Foreign body removal method from processed food, inspection method of processed food, and manufacturing method of processed food

Abstract

To provide a foreign body removal method from processed food capable of detecting a foreign object mixed in processed food to support the removal of foreign objects.SOLUTION: The foreign body removal method from processed food is a foreign body removal method from processed food performed by a system that includes a camera for picking out images of transported processed food and a controller capable of communication with the camera. The method includes the steps of: acquiring optical image data picked up by the camera including multiple pieces of wavelength information; detecting an object included in the processed food based on the optical image data; and when determining the object is the object to be removed from the processed food, transmitting the location information of the object to be removed, transport speed information for the processed food, and a control command that requests the object to be removed in association with each other to a removal device that executes the removal of the object to be removed included in the processed food.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a method for removing foreign matter from processed foods, a method for inspecting processed foods, and a method for producing processed foods. [Background technology]

[0002] Patent Document 1 discloses a foreign object detection device that detects foreign objects mixed in solid food and having a lower near-infrared light transmittance than the solid food. The device includes a near-infrared light irradiating unit that locally irradiates the solid food with near-infrared light, an imaging unit that captures an image of the solid food through which the near-infrared light has passed, and a detection unit that detects foreign objects from the captured image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-50318 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned Patent Document 1 does not specifically show how the detected foreign matter is removed using a robot, a defective product rejection device, or the like.

[0005] The present disclosure has been devised in consideration of the above-mentioned conventional circumstances, and aims to provide a method for removing foreign matter from processed foods, a method for inspecting processed foods, and a method for manufacturing processed foods, which detect foreign matter that has become mixed into processed foods and assist in the removal of the foreign matter. [Means for solving the problem]

[0006] The present disclosure provides a method for removing foreign matter from processed foods performed by a system including a camera that images the processed food being transported and a control device capable of communicating with the camera, the system acquiring optical image data imaged by the camera and including multiple wavelength information, detecting an object contained in the processed food based on the optical image data, and if it is determined that the object is an object to be removed from the processed food, associating position information of the object to be removed with a control command requesting removal of the object to be removed, and transmitting the position information of the object to be removed to a removal device that performs the removal of the object to be removed contained in the processed food based on transport speed information of the processed food.

[0007] The present disclosure also provides a processed food inspection method performed by a system including a camera that images the processed food being transported and a control device capable of communicating with the camera, which acquires optical image data imaged by the camera and including multiple wavelength information, detects an object contained in the processed food based on the optical image data, and if it is determined that the object is an object to be removed from the processed food, outputs position information of the object to be removed and information about the transport speed of the processed food.

[0008] The present disclosure also provides a method for producing processed foods carried out by a system including a camera that images processed foods and a control device capable of communicating with the camera, which produces the processed food by cooking a plurality of ingredients, images the processed food as it is transported, obtains optical image data including information on the plurality of wavelengths imaged, detects an object contained in the processed food based on the optical image data, and if it is determined that the object is an object to be removed from the processed food, associates position information of the object to be removed, transport speed information of the processed food, and a control command requesting the removal of the object to be removed, and transmits the associated information to a removal device that removes the object to be removed contained in the processed food. Effect of the Invention

[0009] According to the present disclosure, it is possible to detect foreign objects contaminating processed foods and assist in their removal. [Brief description of the drawings]

[0010] [Figure 1] A diagram explaining an example of a food manufacturing process [Diagram 2] FIG. 1 is a block diagram showing an example of the overall configuration of a foreign matter removal system according to an embodiment. [Diagram 3] FIG. 1 is a block diagram showing an example of the internal configuration of an HS camera, a control device, a foreign object removal device, and an administrator terminal according to an embodiment. [Figure 4] FIG. 1 is a sequence diagram showing an example of an operation procedure of a foreign matter removal system according to an embodiment. [Diagram 5] FIG. 1 is a diagram showing an example of a compressed image. [Figure 6] Diagram explaining an example of analysis of an object [Figure 7] FIG. 13 is a diagram for explaining an example of foreign matter removal information. [Figure 8] FIG. 13 is a diagram showing an example of a foreign matter removal result screen. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, with reference to the drawings as appropriate, each embodiment that specifically discloses the configuration and action of the method for removing foreign matter from processed foods, the method for inspecting processed foods, and the method for manufacturing processed foods according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0012] In the following explanation, "processed foods" refers to, for example, processed meat products, processed dairy products, processed vegetable products, processed fruit products, oily foods, fish paste products, luxury foods, seasonings, confectioneries, frozen foods, retort foods, canned foods, bottled foods, instant foods, drinking water, soft drinks, ice, health foods, and nutritional supplements, etc. In addition, in the following explanation, "foreign matter" refers to burnt parts generated by improper processing of processed foods, insufficiently processed materials (for example, ingredients that should be heated are not heated sufficiently and are in a semi-raw state, etc.), garbage mixed in during processing (for example, egg shells, shrimp shells, vegetable peels, etc.), unexpected materials, and inedible foreign matter (for example, processed metal pieces, wood pieces, plastic pieces, glass pieces, rubber pieces, stones, sand, insects, etc.), etc.

[0013] First, a manufacturing process of a processed food and a use case of the foreign matter removal system 100 in the manufacturing process of the processed food will be described with reference to Fig. 1 and Fig. 2, respectively. Note that in this embodiment, an example of manufacturing "Napolitan" will be described as an example of a processed food, but the present invention is not limited to this. Also, it goes without saying that the processed food and the manufacturing process of the processed food shown in Fig. 1 are only an example, and the present invention is not limited to this.

[0014] Processed foods are produced by carrying out various manufacturing processes such as the "raw material receiving and storage" process for receiving and storing raw materials used in the production of processed foods, the "cutting" process for processing raw materials, the "boiling process" and "frying process" process, the "inspection process" for inspecting the processed processed foods, the "removal process" for removing foreign objects from the processed foods, the "weighing and packaging process" for weighing and packaging the processed foods, the "freezing process" for freezing the packaged processed foods, and the "sampling inspection process" for sampling the packaged processed foods.

