Beverage production system, control device, control program, and beverage production method

Abstract

To arrange a plurality of transported non-uniform solid matters and hold the solid matters to place the solid matters into a plurality of transported empty containers with high accuracy efficiently.SOLUTION: A beverage production system comprises: a first line L1 which transports empty cans KN each having an opening; a second line L2 which transports fruits and vegetables LS each having a projected area smaller than an area of the opening of each empty can KN; a robot R1; and a control device which controls the robot R1 so that the robot R1 arranges and holds the plurality of fruits and vegetables LS transported on the second line L2 and places the held fruits and vegetables LS into the respective openings of the empty cans KN transported on the first line L1 at prescribed timings.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present disclosure relates to a beverage production system, a control device, a control program, and a beverage production method. [Background technology]

[0002] For example, Patent Document 1 describes a bottled beverage containing a carbonated beverage and dried fruit. The carbon dioxide content of the carbonated beverage contained in this bottled beverage is set to a gas volume such that the dried fruit is immersed in the carbonated beverage when the container is sealed, and the immersed dried fruit rises to the surface of the carbonated beverage when the container is opened. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-172534 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the containerized beverage described in Patent Document 1 requires that dried fruit be packed into containers by hand, making mass production difficult. Meanwhile, there is known technology for using a robotic arm to grab fruits and vegetables and transport them to another line, but this type of technology does not allow the robotic arm to line up and grab multiple non-uniform solid objects such as fruits and vegetables, and to efficiently and accurately pour them into multiple empty containers being transported at high speed.

[0005] The present disclosure has been made in consideration of the above points, and aims to provide a beverage production system, control device, control program, and beverage production method that can align and hold multiple non-uniform solid objects being transported and efficiently dispense them into multiple empty containers being transported with high precision. [Means for solving the problem]

[0006] A beverage production system according to one embodiment of the present disclosure comprises a first line for transporting empty containers having an opening; a second line for transporting solid objects having a projected area smaller than the area of the opening; an injection device configured to hold a plurality of the solid objects transported on the second line in an array and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; and a control device for controlling the injection device so that the plurality of solid objects transported on the second line are injected into the openings of each of the plurality of empty containers transported on the first line at a predetermined timing.

[0007] According to this aspect, a plurality of non-uniform solid objects to be conveyed can be aligned and held, and can be efficiently poured into a plurality of empty containers to be conveyed with high accuracy.

[0008] The first line and the second line may run parallel to each other in the same direction.

[0009] According to this aspect, the operation of holding and feeding the solid object can be carried out efficiently.

[0010] The feeding device may include a plurality of holding sections that hold the plurality of solid objects in a detachable arrangement, and the control device may control the feeding device to move the plurality of holding sections that hold the plurality of solid objects in a detachable arrangement over the opening of each of the plurality of empty containers, and to feed the plurality of solid objects into the opening of each of the plurality of empty containers at a predetermined timing while moving the plurality of holding sections in the same direction as the conveying direction of the empty containers.

[0011] According to this aspect, a plurality of solid materials can be efficiently poured into a plurality of empty containers with high accuracy.

[0012] The control device may be configured to synchronize the movement speed of the multiple holding sections that hold the multiple solid objects in a line with the conveying speed of the multiple empty containers, and to control the feeding device to feed the multiple solid objects into the openings of each of the multiple empty containers at a predetermined timing while moving the multiple holding sections ahead of the multiple empty containers downstream in the conveying direction.

[0013] According to this aspect, a plurality of solid objects can be efficiently poured into a plurality of empty containers with higher accuracy.

[0014] The control device may select, from images of the solid objects being transported on the second line, those solid objects whose shapes meet a predetermined quality standard as solid objects to be retained, and assign priorities to the selected solid objects in order from the downstream side in the transport direction.

[0015] According to this aspect, a plurality of solid objects that satisfy a predetermined quality standard can be selected and prioritized.

[0016] The specified quality standard may include an index value representing circularity, and the control device may select multiple solid objects from the captured image whose index values satisfy certain conditions, and assign priorities to the selected multiple solid objects in order from the downstream side in the conveying direction.

