Fruit sorting device

Abstract

To provide a fruit sorting device which enables reduction of burdens of a farm producer in harvesting and fruit sorting of fruit vegetables.SOLUTION: A fruit sorting device 100 according to an embodiment includes: a sorting part 10 including a body 11 including a plurality of test spaces 11R into which test objects are respectively placed, and discharge mechanisms each of which discharges the test object placed into the test space 11R to the outside of the body 11; storage parts 30A to 30C which store the test objects discharged from the test spaces 11R; an imaging part 20 which captures images of the test objects placed into the test spaces 11R; and a control unit 40 which performs tests of the test objects with the images of the test objects and causes the test objects to be discharged from the test spaces 11R according to the test results by the discharge mechanisms and stored in the storage parts 30A to 30C.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a fruit sorting device. [Background technology]

[0002] In recent years, the labor shortage caused by the decline in the agricultural workforce has become a serious problem. In order to improve the labor-intensive work of sorting fruit, attempts are being made in various places to automate sorting and realize smart agriculture by utilizing advanced technology (robotics, AI).

[0003] For example, Patent Document 1 proposes a crop sorting device that transports crops on a roller conveyor having multiple rotatable rollers, controls the rotation direction of the rollers to rotate the crops, photographs the appearance of the crops from various angles, and also photographs the interior of the crops as they are transported without rotating, and uses the captured images to sort the crops.

[0004] Patent document 2 also proposes an item sorting device that includes a turntable made of a large conical member, in which mandarin oranges are placed on the top of the turntable using a roller conveyor, and the mandarin oranges are aligningly moved to a head provided at the bottom end of the cone using side plates provided on the turntable, and the length of the mandarin oranges on the rotating head is measured as they pass in front of an inspection device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2022-167190 [Patent Document 2] Japanese Patent Application Publication No. 51-118652 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the above-mentioned crop sorting devices and item sorting devices are designed to be used for sorting crops harvested in large quantities on large-scale farmland, and sort crops all at once using large-scale equipment, making it difficult to apply them to sorting small and medium-sized amounts of crops harvested on small to medium-sized farmland. Compared to large-scale producers, small- and medium-sized producers have the following characteristics: 1) they lack capital, 2) they cultivate on small areas, 3) they have small yields (small production lots), and 4) they prefer small-scale production of high-added-value fruit and vegetables. In Japan, agricultural producers using small- and medium-sized farmland and small-scale production account for the majority, and there is a need for technology that aims to reduce the burden on small- and medium-sized producers.

[0007] The present invention has been made in consideration of the above circumstances, and has an object to provide a fruit sorting device that reduces the burden on producers when harvesting and sorting fruit vegetables. [Means for solving the problem]

[0008] A sorting device according to one embodiment comprises a sorting unit having a main body including a plurality of inspection spaces into which test objects are placed, and a discharge mechanism for discharging the test objects placed into the inspection spaces to the outside of the main body, a storage unit in which the test objects discharged from the inspection spaces are stored, an imaging unit for taking images of the test objects placed into the inspection spaces, and a control unit for inspecting the test objects using the images of the test objects, and for discharging the test objects from the inspection spaces using the discharge mechanism in accordance with the inspection results, and storing them in the storage unit. Effect of the Invention

[0009] According to the present invention, a fruit sorting device can be provided that reduces the burden on producers in harvesting and sorting fruit vegetables. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of use of a fruit sorting device according to an embodiment. [Diagram 2]FIG. 2 is a diagram illustrating a schematic configuration example of a fruit sorting device according to an embodiment. [Diagram 3] FIG. 3 is a diagram for explaining a configuration example of the sorting unit shown in FIG. [Figure 4] FIG. 4 is a diagram illustrating an example of a configuration of a plurality of bottom parts of the turntable illustrated in FIG. [Diagram 5] FIG. 5 is a diagram illustrating an example of a configuration of a plurality of bottom parts of the turntable illustrated in FIG. [Figure 6] FIG. 6 is a diagram illustrating an example of the configuration of the imaging unit and the sorting unit illustrated in FIG. [Figure 7] FIG. 7 is a diagram illustrating an example of the configuration of the imaging unit and the sorting unit illustrated in FIG. [Figure 8] FIG. 8 is a diagram illustrating an example of a relationship between the sorting section of the sorting device of one embodiment and the inspection area and storage area. [Figure 9] FIG. 9 is a diagram illustrating a schematic configuration example of a storage unit of a fruit sorting device according to an embodiment. [Figure 10] FIG. 10 is a block diagram illustrating an example of the configuration of the control unit of the fruit sorting device illustrated in FIG. [Figure 11] FIG. 11 is a flowchart illustrating an example of the operation of the fruit sorting device according to an embodiment. [Figure 12] FIG. 12 is a diagram for explaining a first modified example of the fruit sorting device according to one embodiment. [Figure 13] FIG. 13 is a diagram for explaining a second modified example of the fruit sorting device according to an embodiment. [Figure 14] FIG. 14 is a diagram for explaining a second modified example of the fruit sorting device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the sorting device of the embodiment will be described in detail with reference to the drawings. In the following description, the direction of gravity in the environment in which the sorting device of the embodiment is expected to be used is defined as the downward direction, the opposite direction to the downward direction is defined as the upward direction, and the direction perpendicular to the up-down direction (vertical direction) is defined as the horizontal direction.

[0012] FIG. 1 is a diagram illustrating an example of use of a fruit sorting device according to an embodiment. The sorting device 100 of this embodiment is intended to be used when harvesting and sorting agricultural products (e.g., tomatoes) in small and medium-sized cultivated land. Tomatoes generally do not like excessive moisture, so they need to be planted in a location isolated from the groundwater level of the field. For this reason, planting methods are used, such as planting on a planting bed (ridge) higher than the ground surface, or isolating them from the field ground itself using a planter (drain bed). Due to these characteristics of planting, the passages between the ridges and planters become spaces for work (fertilization, pruning, fruit thinning, harvesting, etc.). Since making the passages excessively wide leads to a decrease in the yield, it is desirable to make them as narrow as possible based on the amount of light and planting density, and the width of the passages is generally set to 60 to 130 cm. The sorting device 100 of this embodiment makes it possible to enter these narrow passages, and achieves harvesting and sorting at the same time.

[0013] FIG. 2 is a diagram illustrating a schematic configuration example of a fruit sorting device according to an embodiment. The sorting device 100 of this embodiment includes a sorting unit 10, an imaging unit 20, a storage container 30, a control unit 40, a moving mechanism WL, and a position information acquisition unit 50.

[0014] The moving mechanism WL is configured to be movable horizontally on paths in cultivated land, and is equipped with, for example, wheels, caterpillar tracks, etc. The moving mechanism WL may be one that moves when a horizontal force is applied thereto, and may be equipped with a motor that rotates and drives the wheels or caterpillar tracks with power supplied from a drive power source (for example, a battery). In this case, the movement, forward movement, backward movement, turning, stopping, etc. can be controlled by a control unit 40, which will be described later. In this embodiment, the moving mechanism WL is a wheel, and is not equipped with a drive source.

