Because of practical limitations, in this study the initial
velocity of papayas rolling down from the top of the incline
workbench is zero. In the future research the system will be
improved in order to put into actual production. Before the
light box the conveyor belt is installed for sending papayas
to the slope workbench of the light box for image
acquisition, and an infrared sensor installs at the inlet of the
light box sensing the arrival of papayas. When papayas are
transported the inclined worktable of the light box using the
conveyor belt, images are acquired by a camera, and
connected to the hardware and software platform to process
the images and enter the results, then another conveyor belt
and the robot arm will separate papayas into various grades