[0017] According to this aspect, it is possible to select a plurality of solid objects whose index values representing roundness satisfy a certain standard, and assign priorities to them.

[0018] The specified quality standard may include an index value representing circularity and a color area representing the color area of a specific part, and the control device may identify multiple solid objects from the captured image whose index values satisfy certain conditions, select multiple solid objects from the identified multiple solid objects whose color area is equal to or greater than a threshold, and assign priorities to the selected multiple solid objects in order from the downstream side in the conveying direction.

[0019] According to this aspect, it is possible to select a plurality of solid objects whose index values representing circularity and color areas satisfy certain standards, and assign priorities to them.

[0020] The feeding device may include a plurality of holding sections that hold the plurality of solid objects in a detachable arrangement, and the control device may select a number of solid objects greater than the number of the plurality of holding sections, and if the feeding device fails to hold or feed any of the selected solid objects, control the feeding device to hold another selected solid object.

[0021] According to this aspect, even if one of the plurality of solid objects fails to be held or poured, another solid object can be held.

[0022] The holding portion may be a vacuum suction type gripper.

[0023] According to this aspect, the solid object can be held without being damaged.

[0024] The gripper may be a Bernoulli type gripper.

[0025] According to this aspect, the solid object can be held with high precision without being damaged.

[0026] The solid material may be formed into a slice shape.

[0027] According to this aspect, the solid material formed into a slice shape can be put into the empty container.

[0028] The solid material may be fruit or vegetable.

[0029] According to this aspect, fruits and vegetables can be placed into the empty container.

[0030] The solid material may be a piece of wood.

[0031] According to this aspect, wood chips can be put into the empty container.

[0032] A control device according to one embodiment of the present disclosure is a control device for a beverage production system comprising: a first line for transporting empty containers having an opening; a second line for transporting solid objects having a projected area smaller than the area of the opening; an injection device configured to hold a plurality of the solid objects transported on the second line in an array and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; and a control device for controlling the operation of the injection device, wherein the control device controls the injection device so that the plurality of solid objects transported on the second line are injected into the openings of each of the plurality of empty containers transported on the first line at a predetermined timing.

[0033] A control program according to one embodiment of the present disclosure is a control program for a beverage production system comprising: a first line for transporting empty containers having an opening; a second line for transporting solid objects having a projected area smaller than the area of the opening; an injection device configured to hold a plurality of the solid objects transported on the second line in an array and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; and a control device for controlling the operation of the injection device, and causes a computer to control the injection device so that the plurality of solid objects transported on the second line are injected into the openings of each of the plurality of empty containers transported on the first line at a predetermined timing.

[0034] A beverage manufacturing method according to one embodiment of the present disclosure is a beverage manufacturing method using a beverage manufacturing system comprising: a first line for transporting empty containers having an opening; a second line for transporting solid objects having a projected area smaller than the area of the opening; an injection device configured to hold a plurality of the solid objects transported on the second line in an array and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; and a control device for controlling the operation of the injection device, wherein the injection device is controlled so that the plurality of solid objects transported on the second line are injected into the openings of each of the plurality of empty containers transported on the first line at a predetermined timing.

[0035] The water activity of the solid material may be 0.80 or less.

[0036] According to this embodiment, it is possible to suppress the growth of microorganisms caused by solid matter. [Effects of the Invention]

[0037] According to the present disclosure, a plurality of non-uniform solid objects to be conveyed can be aligned and held, and can be efficiently dispensed into a plurality of empty containers to be conveyed with high precision. [Brief explanation of the drawings]