[0015] The "inspection process" and "removal process" referred to here are processes that are actually carried out in the conveying section where processed foods are conveyed after the "processing process" is completed, until they move to the next "weighing and packaging process." In other words, the "inspection process" is a process that makes it possible to detect foreign bodies contained in processed foods by simply installing an HS camera C1 (described later) in this conveying section of the existing production line. Also, the "removal process" is a process that makes it possible to remove detected foreign bodies by simply installing a foreign body removal device MC (described later) in this conveying section of the existing production line.

[0016] The processed food in this embodiment is a food produced by processing a plurality of raw materials (ingredients), and may be, for example, a food produced by adding ingredients to noodles such as pasta, udon, soba, or ramen, or a food produced by adding ingredients to rice such as seasoned rice, pilaf, chicken rice, or fried rice, or may be a lunch box ingredient, granola, etc. The processed food may also be a mixed snack made by mixing pre-produced snacks with different appearances or flavors, or a lunch box food produced by assembling pre-produced lunch box ingredients, etc.

[0017] The foreign matter removal system 100 according to the embodiment uses an HS camera C1, which is a so-called hyperspectral camera, to capture an image of processed food PF conveyed by a belt conveyor BC. Based on a compressed image in which information on a plurality of captured wavelengths is compressed, the foreign matter removal system 100 executes, among the various processes described above, an inspection process for detecting foreign matter FO from a target object FP suspected of being a foreign matter contained in the processed food PF, and a removal process for removing the detected foreign matter FO. The foreign matter removal system 100 includes a control device S1, an HS camera C1, a light LT, a foreign matter removal device MC, and an administrator terminal P1. Note that the number of the HS camera C1, the light LT, and the foreign matter removal device MC may be more than one.

[0018] The control device S1 is connected to the HS camera C1, the lighting LT, the foreign matter removal device MC, and the manager terminal P1 so as to be capable of wireless or wired communication with each of them, and transmits or receives data. Note that the wireless communication here refers to communication via a wireless Local Area Network (LAN) such as Wi-Fi (registered trademark).

[0019] The control device S1 controls the HS camera C1 and the lighting LT to obtain a compressed image of the processed food PF, and detects a foreign matter FO contained in the processed food PF by restoring and analyzing images of each wavelength from the obtained compressed image. The control device S1 transmits information about the detected foreign matter FO to the foreign matter removal device MC, and causes the foreign matter removal device MC to remove the foreign matter FO.

[0020] The HS camera C1 is configured to have at least a filter array (not shown), an image sensor (not shown), and a lens (not shown). The filter array is an optical element having a plurality of light-transmitting regions, and the light transmission spectrum, i.e., the wavelength dependency of the light transmittance, differs for each region. The image sensor is a solid-state imaging element including, for example, an InGaAs photodiode or a Si photodiode, and, for example, a Charged-Coupled Device (hereinafter, referred to as "CCD") or a Complementary Metal Oxide Semiconductor (hereinafter, referred to as "CMOS"), and converts an optical image formed by visible light on the imaging surface into an electrical signal.

[0021] The HS camera C1 is a hyperspectral camera capable of capturing images of wavelengths that are finely divided within a wavelength band (e.g., 400 nm to 700 nm, etc.). The HS camera C1 is positioned so that its optical axis is perpendicular to the conveying surface along which the belt conveyor BC conveys the processed food PF, and captures images of the processed food PF in a wide wavelength band under the control of the control device S1. The HS camera C1 generates a compressed image (two-dimensional image data) in which multiple pieces of spectral information (e.g., wavelength and brightness, etc.) included in the wavelength band that can be captured (400 nm to 700 nm) are compressed, and transmits the compressed image to the control device S1.

[0022] The board BD is, for example, a polycarbonate plate, and is placed between the processed food PF and the HS camera C1. The board BD protects the lens (not shown) of the HS camera C1 from the hot air emitted from the processed food PF. Note that the board BD is not essential and may be omitted.

[0023] In addition, an air blower or the like may be installed near the HS camera C1 and the board BD to prevent the lens or the board BD from fogging up due to steam generated from the processed food PF.

[0024] The lighting LT is controlled by the control device S1 to illuminate the target image captured by the HS camera C1. The lighting LT includes one or more lighting elements such as a Light Emittimg Diode (LED), a Laser Diode (LD), and an InfraRed (IR) light.

[0025] The foreign matter removal device MC is realized by, for example, a robot, and removes foreign matter FO contained in the processed food PF by any method such as suction, adsorption, blowing away, picking up, etc., based on information about the foreign matter FO transmitted from the control device S1. The foreign matter removal device MC is capable of generating a foreign matter removal result indicating the removal result of the foreign matter FO contained in the processed food PF, and transmitting it to the manager terminal P1.

[0026] The administrator terminal P1 is a terminal capable of accepting operations by an administrator who manages the manufacturing process of the processed food PF, and is realized by, for example, a personal computer (hereinafter referred to as "PC"), a notebook PC, a tablet terminal, a smartphone, etc. The administrator terminal P1 accepts settings of targets to be detected as foreign matter FO, and displays (outputs) on the monitor 43 the foreign matter removal results transmitted from the foreign matter removal device MC.

[0027] Next, an example of the internal configuration of each of the HS camera C1, the control device S1, the foreign matter removal device MC, and the manager terminal P1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the internal configuration of the HS camera C1, the control device S1, the foreign matter removal device MC, and the manager terminal P1 in the embodiment.

[0028] The HS camera C1 includes a communication unit 10, an imaging unit 11, and a stopping unit 12.

[0029] The communication unit 10 is connected to the communication unit 20 of the control device S1 so as to be able to transmit and receive data therebetween. The communication unit 10 outputs various data or information transmitted from the control device S1 to the imaging unit 11 or the stopping unit 12. The communication unit 10 transmits various data or information output from the imaging unit 11 or the stopping unit 12 to the control device S1.

[0030] The imaging unit 11 captures an image of the processed food PF based on a control command sent from the control device S1. When the entire processed food PF fits within the angle of view, the imaging unit 11 captures the entire processed food PF once. When the entire processed food PF does not fit within the angle of view, the imaging unit 11 captures the image multiple times so that successively captured imaged areas overlap in the direction along the conveying direction of the processed food PF. This allows the imaging unit 11 to more effectively prevent overlooking (not detecting) foreign objects FO contained in the processed food PF. The imaging unit 11 associates the captured compressed image with image capture time information when the compressed image was captured, and transmits the image to the control device S1.

