal Mixed with Egg - shell (Bopit Bubphachot and
Songchai Wiriyaumpaiwong)
618
623
Energy Auditing in Urea Production Process (Case Study in PT Pupuk
Kujang-Cikampek, West Java) (S. Endah Agustina and Hera Pratiwi)
630
in
Dissemination
Sustainability
Parameters
Technologies (Kamaruddin Abdullah)
641
Renewable
Energy
Supporting ESSV Program with The E31 Village Concept (Kamaruddin
Abdullah)
648
Design of Rotary Rack Type Greenhouse Effect (GHE) Hybrid Solar Dryer
for Cardamon (Wulandani, D., S.E Agustina, Y. Aris Purwanto,
L.O.Nelwan)
657
Analysis of Energy Consumption for Paddy Production in Indonesia
(Agung Hendriadi and Lilik Mulyantoro)
666
v
Session A : Farm Machinery and Management (FMM)
DEVELOPMENT AND TESTING OF AUTOMATIC
GRADING MACHINE FOR CITRUS
Usman Ahmad
Department of Agricultural Engineering - IPB
Darmaga Campus PO Box 220 Bogor 16002
Mardison S., Rudy Tjahjohutomo, and Ana Nurhasanah
Indonesian Center for Agricultural Engineering Research and Development
Situgadung, Legok, Tromol Pos 2 - Serpong, Banten
Dw43xc
ABSTRACT
Citrus is an important fruits in Indonesia and its production increases from year
to year because citrus is one of the fruits supported by national fruits development
program. However, postharvest equipment for citrus is very limited, leading to low
postharvest technology utilization. The objective of this research was to develop and
test a real-time grading machine for citrus using an image sensor and processing unit
for quality evaluation of the acquired image of the citrus being evaluated. The grading
machine consists of a rotating fruit feeder, a belt conveyor, a color CCO camera placed
in an image acquisition chamber, four channels to pass four different grades of citrus,
four collecting boxes for graded citrus, a logic control panel, a computer with an image
frame grabber, and a software to run all the installed hardware. The rotating fruits
feeder and the conveyor are actuated by two different electrical motors. The
constructed machine then was tested to observe if all the hardware worked well, and
the result of citrus classification were also observed visually to determine the
performance of the machine. The result of testing showed that the machine could work
properly as it was design, and the classification of citrus could be done based on the
size as current manual work, or even based on the size and color of skin as an
improvement. However, the speed of the machine is still very low and some problem
with the feeder is still happening, especially when citrus variation in size was big.
Keywords: citrus, image processing, grading machine
BACKGROUND
Citrus is an important fruits in Indonesia and its production increases from year
to year because citrus is one of the fruits supported by national fruits development
program. The government of Indonesia, through the ministry of agriculture, has a
program to increase local citrus production and consumption to replace import citrus,
and later on to export high quality citrus to other countries. The production increases
from year to year since 1999 and in 2006 the volume of production was about five
times of that in 1999. The increase of citrus production in Indonesia both due to
extensification and intensification programs. The extensification program increases the
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogar, Indonesia, November 18-19,2009
132
Session A : Farm Machinery and Management (FMM)
harvest area of 25,210 hectars in 1999 to 67,152 hectars in 200'6, while the
intensification program was able to increase tonage production per hectar of citrus from
17.83 ton/ha in 1999 to 36.93 ton/ha in 2006. As a result, total production of citrus in
Indonesia has increased from 449,531 tons in 1999 to 2,479,852 in 2006. The
complete data was shown in Table 1.
Table 1.
Year
1999
2000
2001
2002
2003
2004
2005
2006
Increase of citrus production in Indonesia during the year of 1999 - 2006
(Ministry of Agriculture, 2008)
Harvest area
(ha)
25,210
37,120
35,367
47,824
69,139
66,071
62,578
67,152
Criteria
Production
(ton)
449,531
644,052
691,433
968,132
1,529,824
1,994,760
2,150,219
2,479,852
Productivity
(ton/ha)
17.83
17.35
19.55
20.24
22.13
30.19
34.36
36.93
While the production of citrus is increasing due to government program, some
problems in postharvest technology remain exist. The main problem found for citrus in
Indonesia is low quality product due to poor postharvest technology. Most of the citrus
arrives in the market with mix quality and visually not attractive for buyers. The citrus
available in Jakarta from production center like Pontianak in West Kalimantan, enter
the market in different size, color that are not uniform, and dirty because of dust sticks
on the skin during the growing period in the field. Increasing in quantity but not in quality
causes some other probiems such as oversupply since the captive market is the same,
and this problem will cause decreasing in price that will cause another serious problem
in the farmer's side. Furthermore, low quality citrus will not suitable for export to othe
countries, even will not be able to replace import citrus, and this means the national
program is not successful.
