Sorting apparatus of vegetable and fruit

Abstract

To provide a compact sorting apparatus.SOLUTION: A sorting apparatus includes: a plurality of sorting lines 20 disposed correspondingly with classes determined based on the external appearance of vegetable and fruit W; a transfer device 30 for picking up the vegetable and fruit W conveyed in a single line and transferring the vegetable and fruit W to any of the sorting lines 20; an upward camera 41, a downward camera 42, lateral cameras 43a, 43b, front and rear cameras 44a, 44b disposed along a transfer path of the vegetable and fruit W by the transfer device 30, and imaging the external appearance of the vegetable and fruit W to generate external appearance images; and a computer 47 for determining the class of the vegetable and fruit based on the external appearance images.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a sorting device for fruits and vegetables. [Background technology]

[0002] Conventionally, fruit and vegetable collection and shipping facilities have used a sorting device that sorts the fruit and vegetables brought in by producers into grades, and a packing device that packs the graded fruit and vegetables into boxes. The sorting device includes a conveyor that transports the fruit and vegetables, an external quality measuring unit that measures the external quality of the fruit and vegetables during transport, an internal quality measuring unit that measures the internal quality of the fruit and vegetables during transport, and a computer that determines the grade of the fruit and vegetables based on the measured external and internal qualities.

[0003] For example, the sorting device described in Patent Document 1 includes an upstream conveyor, a downstream conveyor, and a number of equal-class conveyors. An internal quality measuring unit is provided on the transport path of the upstream conveyor. A transfer device is provided between the upstream conveyor and the downstream conveyor, and the transfer device transfers the fruits and vegetables from the upstream conveyor to the downstream conveyor. An external quality measuring device is provided on the transfer path of the transfer device and on the transport path of the downstream conveyor. The downstream conveyor functions as a so-called sorting conveyor, and sorts and discharges the fruits and vegetables to the equal-class conveyor based on the equal-class determined based on the external quality and internal quality. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 3813026 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the sorting device of Patent Document 1, an external quality measuring unit is provided on the downstream conveyor, and the downstream conveyor functions as a so-called sorting conveyor. This requires the downstream conveyor to be of a certain length, making it difficult to layout the sorting device compactly.

[0006] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a compact sorting device. [Means for solving the problem]

[0007] In order to achieve the above-mentioned objective, the fruit and vegetable sorting device of the present invention is characterized in that it comprises a plurality of sorting units corresponding to classes determined based on the appearance of the fruit and vegetable, a transport unit that picks up the fruit and vegetable and transports the fruit and vegetable to one of the sorting units, a camera that is provided along the transport path of the fruit and vegetable by the transport unit and captures the appearance of the fruit and vegetable to generate an appearance image, and a determination unit that determines the class of the fruit and vegetable based on the appearance image.

[0008] The camera may further include a side camera that captures an image of the transported fruit or vegetable from a side relative to the transport direction.

[0009] Furthermore, the camera may include a front camera that images the transported fruits and vegetables from the front in the transport direction, and a rear camera that images the transported fruits and vegetables from the rear in the transport direction.

[0010] Furthermore, the camera may include an upper camera that images the transported fruits and vegetables from above, and a lower camera that images the transported fruits and vegetables from below.

[0011] The transport path of the fruit or vegetable by the transport unit may be circular. Effect of the Invention

[0012] According to the present invention, a compact sorting device can be provided. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic plan view of a sorting device according to a first embodiment of the present invention. [Diagram 2] 1 is a schematic side view of a sorting device according to a first embodiment of the present invention. [Diagram 3] FIG. 2A is a diagram showing the layout of a downward camera of the sorting device, and FIG. 2B is a diagram showing the layout of a side camera of the sorting device. [Figure 4] FIG. 2 is a block diagram of the sorting device. [Diagram 5] FIG. 4 is a schematic plan view of a sorting device according to a second embodiment of the present invention. [Figure 6] FIG. 5 is a schematic side view of a sorting device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, a sorting device according to a first embodiment and a second embodiment of the present invention will be described with reference to the drawings.