[0031] The imaging time information here may be the time when the control device S1 receives the compressed image from the HS camera C1. In such a case, the control device S1 transmits position information of the foreign object FO, taking into account the time required for transmitting and receiving the compressed image, to the foreign object removal device MC, and instructs the foreign object removal device MC to remove the foreign object FO.

[0032] The stopping unit 12 stops capturing images of the processed food PF based on a control command sent from the control device S1.

[0033] The control device S1 includes a communication unit 20, a processor 21, and a memory 22.

[0034] The communication unit 20 is connected to the respective communication units of the HS camera C1, foreign matter removal device MC, and administrator terminal P1 so as to be able to transmit and receive data therebetween. The communication unit 20 outputs various data or information transmitted from each of the HS camera C1, foreign matter removal device MC, and administrator terminal P1 to the processor 21. The communication unit 20 transmits various data or information output from the processor 21 to each of the HS camera C1, foreign matter removal device MC, and administrator terminal P1.

[0035] The processor 21 is configured using, for example, a Central Processing Unit (hereinafter referred to as "CPU") or a Field Programmable Gate Array (hereinafter referred to as "FPGA"), and performs various processes and controls in cooperation with the memory 22. Specifically, the processor 21 refers to the programs and data stored in the memory 22 and executes the programs to realize the respective functions of an illumination light amount adjustment unit 211, a restoration unit 212, a detection unit 213, a determination unit 214, and a foreign object information acquisition unit 215.

[0036] The illumination light amount adjustment unit 211 controls the illumination intensity (light amount) of the illumination LT.

[0037] The restoration unit 212 restores the compressed images transmitted from the HS camera C1 to obtain images for each wavelength. The restoration unit 212 outputs each of the restored images to the detection unit 213.

[0038] The detection unit 213 uses a learning model to perform image analysis by artificial intelligence (AI). The learning model here is a model that is learned using an image of a foreign object FO to be removed. Specifically, the detection unit 213 performs image analysis on each of the restored images for each wavelength, and detects a target object FP suspected of being a foreign object based on the light intensity of a pixel included in the image for each wavelength. The detection unit 213 outputs information on the detected target object FP (i.e., pixel information) to the determination unit 214. For example, when the foreign object FO to be detected is burnt, the detection unit 213 detects an object having a color close to the burnt object to be detected, such as an onion that has turned brown due to stir-frying, bacon after stir-frying, or mushrooms, as the target object FP.

[0039] The learning model may be generated for each foreign object FO to be removed by learning suitable for detecting the foreign object FO. For example, when detecting an insect as a foreign object FO, the learning model may learn by dividing the body parts of the insect into legs, head, antennae, etc. This allows the detection unit 213 to detect a target object FP (e.g., seaweed, kelp, insects, etc.) from a similar processed food PF (e.g., rice ball), and to distinguish and detect a foreign object FO (here, a part of an insect) from the detected target object FP.

[0040] The determination unit 214 performs image analysis on each pixel in which an object FP is detected, and determines whether or not the object depicted in the pixel is a foreign object FO to be removed based on whether conditions set for the area or color of the object FP are satisfied, and outputs the result to the foreign object information acquisition unit 215. The conditions referred to here are, for example, that the area of ​​the object FP is equal to or greater than a predetermined value, that the color depth of the object FP is equal to or greater than a predetermined saturation, etc. The conditions may be changed arbitrarily depending on the type of foreign object FO that the user wishes to detect (for example, burnt, semi-dried, rubber, etc.).

[0041] The foreign object information acquisition unit 215 acquires position information (XY coordinates) of the foreign object FO, imaging time information of the compressed image, and conveyor position information of the belt conveyor BC where the foreign object FO was imaged (an example of information related to the foreign object FO), and transmits these to the foreign object removal device MC. Note that the conveyor position information referred to here indicates position information on the transport path formed by the belt conveyor BC, and is information on a section or partition assigned to the transport path. The conveyor position information is acquired only when such section or partition information is assigned, and may be omitted when section or partition information is not assigned.

[0042] The memory 22 has, for example, a random access memory (hereinafter referred to as "RAM") as a work memory used when executing each process of the processor 21, and a read only memory (hereinafter referred to as "ROM") for storing programs and data that define each operation of the processor 21. The RAM temporarily stores data or information generated or acquired by the processor 21. The ROM has written therein a program that defines the operation of the processor 21.

[0043] The foreign matter removal device MC includes a communication unit 30, a processor 31, a memory 32, and a foreign matter removal unit 33.

[0044] The communication unit 30 is connected to the communication units of the control device S1 and the administrator terminal P1 so as to be able to transmit and receive data therebetween. The communication unit 30 outputs various data or information transmitted from each of the control device S1 and the administrator terminal P1 to the processor 31. The communication unit 30 transmits various data or information output from the processor 31 to each of the control device S1 and the administrator terminal P1.

[0045] The processor 31 is configured using, for example, a CPU or an FPGA, and performs various processes and controls in cooperation with the memory 32. Specifically, the processor 31 refers to the programs and data stored in the memory 32, and executes the programs to realize the functions of the command unit 311.

[0046] The command unit 311 controls the start or end of foreign object removal performed by the foreign object removal unit 33 based on the position information (XY coordinates) of the foreign object FO transmitted from the control device S1, the imaging time information of the compressed image, and the position information of the belt conveyor BC at which the image of the foreign object FO was captured. The command unit 311 may also control the foreign object removal unit 33 based on a control command transmitted from the manager terminal P1.

[0047] The memory 32 has, for example, a RAM as a work memory used when executing each process of the processor 31, and a ROM for storing programs and data that define each operation of the processor 31. The RAM temporarily stores data or information generated or acquired by the processor 31. The ROM has written therein a program that defines the operation of the processor 31.

[0048] The foreign object removal unit 33 is configured to be able to remove the foreign object FO by any method (for example, adsorption, suction, blowing, picking up, etc.). The foreign object removal unit 33 removes the foreign object FO from the processed food PF conveyed on the belt conveyor BC based on the position information (XY coordinates) of the foreign object FO transmitted from the control device S1, the imaging time information of the compressed image, and the position information of the belt conveyor BC at which the foreign object FO was imaged. The foreign object removal unit 33 transmits information on the result of the foreign object removal to the manager terminal P1.