[0015] Although tire-type (wheel) vehicles are less mobile on uneven fields than track-type (caterpillar) vehicles, they have a simple structure and can be made lighter, allowing them to run on a low-output power source. Compared to tire-type vehicles, track-type vehicles have a more complex structure, are heavier, and require a higher-output power source, but they have the advantage of being easy to run on regardless of the condition of the field road surface. By providing the sorting device 100 with the moving mechanism WL, crops can be harvested while moving the sorting device 100 within the field. The moving mechanism WL of the sorting device 100 may be omitted depending on the harvesting method of the crop to be inspected. For example, when a branch containing multiple fruit vegetables is harvested in the field and then the fruit vegetables are picked from the branch at a location other than the field, there is no need to move the sorting device 100 within the field, and in such a case the moving mechanism WL may be omitted.

[0016] Harvested fruit and vegetables (test objects) are placed into the sorting section 10, which guides the test objects to the test area A3, and the control section 40 causes the fruit and vegetables to fall onto the storage sections 30A, 30B, and 30C according to the test results.

[0017] FIG. 3 is a diagram for explaining a configuration example of the sorting unit shown in FIG. 3, the positional relationship between the sorting unit 10, the imaging unit 20, and the control unit 40 is shown in a schematic manner, and the storage container 30 and the moving mechanism WL are not shown. The sorting unit 10 may be fixed to a housing that houses the control unit 40, for example, or may be supported and fixed by a part of the storage container 30, or may include a support member (not shown) arranged between the storage units 30A, 30B, and 30C of the storage container 30.

[0018] The sorting unit 10 includes a turntable 11 , a plurality of discharge mechanisms 12 , and a holding unit 13 . The turntable 11 body is substantially cylindrical, and includes a bottom surface 11D facing the storage container 30, an upper surface 11U facing the bottom surface, and a side surface 11S connecting the bottom surface 11D and the upper surface 11U. The turntable 11 includes a drive mechanism (not shown) that rotates the turntable 11 in one direction (for example, clockwise when viewed from above) with a straight line passing through the center of the substantially circular upper surface 11U and the bottom surface 11D as the rotation axis. In this embodiment, the turntable 11 rotates clockwise when viewed from above from the upper surface 11U side by a motor, which is the drive mechanism. The turntable 11 is installed so that the rotation axis is substantially parallel to the vertical direction.

[0019] The turntable 11 is provided with a number of inspection spaces (inspection chambers) 11R arranged at equal distances from the center (axis of rotation). When viewed from above, the turntable 11 has a cylinder-like structure like a revolver rifle, with a number of small circles adjacent to the inside of a large circle. By making the turntable 11 have the above-mentioned cylinder-like structure, it is possible to prevent the inspection object from falling or moving to an adjacent inspection space 11R. The number of inspection spaces 11R provided on the turntable 11 can be increased or decreased according to the processing efficiency of the fruit sorting device, etc.

[0020] The side surface 11S of the turntable 11 is recessed toward the center of the bottom surface 11D and the top surface 11U at a plurality of positions to form recesses serving as a plurality of testing spaces 11R into which test objects are inserted. The plurality of testing spaces 11R are provided at the radial ends of the substantially circular top surface 11U and bottom surface 11D. The testing spaces 11R are spaces that open to the top surface 11U side, the bottom surface 11D side, and the outer periphery of the turntable 11. The cross section of the testing space 11R in a plane substantially parallel to the bottom surface 11D and the top surface 11U is bow-shaped surrounded by an arc formed by the side surface 11S, and opens to the outer periphery of the turntable 11 between both ends of the arc.

[0021] In this embodiment, the inspection spaces 11R are provided at 14 locations equidistant from the center (center of rotation) of the turntable 11 body, and are approximately cylindrical in shape with a bottom and top diameter of 140 mm and a height of 120 mm, and the distance between both ends of the arc formed by the side surface S (the opening width at the outer periphery of the turntable 11) is approximately 200 mm.

[0022] The side surface 11S of the turntable 11 surrounding the inspection space 11R is made of resin, metal, ceramic, composite material (FRP, etc.). The resin material from which the turntable 11 is made is not particularly limited. Because agricultural products are placed in the inspection space 11R, it is possible to select a resin material with excellent stain resistance, and it is also possible to perform stain resistance treatment on the surface of the side surface 11S. In this embodiment, the turntable 11 is made of ABS resin, which is lightweight, easy to mold, and cost-effective.

[0023] The color of the side surface 11S surrounding the inspection space 11R is not limited. The color of the side surface 11S is the background color of the photographed image of the inspection object, so it is preferable that the color is a color that makes it easy to identify the inspection object in the inspection process of the control unit 40. For example, if the side surface 11S is blue, it is easy to differentiate the reflected light and shadow from the light source LT from insect damage, etc. in the inspection process using the image. In addition, the color of the side surface 11S can be selected according to the light source LT and the fruit and vegetable to be inspected. For example, it is possible to make the side surface 11S black to emphasize the shadow, or to make it white to promote reflection from the light source LT and promote light entry. In this embodiment, the part surrounding the inspection space 11R is formed using ABS resin colored blue, and the side surface 11S is blue, making it easy to erase it as a background image.

[0024] The inspection space 11R is not limited to the shape shown in the figure. For example, at least a part of the opening of the inspection space 11R may be closed by a member (translucent member) formed of a material having translucency. For example, the whole or a part of the opening on the side of the inspection space 11R may be closed by translucent glass or resin. In this case, by using organic glass (polycarbonate, acrylic, polypropylene) or various inorganic glasses as the material of the translucent member that closes the opening, it is possible to take an image of the inside of the inspection space 11R through the translucent member with a camera. From the viewpoints of weight reduction, handling, and cost, it is preferable to adopt organic glass as the translucent member. The inside of the translucent member may be subjected to antifouling treatment or the like to prevent adhesion of dirt from the inspection object put into the inspection space 11R.

[0025] The turntable 11 may also include an optical sensor (not shown) installed on a part of the side surface 11S of the inspection space 11R. The optical sensor detects that an inspection object (tomato) has been placed in the inspection space 11R, and notifies the control unit 40 of the placement of the inspection object. In this case, the control unit 40 can recognize the inspection space 11R into which the inspection object has been placed by the notification from the optical sensor, and can also trigger the start of rotational driving of the turntable 11 and the start of operation of the imaging unit 20 based on the information that the inspection object has been placed.

[0026] The holding unit 13 is a ring-shaped member that holds the periphery of the turntable 11. A portion of the holding unit 13 is fixed to the housings of the imaging unit 20 and the control unit 40. The holding unit 13 is disposed in a guide groove provided on the side of the turntable 11, and holds the turntable 11 at a predetermined position. The holding unit 13 supports the turntable 11 in the guide groove, and the holding unit 13 and the turntable 11 abut against each other so that the turntable 11 can slide on the holding unit 13 (or via a member that allows the turntable 11 to move smoothly on the holding unit 13).

[0027] The holding portion 13 may be formed of the same material as the turntable 11, or may be formed of a material different from that of the turntable 11. When the holding portion 13 is disposed between the opening of the inspection space 11R and the imaging portion 20, it is preferable that the holding portion 13 is formed of a light-transmitting material. In this embodiment, the holding portion 13 is formed of the same material as the portion including the side surface 11S of the inspection space 11R.

[0028] 4 and 5 are diagrams each showing a schematic configuration example of a plurality of bottom parts of the turntable shown in FIG. The discharge mechanism 12 is disposed so as to cover an opening on the bottom surface 11D side (lower side) of the testing space 11R, and is a mechanism that discharges the test object to the outside of the main body of the turntable 11. The discharge mechanism 12 includes a first bottom portion 12A, a second bottom portion 12B, a rotating portion 12C, and a support mechanism 12D.