To increase the quality of local citrus in general, quality assurance system for
citrus is necessary to develop, through these actions.
1. Government policy to support citrus program
2. Adequate infrastructure and facility
3. Information system
4. Supporting institutions and management, both in farmer level to increase the
production, and in higher level to facilitate marketing
5. Appropriate technology for the farmer, both preharvest and postharvest
technology
6. High capacity human resource
In the free trade in the near future, high quality product is a must to compete with
the same product from other countries, even to sell the product in the local market.
In"emational Symposium Agricultural Engineering Towards
uistainable Agriculture in Asia, Bogar, Indonesia, November 18-19, 2009
133
Session A : Farm Machinery and Management (FMM)
Moreover, to export the citrus to other countries, quality standard is determined by
importing countries, which might be higher than the standard applied for local market.
Many countries apply new standard with Good Agricultural Practices (GAP) application
in different names such as Malaysian Field Accreditation Scheme in Malaysia, Australia
with Fresh Care regulation, New Zaeland with Approved Supplier Program regulation,
England with Assured Produce Scheme regulation, and European Union with EUREP
GAP. These regualtions are mostly applied in the production field, in the on-farm
activities.
For the off-farm activities where the postharvest technolgy is needed, process
automation is very important to maintain quality of the product. Automation in
agricultural activities is considered necessary based on the following reasons; 1)
although many agricultural operations have been mechanized, many taks are still
laborious and monotonous which are not suitable for human, but require certain
intelligence to perform, 2) the availability of farming workforce is decreasing at an
alarming rate in many countries, 3) the problem of labor shortage frequently result in
rising in labor cost, and 4) the market demand for product quality has becaome an
important factor in bioproduction (Kondo and Ting, 1998).
In the case of Indonesia, the first, second, and third reasons might not apply, but
the fourth one is very relevan in the free trade era, especially for export market.
Therefore, the use of high technology in postharvest handling of fruits for export is
necessary to consider, planned, and developed from the beginning of fuits
development program in Indonesia.
Many researcher has tried to use high technology for agricultural products quality
evaluation. Near infrared (NIR) technology can be used to predict sucrose content and
malic 'acid in the fruit flesh so NIR can be used to measure non-destructively as an
opposite of destructive analysis such as HPLC method to measure important content of
fruit flesh. The research reports show that NIR technology has been used to measure
sucrose content without cutting off the fruit such as in tomato (Suparlan and Itoh, 2001),
in peach (Kawano et aI., 1992), and in apple (Murakami et al.,1994). In the developed
countries, this technology has been applied in sorting and grading machine and other
types of quality control machines for agricultural products including fruits. In Indonesia,
this kind of technology is very expensive to be used in agricultural products due to the
price of the prodcuts that relatively low. However, if the price of the products increases
by shifting from local market to export market, the price of high technology might no
longer expensive.
Another technology that can be applied in automatic sorting and grading
machine is image processing. Image processing is one of many technologies
developed to obtain important information from an object through its image that
captured by any capturing device including normal camera. the important information of
an object can be obtain through its image is done by modifying the image or convert
the image into another more informatif image (Jain et aI., 1995). A simple example for
image convertion is converting color image into binary image, so that object inside the
image can be separated from its background and analysis of the object can be
conducted easily. If image processing technology is combined with a specific machine
where the result of image analysis is used to take action by the machine, the system is
called machine vision (Jain et aI., 1995). In simple words, it can be said that the output
of image processing is another image, while the output of machine vision can be an
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19, 2009
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Session A : Farm Machinery and Management (FMM)
>
action, or other representation of the result. This technology is becoming cheaper and
cheaper because rapid development in hardware for computer and other electronic
parts including CCO camera. Moreover, integration of CCO camera and the computer
is becoming easier by using many interface connection such universal serial bus and
firewire which are commercially available, so that computer does not need an image
frame grabber.
The use of image processing technology in automatic grading machine is
expected to increase accuracy of fruit sorting and grading based on size and color of
skin. Fruit condition can be approached from object size to represent fruit size, and the
ripeness of the fruit can be represented by skin color, if there is correlation between the
two. Another advantage is image processing can be used also to detect defect such as
dried latex in mango, that might be exist on the fruit and downgrades the quality. Image
processing technology has been tried to detect and locate cherry tomato among the
leaves in cherry tomato plants by selecting suitable color signals, and the result of
detection was used to drive cherry tomato harvesting robot (Kondo et aL, 1996).
