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Method and device for orienting an umbilicated fruit, in particular for packaging same

A fruit and umbilicus technology, which is applied in the field of orientation of umbilical fruits, can solve problems such as the inability to orient the sessile fruit, the application of the orientation method on an industrial scale, and the error of the main axis

Active Publication Date: 2018-12-21
MAF AGROBOTIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The detection of the main axis in the horizontal plane has a large error due to the geometry
This method is also not able to orientate the sessile part of the fruit
[0009] Therefore, despite a long-felt need and various previous efforts, none of the orientation methods proposed previously are sufficient to be practical on an industrial scale, leaving fruit still manually orientated in packaging lines.

Method used

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  • Method and device for orienting an umbilicated fruit, in particular for packaging same
  • Method and device for orienting an umbilicated fruit, in particular for packaging same
  • Method and device for orienting an umbilicated fruit, in particular for packaging same

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Embodiment Construction

[0100] Umbilical fruits (such as apples) have at least one navel ( Figure 16 ), said at least one navel defines an axis called the navel axis 10, said fruit being at least substantially rotationally symmetric with respect to said navel axis as a whole. Umbilical fruits may have a single navel, usually corresponding to the stalked cavity (peaches, apricots...); One of the umbilicus 8 corresponds to the shank cavity, the other umbilicus 9 corresponds to the eye groove, said umbilical axis 10 passing through the two opposite umbilicus 8 , 9 . The orientation method for orienting umbilical fruits according to the present invention has the following main steps.

[0101] exist Figure 17 and Figure 18 Above, rectangles and diamonds represent steps and tests, respectively, which are identified by the numerical references mentioned below. The test is presented according to standard ISO5807.

[0102] In a first loading step 11 umbilical fruit is loaded onto an orienting device f...

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Abstract

The invention relates to a method and device for orienting an umbilicated fruit, in which, during a first orientation phase (22), the presence of at least a portion of an umbilicus is detected in at least one initial image (II), then the fruit is driven (24) in spinning rotation about a first axis of rotation at an angular amplitude of between 5 and 45 degrees, and then the presence of at least aportion of an umbilicus is detected in at least one subsequent image (IU). If at least a portion of an umbilicus is detected in at least one initial image (II) and no longer detected in each subsequent image (IU), the first orientation phase is stopped and the method is continued.

Description

technical field [0001] The present invention relates to an orienting method for orienting umbilical fruits. The invention extends in particular to a packaging method for packaging umbilical fruit comprising the orientation method according to the invention, a computer program suitable for implementing the orientation method according to the invention and / or the packaging method according to the invention, a An orientation device for orienting umbilical fruit comprising a programmable processing unit programmed to implement an orientation method according to the invention and an orientation device for packaging umbilical fruit comprising at least one loading and unloading robot for loading and unloading the fruit A packaging device suitable for carrying out the packaging method according to the invention. Background technique [0002] Some fruits called umbilical fruits (apples, papayas, peaches, apricots, some tomatoes, some pears, ...) include at least one umbilicus-shaped...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B07C5/342B65B25/04B65B35/58B65B57/00
CPCB65B25/04B65B35/58B65B57/14G01N21/01G01N21/251G01N2021/0187G01N2021/177G01N2021/845G01N2021/8466B07C5/342G01N21/8901G01N33/025G01N2021/1765
Inventor P·勃朗
Owner MAF AGROBOTIC