[0029] The second bottom portion 12B is a disk larger than the substantially circular opening of the testing space 11R. The second bottom portion 12B is fixed to the bottom surface 11D or the side surface 11S of the turntable 11 by a rotating portion 12C so as to be able to open and close the lower opening of the testing space 11R.

[0030] The first bottom 12A is a substantially circular plate with mountain-shaped projections and recesses (teeth) formed on the outer periphery. The projections and recesses of the first bottom 12A are shaped to fit with mountain-shaped projections and recesses (teeth) provided on the imaging unit 20 in the inspection area A3 described below. The diameter of the first bottom 12A is smaller than the diameter of the substantially circular opening on the bottom surface 11D side of the inspection space 11R. Therefore, when the bottom 12 closes the opening of the inspection space 11R, the first bottom 12A is accommodated in the inspection space 11R.

[0031] The first bottom portion 12A has, for example, a through hole or a depression (not shown) in the center. The first bottom portion 12A is placed on the second bottom portion 12B, and a convex portion (not shown) of the second bottom portion 12B is inserted into the through hole or the depression of the first bottom portion 12A, so that the first bottom portion 12A can rotate around the through hole or the depression as a central axis.

[0032] The discharge mechanism 12 may include a detection mechanism for detecting that the test object is placed on the discharge mechanism 12. That is, for example, a magnetic proximity switch and a restorable metal plate may be disposed at the fitting portion between the recess (concave) of the first bottom 12A and the convex portion of the second bottom 12B. When the test object is placed on the discharge mechanism 12, the weight of the test object causes the metal plate provided in the concave portion of the first bottom 12A to approach the magnetic switch of the convex portion of the second bottom 12B and generate an electric signal. The electric signal of the magnetic switch is transmitted to the control unit 40. The control unit 40 can detect that the test object has been placed in the test space 11R by the electric signal from the magnetic switch. Therefore, the control unit 40 is in a standby state until the test object is placed in the test space 11R, and can start controlling the sorting unit 10 and the imaging unit 20 based on the reception of the electric signal from the magnetic switch.

[0033] By attaching the identifier of the discharge mechanism 12 to the electrical signals transmitted from the multiple discharge mechanisms 12 to the control unit 40, the control unit 40 can identify the inspection space 11R into which the inspection object is placed, and can also control the timing of photographing by the imaging unit 20 based on the electrical signal from the magnetic switch.

[0034] In this embodiment, the discharge mechanism 12 includes a magnetic proximity sensor as the magnetic proximity switch and a leaf spring as the restoring metal plate. The discharge mechanism 12 may include a contact switch instead of the magnetic proximity switch. When using a contact switch, the discharge mechanism 12 may include a restoring material other than the restoring metal plate. The discharge mechanism 12 may also include a pressure sensor, a load cell, or the like as a detection mechanism. In this case, the control unit 40 can measure the specific gravity of the test object by combining the detection value by the pressure sensor or the load cell with the image captured by the imaging unit 20, and further accumulate data useful for sorting the test object.

[0035] The support mechanism 12D includes, for example, a solenoid and a support member 12E. The support member 12E is fixed to the plunger of the solenoid (or is formed integrally with the plunger), moves on a plane substantially parallel to the bottom surface 11D, and rotates the discharge mechanism 12 with the rotating part 12C as a fulcrum. The operation of the support mechanism 12D is controlled by the control unit 40. The support mechanism 12D supports the first bottom part 12A and the second bottom part 12B by moving the support member 12E from under the turntable 11 to the inspection space 11R side (projecting the plunger) to close the opening of the inspection space 11R, moves the support member 12E from under the discharge mechanism 12 to under the turntable 11 (suctioning the plunger) to release the support of the first bottom part 12A and the second bottom part 12B, and rotates the discharge mechanism 12 downward by gravity to open the opening of the inspection space 11R.

[0036] The discharge mechanism 12 may be made of, for example, resin, metal, ceramic, or composite material (FRP, etc.). There are no restrictions on the resin used as the material of the discharge mechanism 12, and it is possible to select a resin material that is excellent in preventing dirt when agricultural products are input, and it is also possible to perform an anti-fouling treatment on the surface. In this embodiment, the discharge mechanism 12 is made of ABS resin, which is lightweight, easy to mold, and relatively inexpensive.

[0037] There are no particular restrictions on the color tone of the material forming the discharge mechanism 12, but it is desirable that the color scheme be advantageous when processing the image of the inspection space 11R photographed by the imaging unit 20. For example, if the discharge mechanism 12 is blue, it is easy to differentiate the reflected light and shadow from the light source LT of the imaging unit 20 described later from insect damage, etc. In this embodiment, the discharge mechanism 12 formed of ABS resin colored blue, which is easy to fade as a background image of the inspection object, is used. In addition, it can be appropriately selected according to the color of the light source LT and the inspection object (fruit or vegetable) stored in the inspection space 11R. For example, it is possible to make the side surface 11S or the discharge mechanism 12 black to emphasize the shadow, or to make it white to promote reflection from the light source LT and promote light entry.

[0038] 6 and 7 are diagrams each showing a schematic configuration example of the imaging unit and the sorting unit shown in FIG. The imaging section 20 includes a light source LT, a camera 22, a detection mechanism 21, and an uneven portion 20A. The camera 22 is equipped with a lens and an image sensor (image pickup element) for capturing an image of the fruit vegetable (e.g., a tomato) to be inspected. The camera 22 is installed so as to capture an image of the object passing through the inspection area A3. In this embodiment, a plurality of cameras 22 are installed at positions adjacent to the outer periphery of the turntable 11, lined up in the direction in which the turntable 11 rotates, and spaced apart according to the rotation speed of the first bottom portion 12A.

[0039] The camera 22 may capture the subject in the inspection area A3 as a still image or as a moving image. When capturing the subject as a still image, the camera 22 captures the subject passing through the inspection area A3 at multiple times.

[0040] The lens mounted on camera 22 can be selected depending on the distance to the subject (tomatoes) and the size of the space in which camera 22 is housed. In this embodiment, camera 22 includes an imaging element with FHD (full high definition) resolution and a lens with an imaging angle of view of 100 degrees. Camera 22 may also include an optical filter (polarizing element, etc.) for preventing flare and adjusting the amount of light.

[0041] The light source LT emits light so that the shooting environment is sufficiently bright when the image of the inspection object is captured by the image sensor. In this embodiment, for example, a white light source that emits white light having an emission spectrum in the visible light region is used as the light source LT. It is preferable that the light source LT has an illuminance, irradiation shape, and installation position that do not cause flare or the like on the surface captured by the image sensor. Any other light source LT suitable for imaging can be applied to the fruit sorting device 100 of this embodiment. For example, as the light source LT, a ring light in which LED light sources are arranged to surround the lens that collects light on the image sensor of the camera 22, or a surface light source that illuminates the object to be photographed from behind the camera that captures the object to be photographed placed in front can be used. In this embodiment, linear surface light sources (OPB-X7530 manufactured by Optex FA) are installed above and below the lens as the light source LT.