[0015] [First embodiment]

[0016] The sorting device 100 of the first embodiment is an apparatus that determines the class of fruits and vegetables W based on their appearance and sorts the fruits and vegetables W according to the determined class, and is equipped with a feeder 10 and multiple sorting lines 20, as shown in Figures 1 and 2.

[0017] The feeder 10 is a device that functions as a supply section that supplies fruits and vegetables W to a transfer device 30 described below by transporting the fruits and vegetables W to be sorted in a single line, and is disposed in an upstream portion of the sorting device 100 of this embodiment. The feeder 10 includes a vibrating body 11, a bowl section 12, a chute 13, and a linear feeder (not shown). The vibrating body 11 generates vibrations in the bowl section 12. The bowl section 12 is provided above the vibrating body 11, and transports the fruits and vegetables W supplied thereto in a single line along a spiral transport path by the vibrations received from the vibrating body 11. The chute 13 extends linearly from the outlet of the bowl section 12 toward the downstream of the sorting device 100, and transports the fruits and vegetables W in a single line by receiving vibrations from a linear feeder (not shown) provided below the chute 13. A stopper 14 is provided at the tip of the chute 13, and the fruit or vegetable W that comes into contact with the stopper 14 is in a waiting state to be picked up by a transfer device 30 described below.

[0018] The sorting line 20 functions as a sorting section where the fruits and vegetables W are sorted, and is disposed in a downstream portion of the sorting device 100 of this embodiment. The multiple sorting lines 20 are arranged parallel to one another in accordance with predetermined classes of the fruits and vegetables W. The classes of the fruits and vegetables W include, for example, grades that indicate quality such as excellent, good, or fair, classes that indicate size such as large, medium, or small, classes determined based on grades and classes, and classifications according to the shelf life of the fruits and vegetables (the number of days they can last after shipping). Each sorting line 20 is assigned a class, and each sorting line 20 transports the fruits and vegetables W to the next process such as a boxing process.

[0019] Here, the sorting device 100 of this embodiment is provided with a transfer device 30 in its midstream portion. The transfer device 30 is a device that functions as a transfer section that transfers the fruits and vegetables W conveyed in a single line by the feeder 10 individually to the sorting line 20, and is provided with a rotating body 31, a driving device 32 (FIG. 4), and a plurality of holding units 33. The rotating body 31 is connected to a rotating shaft 34, and is a disk body extending in a disk shape centered on the rotating shaft 34, or an arm extending radially from the rotating shaft 34. The rotating shaft 34 is connected to a driving device 32 such as a motor (FIG. 4) via a reducer, and rotates at a constant speed at a rotation speed controlled by a control device 35 (FIG. 4). Therefore, the rotating body 31 rotates in synchronization with the constant speed rotation of the rotating shaft 34. A plurality of holding units 33 are provided at equal intervals at the end of the rotating body 31.

[0020] The holding unit 33 is a unit that holds the fruits or vegetables W, and moves along a rotational path of a circle A centered on a rotation axis 34 as shown in FIG. 1 in association with the rotation of the rotor 31. The holding unit 33 includes an air cylinder 331 and a suction pad 332. The air cylinder 331 extends and retracts a rod downward by compressed air supplied from a solenoid valve 36 (FIG. 4). A suction pad 332 is attached to the tip of the rod. The suction pad 332 adsorbs the fruits or vegetables W by controlling the negative pressure inside the pad by a solenoid valve 37 (FIG. 4).

[0021] The downstream end of the chute 13 of the feeder 10 and the upstream end of the sorting lines 20 are disposed below the rotational path of the holding unit 33. The control device 35 controls the drive device 32 and also controls the holding unit 33. Specifically, the control device 35 controls the solenoid valve 36 to extend the air cylinder 331 downward while the holding unit 33 approaches the chute 13, and controls the solenoid valve 37 to generate negative pressure in the suction pad 332. As a result, the fruit or vegetable W waiting in the chute 13 is sucked onto the suction pad 332. The control device 35 also controls the solenoid valve 36 to contract the air cylinder 331 upward when the holding unit 33 moves away from the chute 13. As a result, the fruit or vegetable W is lifted up by the holding unit 33. Furthermore, the control device 35 controls the solenoid valve 36 to extend the air cylinder 331 downward while the holding unit 33 approaches a sorting line 20 designated by the computer 47 (referred to as the "designated line 20"), and controls the solenoid valve 37 to release the negative pressure in the suction pad 332 when the holding unit 33 is positioned on the designated line 20. This allows the fruits and vegetables W to be placed (discharged) onto the designated line 20. In this way, the downstream end of the chute 13 becomes the pick-up position for the fruits and vegetables W, and the upstream end of each sorting line 20 becomes the discharge position for the fruits and vegetables W.

