Egg Detection Device

Abstract

[Problem] To provide an egg candling apparatus with which it is possible to more suitably inspect an egg being inspected. [Solution] Provided is an egg candling apparatus having an illumination device 61 that irradiates an egg being inspected with illumination light, an imaging device 62 that images the egg being inspected that is irradiated by the illumination device 61, an assessment device 22 that assesses the state of the egg being inspected on the basis of a captured image of the egg being inspected that is imaged by the imaging device 62, and a reflector 63 that is installed on an optical path from the illumination device 61 to the egg being inspected or on an optical path from the egg being inspected to the imaging device 62, the illumination device 61 and imaging device 62 being disposed in parallel.

Description

Technical Field

[0001] The present invention relates to an egg inspection device.

Background Art

[0002] Conventionally, many patent applications have been filed regarding inspection methods for edible eggs (unfertilized eggs). However, these methods detect the presence or absence of bleeding or foreign substances based on the absorbance of light of a specific wavelength inside the egg, or detect cracks in the eggshell based on the density distribution of the transmitted light image, and have not been able to detect the distribution state or growth state of blood vessels in fertilized eggs. The applicant disclosed in Patent Document 1 an egg inspection device that irradiates light on a fertilized egg in vaccine production using chicken eggs, captures an image of the interior of the egg in a translucent state, extracts an inspection area from the captured image, measures blood vessel information within the inspection area, and automatically determines normal eggs based on the total blood vessel length of blood vessels with a certain thickness or more. Also disclosed is a technique for highly accurately identifying the causes of defective eggs, including unfertilized eggs, by using an image of an egg as teacher data and performing machine learning by deep learning (Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, the inspection target eggs were automatically conveyed to a predetermined inspection position, the inspection target eggs were imaged at the predetermined inspection position, and the state of the inspection target eggs was determined based on the captured image. However, in recent years, the needs for high-quality and mass production in vaccine production have increased rapidly, and there is a demand for space saving of the device, high processing speed, improvement in the determination accuracy of inspection target eggs, and improvement in the versatility and expandability of the device.

[0005] The present invention aims to provide an egg candling device that can more appropriately inspect eggs being tested. [Means for solving the problem]

[0006] An egg inspection device according to a first aspect of the present invention includes an illumination device that irradiates an egg to be inspected with illumination light, an imaging device that images the egg to be inspected irradiated by the illumination device, a determination device that determines the state of the egg to be inspected based on the image of the egg to be inspected captured by the imaging device, and a reflector installed in the optical path from the illumination device to the egg to be inspected, or in the optical path from the egg to be inspected to the imaging device, wherein the illumination device and the imaging device are arranged in parallel. In the egg inspection apparatus described above, the illumination device irradiates the egg to be inspected with illumination light from above, the imaging device takes an image of the egg to be inspected irradiated by the illumination device from above, and the reflector is installed in the optical path from the egg to be inspected to the imaging device, and reflects the image of the egg to be inspected irradiated with illumination light by the illumination device into the imaging device, and the illumination device and the imaging device can be configured to be arranged in parallel above the egg to be inspected. In the egg inspection apparatus described above, the illumination device is arranged to irradiate light in the direction of a first optical axis, the reflector is arranged to reflect the light beam emitted from the egg to be inspected, which is emitted from a second optical axis direction different from the first optical axis direction, in the direction of a third optical axis direction substantially parallel to the first optical axis, and the imaging device is arranged to receive the light beam incident from the third optical axis direction that has been reflected by the reflector. The egg inspection device described above may be further configured to include a support mechanism that supports the eggs to be inspected, which are placed in a tray, and moves the eggs to be inspected to an inspection position where the optical axis of the light in the first optical axis direction irradiated from the illumination device intersects with the optical axis of the light in the second optical axis direction reflected by the reflector. In the egg inspection device described above, the support mechanism can be configured to include a support stand for supporting the egg to be inspected, a shaft connected to the lower part of the support stand, a hole into which the shaft is inserted and which allows the shaft to move in the vertical direction, and a cover that covers the gap between the shaft and the hole. In the egg inspection device described above, the support mechanism has a support base for supporting the egg to be inspected, which has an inner surface corresponding to the shape of the egg to be inspected, and the support base can be configured such that the difference between the maximum inner diameter and the maximum outer diameter is 5 mm or less. In the egg inspection device described above, the support mechanism may be configured to have a position adjustment mechanism for adjusting the position of the support base in a two-dimensional direction. In the egg inspection device described above, the imaging device is configured to adjust its field of view and / or imaging distance so as to simultaneously image two eggs to be inspected, and the determination device is configured to determine the state of each of the two eggs to be inspected based on a single image captured by the imaging device. In the egg inspection device described above, the determination device has a calibration function and can be configured to automatically adjust the imaging conditions or image adjustment conditions based on the diagnostic results obtained by diagnosing the image of the diagnostic workpiece acquired from the imaging device. In the egg inspection device described above, the lighting device can be configured to have an LED lamp that emits white light with a total luminous flux of 600 lm or more. An egg inspection device according to a second aspect of the present invention comprises an inspection unit for inspecting the condition of eggs to be inspected, a transport unit for transporting a tray containing eggs to be inspected to the inspection unit, and a control unit for controlling the operation of the inspection unit and the transport unit, wherein the transport unit has a pair of arms each having a pair of claws, and the pair of claws of the pair of arms grips the tray at four points and transports it to the inspection unit. In the egg inspection device described above, the tray is capable of accommodating multiple storage compartments, each containing an egg to be inspected. The inspection unit can be configured to image the tray transported by the transport unit before inspecting the condition of the eggs to be inspected, and to identify storage compartments in the tray that do not contain any eggs to be inspected based on the captured image. The egg inspection device described above may further include a rejection mechanism for removing eggs that have been determined to be defective after the inspection unit has inspected the condition of the eggs to be inspected. The rejection mechanism may be configured to include an adsorption member, the same number as or greater than the number of eggs that can be accommodated in the tray, which comes into contact with the eggs to be inspected and adsorbs any eggs determined to be defective, and a single drive unit that simultaneously drives the plurality of adsorption members to come into contact with each of the eggs to be inspected. In the egg inspection device described above, the unit having the inspection unit and the transport unit can be configured to be freely added. An egg inspection device according to a third aspect of the present invention comprises: an illumination device that irradiates illumination light onto an egg to be inspected; an imaging device that images the egg to be inspected irradiated by the illumination device; and a determination device that determines the state of the egg to be inspected based on the image of the egg to be inspected captured by the imaging device, wherein the imaging device outputs an RGB color system image to the determination device, the determination device converts the RGB color system image acquired from the imaging device into an HSV color system image, and determines the state of the egg to be inspected based on the hue in the converted HSV color system image. In the egg inspection device described above, the eggs to be inspected can be configured to be fertilized eggs. [Effects of the Invention]