[0038] [Figure 1] 1 is a diagram showing an example of the configuration of a beverage production system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the hardware configuration of the control device and the parallel link robot according to the first embodiment. [Figure 3] 2 is a block diagram showing an example of a functional configuration of a control device according to the first embodiment. FIG. [Figure 4] 3A to 3C are diagrams illustrating the holding and inserting operations of fruits and vegetables according to the first embodiment. [Figure 5A] FIG. 10 is a diagram showing an example of a captured image from which the circularity of fruits and vegetables is derived. [Figure 5B]10A and 10B are diagrams showing an example of a captured image from which the circularity and color area of fruits and vegetables are derived. [Figure 6] FIG. 10 is a top view schematically showing the robot putting fruit or vegetables into the opening of the empty can. [Figure 7] FIG. 10 is a side view schematically showing the robot putting fruit or vegetables into the opening of the empty can. [Figure 8] FIG. 10 is a side view showing a state in which the movement speed of the robot holding the fruit or vegetable is synchronized with the transport speed of the empty cans. [Figure 9] 5 is a flowchart showing an example of a processing flow by a control program according to the first embodiment. [Figure 10] FIG. 10 is a block diagram showing an example of a hardware configuration of a parallel link robot according to a second embodiment. [Figure 11] 10A and 10B are diagrams illustrating the holding and inserting operations of a plurality of fruit and vegetables according to the second embodiment. [Figure 12] 10A and 10B are diagrams showing an example of a captured image from which the circularity and color area of fruits and vegetables are derived. [Figure 13] 10 is a flowchart showing an example of a processing flow by a control program according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0039] An example of an embodiment of the technology of the present disclosure will be described in detail below with reference to the drawings. Note that components and processes that perform similar operations, actions, and functions are given the same reference numerals throughout the drawings, and duplicated descriptions may be omitted as appropriate. Each drawing is merely a schematic illustration to allow a sufficient understanding of the technology of the present disclosure. Therefore, the technology of the present disclosure is not limited to the illustrated examples. Furthermore, in this embodiment, descriptions of configurations that are not directly related to the technology of the present disclosure or well-known configurations may be omitted.

[0040] [First embodiment] FIG. 1 is a diagram showing an example of the configuration of a beverage production system 100 according to a first embodiment. The beverage according to this embodiment may be an alcoholic beverage or a non-alcoholic beverage. It may also be a beverage produced through a fermentation process or a beverage produced without a fermentation process. When the beverage to be produced is an alcoholic beverage, the alcohol content (volume concentration of ethanol) and the concentration of extract components are not particularly limited and may be determined appropriately depending on the desired product quality.

[0041] As shown in Fig. 1, a beverage production system 100 according to this embodiment includes a first line L1, a second line L2, a control device 10, and a parallel link robot 20. The parallel link robot 20 according to this embodiment is an example of a feeding device. The feeding device is not limited to this parallel link robot 20, and may be, for example, another type of robot, a drone, or the like.

[0042] The parallel link robot 20 is a type of industrial robot that employs a "parallel link mechanism" that controls multiple mechanisms (parts) in parallel to operate the final output destination. The parallel link mechanism is mainly composed of a motor and bearings, and has a simpler structure compared to conventional articulated robots. The parallel link robot 20 has, for example, robots R1 to R5, which are controlled in parallel.

[0043] The control device 10 is a controller that is communicatively connected to the parallel link robot 20 and controls the operation of the parallel link robot 20. For example, a general-purpose computer such as a personal computer (PC) is used as the control device 10. The control device 10 may be provided external to the parallel link robot 20, or may be provided integrally with the parallel link robot 20.

[0044] The first line L1 is a line that conveys empty cans KN. The empty cans KN have openings through which fruits and vegetables LS, described below, can be inserted. The empty cans KN are an example of empty containers, but the empty containers are not limited to cans. Examples of empty containers that can be used include two-piece beverage cans, three-piece beverage cans, bottle cans, flexible containers, and glass bottles. Flexible containers include containers made of flexible resins such as PE (polyethylene), PP (polypropylene), EVOH (ethylene-vinyl alcohol copolymer), and PET (polyethylene terephthalate) molded into a bottle shape. Flexible containers may be made of a single-layer resin or a multi-layer resin. The rear end of the first line L1 is connected to a downstream process. The empty cans KN processed on the first line L1 are then subjected to further processing in the downstream process.