[0022] As shown in FIG. 1, an upper camera 41, a lower camera 42, side cameras 43a and 43b, and front and rear cameras 44a and 44b are provided on the rotation orbit of the holding unit 33 between the pick-up position and the discharge position of the fruits and vegetables W (referred to as the "transport path of the fruits and vegetables W"). The upper camera 41 functions as an upper surface imaging unit that images the upper surface of the waiting fruits and vegetables W, and is provided above the pick-up position of the fruits and vegetables W to image the waiting fruits and vegetables W. As shown in FIG. 1 and FIG. 3, the lower camera 42 functions as a lower surface imaging unit that images the lower surface of the fruits and vegetables W located at the imaging point, and is provided below the transport path to image the fruits and vegetables W transported above it. The side cameras 43a and 43b function as side surface imaging units that image the side surface of the fruits and vegetables W located at the imaging point, and are provided on both sides (inside and outside) of the transport direction to image the fruits and vegetables W being transported. The front and rear cameras 44a, 44b function as front and rear imaging units that capture images of the front and rear surfaces of the fruit or vegetable W located at the imaging point, and are disposed front and rear in the transport direction (front and rear of the lower camera 42) at positions that do not interfere with the fruit or vegetable W being transported, and capture images of the fruit or vegetable W being transported. The upper camera 41, lower camera 42, side cameras 43a, 43b, and front and rear cameras 44a, 44b are connected to a computer 47 so as to be able to communicate with each other.

[0023] A first sensor 45 is provided near the upper camera 41 to detect the fruit or vegetable W transported to the waiting position. A second sensor 46 is provided near the lower camera 42 to detect the fruit or vegetable W transported to the imaging point. The first sensor 45 and the second sensor 46 are connected to a computer 47 so as to be able to communicate with each other. The second sensor 46 may be provided to detect that the arm of the rotating body 31 has moved to a position corresponding to the imaging point. By detecting the arm in this way, it is possible to detect that the fruit or vegetable W transported by the arm has been positioned at the imaging point.

[0024] When the first sensor 45 and the second sensor 46 detect the fruit or vegetable W, they input a detection signal to the computer 47. When the detection signal is input from the first sensor 45, the computer 47 inputs an image capture command to the upper camera 41. The upper camera 41 captures images in accordance with the image capture command input from the computer 47, and inputs the generated top image of the fruit or vegetable W to the computer 47. When the detection signal is input from the second sensor 46, the computer 47 inputs an image capture command to the lower camera 42, the side cameras 43a and 43b, and the front and rear cameras 44a and 44b. The lower camera 42, the side cameras 43a and 43b, and the front and rear cameras 44a and 44b capture images in accordance with the image capture command input from the computer 47, and inputs the generated images (bottom image, side image, and front and rear images) of the fruit or vegetable W to the computer 47.

[0025] When the top, bottom, side, and front / rear images (hereinafter referred to as "appearance images") are input, the CPU of computer 47 determines the class of the fruit or vegetable W based on these appearance images and counts up the number of determined classes. The CPU of computer 47 also associates a class with the identification number of the holding unit 33 holding the fruit or vegetable W, and transmits the identification number and class to the control device 35. Upon receiving the identification number and class, the control device 35 controls the holding unit 33 when the holding unit 33 corresponding to the identification information approaches the sorting line 20 corresponding to the class, as described above. In this way, computer 47 functions as a determination unit that determines the class of the fruit or vegetable W.