[0007] According to the present invention, eggs to be tested can be examined more appropriately. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view showing the egg inspection device according to this embodiment. [Figure 2]It is a perspective view showing a transport unit and an inspection unit according to this embodiment. [Figure 3] It is a perspective view showing a dedicated tray according to this embodiment. [Figure 4] It is a perspective view for explaining an arm of a transport unit according to this embodiment. [Figure 5] It is a perspective view showing a pre-inspection unit according to this embodiment. [Figure 6] It is a perspective view showing a main inspection unit according to this embodiment. [Figure 7] It is a schematic diagram for explaining a main inspection unit according to this embodiment. [Figure 8] It is a perspective view showing a reflector according to this embodiment. [Figure 9] (A) is a perspective view showing the periphery of a support base according to this embodiment, (B) is a perspective view showing the support base according to this embodiment, and (C) is a perspective view showing a conventional support base. [Figure 10] It is an enlarged perspective view of the periphery of a shaft and a cover. [Figure 11] It is a perspective view showing a position adjustment mechanism according to this embodiment. [Figure 12] It is a perspective view showing an exclusion mechanism according to this embodiment. [Figure 13] It is a perspective view showing a post-inspection unit according to this embodiment. [Figure 14] It is a perspective view for explaining an opening / closing door.

Mode for Carrying Out the Invention

[0009] Embodiments of the present invention will be described below with reference to the figures. The present invention relates to an egg inspection device for inspecting chicken eggs (fertilized eggs) used in the manufacture of vaccines and the like. The eggs to be inspected in the present invention are fertilized eggs of chickens, etc., and the color of the egg surface can be anything, such as white or brown. The type of virus such as influenza, the type of other injected substances such as drugs, and whether or not such injections have occurred are irrelevant, but the technical significance of the present invention is great when it is possible to non-destructively inspect the viability and developmental status of fertilized eggs in which the blood vessels of the fetus are widely distributed inside the egg as it grows.

[0010] Figure 1 is a perspective view showing the egg inspection device 1 according to this embodiment. Figure 2 is a perspective view showing the transport unit 3 and the inspection unit 4 of the egg inspection device 1 according to this embodiment. As shown in Figures 1 and 2, the egg inspection device 1 according to this embodiment has a control unit 2, a transport unit 3, and an inspection unit 4. In this embodiment, with the eggs to be inspected contained in the dedicated tray 8 shown in Figure 3, the transport unit 3 transports the eggs to be inspected to the inspection unit 4, and the condition of the eggs to be inspected (whether they are defective eggs or normal eggs) is determined. Figure 3 is a perspective view showing the dedicated tray 8 of this embodiment. As shown in Figure 3, the dedicated tray 8 has a storage section 81 for containing the eggs to be inspected. In this embodiment, as shown in Figure 3, a dedicated tray 8 capable of containing 6 x 6 eggs to be inspected is used as an example, but the number of eggs to be inspected that can be contained in the dedicated tray 8 is not limited to this, and for example, a configuration that can hold 6 x 7 eggs to be inspected is also possible. Furthermore, the storage section 81 has a hole 82 with a diameter smaller than the diameter of the egg to be inspected. By placing the egg to be inspected into the hole 82, the egg catches on the edge of the hole 82, holding and storing the egg.

[0011] The control unit 2 is a computing device such as a computer, and includes a storage device 21 that stores a program for performing the egg inspection process according to this embodiment, and a computing device 22 that executes the program stored in the storage device 21 and controls the operation of the transport unit 3 and the inspection unit 4 to perform the egg inspection process. The computing device 22 determines the condition of the egg to be inspected (whether it is a normal egg or a defective egg) based on the image of the egg to be inspected captured by the inspection unit 4. The method for determining the condition of the egg to be inspected by the computing device 22 can be a known method, for example, by detecting characteristic points such as the overall color, the condition near the boundary between the air sac and the seroallantoic cavity, the condition of blood vessels, the presence and shape of the air sac, and the presence or absence of cracks from the image of the egg to be inspected, it is possible to determine whether it is a normal egg or a defective egg, and if it is a defective egg, the cause of the defect such as an unfertilized egg, an aborted egg, an egg with a defective air sac, an upside-down egg, an underdeveloped egg, or an egg with cracks can also be identified.