Another example of image processing application is mushroom harvesting robot, which
utilized image proceesing to detect and locate mushroom that ready to harvest (Reed
et aL, 1995), and watermelon harvesting robot, which also used image processing to do
the same thing (Tokuda et aL, 1995).
The objective of this research was to develop and test a real-time grading
machine for citrus using a CCO camera as an image sensor and image processing unit
for quality evaluation from the acquired image of the citrus being evaluated.
METHODOLOGY
Some important parameters of visual quality from different quality of citrus were
studied by analyzing them using the developed image processing computer program.
Formerly, five groups of different quality of Pontianak citrus (A, 8, C, 0, and E classes),
obtained from a big trader in wholesale market in Kramatjati, Jakarta were used for
samples. The images of the citrus were captured and then the captured images were
analyzed using image processing computer program. The results of image processing
were analyzed to determine whether there were parameters that correlates with size or
weight of the citrus, sweetness, and firmness, to be used for quality evaluation. Visual
parameters that figures the real quality of citrus will be selected to be used for quality
parameters to develop a real-time quality evaluation system for citrus as first step in
developing grading machine.
As the computer program to perform real-time quality evaluation of the citrus by
analyzing its image was ready, the hardware needed for the system to run was
designed and constructed, as the second step in developing grading machine. The
hardware consists of a rotating fruit feeder with two pneumatic solenoids that open and
close one after another to release one fruit at a time, a belt conveyor to convey the fruit,
a color CCO camera placed in an image acquisition chamber with lighting system for
image capturing, four channels with three pneumatic solenoids that open and close
according to the fruit grade to pass four different grades of citrus, four collecting boxes
for graded citrus, a logic control panel for computer interfacing, and a computer with an
image frame grabber to process the captured image.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
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Session A : Farm Machinery and Management (FMM)
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Computer
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Figure 1. Schematic diagram of the automatic grading machine
All the installed hardware components communicates each other managed by a
single computer program, which was also performing image processing for quality
evaluation. Since the program for image processing was also controlled the hardware,
the result of image processing was able to be used as information needed for quality
judgement. The result of classification would be applied to separate the citrus according
to its grade when they were transport through the belt conveyor, by opening one of the
three channels according to the quality of citrus being moved to one of the collecting
boxes, A, B, or C class. For 0 class, all the three channels will stay close and the citrus
will enter the fourth channel that always open, as default condition. Schematic diagram
of the automatic grading machine was shown in Fig. 1.
Finally, the automatic grading machine was tested to observe if all the hardware
work well, and the result of citrus classification were also observed visually to
determine the performance of the machine.
RESUL1S AND DISCUSSION
In the first step, a still image processing program was developed and used to
analyze all the sample images (Fig. 2). Every image was captured in 400 by 300 pixels
resolution, and then was analyzed for the size of citrus represented by area of object in
image, also sweetness and ripeness represented by skin color in RGB color model.
The results of image analysis then were compared to the results of direct measurement,
by weighing for the size or weight of the citrus, by portable Brix meter for sweetness,
and by rheometer for firmness.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
136
Session A : Farm Machinery and Management (FMM)
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Figure 2. Still image processing program developed for image analysis
Among the area of the object to represent citrus size, and the skin color to
represent the sweetness and ripeness of the citrus, only area that correlates with the
size or weight of the citrus, as shown in Fig. 3. After that, area of the object was used to
classify the fruits based on the size, using equation y 205 x + 7018, where y is area
(pixel) and x is weight (gram). Classification rules referred to Indonesia Standard for
citrus (SNI 01-3165-1992) as shown in Table 1. The rules of classification then were
insert to the real-time image processing program.
The skin color has no relationship with sweetness and ripeness. However, the
skin color can be used to separate the citrus with different color that can be combined
with the size. So, by applying area of the object
=
230
200
---
170
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110
y= 5.0173x - 38.188
R2 = 0.982
C)
..c
C)
140
80
o
o
50
20
10
15
20
25
30
35
40
45
50
55
Area (thousand pixel)
Fig. 3. Relationship between weight of the citrus with area of object
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
137
Session A : Farm Machinery and Management (FMM)
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Tabel1. Weight based classification criteria for citrus converted to 'Pixel for area
of the object in image
B
c
D
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101-150
51 -100
::::;50
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27687 - 37715
17455 - 27483
::::; 17251
A 1 grade: big and yellow
A2 grade: big and green-yellow
A3 grade: big and green
Fig. 4. Skin color can separate one into three different grades
and skin color, we can separate and grade the citrus based on the size and skin color,
if necessary, to get diferent classification. For example, A 1 grade which is big and
yellow, A2 grade which is big and green-yellow, A3 grade which is big and green, and
so on, instead of based on the size only (Fig. 4).