[0042] The detection mechanism 21 is a mechanism for detecting the presence of a subject to be photographed (fruit vegetables) in the inspection space 11R of the sorting unit 10, and includes, for example, an optical sensor. The detection mechanism 21 is installed upstream of the camera 22 in the direction in which the inspection subject passes through the inspection area A3. When the detection mechanism 21 detects the presence of the subject to be photographed, it notifies the control unit 40. The photography control unit 413 of the control unit 40 instructs the imaging unit 20 on the timing of light emission from the light source LT and photography by the camera 22 based on the detection information from the detection mechanism 21 (detection of the presence of tomatoes).

[0043] The uneven portion 20A is arranged along an arc that is in contact with the first bottoms 12A. In this embodiment, the uneven portion 20A is provided, for example, in a part of a housing in which the camera 22, the detection mechanism 21, and the light source LT are housed, and has mountain-shaped unevenness (teeth). The unevenness of the uneven portion 20A is arranged along an arc inscribed with the first bottoms 12A, and is arranged so as to fit with the unevenness (teeth) of the first bottoms 12A when the inspection space 11R passes through the inspection area A3. That is, as the turntable 11 rotates, the unevenness of the first bottoms 12A and the unevenness of the uneven portion 20A fit with each other, and the first bottoms 12A rotate in the opposite direction to the rotation direction of the turntable 11. As the first bottoms 12A pass through the inspection area A3 while rotating, the inspection object can be rotated in front of the camera 22.

[0044] Fig. 8 is a schematic diagram showing an example of the relationship between the sorting unit of the sorting device of one embodiment and the inspection area and storage area. In Fig. 9, the inspection space 11R is shown large relative to the turntable 11 body for the purpose of explanation, but the number and size of the inspection space 11R of the turntable 11 can be adjusted as appropriate. Here, an example will be described in which the inspection space 11R passes through the inspection area A3, the first storage area A1, and the second storage area A2 when the turntable 11 makes one rotation.

[0045] As the turntable 11 rotates, the multiple inspection spaces 11R of the turntable 11 pass through the inspection area A3 and are successively guided to the first storage area A1 and the second storage area A2, and then are guided back to the inspection area A3, moving along an approximately circular trajectory. The inspection area A3 is an area that can be photographed by the multiple cameras 22 installed in the imaging unit 20, and is an area in which the first bottom portion 12A can rotate at least once. In other words, it is desirable that the number and size of the teeth of the unevenness of the uneven portion 20A are formed so that the first bottom portion 12A can rotate at least once in the inspection area A3.

[0046] The control unit 40 acquires the image captured by the imaging unit 20 while the inspection space 11R passes through the inspection area A3, and performs image processing to inspect the fruit or vegetable that is the inspection target. The control unit 40 controls the timing of releasing the discharge mechanism 12 of the inspection space 11R (releasing the support of the first bottom 12A and the second bottom 12B) and dropping (discharging) the inspection target into the storage container 30 according to the inspection result. For example, the inspection target dropped into the storage container 30 in the first storage area A1 and the inspection target dropped into the storage container 30 in the second storage area A2 are fruit or vegetables that have been selected as different grades or ranks. In addition, the control unit 40 may drop the inspection target that does not meet the standard in the first storage area A1 and drop the inspection target that meets the standard in the second storage area A2. In this example, the case where two storage areas are provided has been described, but three or more storage areas may be set.

[0047] FIG. 9 is a diagram illustrating an example of a configuration of a storage container of a fruit sorting device according to an embodiment. The storage container 30 is disposed between the moving mechanism WL and the sorting unit 10 in the vertical direction in the usage environment of the fruit sorting device 100. The storage container 30 includes storage sections 30A, 30B, and 30C that store inspection targets (fruit vegetables) after sorting by the sorting unit 10, for example, according to grade, rank, or the like. The storage sections 30A, 30B, and 30C of the storage container 30 include storage spaces that open to the bottom of the sorting unit 10, and store the fruit vegetables that drop from the sorting unit 10. Note that the storage container 30 does not need to include multiple storage sections, and it is sufficient if it includes at least one storage section.

[0048] When viewed from above from the sorting section 10 side, it is desirable for the storage container 30 to have an area equal to or greater than that of the sorting section 10, but it is not necessary for the storage container 30 to have an area equal to that of the sorting section 10 when viewed from above, and it is acceptable for the area of ​​the storage container 30 to be smaller than the area of ​​the sorting section 10.

[0049] It is sufficient that the openings of the storage sections 30A, 30B, and 30C are provided at least below the range in which the inspection space 11R moves, and that the fruit vegetables dropped from the sorting section 10 can be received and sorted at a specific location. The storage container 30 may be rectangular in consideration of transportation and installation, or may be circular to match the turntable 11 of the sorting section 10. The storage container 30 may also be rectangular with chamfered edges in consideration of safety in handling. The storage container 30 may also be a bag capable of storing the fruit vegetables dropped from the sorting section 10. In this embodiment, the storage container 30 is substantially cylindrical with a height of 550 mm and a diameter of 500 mm.

[0050] By dividing the storage container 30 into a plurality of storage sections 30A, 30B, 30C, the fruit vegetables falling from the sorting section 10 are separated by falling according to the planar divisions of the storage container 30. In addition, the plurality of storage sections 30A, 30B, 30C can prevent the sorted fruit vegetables from being mixed again.

[0051] The capacity of the plurality of storage sections 30A, 30B, 30C does not need to be uniform, and may be unequal in capacity according to the sorting tendency of the inspection object. The plurality of storage sections 30A, 30B, 30C may be separated by a partition plate integrally provided in the storage container 30 body, or may be separated by a replaceable partition plate. The partition plate may be hollowed out as long as it is large enough not to interfere with the sorting, and may have a mesh-like shape. The storage container 30 may be configured by combining the storage sections 30A, 30B, 30C, which are a plurality of independent storage containers. In this embodiment, the storage container 30 is a container in which three storage sections 30A, 30B, 30C are integrally formed.

[0052] There is no particular restriction on the materials of the storage container 30 and the partition plate, and resin, metal, ceramic, composite material (FRP, etc.) can be used. As the resin forming the storage container 30, a material with a cushioning function, such as a foamed resin material that takes into consideration heat insulation and impact on falling fruit vegetables (e.g. tomatoes), can be used. In addition, metal with excellent washability and antibacterial properties can be selected as the material, and ceramic with antifouling properties can also be selected as the material. Composite materials can also be used. For example, by installing a foamed resin material on the inside including the bottom of the storage container 30, a storage container 30 that has both a rigid outer wall and an interior with a cushioning function for fruit vegetables (e.g. tomatoes) can be formed. In this embodiment, ABS resin is used as the material of the storage container 30, which is lightweight, easy to mold, and has excellent cost performance. In order to make it easier to check the amount of fruit and vegetables (for example, tomatoes) contained in the storage container 30, it is possible to use a transparent material or attach an optical sensor to the wall surface.

[0053] The position information acquisition unit 50 is attached to a part of the surface of the fruit sorting device 100, reads a tag (RFID) installed in the environment where the fruit sorting device 100 is used, and outputs the information on the current location of the fruit sorting device 100 to the control unit 40. The RFID tag is formed on a plastic sheet or waterproof paper using thin aluminum or the like. It is easy to install and handle, and can be handled in the same way as horticultural labels embedded when forming ridges in a field. For example, tags corresponding to the cultivation positions of agricultural crops are embedded in the ground in the field where the fruit sorting device 100 is used, and when the position information acquisition unit 50 approaches a tag in the field, it reads the information set on the tag and outputs it to the control unit 40.