[0012] Furthermore, while methods for inspecting the condition of eggs based on color images of the eggs to be inspected have been known, there were cases where eggs with sufficient blood vessels that had become intensely red due to bleeding, or eggs with an intensely yellow color due to a weakened fetus, could not be detected as defective eggs. In contrast, the computing device 22 according to this embodiment converts the captured image of the eggs to be inspected, output in the RGB color system, into the HSV color system, and determines the overall color of the eggs to be inspected based on the H (hue) value of the HSV component, thereby enabling the detection of eggs with an intensely red color due to bleeding, or eggs with an intensely yellow color due to a weakened fetus, as defective eggs.

[0013] Furthermore, in this embodiment, the calculation device 22 is also capable of appropriately identifying the following defective eggs, which were previously difficult to distinguish. Specifically, the calculation device 22 can distinguish between normal eggs and dead eggs with thick blood vessels (for example, blood vessels with a width of 1 mm or more) based on the color information (RGB color system) of the blood vessels of the eggs being examined in the color image, thereby enabling the detection of dead eggs with thick blood vessels as defective eggs. In addition, the calculation device 22 can detect eggs with abnormal air sacs as defective eggs based on the shape of the air sac and the clarity of the air sac outline of the eggs being examined in the color image. Moreover, the calculation device 22 can also detect bleeding eggs with blood attached to the antigen inoculation hole as defective eggs by detecting red spots on the air sac based on the color information (RGB color system) of the air sacs of the eggs being examined in the color image.

[0014] Furthermore, in this embodiment, the control unit 2 can also be configured to have a diagnostic function for captured images. For example, the control unit 2 can be configured to diagnose whether the brightness, contrast, etc., of the captured image of the diagnostic workpiece captured by the imaging device 62 are suitable for determining the condition of the egg to be inspected, and output a diagnostic result. In this case, during initial operation or maintenance, the imaging conditions (for example, the color balance of the imaging device 62 and the illumination level of the illumination device 61) and image adjustment conditions (for example, the color balance and brightness of the captured image) can be adjusted to conditions suitable for inspecting the egg to be inspected, based on the diagnostic result. In addition, the control unit 2 can also be configured to have a calibration function that automatically calibrates the imaging conditions and corrects the captured image based on the diagnostic result.

[0015] Next, the transport unit 3 will be described. Based on the control of the control unit 2, the transport unit 3 transports multiple eggs to be inspected, contained in a dedicated tray 8, to the inspection unit 4 along with the dedicated tray 8. The transport unit 3 also transports the eggs to be inspected in the inspection unit 4, along with the dedicated tray 8, to the rear, based on the control of the control unit 2. As shown in Figure 4, the transport unit 3 has a pair of arms 31 for transporting the eggs to be inspected along with the dedicated tray 8. Figure 4 is a perspective view showing the arms 31.

[0016] Furthermore, as shown in Figure 4, each pair of arms 31 has a pair of claw portions 32. Here, on each arm 31, the pair of claw portions 32 are mounted at an interval corresponding to the length of one side of the dedicated tray 8. The pair of arms 31 also has a cylinder 33, which allows the pair of arms 31 to slide in the direction in which the dedicated tray 8 is placed. This makes it possible to hold the dedicated tray 8 from both sides with the four claw portions 32 of the pair of arms 31, enabling stable transport of the dedicated tray 8. In addition, the pair of arms 31 has a plunger (not shown) which can absorb variations in the dedicated tray 8.

[0017] Next, the inspection unit 4 will be described. The inspection unit 4 is a device for inspecting eggs under the control of the control unit 2, and has a pre-inspection unit 5, a main inspection unit 6, and a post-inspection unit 7. Eggs to be inspected, transported to the inspection unit 4 by the transport unit 3, are inspected in the order of pre-inspection unit 5, main inspection unit 6, and post-inspection unit 7.

[0018] Figure 5 shows a perspective view of the pre-inspection unit 5 according to this embodiment. The pre-inspection unit 5 determines whether or not there are any storage compartments 81 in the dedicated tray 8 that do not contain eggs to be inspected. Specifically, as shown in Figure 5, the pre-inspection unit 5 has an imaging device 51 and an illumination device 52. The illumination device 52 irradiates the dedicated tray 8 with light, and the imaging device 51 images the dedicated tray 8 from above before it is transported to the inspection unit 6. The captured image data is then transmitted to the arithmetic unit 22 of the control unit 2. The arithmetic unit 22 then analyzes the image of the dedicated tray 8 to detect storage compartments 81 in the dedicated tray 8 that do not contain eggs to be inspected, and stores the detection result in the storage device 21. The detection result of the pre-inspection unit 5 can be used by the control unit 2 as information indicating the presence or absence of eggs to be inspected when determining the condition of the eggs to be inspected, thereby making it possible to accurately determine the number of eggs to be inspected and the number of defective eggs. In other words, conventionally, even if there were empty storage compartments 81 in the dedicated tray 8, the inspection was carried out assuming that there were eggs to be inspected, and these were processed as defective eggs. In contrast, in this embodiment, by knowing the empty spaces in the dedicated tray 8, the number of eggs to be inspected and the number of defective eggs can be accurately determined. In the example described above, the calculation unit 22 was shown as an example of a configuration in which the arithmetic unit 22 detects the empty spaces in the dedicated tray 8 based on the captured image, but for example, a length measuring camera could be used as the imaging device 51, and the imaging device 51 could be used to detect the empty spaces in the dedicated tray 8.