[0045] The second line L2 is a line for transporting the fruits and vegetables LS. The second line L2 runs, for example, parallel to the first line L1 in the same direction. Here, the "same direction" may be parallel or non-parallel. If the second line L2 is non-parallel, for example, the traveling direction of the second line L2 is inclined at an angle of 90 degrees or less with respect to the traveling direction of the first line L1. The second line L2 is provided with a bowl feeder 110, a classification conveyor 111, and a return NG inspection machine 112. The fruits and vegetables LS are an example of a solid object, but this solid object is not limited to fruits and vegetables. The projected area of the fruits and vegetables LS is smaller than the area of the opening of an empty can KN. The "projected area" refers to the area of a shadow cast on a surface including the opening when light is projected perpendicularly toward the opening and hits the fruits and vegetables LS. The fruits and vegetables LS are, for example, dried fruit. The type of fruit used as the raw material for the dried fruit is not particularly limited, and can be appropriately selected from fruits commonly used in beverages, such as citrus fruits such as lemons, limes, and oranges, as well as apples, blueberries, plums (including pickled plums), peaches, strawberries, pineapples, grapes, mangoes, figs, apricots, pears, bananas, and kiwis. One type of dried fruit may be used, or two or more types may be used. Furthermore, when the fruits and vegetables LS are citrus fruits, the albedo (the cotton-like or fibrous white part inside the citrus fruit peel) and the outer peel may be included, or the albedo and outer peel may be removed. The shape of the fruits and vegetables LS is not particularly limited, and may be, for example, sliced or another shape. Furthermore, while the projected area of the fruits and vegetables LS placed into the empty can KN must be smaller than the area of the opening of the empty can KN, the projected area of all the fruits and vegetables LS transported to the second line L2 does not need to be small. As will be described later, the fruits and vegetables LS to be placed in the empty cans KN are sorted in advance, so fruits and vegetables LS of various sizes may be transported to the second line L2.

[0046] When dried fruit is sliced as the fruit or vegetable LS, the thickness before drying may be, for example, 1.0 mm to 8.0 mm, or 2.0 mm to 6.0 mm. For convenience, the thickness may be the thickness at the time the dried fruit is added to the beverage. In this case, the thickness of the dried fruit may be, for example, 0.5 mm to 5.0 mm, or 1.0 mm to 3.0 mm. Furthermore, the thickness of the dried fruit in the beverage may be 1.0 mm to 8.0 mm, or 2.0 mm to 6.0 mm, after the beverage is impregnated with the fruit. Adjusting the thickness of the dried fruit to the above numerical ranges makes it less likely to break.

[0047] In addition, in the technology of the present disclosure, it is desirable that the water activity of the solid material be controlled within a predetermined range. This allows the growth of microorganisms to be suppressed even when the solid material is, for example, fruit or vegetable LS, contributing to improving the quality of packaged beverages and maintaining their taste. Furthermore, deformation and discoloration of fruit or vegetable LS due to microbial growth can also be suppressed.

[0048] Water activity is the value obtained by dividing the water vapor pressure of a food product under the same conditions by the water vapor pressure. Specifically, the water activity Aw of the food being measured can be defined as Aw = P / P0, where P is the water vapor pressure inside the sealed container when the food is stored and reaches equilibrium, and P0 is the water vapor pressure inside the sealed container when the food is replaced with pure water and reaches equilibrium. If the water activity is 1.0, the food contains only so-called "free water" and no "bound water," making it easy for microorganisms to grow. The lower the water activity value, the smaller the proportion of "free water" in the food and the greater the proportion of "bound water," making it more difficult for microorganisms to grow.

[0049] In this case, if the water activity is 0.80 or less, there is an effect of inhibiting the growth of microorganisms in, for example, dried fruit, which is an example of the fruits and vegetables LS.

[0050] Furthermore, a water activity of 0.75 or less is more effective in inhibiting microbial growth in dried fruit than a water activity of over 0.75 and up to 0.80. Also, a water activity of 0.75 or less is effective in inhibiting microbial growth even if the solid is, for example, jelly (edible "gel").

[0051] In particular, if the water activity is 0.65 or less, the effect of inhibiting the growth of microorganisms in dried fruit is even greater than when the water activity is greater than 0.65 and less than 0.75.

[0052] The technique disclosed herein can be used to measure water activity using the "AquaLab TDL 2" water activity measuring device manufactured by Meter Japan Co., Ltd. (hereinafter simply referred to as the "water activity measuring device"). This water activity measuring device measures relative humidity by irradiating the space above the sample with a tunable diode laser, thereby determining water activity. This allows water activity to be measured without being affected by volatile components in fruits and vegetables.