[0054] The position where the position information acquisition unit 50 is attached can be adjusted according to the position where the tag is arranged. In this embodiment, the position information acquisition unit 50 is attached to the outer surface of the storage container 30.

[0055] The control unit 40 includes at least one processor and a memory in which a program executed by the processor is recorded. The control unit 40 is electrically connected to the sorting unit 10, the imaging unit 20, and the moving mechanism WL via a connection path (not shown), and realizes various functions by controlling the components included in the sorting device 100 by software or a combination of software and hardware.

[0056] In this embodiment, the control unit 40 is housed in a housing for fixing the imaging unit 20 at the same height as the sorting unit 10 (above the storage container 30). The control unit 40 only needs to be able to control the components included in the sorting device 100, and the location of the control unit 40 in the sorting device 100 is not limited to this embodiment.

[0057] FIG. 10 is a block diagram illustrating an example of the configuration of the control unit of the fruit sorting device illustrated in FIG. The control unit 40 may be, for example, a notebook personal computer, a tablet terminal, a smartphone, or a portable communication terminal having information processing functions equivalent thereto. The control unit 40 is an information processing device including a processor 41, a first storage unit 42, a second storage unit 43, a display unit 44, an input unit 45, and a communication unit (transmitter / receiver) 46. The multiple components included in the control unit 40 are connected to each other via a bus communication line.

[0058] The communication unit 46 communicates with various components included in the sorting device 100 and with the outside. The communication unit 46 can transmit and receive information by wired communication or wireless communication, and may transmit and receive information with the imaging unit 20 and the position information acquisition unit 50 by short-range wireless communication, for example.

[0059] The input unit 45 acquires information input by a user's operation. The input unit 45 may include, for example, a keyboard, a pointing device such as a mouse, a touch panel, operation buttons, a microphone, various sensors, and the like.

[0060] The display unit 44 is equipped with a display means such as a liquid crystal display panel or an organic EL display panel, and visually presents information such as the inspection results, final sorting results, the progress of the sorting process, operational instructions, warnings, etc. to the user.

[0061] The first storage unit 42 is a main storage unit including a ROM (Read Only Memory) that records various information used by the processor 41, a RAM (Random Access Memory) that is used as a working area for the processor 41, and the like.

[0062] The second storage unit 43 is a storage device made of a magnetic material or a semiconductor, and can store, for example, programs and parameters used by the processor 41, as well as data on a plurality of images obtained from the imaging unit 20, data on sorting results, etc. The first storage unit 42 and the second storage unit 43 may be integrated depending on the capacity of the storage target.

[0063] The processor 41 controls the cooperation of various components included in the sorting device 100. For example, the processor 41 executes an inspection program stored in the second storage unit 43, and performs various sorting processes using the first storage unit 42 as a work area.

[0064] The processor 41 has a sorting mechanism control unit 411, an inspection object detection unit 412, an imaging control unit 413, an inspection processing unit 414, a sorting control unit 415, and a display control unit 416.

[0065] The inspection object detection unit 412 acquires detection information indicating that an inspection object has been placed in a predetermined position (inspection space 11R) of the sorting unit 10, and supplies the detection information to the sorting mechanism control unit 411 and the photography control unit 413. In this embodiment, the inspection object detection unit 412 acquires the detection information from a detection mechanism provided in the discharge mechanism 12 of the inspection space 11R. The inspection object detection unit 412 may also acquire detection information from the detection mechanism 21 of the imaging unit 20, and supply the detection information to the sorting mechanism control unit 411 and the photography control unit 413.

[0066] The sorting mechanism control unit 411 controls the output of a motor (rotational motion drive source) that drives the turntable 11 of the sorting unit 10. The sorting mechanism control unit 411 may start driving the turntable 11 of the sorting unit 10, for example, using detection information from the inspection object detection unit 412 as a trigger. The sorting mechanism control unit 411 may, for example, drive the motor intermittently to periodically rotate and stop the turntable 11, may rotate the turntable 11 at a constant speed using the motor, or may change the rotation speed of the turntable 11.

[0067] The imaging control unit 413 drives the imaging unit 20 based on the detection information from the inspection object detection unit 412. The imaging control unit 413 may control the timing at which the imaging unit 20 captures an image of the inspection object based on at least one of the detection information from the inspection object detection unit 412 and the detection information from the detection mechanism 21.

[0068] Specifically, the imaging control unit 413 receives at least one of the detection information signal from the inspection object detection unit 412 and the detection information signal from the detection mechanism 21, and transmits an imaging instruction signal to the imaging unit 20 in synchronization with the timing at which the tomato, which is the inspection object, passes in front of the imaging element of the imaging unit 20. When the inspection object passes in front of the imaging element (camera 22) of the imaging unit 20 (inspection area A3), the imaging control unit 413 outputs multiple imaging instruction signals to the imaging unit 20, causing multiple images to be taken of one inspection object.

[0069] The inspection processing unit 414 inspects the inspection target for various inspection items using data of multiple images captured by the imaging unit 20. In this embodiment, the inspection processing unit 414 performs inspection by image processing or inspection using a learning model that has undergone machine learning, and calculates the inspection result (rank, etc.) of the tomato that is the inspection target. The inspection processing unit 414 receives location information acquired from the location information acquisition unit, associates the identifier of the inspection target, the inspection result, and the location information, records them in the second storage unit 43, and supplies information on the inspection result to the sorting control unit 415. The inspection processing unit 414 may also supply information on the inspection result to the display control unit 416.

[0070] The sorting control unit 415 uses the inspection result acquired from the inspection processing unit 414 to control the timing of dropping the inspection object from the sorting unit 10 into the storage container 30. The sorting control unit 415 can specify the position of the inspection space 11R in which the inspection object is placed, using the identifier of the inspection object associated with the inspection result. The identifier of the inspection object may be, for example, a value corresponding to the time when an image of the inspection object is captured or a value corresponding to the time when the inspection object is detected by the detection mechanism 21.

[0071] The sorting control unit 415 controls the operation of the support mechanism (solenoid) 12D located in the discharge mechanism 12 of the inspection space 11R of the sorting unit 10. That is, the sorting control unit 415 obtains the inspection results from the inspection processing unit 414, and operates the solenoid at a timing above the storage units 30A, 30B, and 30C in which the fruit and vegetables to be inspected are stored, to open the discharge mechanism 12 of the inspection space 11R. As a result, the sorting control unit 415 drops the inspection object into a specific storage unit 30A, 30B, or 30C at a timing when the inspection space 11R in which the inspection object has been placed moves to a predetermined position, and discharges the inspection object to the outside of the turntable 11 main body.

[0072] The display control unit 416 can display various information on the display unit 44. For example, the display control unit 416 can display the inspection results by the inspection processing unit 414 on the display unit 44, and can also display on the display unit 44 an overview (quality) of the inspection results (grade, rank, etc.) of fruit vegetables (tomatoes) being harvested.

[0073] Next, an example of the operation of the fruit sorting device 100 of this embodiment will be described. FIG. 11 is a flowchart illustrating an example of the operation of the fruit sorting device according to an embodiment. In the following, a series of steps for sorting tomatoes, which are the subject of inspection, using the fruit sorting device 100 of one embodiment will be described as an example.