[0019] As shown in Figures 6 and 7, the inspection unit 6 includes an illumination device 61, an imaging device 62, a reflector 63, a support mechanism 64, a darkroom 65, and a motor 67. Here, Figure 6 is a perspective view showing the inspection unit 6 according to this embodiment, and Figure 7 is a schematic diagram for explaining the inspection unit 6 according to this embodiment. For the sake of explanation, the support mechanism 64, darkroom 65, and motor 67 are omitted from Figure 6.

[0020] As shown in Figures 6 and 7, the lighting device 61 includes a rectangular LED lamp 611, a cylindrical member 612, and a heat sink 613. Furthermore, as shown in Figure 7, the lighting device 61 is positioned above a support mechanism 64 for supporting the eggs to be inspected, and irradiates light onto the eggs to be inspected, which have been raised to the inspection position by the support mechanism 64. In Figure 7, the optical axis of the light emitted from the LED lamp 611 is shown as L1.

[0021] The LED lamp 611 is not particularly limited, but it is preferable that it emits white light to minimize the influence of camera performance and sensitivity and enable high-precision inspection of the eggs being inspected with many cameras, and it is preferable that it emits light with a total luminous flux of 600 lm or more. Similarly, the LED lamp 611 is preferably configured as follows to enable high-precision inspection of the eggs being inspected. That is, it is preferable to use a white LED lamp as the LED lamp 611 that emits light of 600 lm or more, for example, light of 600 to 1000 lm depending on the current value. It is also preferable that the LED lamp 611 irradiates the eggs being inspected with light of high illuminance, for example, an LED lamp that can irradiate light with an illuminance of 400,000 lx or more to the eggs being inspected when the cylindrical member 612 is in contact with the eggs being inspected can be used. In the embodiment (prototype) of the lighting device 61, the total luminous flux was 794 lm and the illuminance was 493,014 lx at a current of 500 mA.

[0022] Furthermore, in this embodiment, the lighting device 61 has the same number of cylindrical members 612 as the number of eggs that can be inspected simultaneously. The cylindrical members 612 are members that come into contact with the egg to be inspected when the egg is raised to a predetermined inspection position during imaging of the egg to be inspected, and concentrate the light emitted from the LED lamp 611 onto the egg to be inspected. The cylindrical members 612 are made of a soft, elastic material so as to deform when they come into contact with eggs of different sizes to be inspected, and they also have a bellows structure in the longitudinal direction. The lighting device 61 also has a heat sink 613 for dissipating the heat generated by the LED lamp 611.

[0023] A reflector 63 is installed horizontally (to the side) of the egg to be inspected at the inspection position where imaging of the egg to be inspected takes place. Here, Figure 8 is a perspective view showing the reflector 63 according to this embodiment. In this embodiment, the reflector 63 is installed at an inclination angle of approximately 45° so as to reflect incident light from the horizontal direction in the vertical direction, and as shown in Figure 7 or Figure 8, it reflects light from the egg to be inspected located at the lateral inspection position upward. An imaging device 62 is positioned above the reflector 63, and the light reflected by the reflector 63 is received by the imaging device 62. In Figures 7 and 8, the optical axis of the light emitted from the egg to be inspected and incident on the reflector 63 is shown as L2, and the optical axis of the light reflected by the reflector 63 and incident on the imaging device 62 is shown as L3. Furthermore, the inclination angle of the reflector 63 is not limited to 45°, but any angle that can reflect the light emitted from the egg to be inspected and incident on the imaging device 62 is acceptable. Furthermore, the reflector 63 is preferably made of a mirror or mirror-finished stainless steel, and if it is made of mirror-finished stainless steel, it is preferable to use one that has been polished to a mirror finish with a buff of 800 grit or higher.

[0024] The imaging device 62 has a color CMOS camera that images the egg to be inspected and outputs color image data of the imaged egg. The imaging device 62 is located above the reflector 63 and receives light emitted from the egg to be inspected at the inspection position and reflected by the reflector 63, thereby capturing an image of the egg to be inspected. The color image data of the egg to be inspected captured by the imaging device 62 is transmitted to the arithmetic unit 22 of the control unit 2. Note that the camera in the imaging device 62 is not limited to a color CMOS camera; for example, a color CCD camera can also be used.

[0025] In this embodiment, the imaging device 62 is configured to simultaneously image two eggs to be inspected. For example, the imaging device 62 adjusts its field of view and the imaging distance to the eggs to be inspected (inspection position) so that both eggs to be inspected are within the imaging range. In this embodiment, as shown in Figure 3, a dedicated tray 8 capable of holding 6 x 6 eggs to be inspected is used as an example. In this case, as shown in Figure 6, the inspection unit 6 is equipped with three imaging devices 62, and these three imaging devices 62 simultaneously image two eggs each, for a total of six eggs to be inspected. As a result, the number of imaging devices 62 can be reduced, thereby lowering costs, while the processing capacity for inspecting eggs can be increased.