[0049] The administrator terminal P1 includes a communication unit 40, a processor 41, a memory 42, a monitor 43, and an input unit 44.

[0050] The communication unit 40 is connected to the communication units of the control device S1 and the foreign matter removal device MC so as to be able to transmit and receive data therebetween. The communication unit 40 outputs various data or information transmitted from each of the control device S1 and the foreign matter removal device MC to the processor 41. The communication unit 40 transmits various data or information output from the processor 41 to each of the control device S1 and the foreign matter removal device MC.

[0051] The processor 41 is configured using, for example, a CPU or an FPGA, and performs various processes and controls in cooperation with the memory 42. Specifically, the processor 41 refers to the programs and data stored in the memory 42, and executes the programs to realize the functions of the editing unit 411.

[0052] The editing unit 411 executes editing of the foreign object detection result data based on an administrator operation accepted by the input unit 44 .

[0053] The memory 42 has, for example, a RAM as a work memory used when executing each process of the processor 41, and a ROM for storing programs and data that define each operation of the processor 41. The RAM temporarily stores data or information generated or acquired by the processor 41. The ROM has written therein a program that defines the operation of the processor 41.

[0054] The monitor 43 is configured using, for example, a Liquid Crystal Display (LCD) or an organic electroluminescence (EL) display, and displays a foreign matter removal result screen SC (see FIG. 8) transmitted from the foreign matter removal device MC.

[0055] The input unit 44 is a user interface capable of accepting input operations by an administrator, and is realized by, for example, a keyboard, a mouse, a touch panel, etc. The input unit 44 converts the content of the accepted input operation into an electrical signal and transmits it to the editing unit 411. When the input unit 44 is realized by a touch panel, the input unit 44 may be configured integrally with the monitor 43.

[0056] Next, an operation procedure of the foreign matter removal system 100 according to the embodiment will be described with reference to Fig. 4. Fig. 4 is a sequence diagram showing an example of an operation procedure of the foreign matter removal system 100 according to the embodiment.

[0057] The HS camera C1 is disposed so that the optical axis of the HS camera C1 is perpendicular to the conveying surface of the belt conveyor BC, and captures an image of the processed food PF to be inspected (St11). The HS camera C1 generates a compressed image including wavelength information of 400 nm to 700 nm, and transmits the compressed image and image capture time information of the compressed image to the control device S1 in association with each other (St12).

[0058] If the optical axis of the HS camera C1 is not disposed perpendicular to the conveying surface of the belt conveyor BC, the HS camera C1 may perform horizontal correction on the generated compressed image and transmit the horizontally corrected compressed image to the control device S1, thereby enabling the control device S1 to detect the size (area) and position of the foreign object FO with higher accuracy.

[0059] The control device S1 restores the compressed image transmitted from the HS camera C1 and acquires an image for each wavelength (St13). The control device S1 performs image analysis on the restored image for each wavelength using the learning model and detects an object FP that is identical or similar to the foreign object FO and is suspected to be a foreign object FO (St14). The control device S1 analyzes the detected object FP for each pixel (St15) and detects the foreign object FO by determining for each pixel whether the detected object FP is a foreign object FO to be removed (St16). Based on the detection result, the control device S1 associates the position information (coordinates) of the foreign object FO with image capture time information when the compressed image in which the foreign object FO was detected was captured, and transmits the association to the foreign object removal device MC (St17).

[0060] Here, the control device S1 may determine whether or not the foreign object removing device MC can remove all of the foreign objects FO based on whether or not the number of detected foreign objects FO is equal to or greater than a predetermined number. When the control device S1 determines that the number of foreign objects FO is equal to or greater than a predetermined number (e.g., 4 or 5) and that the foreign object removing device MC cannot remove all of the foreign objects FO, it selects the foreign objects FO to be removed by the foreign object removing device MC from among the detected foreign objects FO. The control device S1 may further associate only the selected foreign objects FO from among the detected foreign objects FO with information indicating that they are to be removed, and transmit this information to the foreign object removing device MC. The control device S1 may determine whether or not the foreign object removing device MC can remove all of the foreign objects FO based on the number of foreign objects FO, position information of each foreign object FO, the conveying speed of the processed food PF by the belt conveyor BC, and the like.

[0061] Furthermore, in the process of selecting the foreign objects FO to be removed by the foreign object removal device MC, the control device S1 may determine a priority order for the foreign objects FO to be removed, and select the foreign objects FO to be removed by the foreign object removal device MC based on the determined priority order. For example, the control device S1 may select a predetermined number of foreign objects FO to be removed by the foreign object removal device MC in order of size, either in the order of largest or smallest. Furthermore, based on the position information of each foreign object FO, when the positions of multiple foreign objects are closer to each other, the control device S1 may prioritize removing the closer foreign objects by the foreign object removal device MC.

[0062] The foreign object removal device MC identifies the current position of the foreign object FO being transported on the belt conveyor BC based on the position information (coordinates) of the foreign object FO and the image capture time information transmitted from the control device S1, and removes the foreign object FO by the foreign object removal unit 33 (St18). After removing the foreign object FO, the foreign object removal device MC notifies the control device S1 of the completion of the foreign object removal (St19), and transmits foreign object removal information including the foreign object removal result to the administrator terminal P1 (St20).

[0063] In addition, if the foreign object removal device MC does not complete removal of all of the foreign object FO while the foreign object FO passes through the working area where the foreign object removal device MC can remove the foreign object FO, it notifies the control device S1 of the completion of foreign object removal, indicating that removal of the foreign object FO has failed, and transmits foreign object removal information indicating that removal of the foreign object FO has failed to the administrator terminal P1.

[0064] The administrator terminal P1 generates a foreign substance removal result screen SC including information on the foreign substance removal result based on the foreign substance removal result transmitted from the foreign substance removal device MC, and displays it on the monitor 43 (St21). The administrator terminal P1 records the foreign substance removal information. Here, when the administrator terminal P1 accepts an operation to edit the foreign substance removal information by the administrator, it records the edit content (edit information) and the foreign substance removal information in association with each other.