[0074] First, preparation of the sorting device 100 is performed (step S1). For example, the user sets an inspection program suited to the inspection object, places the storage container 30 in a predetermined position, and, if a battery is used as the power source for the sorting device 100, charges the battery in advance.

[0075] Next, the sorting device 100 is powered on, and tomato harvesting and sorting operations begin (step S2). If the moving mechanism WL has a drive source, turning on the power makes it possible to electrically drive the moving mechanism WL, and the sorting device 100 can be moved to the field by the moving mechanism WL (step S3). The user moves the sorting device 100 to the field by the moving mechanism WL. The user carries the sorting device 100 through the passages (between the ridges) in the tomato field, and transports it to the front of the plants to be harvested.

[0076] When the movement of the sorting device 100 is completed, the user starts harvesting tomatoes. Specifically, the user picks tomatoes and sequentially places them into the inspection space 11R (step S4). At this time, when the tomatoes are placed into the inspection space 11R, the detection mechanism provided in the discharge mechanism 12 of the inspection space 11R detects the placement of the tomatoes, and the control unit 40 drives the sorting unit 10 and the imaging unit 20 based on the detection information. The detection mechanism 21 and light source LT of the imaging unit 20 are also driven, and detection and illumination operations begin.

[0077] The sorting mechanism control unit 411 of the control unit 40 rotates the turntable 11 of the sorting unit 10 to sequentially guide the inspection spaces 11R to the inspection area A3, and the photography control unit 413 causes the multiple cameras 22 of the imaging unit 20 to take images of the tomatoes in the inspection area A3 (step S5).

[0078] The turntable 11 is driven by a motor to rotate, for example, clockwise as viewed from above. The rotation speed of the turntable 11 is 12 seconds / revolution. As the turntable 11 rotates, the first bottom 12A of the inspection space 11R rotates counterclockwise as viewed from above in the inspection area A3. This allows the tomato placed on the first bottom 12A of the discharge mechanism 12 of the inspection space 11R to rotate in front of the camera 22, and images of the entire circumference of the tomato can be captured without omission.

[0079] In this embodiment, the imaging control unit 413 captures images of tomatoes multiple times using the multiple cameras 22 while the first bottom portion 12A makes one rotation. The sorting mechanism control unit 411 adjusts the rotation speed of the first bottom portion 12A (i.e., the rotation speed of the turntable 11), and the imaging control unit 413 adjusts the shutter timing of the multiple cameras 22, thereby obtaining any number of images for each inspection target. Note that the control unit 40 may obtain any number of images by capturing a moving image using the multiple cameras 22 and extracting multiple still images from the moving image.

[0080] The image captured by the camera 22 is transmitted to the control unit 40. The image captured by the camera 22 is transmitted to the control unit 40 together with an identifier of the inspection target (for example, the time of detection by the detection mechanism 21, the time of capturing the image, and information on the camera 22 that captured the image).

[0081] The image captured by the imaging unit 20 may be transmitted to the control unit 40 as a single piece of image data combining multiple images by adjusting the viewing angle and the shutter speed, or may be transmitted to the control unit 40 as multiple pieces of image data. When multiple pieces of image data are transmitted to the control unit 40, the control unit 40 associates the images with the identifiers of each individual tomato, manages them, and processes the images. In this embodiment, the imaging unit 20 captures 11 images while the tomato rotates once. The 11 images captured of the same tomato can also be synthesized into a single image, which can reduce the capacity of the second storage unit 43.

[0082] The inspection processing unit 414 of the control unit 40 acquires the images captured by the cameras 22 of the imaging unit 20, and performs various inspections using image processing and machine learning models according to a tomato inspection program (step S6). The inspection processing unit 414 identifies multiple images of a common subject based on the capture times of the multiple images captured by the multiple cameras 22 and the identification information of the cameras 22, and performs inspections of whether the tomato meets standards, and inspections of grades and levels. In this embodiment, tomatoes are ranked in three stages according to size, irregularity (line symmetry), and pre-shipment color.

[0083] It is preferable to use a pre-trained machine learning model for the inspection process when the fruit sorting device 100 is first used, and further learning may be performed using data from the inspection results performed by the fruit sorting device 100.

[0084] The inspection processing unit 414 associates the series of images of one tomato acquired from the imaging unit 20 and the inspection results based on the series of images with the identifier of the inspection target, and records them in the second storage unit 43. The inspection processing unit 414 also supplies the identifier of the inspection target and the inspection results to the sorting control unit 415. Note that, for example, when it is necessary to perform inspection using high-precision images, the inspection processing unit 414 may perform inspection by causing the display control unit 416 to display the images on the display unit 44.

[0085] The sorting control unit 415 obtains the identifier of the inspection object and the inspection result from the inspection processing unit 414, specifies the position of the inspection space 11R into which the tomato being the inspection object has been placed from the identifier of the inspection object, and when the tomato being the inspection object is above the storage units 30A, 30B, 30C in which the tomato being the inspection object is stored, it operates the support mechanisms (solenoids) 12D of the first bottom 12A and second bottom 12B on which the tomato is placed to release the support, and opens the opening of the inspection space 11R by the discharge mechanism 12. As a result, the sorting control unit 415 drops the inspection object into the specific storage unit 30A, 30B, 30C at the timing when the inspection space 11R into which the inspection object has been placed has moved to a predetermined position (step S7).

[0086] After the above steps S4-S7 are repeated to sequentially harvest and sort the tomatoes, the user collects the tomatoes stored in storage container 30 (step S8). Since storage container 30 stores sorted tomatoes in each of multiple storage sections 30A, 30B, and 30C, the user can use the tomatoes in each of storage sections 30A, 30B, and 30C to perform post-sorting packaging and shipping work.

[0087] Simultaneously with the above series of operations, the captured images and the inspection result data by the sorting device 100 are recorded and accumulated in the second storage unit 43 together with the location information. Therefore, after the harvesting and sorting operations are completed, the user can utilize the captured images and the inspection result data to improve the quality of the tomatoes (step S9). For example, the user can track the record that associates the crop performance with the detailed field address by using the recorded data of the harvesting location information, and can manage the crop performance, etc. by the location in the field. In other words, the user can understand the impact on the crops of the sunshine, water amount, etc. that vary in the field. In addition, the captured images and the inspection result data can link the harvesting time and color, and the sorting images and shipping destination evaluation, and can estimate the taste quality from the images. When the collection of tomatoes is completed, the user performs maintenance on the fruit sorting device 100 and ends the work (step S10).

[0088] Generally, when agricultural work is classified, there are tasks from cultivation to shipping, such as cultivation, harvesting, primary sorting, n-th sorting, final sorting, packing, and shipping. Each task involves a large workload, but for example, high-added-value fruit vegetables that can be given as gifts, such as peaches, cherries, melons, mangoes, and cherry tomatoes, require multiple sorting steps, which places a heavy burden on workers. High-added-value fruit vegetables are not only edible, but also decorative, so they require a beautiful appearance in addition to their taste. For this reason, sorting requires experienced workers to distinguish between taste and appearance and handle them carefully.

[0089] In contrast, the sorting device 100 of the present embodiment can perform harvesting of agricultural products and automatic sorting (sorting) at the same time. This makes it possible to omit preparation and setup work, such as transportation work and loading work into the device, which are necessary between harvesting and sorting, and to simplify the series of agricultural work itself.

