Reka Cipta Robot untuk Pemilihan Tomat Matang Berdasarkan Warna dengan Fuzzy Tsukamoto

Abstract

Tomatoes are widely used in various food products and are also commonly consumed directly. They require time to ripen, progressing from unripe to half-ripe and finally fully ripe. Ripe tomatoes are preferable for sale because they have a shorter shelf life compared to those that are not yet fully mature. Ripe tomatoes also differ in taste and nutritional content. The use of microcontrollers can help simplify the sorting process of tomatoes. This research aims to develop a prototype robot to sort tomatoes based on their ripeness level. The robot will use an ESP32 microcontroller. To determine the ripeness, three TCS34725 sensors will detect the RGB values of the tomato from three sides. These values will then be normalized using the clear channel (C) to maintain consistency in the RGB scale and reduce the influence of varying lighting conditions in each trial. The ripeness level will be determined using the Tsukamoto fuzzy method, and the tomatoes will be sorted using a robotic arm. The system was tested using several tomatoes with different ripeness levels and sizes, but the results were less accurate due to the two side sensors capturing RGB values from unintended distances caused by size variations, which led to suboptimal sensor readings. It is hoped that this research can contribute to the development of a system that helps sort ripe tomatoes based on their color, thereby optimizing shelf life and tomato utilization.