[0065] If the foreign object removal device MC determines in the process of step St18 that the removal of the foreign object FO has not been completed or has failed, it may generate an alarm to that effect and notify the control device S1 (St22). Based on the notification, the control device S1 may request the worker who performs the work of removing the foreign object FO in the removal process or monitors and manages the removal process to remove the foreign object FO. In such a case, the control device S1 may calculate the current position information of the foreign object FO and notify the worker. The worker will manually remove the foreign object FO.

[0066] Furthermore, when the control device S1 receives a foreign object removal completion notification indicating that removal of all foreign objects FO has not been completed in the process of step St19, the control device S1 may control the conveying speed of the processed food PF by the belt conveyor BC (St23). The control device S1 supports the removal of foreign objects FO by the worker by controlling the conveying speed. In such a case, the control device S1 may calculate current position information of the foreign object FO and notify the worker of the position information. Furthermore, when the control device S1 changes the conveying speed of the belt conveyor BC, the control device S1 may change the exposure time or image capture timing of the HS camera C1 based on the changed conveying speed.

[0067] As described above, the foreign matter removal system 100 according to the embodiment can detect and remove foreign matter FO contained in processed food PF.

[0068] Next, examples of detection of the target object FP and detection of a foreign object FO will be described with reference to Figs. 5 to 7. Fig. 5 is a diagram showing an example of a compressed image PIC. Fig. 6 is a diagram explaining an example of analysis of the target object FP. Fig. 7 is a diagram explaining an example of foreign object removal information. In the following description, the direction in which the processed food PF is conveyed by the belt conveyor BC is defined as the X direction, and the width of the belt conveyor BC, which is perpendicular to the conveying direction of the processed food PF, is defined as the Y direction.

[0069] The compressed image PIC is an image of a portion of the processed food PF (e.g., spaghetti Napolitana) being conveyed on the belt conveyor BC, and is an image obtained by compressing images of the processed food PF at wavelengths of 400 nm to 700 nm. Note that, here, an example will be described in which the image of the processed food PF (i.e., the "inspection process") is performed after the processing process in which the processed food PF is in a high-temperature state, but this is not limiting. The "inspection process" may be performed anywhere in the processing process (e.g., between the "cutting" and "boiling" processes shown in FIG. 1), may be performed before the processed food PF is cooled and frozen, or may be performed after the processed food PF is packaged. In such a case, the "removal process" may be performed after the above-mentioned "inspection process", or may be performed collectively after multiple "inspection processes".

[0070] The compressed image PIC shown in Figure 5 depicts a processed food PF containing four foreign objects FO1, FO2, FO3, and FO4, as well as seven ingredients PF11, PF12, PF21, PF22, PF23, PF24, PF25, and PF26 that have the same or similar colors as the foreign objects and are suspected of being foreign objects.

[0071] The control device S1 uses a learning model that has learned the waveform shapes of the light intensity waveform of the foreign object FO in the wavelength band of 400 nm to 700 nm that can be captured by the HS camera C1, and detects, from multiple restored images obtained by restoring the compressed image PIC, objects having a light intensity waveform shape that is the same as or similar to the shape of the light intensity waveform of the foreign object FO, as targets FP having a color that is the same as or similar to the color of the foreign object FO.

[0072] 6, for example, waveform FOL1 indicates the light intensity of a foreign object FO, which is based on waveform FOL1. Waveform FOL2 indicates the light intensity of an object that is a foreign object FO among the detected objects FP. Each of waveforms PFL1 and PFL2 indicates the light intensity of an object that is not a foreign object FO among the detected objects FP.

[0073] The control device S1 detects a true foreign object FO from a suspected foreign object FP based on a comparison of the shape of the waveform FOL1 in the wavelength band of 400 nm to 700 nm with the waveforms of FOL2, PFL1, and PFL2, a comparison of the slope before and after the peak of the waveform FOL1 with the slope before and after the peak of the waveforms FOL2, PFL1, and PFL2, and a comparison of the light intensity range of the waveform FOL1 with the light intensity range of the waveforms FOL2, PFL1, and PFL2 of the object FP.

[0074] 6, the control device S1 determines that an object FP corresponding to a waveform FOL2 that has a waveform shape similar to that of the waveform FOL1 over the entire wavelength band of 400 nm to 700 nm, has peaks similar to the slopes around the peaks (here, peaks Pk1 and Pk2) of the waveform FOL1, and has a light intensity similar to the light intensity range of the waveform FOL1 (here, 50 lx to 150 lx) is a foreign object FO. The control device S1 also determines that the objects FP corresponding to each of the waveforms PFL1 and PFL2 are not foreign objects FO using a similar method.

[0075] The above-described method of determining whether or not a foreign object FO exists is merely an example, and is not limited to this. For example, the control device S1 may determine and detect whether or not a foreign object FO exists based on the degree of dispersion of the target object FP, the outer shape of the target object FP, etc.

[0076] Here, the control device S1 executes the above-mentioned foreign object FO determination process and detects each of the four foreign objects FO1 to FO4 and each of the seven ingredients PF11 to PF12, PF21 to PF26 from multiple restored images obtained by restoring the compressed image PIC shown in Figure 5.

[0077] The control device S1 judges whether or not the object FP appearing in the pixel detected as the object FP is a foreign object FO based on the light intensity waveform of the pixel detected as the object FP. The control device S1 analyzes the light intensity for each predetermined bandwidth (e.g., 20 nm, 30 nm, etc.) for all pixels detected as the object FP, and judges whether or not the object FP appearing in the pixel is a foreign object FO. The control device S1 detects the areas in which each of the foreign objects FO1 to FO4 appears from the compressed image based on the pixels in which the object FP appearing in the pixel is judged to be a foreign object FO. The control device S1 calculates the center position (coordinates) of each of the foreign objects FO1 to FO4 based on the position information (coordinates) of the pixels included in the areas of the detected foreign objects FO1 to FO4.

[0078] For example, in the example shown in FIG. 5, the control device S1 calculates the center position Pt1 (X1, Y1) of the foreign object FO1, the center position Pt2 (X2, Y2) of the foreign object FO2, the center position Pt3 (X3, Y3) of the foreign object FO3, and the center position Pt4 (X4, Y4) of the foreign object FO4.