[0090] In addition, the sorting device 100 of this embodiment can perform inspection using image processing and machine learning models by using images of the entire circumference of the fruit or vegetable to be inspected, making it possible to automatically sort without relying on the operator's visual inspection. In addition, by using the sorting device 100, the operator can automatically sort multiple agricultural products by simply putting the inspection target into the inspection space 11R.

[0091] Furthermore, as described above, the sorting device 100 has a multi-layer structure in the vertical direction (height direction) in the usage environment. That is, the sorting device 100 has a crop sorting mechanism at a high position, a container for storing the crops at an intermediate position, and a moving mechanism at a low position, and also has a control unit 40 independent of these layer structures. By making the sorting device 100 have such a multi-layer structure, it is possible to reduce the area. In other words, by combining judgment at a high position with storing the crops at an intermediate position, the crops can be sorted by taking advantage of the height difference, and the sorting device 100 can be made more compact.

[0092] In addition, according to the sorting device 100 of this embodiment, it is possible to achieve a compact size, which allows the device to be made lighter, making it easy to relocate and move when used in a small area environment. Furthermore, the sorting device 100 of this embodiment can be realized with a simple structure without adopting a large-scale structure such as a conveyor, and can be easily maintained, can be resistant to agricultural environments such as mud, dust, and water, can be low cost, and can be space-saving. That is, because the sorting device 100 of this embodiment is small, lightweight, and has a simple structure, it can be taken to a washing area for washing, and parts can be removed for washing, and spare parts can be easily prepared (stored), replaced, etc.

[0093] As described above, the sorting device 100 of this embodiment allows workers to work freely in a small area without restricting the place where they can work, and allows them to sort fruits at the same time as collecting them. In addition, the sorting device 100 is small and has a simple structure, so workers can easily operate the sorting device 100 even when sorting a small amount of produce. In other words, according to this embodiment, a fruit sorting device can be provided that reduces the burden on producers in harvesting and sorting fruit vegetables.

[0094] Next, a description will be given of a modified example of the fruit sorting device 100 of this embodiment. In the following description, the same components as those in the above-described embodiment will be denoted by the same reference numerals, and the description thereof will be omitted in some cases.

[0095] FIG. 12 is a diagram for explaining a first modified example of the fruit sorting device according to one embodiment. The fruit sorting device 100 of this modified example differs from the above-described embodiment in the configuration of the turntable 11, but has other configurations in common with the above-described embodiment.

[0096] That is, in the above-described embodiment, the first bottom 12A rotates around the center of the disk as an axis by the unevenness of the first bottom 12A engaging with the unevenness of the uneven portion 20A provided on the housing of the imaging unit 20, but in this modified example, the unevenness of the first bottom 12A rotates on the rotation center side of the turntable 11 by engaging with unevenness (teeth) 14A arranged along a circular arc circumscribing multiple first bottoms 12A.

[0097] In this modified example, the turntable 11 is provided with a disk 14 having mountain-shaped projections (teeth) 14A on its outer periphery. The disk 14 is fixed and does not rotate even when the multiple inspection spaces 11R of the turntable 11 are rotating. In this case, the unevenness 14A of the disk 14 may be arranged along a circular arc circumscribing the first bottom portion 12A at least in the inspection area A3 so as to fit with the unevenness of the outer periphery of the first bottom portion 12A on the rotation center side of the turntable 11, and may not be arranged on the entire outer periphery of the disk 14. The height of the unevenness 14A of the disk 14 may be high enough to fit with the unevenness of the first bottom portion 12A. In other words, the unevenness 14A may be provided on at least a part of the width in the height direction of the turntable 11. In this modification, a 20 mm wide uneven structure is provided near the bottom of the outer periphery of the disk 14, which is approximately cylindrical in shape and has a diameter of about 500 mm and a height of 120 mm.

[0098] The projections and recesses 14A of the disk 14 may be arranged along an arc circumscribing the first bottom portions 12A over the entire circumference of the disk 14. The disk 14 may be arranged so that the center of the disk 14 and the center of rotation of the turntable 11 including the inspection spaces 11R are substantially aligned, and the control unit 20 may rotate the disk 14 in the direction opposite to the direction in which the inspection spaces 11R rotate. The control unit 20 can adjust the rotation speed of the disk 14 to adjust the rotation speed of the first bottom portion 12A.

[0099] When the turntable 11 rotates, the unevenness of the first bottom portion 12A fits into the unevenness 14A of the disk 14 in the inspection area A3, and the first bottom portion 12A rotates. This makes it possible for the camera 22 of the imaging unit 20 to capture an image of the entire circumference of the inspection object placed on the first bottom portion 12A.

[0100] According to the fruit sorting device 100 of this modified example, it is possible to obtain the same effects as those of the above-described embodiment, and it is possible to provide a fruit sorting device that reduces the burden on producers in harvesting and sorting fruit vegetables.

[0101] 13 and 14 are diagrams for explaining a second modified example of the fruit sorting device according to one embodiment. In the fruit sorting device 200 of this modified example, the configurations of the turntable 11 and the imaging unit 20 are different from those of the above-mentioned embodiment, but the other configurations are the same as those of the above-mentioned embodiment.

[0102] In the fruit sorting device 200 of this modified example, the turntable 11 includes a rotation support portion 15 and a plurality of inspection target placement portions 16 . The rotation support part 15 is substantially cylindrical in shape with substantially circular upper and bottom surfaces and a side surface connecting the upper and bottom surfaces. The rotation support part 15 is driven by, for example, a drive mechanism (motor) and can rotate about a straight line passing through the center of the upper and bottom surfaces as a rotation axis.

[0103] Each of the multiple test object placement sections 16 is equipped with an ejection mechanism including a support section 16B that extends radially outward from the side of the rotation support section 15, and a case 16C connected to the support section 16B. The support portion 16B of the inspection object placement portion 16 is a substantially cylindrical rotating shaft that rotates about an axis extending radially, and the rotation operation is controlled by the sorting control portion 415 of the control portion 40.

[0104] The case 16C has a side wall formed in a frame shape that surrounds the inspection target, and a support member 16A that connects the opposing side walls. In this modification, the opposing side walls of the case 16C are connected by a plurality of support members 16A arranged at a plurality of locations. The size of the side walls of the case 16C and the support member 16A can be appropriately set according to the shape and size of the fruit vegetable to be inspected. The case 16C is fixed to the support part 16B so that the support member 16A is approximately parallel to the horizontal direction in the usage environment of the fruit sorting device 200. In this modification, it is assumed that a long fruit vegetable such as a cucumber is placed on the support member 16A of the case 16C. That is, in this modification, the space surrounded by the side walls of the case 16C corresponds to the inspection space.

[0105] The imaging unit 20 includes a plurality of cameras 22, a light source LT, and a detection mechanism 21, similar to the above-described embodiment. The multiple cameras 22 are disposed on the upper and lower sides of the case 16C in the vertical direction. The camera 22 on the upper side of the case 16C is housed in a housing that connects the upper surface of the rotation support unit 15 and a housing that houses the control unit 40, and takes an image of the inspection object placed on the support member 16A from above. The camera 22 on the lower side of the case 16C is housed in a housing that connects the bottom surface of the rotation support unit 15 and a housing that houses the control unit 40, and takes an image of the inspection object placed on the support member 16A from below.