[0026] According to the sorting device 100 of this embodiment, the fruits and vegetables W transported in a single line by the feeder 10 are individually picked up by the transfer device 30. Thereafter, on the transport path of the transfer device 30, the entire surface of the fruits and vegetables W is captured by the upper camera 41, the lower camera 42, the side cameras 43a and 43b, and the front and rear cameras 44a and 44b. The class of the fruits and vegetables W is determined based on the appearance images generated by these cameras 41, 42, 43a, 43b, 44a, and 44b, and the fruits and vegetables W is discharged to the sorting line 20 corresponding to the determined class. In this way, the class of the fruits and vegetables W is determined based on images captured from multiple angles, thereby increasing the accuracy of the determination.

[0027] In addition, since the sorting line 20 is arranged on the rotational orbit of the transfer device 30, the fruits and vegetables W can be discharged directly from the transfer device 30 to the sorting line 20, making it possible to reduce the scale of the sorting device 100 compared to the conventional sorting device 100.

[0028] [Second embodiment]

[0029] As shown in Figures 5 and 6, the sorting device 200 according to the second embodiment is an apparatus that determines the class of fruits or vegetables W based on their appearance and sorts the fruits or vegetables W according to the determined class, and is similar to the sorting device 100 according to the first embodiment in that it includes a transfer device 30. However, the sorting device 200 according to the second embodiment differs from the sorting device 100 according to the first embodiment in that it includes a turntable 210 instead of the feeder 10 and includes sorting boxes 220 instead of the sorting line 20. The following description will focus on the different configurations, and description of the common configurations will be omitted as appropriate.

[0030] The turntable 210 functions as a supply unit that supplies the fruits and vegetables W to the transfer device 30, and rotates the fruits and vegetables W placed on it around its central axis at a constant speed and in a constant direction. Specifically, the turntable 210 includes a top plate 211, a base 212, and a support 213. The top plate 211 is a portion on which a plurality of fruits and vegetables W to be sorted are placed, and is formed in a disk shape. The base 212 is provided below the top plate 211, and is composed of a disk-shaped portion 212a that supports the top plate 211, and a frame portion 212b that extends upward from the edge of the disk-shaped portion 212a. A rotating shaft is provided at the center of the top plate 211, and a rotating mechanism such as a gear that rotates the rotating shaft and a driving unit (not shown) such as a motor that drives the rotating mechanism are built into the base 212. A plurality of legs that are the supporting unit 213 are provided below the base 212. The base portion 212 is supported by the support portions 213, so that the top plate portion 211 is disposed at a predetermined height.

[0031] The turntable 210 is disposed below the transfer device 30 so that the rotational orbit of the transfer device 30 passes near the center of the turntable 210 .

[0032] An upper camera 241 is disposed above (directly above) the rotation axis of the turntable 210. The upper camera 241 is installed so that the top plate portion 211 of the turntable 210 is included in its angle of view. In other words, the upper camera 241 functions as an imaging section that captures images of the multiple fruits and vegetables W on the turntable 210 and generates top surface images of the multiple fruits and vegetables W. The upper camera 241 captures images at a predetermined frame rate and inputs the generated top surface images to the computer 47.

[0033] Each time a top surface image is input from the upper camera 241, the computer 47 detects position information of all the fruits and vegetables W on the turntable 210 based on the top surface image. The position information is in XY coordinates with the rotation axis as the origin, and the computer 47 inputs the detected position information to the control device.

[0034] The control device 35 identifies the fruits and vegetables W that can be picked up based on the position information of the fruits and vegetables W, the rotational speed of the turntable 210, and the position information of each holding unit 33, and extends and retracts the air cylinder 331 to pick up the fruits and vegetables W with the suction pad 332.

[0035] As in the first embodiment, the fruits and vegetables W picked up as described above are photographed by the front and rear cameras 44a, 44b and the side cameras 43a, 43b provided on the conveying path of the transfer device 30, and the class is determined by the computer 47. When determining the class of the fruits and vegetables W, it is preferable that the computer 47 also takes into consideration the top surface image acquired from the upper camera 241.

[0036] The fruits or vegetables W whose class has been determined are discharged into one of a plurality of sorting boxes 220 provided for each class.

[0037] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and the following modified embodiments may be adopted.