[0079] The control device S1 associates the imaging time at which each of the foreign objects FO1-FO4 was imaged, information on the calculated coordinates of each of the foreign objects FO1-FO4 (i.e., central positions Pt1-Pt4), and information on the position (conveyor position) on the belt conveyor BC at which each of the foreign objects FO1-FO4 was imaged, and transmits these to the foreign object removal device MC.

[0080] 7, the control device S1 transmits to the foreign object removal device MC information on foreign object FO1, which associates image capture time information "13:00:00", coordinate information "(X,Y)=(X1,Y1)", and conveyor position information "3", information on foreign object FO2, which associates image capture time information "13:00:00", coordinate information "(X,Y)=(X2,Y2)", and conveyor position information "3", information on foreign object FO3, which associates image capture time information "13:00:00", coordinate information "(X,Y)=(X3,Y3)", and conveyor position information "3", and information on foreign object FO4, which associates image capture time information "13:10:05", coordinate information "(X,Y)=(X4,Y4)", and conveyor position information "5". Note that the conveyor position information is not essential.

[0081] Next, the foreign substance removal result screen SC will be described with reference to Fig. 8. Fig. 8 is a diagram showing an example of the foreign substance removal result screen SC. Note that the foreign substance removal result screen SC shown in Fig. 8 is an example and is not limited to this.

[0082] The foreign matter removal result screen SC is output and displayed on the monitor 43 of the manager terminal P1. The foreign matter removal result screen SC includes the image capture time when the foreign matter FO was captured, the removal time when the foreign matter removal device MC removed the foreign matter FO, removal target object position information where the foreign matter FO was detected, the removal result of the foreign matter FO, editing information (checks and notes) edited by the manager, and removal accuracy indicating the number of foreign matters FO removed relative to the number of foreign matters FO detected. The foreign matter removal result screen SC may include other information such as the lot number of the raw materials.

[0083] For example, the foreign object removal result screen SC shown in FIG. 8 displays information indicating that removal of a foreign object FO1, which was captured at an imaging time of "13:00:00" and detected at removal target position information "X1, Y1 (conveyor position 3)", was completed at removal time "13:00:18" (removal result "◯"), that removal of a foreign object FO2, which was captured at an imaging time of "13:00:00" and detected at removal target position information "X2, Y2 (conveyor position 3)", was completed at removal time "13:00:23" (removal result "◯"), and that removal of a foreign object FO3, which was captured at an imaging time of "13:00:00" and detected at removal target position information "X3, Y3 ( The screen SC notifies the administrator that the removal of the foreign object FO3 detected at "Conveyor position 3)" was completed at removal time "13:00:21" (removal result "◯"), that the removal of the foreign object FO4 captured at imaging time "13:10:05" and detected at removal target object position information "X4, Y4 (Conveyor position 5)" was not completed (removal time "-", removal result "×"), and that the removal of the foreign object captured at imaging time "13:15:10" and detected at removal target object position information "X5, Y5 (Conveyor position 2)" was completed at removal time "13:15:36" (removal result "◯"). The foreign object removal result screen SC also notifies the administrator that the removal accuracy of the detected foreign object FO is 85%.

[0084] The method of detecting and removing foreign matter FO by the foreign matter removal system 100 according to this embodiment has been described above, but the foreign matter removal system 100 may also be capable of making suggestions for improving the processing conditions in the processing step.

[0085] For example, the control device S1 in the foreign matter removal system 100 may acquire information such as the number of foreign matters FO detected, the increase or decrease in the number or rate of increase or decrease of foreign matters FO, the size of the foreign matters FO, and raw materials detected as foreign matters FO during the foreign matter FO detection process performed in the inspection process, and output this information to at least one device that manufactures (processes) the processed food PF in the processing process.

[0086] Furthermore, the control device S1 may change the processing conditions of the processed food PF in the processing step based on information such as the number of detections of foreign objects FO, the number or rate of increase or decrease of foreign objects FO, the size of the foreign objects FO, and raw materials detected as foreign objects FO. The control device S1 may acquire current processing conditions from a device that manages the processing step, and may change the acquired current processing conditions to processing conditions for further suppressing the generation of foreign objects FO based on the number of detections of foreign objects FO, the number or rate of increase or decrease of foreign objects FO, or the size of the foreign objects FO, and transmit the acquired current processing conditions to the device that manages the processing step. For example, when the control device S1 determines that the number of detections of foreign objects FO has increased based on information such as the number or rate of increase or decrease of foreign objects FO, the control device S1 changes the processing conditions by reducing the heating power included in the processing conditions or shortening the heating time. Also, an upper limit number for the number of detections of foreign objects FO may be set in advance, and the control device S1 may change the processing conditions when it determines that the number of detections of foreign objects FO has exceeded the upper limit number.

[0087] This allows the control device S1 to provide information that assists in reviewing the processing conditions, thereby improving the quality of the processed food PF. Furthermore, by suppressing the generation of foreign matter FO, the control device S1 can reduce the number of foreign matter FO and improve the removal rate of foreign matter FO in the removal process, and can also reduce the speed or frequency of stops of the belt conveyor BC in the removal process, thereby improving the operation rate of various devices that manufacture the processed food PF.

[0088] Furthermore, the control device S1 may acquire not only the number of foreign objects FO detected in the inspection process, the increase or decrease in the number or rate of increase or decrease in the number of foreign objects FO, the size of the foreign objects FO, and information on the raw materials detected as foreign objects FO, but also information on the raw materials (e.g., place of origin, lot, etc.), information on the manufacturing date and manufacturing environment (e.g., season, room temperature, etc.), processing conditions, etc., and record and manage them in association with each other. The control device S1 may change the current processing conditions based on inspection results acquired and recorded in the past and the latest inspection results.

[0089] (Additional Note) The above description of each embodiment discloses the following techniques.