In the second step, a real-time image processing software was developed and
tested in the laboratory. In the laboratory, the motors to rotate the feeder and to move
the belt conveyor, and the solenoids to open and close the channels were substituted
with light bulbs, so that the hardware controlling process can be demonstrated while
the sorting and grading machine was constructed. The real-time image processing
program utilized only two visual parameters, size and skin color. The size was chosen
based on the results of image analysis of captured images, which was found to have
correlation with the size of the citrus as discussed earlier, while the skin color was
chosen for better visual appearance of grading result.
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogor, Indonesia, November 18-19,2009
138
Session A : Farm Machinery and Management (FMM)
Fig. 5. Constructed automatic grading machine for citrus
The grading machine consists of a rotating fruit feeder with a channel, a belt
conveyor, a color CCO camera placed in an image acquisition chamber, four collecting
boxes for graded citrus, four channels to pass four different grades of citrus, a logic
control panel, a computer with an image frame grabber, and a developed software to
run all the installed hardware (Fig. 5). The rotating fruits feeder and the belt conveyor
are actuated by two different electrical motors. Two pneumtic solenoids that open and
close one after another to release one fruit at a time, and three pneumatic solenoids
are used to open and close the three channels for A, 8, and C grades, while the fourth
channel for 0 grade is always open. A photo sensor was placed in the image
acquisition chamber to detect the passing fruit. If there is a fruit, the photo sensor will
send a signal to the system and the system will stop the electrical motor to halt the
conveyor, and the CCO camera will capture and analyze the image of the fruit. The
real-time image processing software then was sincronized to run all the hardware
attached to the control system in the sorting and grading machine. For the testing,
where the two parameters, size and skin color were used in classification, while the
initial output grades were only four (A, 8, C, and 0), the output grades were changed
into A 1 (big and yellow), A2 (big and green), 81 (small and yellow), and 82 (small and
green). This new classification was used for testing purpose only. In the future, if skin
color is considered important for classification, more than four output grades are
needed and the modification will not change the machanism of the system drastically.
After combining the developed hardware components and the real-time image
processing program, the machine was tested to observe if all the hardware
components worked well, and the result of citrus classification were also observed
International Symposium Agricultural Engineering Towards
Suistainable Agriculture in Asia, Bogar, Indonesia, November 18-19, 2009
139
Session A : Farm Machinery and Management (FMM)
visually to determine the performance of the machine. The result ot"testing with the
machine showed that the automatic sorting and grading machine for citrus was working
as it was designed. However, the machine run very slow, only about 700 fruit/hr or
approximately 7-8 kg/hr, due to some problems found during the testing. Most of the
problems are caused by the hardware performance, one of the problems caused slow
performance is feeding system which was not always successful, especially when the
size of the citrus used as samples varied in big range. Two small fruits tend to leave the
feeder outlet at the same time and caused a clogging. When the clogging happened,
the feeder failed to put one citrus at a time on a belt conveyor and the system stopped.
Manual work could help to overcome this problem, but that means the automatic feeder
was not working properly as it is expected. More accurate design of channel for feeder
is needed, or pre-classification of the citrus might be needed to reject very small citrus.
Another problem that caused slow performance of the machine is the movement
of belt conveyor that was also too slow. Speeding up the electrical motor for the belt
conveyor was possible to do to eliminate this problem, but the fruit tends to slip and the
fruit position on the belt conveyor when it entered the image acquisition chamber was
not in the center of frame anymore for camera to capture. Beside, fruit slip on the belt
conveyor caused distance between two fruits was not uniform and sometimes two fruits
were entered the image acquisition chamber at the same time which caused another
problem in image processing. More rough belt conveyor to avoid the slip is needed to
overcome this problem.
CONCLUSIONS
From this research, two important information has been obtained and can be
cocluded as follows:
1. Image processing can be used to classify citrus into several quality classes based
on the area of object to represent fruit size according the quality standard issued by
the government. Skin color can also be used as additional parameter to get more
uniform color after classification.
2. The designed and constructed automatic grading machine with image processing
as quality evaluation method has been tested and worked as it was designed.
However, the capacity is still very small and still need many improvements before
putting it into practice.
ACKNOWLEDGEMENT
The authors would like to thank to the Research and Development Institute of
the Ministry of Agriculture who has funded this research through the program of
Institute-University Collaborative Research on Agriculture Issue, during 2007-2009.
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International Symposium Agricultural Engineering Towards
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