[0038] <Variation 1> In the first embodiment, the fruit or vegetable W is transported in a single line using the feeder 10 disposed upstream of the sorting device 100. However, instead of the feeder 10, a conveyor that transports the fruit or vegetable W in a single line to the pick-up position may be used.

[0039] <Variation 2> In the above first and second embodiments, the holding unit 33 of the transfer device 30 holds the fruit or vegetable W to be transferred using the suction pad 332, but instead of the suction pad 332, a robot hand that grasps the fruit or vegetable W may be used.

[0040] <Modification 3> A parallel link robot that is movable forward, backward, left and right and up and down may be used instead of the transfer device 30 of the first and second embodiments. In this modified embodiment, a downward camera 42, side cameras 43a, 43b, and front and rear cameras 44a, 44b are arranged along the transfer path of the fruit or vegetable W by the parallel link robot.

[0041] <Modification 4> The number of sorting lines 20 in the above embodiment may be two, or may be four or more. Also, a plurality of classes may be assigned to one sorting line 20.

[0042] <Variation 5> Although the cameras 41, 42, 43a, 43b, 44a, and 44b in the above embodiment are visible light cameras that generate visible light images by collecting visible light reflected from fruits and vegetables, the present invention is not limited to this embodiment. For example, the cameras 41, 42, 43a, 43b, 44a, and 44b may be fluorescent image generating cameras that generate fluorescent images by collecting fluorescence generated on the skin of the fruits and vegetables. In this modified embodiment, a light source that irradiates excitation light such as ultraviolet light onto the fruits and vegetables is provided near the pick-up position and near the imaging point of the fruits and vegetables. Also, the cameras 41, 42, 43a, 43b, 44a, and 44b may be both visible light cameras and fluorescent image generating cameras, and may be provided with both a visible light source and an excitation light source.

[0043] <Variation 6> In the above embodiment, the sorting device may be installed in a darkroom to prevent disturbance light from reaching the cameras 41, 42, 43a, 43b, 44a, and 44b. Also, a shield may be provided to cover the front, rear, left, right, and top of the sorting device to block disturbance light. Also, a shield may be provided to cover the imaging area of ​​the upper camera, and a shield to cover the imaging areas of the front, rear, and side cameras.

[0044] <Variation 7> A sorting section in which non-marketable products are sorted may be provided on the rotational track of the transport device 30.

[0045] <Variation 8> In the second embodiment, a through hole penetrating vertically may be formed in the center of the turntable 210. The size of the through hole is not particularly limited, but it must be formed to a size that allows at least the fruits and vegetables W to pass through. In this modification, a box for storing off-grade products is placed below the through hole. According to this modification, when loading fruits and vegetables onto the turntable 210, a user can load fruits and vegetables that they have visually determined to be off-grade into the box through the through hole. [Explanation of symbols]

[0046] 100 Sorting Equipment 10 Feeder (supply section) 20 Sorting Line (Sorting Department) 30 Transfer device (transfer section) 41 Upward Camera 42 Downward Camera 43a Side camera 43b Side camera 44a Front and rear cameras 44b Front and rear cameras 47 Computer (judging section)

Claims

1. A plurality of sorting units are provided corresponding to classes determined based on the appearance of the fruits and vegetables; A transfer unit that picks up fruits and vegetables and transfers the fruits and vegetables to any one of the sorting units; a camera for capturing an image of the appearance of the fruit or vegetable to generate an appearance image; A determination unit for determining a class of fruit or vegetable based on the appearance image; The fruit and vegetable sorting device is provided with:

2. The camera includes: An upper camera that captures images of fruits and vegetables from above; a lower camera for capturing an image of the transported fruit or vegetable from below; The fruit and vegetable sorting device according to claim 1 .

3. The fruit and vegetable sorting device according to claim 1 , wherein the camera includes a side camera that captures images of the transported fruit and vegetable from a side relative to a transport direction.

4. The camera includes: a front camera that captures an image of the transported fruit or vegetable from a front side in the transport direction; a rear camera that captures an image of the transported fruit or vegetable from behind in the transport direction; The fruit and vegetable sorting device according to claim 1 .

5. The fruit and vegetable sorting device according to claim 1 , wherein a transport path of the fruit and vegetable by the transport unit is circular.

Images