[0026] Furthermore, as shown in Figures 6 and 7, the illumination device 61 and the imaging device 62 are arranged in parallel above the reflector 63 and the support mechanism 64 such that the optical axis L1 of the light emitted from the illumination device 61 and the optical axis L3 of the light incident on the imaging device 62 are substantially parallel. In this invention, "parallel" does not mean that the illumination device 61 and the imaging device 62 are arranged on the same side with respect to the inspection position of the egg to be inspected, but is not limited to a configuration in which the illumination device 61 and the imaging device 62 are adjacent to each other, but also includes a configuration in which the illumination device 61 and the imaging device 62 are arranged at a certain distance apart. Thus, in this embodiment, by providing the reflector 63 to the side of the inspection position of the egg to be inspected and reflecting the light emitted from the egg to be inspected with the reflector 63, it becomes possible to install the illumination device 61 and the imaging device 62 in parallel and integrally, thereby saving space for the entire egg inspection device 1.

[0027] Furthermore, the inspection unit 6 has a support mechanism 64 that supports the egg to be inspected and moves the egg to a predetermined inspection position when the egg to be inspected is being imaged. As shown in Figure 7, the support mechanism 64 has a support base 641, a shaft 642, and a cover 643. Here, Figure 9(A) is a perspective view of the area around the support base 641 according to this embodiment, Figure 9(B) is a perspective view of the support base 641 according to this embodiment, and Figure 9(C) is a perspective view showing a conventional support base. As shown in Figure 9(B), the support base 641 has a hemispherical inner surface 645 that corresponds to the shape of the egg to be inspected, and the egg to be inspected is supported on the inner surface 645. Then, as shown in Figure 7, with the support base 641 supporting the egg to be inspected, the shaft 642 is raised by the motor 67, thereby moving the egg to be inspected supported by the support base 641 to the inspection position in the darkroom 65. As a result, the eggs to be inspected are illuminated by the illumination device 61 and imaged by the imaging device 62 within the darkroom 65.

[0028] In this embodiment, the eggs to be inspected are placed in the storage section 81 of the dedicated tray 8. The dedicated tray 8 containing the eggs to be inspected is transported by the transport section 3 to the inspection section 6 and placed on the transport table 34 of the inspection section 6. As shown in Figure 9(A), a hole 341 is formed in the transport table 34 of the inspection section 6, and a support base 641 is housed within this hole 341. The control unit 2 causes the transport section 3 to adjust the position of the dedicated tray 8 so that the support base 641 is positioned directly below the eggs to be inspected. Then, the control unit 2 operates the motor 67 to extend the shaft 642 housed in the hole 341 upward. As a result, the support base 641 passes through the hole 82 of the dedicated tray 8, lifts and supports the eggs to be inspected from below, and raises the eggs to a predetermined inspection position in the darkroom 65. Furthermore, in this embodiment, a dedicated tray 8 capable of accommodating 6 x 6 eggs to be tested is used, and six support bases 641 are installed so as to be able to simultaneously support one row (6 eggs to be tested) of eggs to be tested that are contained in the dedicated tray 8.

[0029] Furthermore, in this embodiment, the support base 641 is formed with a smaller maximum outer diameter compared to the conventional design, so that eggs can pass through the holes 82 of the dedicated tray 8 even when the diameter of the holes 82 is smaller. That is, since the shape and size of the eggs to be inspected are almost the same for both the support base 641 of this embodiment shown in Figure 9(B) and the conventional support base shown in Figure 9(C), the shape and size of the inner surface remain unchanged, and the maximum inner diameter is R1. On the other hand, the support base 641 of this embodiment shown in Figure 9(B) has a maximum outer diameter of R2, which is smaller than the maximum outer diameter R3 of the conventional support base shown in Figure 9(C). Specifically, in this embodiment, the support base 641 is formed so that the difference between the maximum outer diameter R2 and the maximum inner diameter R1 is 5 mm or less. As a result, the support base 641 of this embodiment can be used with dedicated trays 8 that have smaller holes 82 compared to the conventional design, thereby increasing the versatility of the dedicated tray 8. For example, the dedicated tray 8 shown in Figure 3 is a tray that can hold 6 x 6 eggs to be tested, but by using the support stand 641 according to this embodiment, it is also possible to use a dedicated tray 8 that can hold 6 x 7 eggs to be tested.

[0030] Figure 10 is an enlarged perspective view of the area around the shaft 642 and cover 643. As shown in Figure 10, the cover 643 is attached to the shaft 642. The cover 643 prevents liquid leaking from the egg being inspected, which is supported by the support base 641, from running down the shaft 642 and entering the hole 644 (shown in Figure 11) into which the shaft 642 is inserted and which allows the shaft 624 to move vertically, thereby causing malfunctions or damage to various machines such as linear pushers built below the shaft 624. Note that the cover 643 is not limited to an umbrella-shaped structure, and its shape and material can be set as appropriate, as long as it has a structure that makes gapless contact with the shaft 642.

[0031] Furthermore, as shown in Figure 10, the inspection unit 6 has a position adjustment mechanism 66 on the underside of the transport table 34. Figure 11 is a perspective view showing the position adjustment mechanism 66. Note that in Figure 11, for the sake of explanation, the shaft 642 is shown in cross-section. The position adjustment mechanism 66 is a mechanism for adjusting the position of the shaft 642 (or support base 641) in the left-right and front-back directions (X1 and X2 directions in Figure 11), and as shown in Figure 11, it has a first position adjustment member 661 and a second position adjustment member 662.