[0090] (Technology 1) A camera (HS camera C1) that captures the processed food PF being conveyed; A foreign matter removal method for a processed food PF performed by a system (foreign matter removal system 100) including a control device S1 capable of communicating with the camera (HS camera C1), The optical image data (compressed image PIC) captured by the camera (HS camera C1) and including multiple wavelength information is acquired, Detecting a target object FP contained in the processed food PF based on the optical image data (compressed image PIC); When it is determined that the object FP is a removal target (foreign object FO) to be removed from the processed food PF, position information of the removal target (foreign object FO) is associated with a control command requesting removal of the removal target (foreign object FO) and transmitted to a removal device (foreign object removal device MC) that removes the removal target (foreign object FO) contained in the processed food PF based on conveying speed information of the processed food. How to remove foreign objects from processed foods. With this configuration, the foreign matter removal system 100 can detect the foreign matter FO to be removed and objects similar to the foreign matter as targets FP based on the compressed image captured by the HS camera C1, and can detect the foreign matter FO to be removed by determining the foreign matter FO from the detected targets FP. Also, the foreign matter removal system 100 can remove the foreign matter FO by transmitting position information of the detected foreign matter FO and information on the conveying speed at which the processed food PF containing the foreign matter FO is conveyed to the foreign matter removal device MC.

[0091] (Technology 2) Detecting the object FP contained in the processed food PF based on an image obtained by restoring the optical image data (compressed image PIC). A method for removing foreign matter from processed foods as described in (Technical 1). With this configuration, the foreign matter removal system 100 can detect a foreign matter FO to be removed and an object similar to the foreign matter as an object FP, based on the compressed image captured by the HS camera C1.

[0092] (Technology 3) Obtaining spectral data of a plurality of different ingredients contained in the processed food PF based on an image obtained by restoring the optical image data (compressed image PIC); detecting the object FP based on the spectral data; A method for removing foreign matter from processed foods according to (Technology 1) or (Technology 2). With this configuration, the foreign matter removal system 100 can detect the foreign matter FO to be removed and objects similar to the foreign matter as the target object FP with high accuracy by using the spectral data of the target object FP.

[0093] (Technology 4) The processed food PF is a collection of a plurality of ingredients produced by cooking the plurality of ingredients. A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 3). With this configuration, the foreign matter removal system 100 can detect foreign matter FO contained in processed food PF, which is an aggregate of a number of different ingredients.

[0094] (Technology 5) The processed food PF is conveyed in a predetermined conveying direction, The position information of the object to be removed (foreign object FO) includes position information (X coordinate) in a direction along the predetermined transport direction and position information (Y coordinate) in a direction perpendicular to the predetermined transport direction. A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 4). With this configuration, the foreign object removal system 100 makes it possible to remove the foreign object FO by the foreign object removal device MC, which is a device different from the control device S1 that detects the foreign object.

[0095] (Technology 6) calculating a removal timing of the object to be removed (foreign object FO) by the removal device (foreign object removal device MC) based on the position information of the object to be removed (foreign object FO) and the conveying speed information of the processed food PF; the removal timing information is further associated with the position information of the object to be removed (foreign object FO), the conveying speed information of the processed food PF, and a control command requesting removal of the object to be removed (foreign object FO), and the removed object is transmitted to the removal device (foreign object removal device MC); A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 5). With this configuration, the foreign matter removal system 100 makes it possible to remove the foreign matter FO by the foreign matter removal device MC.

[0096] (Technology 7) Calculate the area of ​​the object to be removed (foreign object FO), the position information of the object to be removed (foreign object FO), the conveying speed information of the processed food PF, and a control command requesting removal of the object to be removed (foreign object FO) are associated with each other, and transmitted to the removal device (foreign object removal device MC) which removes the object to be removed (foreign object FO) contained in the processed food PF; A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 6). With this configuration, the foreign matter removal system 100 can improve the precision with which the foreign matter removal device MC removes the foreign matter FO.

[0097] (Technology 8) When it is determined that the number of the objects to be removed (foreign objects FO) is less than a predetermined number, transmits to the removal device (foreign matter removal device MC) position information of all of the objects to be removed (foreign matter FO) contained in the processed food PF, conveying speed information of the processed food PF, and a control command requesting removal of the objects to be removed (foreign matter FO) in association with each other, A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 7). With this configuration, when the foreign matter removal system 100 determines that it is possible to remove all of the foreign matter FO detected by the foreign matter removal device MC, it can cause the foreign matter removal device MC to remove all of the detected foreign matter FO.

[0098] (Technology 9) When it is determined that the number of the objects to be removed (foreign objects FO) is equal to or greater than a predetermined number, selecting a removal object (foreign object FO) to be removed by the removal device (foreign object removal device MC) based on the area of ​​the removal object (foreign object FO); transmits to the removal device (foreign matter removal device MC) position information of the selected object to be removed (foreign matter FO), conveying speed information of the processed food PF, and a control command requesting removal of the object to be removed (foreign matter FO) in association with each other, A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 8). With this configuration, when the foreign matter removal system 100 determines that it is not possible to remove all of the foreign matter FO detected by the foreign matter removal device MC, it can cause the foreign matter removal device MC to remove the foreign matter FO that is desired to be removed with priority among the detected foreign matter FO.

[0099] (Technology 10) The optical image data (compressed image PIC) includes wavelength information of 400 nm to 700 nm. A method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 9). With this configuration, the foreign matter removal system 100 can detect the target object FP and the foreign matter FO over a wide wavelength band, thereby improving the detection accuracy of the foreign matter FO.

[0100] (Technology 11) When it is determined that the number of the objects to be removed (foreign objects FO) in a predetermined period of time is equal to or greater than a preset upper limit value, a control command is generated to request resetting of a heating time or a heating temperature for producing the processed food PF, outputting the heating time or the heating temperature to an external device capable of setting the heating time or the heating temperature; The method for removing foreign matter from processed foods according to any one of (Technology 1) to (Technology 10). With this configuration, the foreign matter removal system 100 can assist in the production of processed food PF based on information on the detected foreign matter FO.

[0101] (Technology 12) A camera (HS camera C1) that captures the processed food PF being conveyed; A method for inspecting a processed food PF by a system (foreign matter removal system 100) including a control device S1 capable of communicating with the camera (HS camera C1), The optical image data (compressed image PIC) captured by the camera (HS camera C1) and including multiple wavelength information is acquired, Detecting a target object FP contained in the processed food PF based on the optical image data; When it is determined that the target object FP is a removal target object (foreign object FO) to be removed from the processed food PF, position information of the removal target object (foreign object FO) and conveying speed information of the processed food PF are output. How to inspect processed foods. With this configuration, the foreign matter removal system 100 can detect the foreign matter FO to be removed and objects similar to the foreign matter as objects FP based on the compressed image captured by the HS camera C1, and determine the foreign matter FO from the detected objects FP, thereby detecting the foreign matter FO to be removed.