[0106] Since the camera 22 arranged on the lower side photographs the inspection object through the multiple support members 16A, it is preferable that the support members 16A have the strength necessary to support the inspection object and that the area blocking the inspection object is made as small as possible. In addition, the side walls of the case 16C and the support members 16A may be made of a transparent material. The material and color tone of the turntable 11 may be the same as those of the above-mentioned embodiment.

[0107] At least one camera 22 and at least one light source LT may be disposed on each of one side and the other side of the case 16C. The detection mechanism 21 may be disposed on the upper side or the lower side of the case 16C. By photographing the inspection object with the cameras 22 disposed at multiple locations on the upper side and multiple locations on the lower side, it is possible to capture an image of substantially the entire circumference of the inspection object.

[0108] The timing of photographing by the multiple cameras 22 is controlled by the photographing control unit 413. The photographing control unit 413 may shift the photographing timing by the camera 22 on the upper side of the case 16C and the light emission timing of the light source LT from the photographing timing by the camera 22 on the lower side of the case 16C and the light emission timing of the light source LT, so that the inspection object is appropriately illuminated.

[0109] Data on images captured by the multiple cameras 22 is supplied to the inspection processing unit 414 and used for the inspection processing of the fruit and vegetables being inspected. Depending on the inspection results of the inspection processing unit 414, the sorting control unit 415 rotates the support unit 16B over the storage unit 30A, 30B, 30C corresponding to the grade or rank of the corresponding inspection object, causing the inspection object to drop and be discharged outside the turntable 11. That is, in this modified example, the support unit 16B and the rotation mechanism of the support unit 16B correspond to the discharge mechanism of the above-mentioned embodiment.

[0110] According to the sorting device 200 of this modified example, it is possible to capture an almost full-circumference image of a long, approximately cylindrical agricultural product stably placed on the sorting device, and to perform an inspection process using the captured image. In other words, according to this modified example, it is possible to obtain the same effect as the above-mentioned embodiment, and to provide a sorting device that reduces the burden on producers in harvesting and sorting fruits and vegetables.

[0111] The present invention is not limited to the above-described embodiment as it is, and in the implementation stage, the components can be modified and embodied without departing from the gist of the invention. In addition, various inventions can be formed by appropriately combining the multiple components disclosed in the above-described embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, components from different embodiments may be appropriately combined. For example, in the above-described embodiment and modified examples, a camera 22 for capturing an image of the inspection target may be provided for each of the multiple inspection spaces. If images of the inspection target can be captured in all of the inspection spaces, it becomes unnecessary to guide the inspection spaces to the inspection area, and the drive mechanism for the turntable 11 can be omitted. Even in this case, the same effects as those of the above-described embodiment can be obtained. [Explanation of symbols]

[0112] 10...Sorting section, 11...Turntable, 11D...Bottom surface, 11R...Inspection space, 11S...Side, 11U...Top surface, 12...Ejection mechanism, 12A...First bottom, 12B...Second bottom, 12C...Rotating section, 12D...Support mechanism, 12E...Support member, 13...Holding section, 14...Disc, 14A...Irregularities, 15...Rotation support section, 16...Inspection object placement section, 16A...Support member, 16B...Support section, 16C...Case, 20...Imaging section, 20A...Irregularities, 21...Detector mechanism, 22...camera, 30...storage container, 30A-30C...storage section, 40...control section, 41...processor, 411...sorting mechanism control section, 412...inspection object detection section, 413...imaging control section, 414...inspection processing section, 415...sorting control section, 416...display control section, 42...first memory section, 43...second memory section, 44...display section, 45...input section, 46...communication section, 50...position information acquisition section, 100, 200...sorting device, A1-A2...storage area, A3...inspection area

Claims

1. A sorting unit including a main body including a plurality of test spaces into which test objects are placed, and a discharge mechanism for discharging the test objects placed in the test spaces to the outside of the main body; a storage section in which the test object discharged from the test space is stored; an imaging unit that captures an image of the inspection object placed in the inspection space; A control unit inspects the inspection object using an image of the inspection object, and ejects the inspection object from the inspection space using the ejection mechanism according to the inspection results, and stores it in the storage unit.

2. The fruit sorting device according to claim 1 , wherein the discharge mechanism has a mechanism for discharging the inspection object to the outside of the main body by dropping the inspection object from the inspection space.

3. The storage unit is disposed below the sorting unit, The sorting device according to claim 1 , further comprising a moving mechanism arranged below the storage section for moving the sorting section and the storage section.

4. the body having generally circular top and bottom surfaces and a side surface extending between the top and bottom surfaces; 2. The sorting device according to claim 1, wherein the inspection space is a space surrounded by a recess in the side surface recessed toward the center of the top surface and the bottom surface, and the discharge mechanism covering a lower opening of the recess.

5. a driving mechanism for sequentially guiding the plurality of testing spaces to a testing region; The fruit sorting device according to claim 4 , wherein the drive mechanism rotates the main body about an axis that is a straight line passing through the centers of the top surface and the bottom surface.

6. The sorting device of claim 4, wherein the discharge mechanism comprises a bottom covering the lower opening of the inspection space, a rotating part connecting the bottom and the main body so that the opening can be opened and closed, and a support mechanism supporting and releasing the bottom.

7. the discharge mechanism includes a bottom portion that covers a lower opening of the testing space, The bottom portion includes a first bottom portion having a disk shape with an uneven outer periphery, and a second bottom portion that rotatably supports the first bottom portion at a center of the first bottom portion, The sorting device as described in claim 5, further comprising a plurality of projections and recesses arranged along an arc tangent to the first bottom portion, the projections and recesses engaging with the projections and recesses of the first bottom portion when the inspection space passes through the inspection area.

8. The sorting device according to claim 7, wherein the discharge mechanism is disposed at a position where the first bottom portion and the second bottom portion are in contact with each other, and is provided with a detection mechanism that detects that the inspection object is placed on the bottom portion.

9. The sorting device according to claim 7 , wherein the uneven portion is arranged along an arc inscribed by a plurality of the first bottom portions at least in the inspection area.

10. The fruit sorting device according to claim 7 , wherein the uneven portion is arranged along a circular arc circumscribing a plurality of the first bottom portions at least in the inspection area.

11. The imaging unit includes a plurality of cameras disposed adjacent to an outer periphery of the main body in the inspection area and aligned in a rotation direction of the main body, The fruit sorting device according to claim 5 , wherein the control unit controls the timing of photographing by the plurality of cameras.

12. the main body includes a rotation support part, the ejection mechanism including a plurality of support parts extending radially from the rotation support part, and a case including the inspection space surrounded by a frame-shaped side wall fixed to the support part, The case includes a frame-shaped side wall and a support member connecting the opposing side walls, The sorting device according to claim 1 , wherein the control unit controls the discharge mechanism to rotate the support part about an axis extending from the rotation support part, thereby discharging the inspection object to the outside of the main body.

13. The imaging unit includes a plurality of cameras disposed above and below the inspection space, The fruit sorting device according to claim 12 , wherein the control unit controls the timing of photographing by the plurality of cameras.

14. The fruit sorting device according to claim 1 , wherein the control unit includes a storage unit that stores an image of the inspection object and an inspection result of the inspection object in association with each other.

15. The device further includes a location information acquisition unit that acquires location information from a tag installed in the usage environment, The fruit sorting device according to claim 14 , wherein the control unit records the image of the inspection object, the inspection result of the inspection object, and the position information in the storage unit in association with each other.

Images