[0032] The first position adjustment member 661 is a member for adjusting the position of the shaft 624 in the X1 direction, and in Figure 11, the shafts 6427~642 12 The first position adjustment members 6611 to 6616, which adjust the positions of the shafts in the X1 direction, are shown as examples. The first position adjustment member 661 is installed below the second position adjustment member 662, and the first position adjustment member 661, which adjusts the positions of the shafts 6421 to 6426 in the X1 direction, is also installed below the second position adjustment member 6622.

[0033] Furthermore, the second position adjustment member 662 is a member for adjusting the position of the shaft 642 in the X2 direction, and in Figure 11, the second position adjustment members 6621 and 6622 adjust the position of the shafts 6421 to 6426 in the X2 direction, and the shafts 6427 to 642 12 The diagram illustrates a second position adjustment member 6623 that adjusts the position in the X2 direction. The second position adjustment member 662 fixes the position of the shaft 624 in the X2 direction by sandwiching the shaft 642 between a pair of second position adjustment members 662. Although not shown in Figure 11, the position adjustment mechanism 66 also has a second position adjustment member 622 that is paired with the second position adjustment member 6623.

[0034] Thus, in this embodiment, the position adjustment mechanism 66 allows the position of the shaft 642 (or support base 641) to be freely adjusted in two dimensions (X1 direction and X2 direction). Therefore, various dedicated trays 8 with different positions and arrangements of holes 82 can be used, such as a dedicated tray 8 that holds 6 x 6 eggs to be inspected, or a dedicated tray 8 that holds 6 x 7 eggs to be inspected, thereby increasing the versatility of the dedicated tray 8.

[0035] Furthermore, as shown in Figure 12, the inspection unit 6 has a elimination mechanism 68 for eliminating eggs that have been determined to be defective. Here, Figure 12 is a perspective view showing the elimination mechanism 68 according to this embodiment. The elimination mechanism 68 is a mechanism for eliminating defective eggs from the dedicated tray 8 based on instructions from the control unit 2, and as shown in Figure 12, it has a plurality of suction members 681 for adsorbing and eliminating each egg to be inspected, and a single cylinder 682. The elimination mechanism 68 is equipped with a number of suction members 681 equal to or greater than the number of eggs to be inspected that can be accommodated in the dedicated tray 8, so that each egg to be inspected can be adsorbed and eliminated. In this embodiment, after the condition of the eggs to be inspected contained in the dedicated tray 8 is determined, the transport unit 3 transports the dedicated tray 8 to a position directly below the suction members 681. Then, the control unit 2 lowers the plurality of suction members 681 simultaneously using the cylinder 682, bringing the suction ports of the suction members 681 into contact with the eggs to be inspected. The control unit 2 then causes the suction member 681 corresponding to the egg determined to be defective to perform vacuum suction, and while the defective egg is still being held in place, the control unit 2 moves the adsorbed defective egg to the disposal location. For example, the control unit 2 can transfer the defective egg adsorbed by the suction member 681 to a defective egg conveyor, transport it to the disposal location by the defective egg conveyor, or transfer it to a defective egg tray for disposal. The dedicated tray 8 from which the defective eggs have been removed is then transported by the transport unit 3 to the rear post-inspection unit 7.

[0036] Figure 13 shows a perspective view of the post-inspection unit 7 according to this embodiment. The post-inspection unit 7 inspects whether any defective eggs that should be removed by the removal mechanism 68 remain in the dedicated tray 8. Specifically, as shown in Figure 13, the post-inspection unit 7 has an imaging device 71 and an illumination device 72. The illumination device 72 irradiates the dedicated tray 8 with light, and the imaging device 71 captures an image of the dedicated tray 8 transported from the inspection unit 6 from above. The captured image data is then transmitted to the arithmetic unit 22 of the control unit 2. Based on the inspection results of the eggs to be inspected and the captured image received from the post-inspection unit 7, the arithmetic unit 22 determines whether or not defective eggs have been properly removed from the dedicated tray 8. The arithmetic unit 22 may be configured to output a warning or the like to notify the operator if defective eggs have not been removed from the dedicated tray 8, or it may be configured to automatically remove defective eggs. In this way, since all the eggs to be inspected in the dedicated tray 8 can be inspected with a single imaging device 71, the structure is simplified and costs are reduced compared to a configuration in which, for example, pressure switches or distance sensors are installed for each egg to be inspected. In the example described above, the calculation device 22 was shown as an example in which a configuration is shown in which a calculation device 22 detects whether there are any defective eggs remaining in the dedicated tray 8 based on the captured image. However, for example, a length measuring camera can be used as the imaging device 71, and the imaging device 71 can be used to detect whether there are any defective eggs remaining in the dedicated tray 8.

[0037] Furthermore, in this embodiment, the illumination device 61 and the imaging device 62 are installed in parallel and integrally in the inspection unit 6, so that a maintenance space S is formed in the inspection unit 4, as shown in Figure 14. In this embodiment, an opening / closing door 9 for accessing the space S is installed on the side of the inspection unit 4. The opening / closing door 9 may be provided on only one side of the inspection unit 4, or two or more opening / closing doors 9 may be provided on two or more sides of the inspection unit 4. By providing the opening / closing doors 9 in this way, the maintainability of the egg inspection device 1 can be improved.