[0102] (Technology 13) A camera (HS camera C1) that captures the processed food PF, A method for producing a processed food PF by a system (foreign matter removal system 100) including a control device S1 capable of communicating with the camera (HS camera C1), Cooking a plurality of ingredients to produce the processed food PF; Taking an image of the processed food PF being conveyed, Acquire optical image data (compressed image PIC) including information on the captured multiple wavelengths, Detecting a target object FP contained in the processed food PF based on the optical image data (compressed image PIC); If it is determined that the object is a removal target (foreign object FO) to be removed from the processed food PF, position information of the object to be removed (foreign object FO), information on the conveying speed of the processed food PF, and a control command requesting removal of the object to be removed (foreign object FO) are associated with each other and transmitted to a removal device (foreign object removal device MC) that removes the object to be removed (foreign object FO) contained in the processed food PF. Methods for producing processed foods. With this configuration, the foreign matter removal system 100 detects the foreign matter FO to be removed and objects similar to the foreign matter as objects FP based on the compressed image captured by the HS camera C1, and by determining the foreign matter FO from the detected objects FP, the foreign matter removal system 100 can detect the foreign matter FO to be removed and remove the foreign matter FO. This allows the foreign matter removal system 100 to improve the production quality of the processed food PF.

[0103] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the various embodiments described above may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0104] INDUSTRIAL APPLICABILITY The present disclosure is useful as providing a method for removing foreign matter from processed foods, a method for inspecting processed foods, and a method for producing processed foods, which detect foreign matter contaminating processed foods and assist in removing the foreign matter. [Explanation of symbols]

[0105] 10,20,30,40 Communications Department 11 Imaging unit 12 Stop part 21,31,41 Processors 22,32,42 Memory 33 Foreign matter removal section 43 Monitor 44 Input section 100 Foreign body removal system 211 Lighting light quantity adjustment unit 212 Restoration Department 213 Detection Unit 214 Judgment section 215 Foreign object information acquisition section 311 Command Department BC Belt Conveyor C1 HS Camera FO, FO1, FO2, FO3, FO4 Foreign object LT lighting MC foreign matter removal device P1 Administrator terminal PF processed food PIC Compressed Image S1 Control Unit SC foreign matter removal result screen

Claims

1. A camera for capturing images of the processed food being conveyed; A method for removing foreign matter from processed foods, the method being carried out by a system including a control device capable of communicating with the camera, Acquiring optical image data including a plurality of wavelength information captured by the camera; Detecting an object contained in the processed food based on the optical image data; when it is determined that the object is an object to be removed from the processed food, the position information of the object to be removed is associated with a control command requesting the removal of the object to be removed, and the control command is transmitted to a removal device that removes the object to be removed from the processed food based on conveying speed information of the processed food. How to remove foreign objects from processed foods.

2. detecting the object contained in the processed food based on an image obtained by restoring the optical image data; The method for removing foreign matter from processed foods according to claim 1.

3. obtaining spectral data of a plurality of different ingredients contained in the processed food based on an image obtained by restoring the optical image data; Detecting the object based on the spectral data. The method for removing foreign matter from processed foods according to claim 2.

4. The processed food is an aggregate of a plurality of ingredients produced by cooking the plurality of ingredients. The method for removing foreign matter from processed foods according to claim 1.

5. The processed food is conveyed in a predetermined conveying direction, The position information of the object to be removed includes position information in a direction along the predetermined transport direction and position information in a direction perpendicular to the predetermined transport direction. The method for removing foreign matter from processed foods according to claim 1.

6. calculating a removal timing of the object to be removed by the removal device based on position information of the object to be removed and information on a conveying speed of the processed food; transmitting the removal timing information to the removal device, the position information of the object to be removed, the transport speed information of the processed food, and a control command requesting the removal of the object to be removed, and The method for removing foreign matter from processed foods according to claim 1.

7. Calculating the area of ​​the object to be removed; transmitting the position information of the object to be removed, information on the conveying speed of the processed food, and a control command requesting removal of the object to be removed to the removing device, which removes the object to be removed from the processed food; The method for removing foreign matter from processed foods according to claim 1.

8. When it is determined that the number of objects to be removed is less than a predetermined number, transmitting to the removal device position information of all of the objects to be removed contained in the processed food, information on the conveying speed of the processed food, and a control command requesting removal of the objects to be removed in association with each other; The method for removing foreign matter from processed foods according to claim 1.

9. When it is determined that the number of objects to be removed is equal to or greater than a predetermined number, selecting an object to be removed by the removal device based on an area of ​​the object to be removed; transmitting to the removal device, position information of the selected object to be removed, information on the conveying speed of the processed food, and a control command requesting removal of the object to be removed in association with each other; The method for removing foreign matter from processed foods according to claim 7.

10. The optical image data includes wavelength information from 400 nm to 700 nm. The method for removing foreign matter from processed foods according to claim 1.

11. generating a control command requesting resetting of a heating time or a heating temperature for producing the processed food when it is determined that the number of the objects to be removed in a predetermined period of time is equal to or greater than a preset upper limit value; outputting the heating time or the heating temperature to an external device capable of setting the heating time or the heating temperature; The method for removing foreign matter from processed foods according to claim 1.

12. A camera for capturing images of the processed food being conveyed; A method for inspecting processed foods, the method being carried out by a system including a control device capable of communicating with the camera, Acquiring optical image data including a plurality of wavelength information captured by the camera; Detecting an object contained in the processed food based on the optical image data; when it is determined that the object is an object to be removed from the processed food, outputting position information of the object to be removed and conveying speed information of the processed food. How to inspect processed foods.

13. A camera for capturing images of processed foods; A method for producing processed foods performed by a system including a control device capable of communicating with the camera, Cooking a plurality of ingredients to produce the processed food; Taking an image of the processed food being conveyed; Acquire optical image data including information on the captured multiple wavelengths; Detecting an object contained in the processed food based on the optical image data; when it is determined that the object is an object to be removed from the processed food, position information of the object to be removed, information on the conveying speed of the processed food, and a control command requesting the removal of the object to be removed are associated with each other, and transmitted to a removal device which removes the object to be removed contained in the processed food. Methods for producing processed foods.

Images