[0038] Furthermore, in the egg inspection device 1 according to this embodiment, the LED lamp 611 of the lighting device 61 in the inspection unit 6 irradiates the egg to be inspected with light of a total luminous flux value of 600 lm or more and / or an illuminance of 400,000 lx, making it easier to distinguish blood vessels and other features of the egg to be inspected compared to conventional methods, thereby improving the accuracy of egg inspection. In addition, by using such a high-brightness LED lamp 611, the exposure time can be shortened and the amount of information can be increased, thereby speeding up the processing speed for inspecting the egg. Moreover, in this embodiment, the imaging device 62 is configured to image two eggs to be inspected simultaneously, which reduces the number of imaging devices 62 and thus the cost, while also increasing the processing capacity for inspecting the eggs.

[0039] In addition, the egg inspection device 1 according to this embodiment has a pre-inspection unit 5, which detects empty storage units 81 in the dedicated tray 8, thereby accurately determining the number of eggs to be inspected and the number of defective eggs. Furthermore, the egg inspection device 1 according to this embodiment has a post-inspection unit 7 which includes an imaging device 71 and an illumination device 72. The imaging device 71 determines whether or not defective eggs have been properly removed from the dedicated tray 8 based on image data captured from above by the imaging device 71. Compared to conventional methods, this simplifies the structure for inspecting whether defective eggs have been properly removed, and also reduces costs.

[0040] Furthermore, in this embodiment, since the support base 641 is formed with a smaller maximum outer diameter compared to the conventional design, it becomes possible to use a dedicated tray 8 with smaller holes 82 compared to the conventional design, thereby increasing the versatility of the dedicated tray 8. In addition, in this embodiment, the position adjustment mechanism 66 allows the position of the shaft 642 (or support base 641) to be freely adjusted in two dimensions (X1 direction and X2 direction), so various dedicated trays 8 with different positions and arrangements of holes 82 can be used, further increasing the versatility of the dedicated tray 8.

[0041] Although preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above. Various modifications and improvements can be made to the above embodiments, and such modified or improved forms are also included in the technical scope of the present invention.

[0042] For example, in addition to the embodiments described above, the transport unit 3 and the inspection unit 4 can be unitized, and the egg inspection device 1 can be increased by adding more units of this unit to enhance the inspection capacity. For example, if one unit having a transport unit 3 and an inspection unit 4 is added to the egg inspection device 1 shown in Figure 1, two inspection units 4 will be arranged side by side in the transport direction of the eggs to be inspected, thereby doubling the egg inspection processing capacity.

[0043] Furthermore, in the above-described embodiment, a configuration in which the illumination device 61 and the imaging device 62 are arranged horizontally in parallel above the egg to be inspected (at its inspection position) was illustrated. However, the configuration is not limited to this, and for example, the illumination device 61 and the imaging device 62 may be arranged vertically in parallel to the side of the egg to be inspected (at its inspection position). In this case, the reflector 63 is installed on the optical path of the illumination light emitted from the illumination device 61, above or below the inspection position of the egg to be inspected. The reflector 63 is installed at an inclination angle of approximately 45° so as to reflect the illumination light emitted horizontally by the illumination device 61 in a vertical direction. As a result, when the illumination device 61 emits illumination light from the side of the egg to be inspected, the illumination light emitted from the illumination device 61 is reflected by the reflector 63 and incident on the egg to be inspected from above or below. Since the imaging device 62 is positioned to the side of the inspection position of the egg to be inspected, it can capture an image of the egg to be inspected illuminated by the illumination light from the side.

[0044] Furthermore, in the above-described embodiment, an example was given in which the egg to be inspected is imaged from only one direction by the imaging device 62, and the condition of the egg to be inspected is determined using the image captured from that direction. However, the configuration is not limited to this, and for example, by rotating the shaft 642 connected to the support base 641 of the egg to be inspected with the motor 67, the egg to be inspected can be imaged from multiple directions (for example, four directions by rotating the support base 641 by 90 degrees each), and the condition of the egg to be inspected can be determined using the image captured from multiple directions. In this case, the accuracy of the determination of the egg to be inspected can be further improved.

[0045] Furthermore, while the above-described embodiment illustrates a configuration for detecting defective eggs based on a color image of the eggs to be inspected output in the RGB color system, the configuration is not limited to this, and a configuration for detecting defective eggs based on a color image output in the Lab color system or the HSV color system is also possible. [Explanation of Symbols]

[0046] 1…Egg checking device 2…Control Unit 21...Storage device 22...Arithmetic device 3…Conveyor Unit 31... Arm 32… Nail area 33...Cylinder 34… Transport platform 341...hole 4…Inspection Department 5…Pre-examination Department 51…Imaging device 52…Lighting equipment 6…Main Inspection Department 61…Lighting equipment 611…LED lamp 612...Cylindrical member 613… Heatsink 62…Imaging device 63…Reflector 64...Support mechanism 641...Support stand 642... Shaft 643...cover 644...hole 645...Inner self 65...Darkroom 66…Position adjustment mechanism 661...First position adjustment member 662...Second position adjustment member 67...motor 68...Exclusion mechanism 681... Adsorption material 682...Cylinder 7…Post-inspection Department 71…Imaging device 72…Lighting devices 8... Dedicated tray 81... Detention Unit 82...hole 9…Opening and closing doors

Claims

1. A lighting device that illuminates the eggs to be tested with illumination light, An imaging device for imaging the eggs to be examined, which are irradiated by the aforementioned illumination device, A determination device that determines the viability and developmental status of the eggs to be examined based on the images of the eggs to be examined captured by the aforementioned imaging device, A reflector installed in the optical path from the egg to be inspected to the imaging device, A darkroom in which the eggs to be inspected are placed, A tray having multiple storage compartments with holes on the bottom, The system includes a support mechanism for moving the egg to be inspected to the inspection position within the darkroom, The support mechanism includes a support stand that lifts and supports the egg to be inspected from below as it passes through the hole, The tray has a position adjustment mechanism for adjusting the position of the support base relative to the hole in the tray in a two-dimensional direction. The lighting device irradiates the eggs to be inspected in the darkroom with illumination light from above. The reflector reflects the light from the egg being inspected upwards in the dark room. The imaging device is an egg inspection device positioned above the reflector.

2. The reflector is installed to the side of the plurality of eggs to be inspected arranged in the darkroom, and reflects the images of the plurality of eggs to be inspected, which are illuminated by the plurality of illumination devices, and incident on the plurality of imaging devices. The egg inspection device according to claim 1.

3. The egg inspection apparatus according to claim 2, wherein the illumination device and the imaging device are arranged integrally in parallel above the egg to be inspected.

4. The illumination device is arranged to irradiate light in the direction of the first optical axis, The reflector is arranged to reflect the light beam emitted from the egg to be inspected, which is emitted from a second optical axis direction different from the first optical axis direction, in a third optical axis direction substantially parallel to the first optical axis direction. The egg inspection device according to any one of claims 1 to 3, wherein the imaging device is arranged to receive a light beam incident from the third optical axis direction that has been reflected by the reflector.

5. The egg inspection apparatus according to claim 4, wherein the support mechanism supports the egg to be inspected contained in the storage section of the tray and moves the egg to be inspected to an inspection position in the darkroom where the optical axis of the light in the first optical axis direction irradiated from the illumination device and the optical axis of the light in the second optical axis direction reflected by the reflector intersect.

6. The aforementioned support mechanism is A shaft connected to the lower part of the support base, A lifting device for raising the shaft, The egg inspection device according to claim 5, further comprising a cover that covers the inserted shaft so as to be movable in the vertical direction in order to prevent liquid leaked from the egg to be inspected from reaching the lifting device.

7. The support stand has multiple claws having hemispherical inner surfaces corresponding to the shape of the egg to be inspected. The egg inspection device according to claim 6, wherein the difference between the maximum inner diameter and the maximum outer diameter of the plurality of claws is 5 mm or less.

8. The imaging device includes one imaging device whose field of view and / or imaging distance are adjusted to simultaneously image two eggs to be examined. The egg inspection device according to claim 2, wherein the determination device determines the state of two eggs to be inspected based on a single image captured by the single imaging device.

9. The egg inspection device according to any one of claims 1 to 8, wherein the determination device has a calibration function and can automatically adjust imaging conditions or image adjustment conditions based on the diagnostic results by diagnosing the image of the diagnostic work obtained from the imaging device.

10. The egg inspection device according to any one of claims 1 to 9, wherein the lighting device comprises a cylindrical member having a bellows structure in the longitudinal direction and deforming upon contact with the egg to be inspected, and an LED lamp capable of irradiating the egg to be inspected with light such that the illuminance to the egg is 400,000 lx or more when the cylindrical member is in contact with the egg to be inspected.

11. A transport unit for transporting the tray containing the eggs to be inspected, It includes a control unit that controls the operation of the transport unit, The egg inspection device according to any one of claims 1 to 10, wherein the transport unit comprises a pair of arms having a pair of claws, and a sliding device for moving the arms toward the tray, and the tray is gripped at four points by the pair of claws of the pair of arms.

12. Furthermore, before inspecting the condition of the eggs to be inspected, the system includes a pre-inspection unit that detects the storage units among the trays transported by the transport unit that do not contain the eggs to be inspected. The egg inspection device according to claim 11, wherein the determination device calculates the number of eggs to be inspected and the number of defective eggs based on the detection results of the pre-inspection unit.

13. After the condition of the eggs to be inspected is inspected in the pre-inspection unit, the device further has a rejection mechanism for rejecting eggs that are determined to be defective by the determination device. The aforementioned exclusion mechanism is The tray contains an adsorption member, the same number as or greater than the number of eggs to be inspected that can be accommodated in the tray, which comes into contact with the eggs to be inspected and adsorbs any eggs that are determined to be defective. An egg inspection device according to claim 12, further comprising a single drive unit that simultaneously drives a plurality of the aforementioned suction members and brings each of them into contact with an egg to be inspected.

14. The egg inspection device according to claim 13, further comprising a post-inspection unit that inspects whether any defective eggs that should be removed by the removal mechanism remain in the tray.

15. The imaging device outputs an RGB color system image to the determination device. The egg inspection device according to any one of claims 1 to 14, wherein the determination device converts the RGB color system image acquired from the imaging device into an HSV color system image, and determines the state of the egg to be inspected based on the hue in the converted HSV color system image.

16. The imaging device outputs a color image to the determination device. The egg inspection device according to any one of claims 1 to 15, wherein the determination device determines dead eggs with blood vessels of a predetermined width or greater based on a color image of the egg to be inspected acquired from the imaging device, determines eggs to be inspected with abnormalities in the air sac as defective eggs based on the shape of the air sac and the clarity of the air sac outline of the egg to be inspected in the color image, and determines bleeding eggs that are bleeding from the antigen inoculation hole as defective eggs by detecting red spots in the air sac based on the color image.

Images