[0053] Before using the water activity measuring device or at an appropriate timing during use, check the accuracy of the device and calibrate it if the accuracy has decreased. For this check and calibration, the following two types of water activity standard solutions manufactured by Meter Japan Co., Ltd. can be used as reagents. Water activity standard solution A: 0.250aw 6mol / kg Nacl Water activity standard solution B:0.760aw 13.41mol / kg Licl Then, place the sample cups containing each water activity standard solution in the chamber of the water activity measuring device and confirm that the difference between the two measured water activity values is within the measurement precision (±0.005). If the difference between the two measured water activity values for either water activity standard solution A or B exceeds the measurement precision, calibrate the water activity measuring device according to the specified calibration procedure.

[0054] When actually measuring the water activity of fruit or vegetable LS, each step of the measurement can be performed according to the following procedure. In the following, slices of lemon (lemon slices) are used as an example of fruit or vegetable LS. (1) Warm up the water activity measuring device and confirm that the base temperature is stable at the specified temperature (25°C). (2) Make sure that the sample cup of the water activity measuring device is free of moisture and is sufficiently dry. (3) Crush the sample (10 or more lemon slices). (4) Transfer the crushed material to a sample cup. (5) The sample cup is placed in the chamber of the water activity measuring device, and the water activity is measured. (6) A second measurement of water activity is performed using steps (4) and (5), and the two measurements are compared. If the difference between the measurements is within the measurement precision (±0.005), the first measurement is adopted as the correct one. If the difference between the measurements exceeds the measurement precision, for example, the water activity measuring device is cleaned, and then the above-mentioned calibration is performed, and the water activity of the fruit or vegetable LS is measured again according to the measurement procedures (1) to (6). Note that the water activity measuring device is cleaned according to a predetermined procedure.

[0055] When the beverage to be combined is whiskey or sake, wood chips may be used instead of the fruit and vegetable LS. By adding these wood chips to the whiskey or sake and aging them, it is possible to impart a suitable flavor to the whiskey or sake. In the case of wood chips, there is no particular limitation on their shape, and they may be, for example, sliced or have other shapes. In the case of wood chips, the thickness may be, for example, 1.0 mm or more and 15 mm or less, or 5.0 mm or more and 9.0 mm or less.

[0056] The control device 10 according to this embodiment controls the operation of each robot R1 to R5 of the parallel link robot 20. The control device 10 controls the parallel link robot 20 so that each robot R1 to R5 of the parallel link robot 20 holds one unit of fruit or vegetable LS being transported on the second line L2 and places the held fruit or vegetable LS into the opening of an empty can KN being transported on the first line L1. Here, "holding one unit" may mean holding one piece of fruit or vegetable LS, or holding two or more pieces of fruit or vegetable LS stacked on top of each other.

[0057] Next, the first line L1 and the second line L2, which are the multiple production lines, will be specifically described with reference to FIG.

[0058] First, the empty cans KN loaded on a pallet are transferred to a conveyor, that is, the first line L1.

[0059] The empty cans KN transferred to the first line L1 are transported by a timing screw.

[0060] Meanwhile, on the second line L2, the temporarily stored fruits and vegetables LS are placed on a belt and transported to a bowl feeder 110. The bowl feeder 110 applies vibrations to the fruits and vegetables LS transported by the belt to align them in a certain position, and then supplies them to a classifying conveyor 111. The classifying conveyor 111 sifts the fruits and vegetables LS. The fruits and vegetables LS sifted by the classifying conveyor 111 are placed on the belt and transported.

[0061] Each robot R1 to R5 of the parallel link robot 20, under the control of the control device 10, holds the fruits and vegetables LS transported on the second line L2 (belt conveyance) one unit at a time, and places the held fruits and vegetables LS into the opening of an empty can KN transported on the first line L1 (timing screw).

[0062] The empty cans KN into which the fruits and vegetables LS have been added by the parallel link robot 20 are transported from the first line L1 to a subsequent process. In the subsequent process, the empty cans KN into which the fruits and vegetables LS have been added are filled with beverages or a lid is attached to the body of the can.

[0063] Meanwhile, the return NG inspection machine 112 on the second line L2 rejects any fruit or vegetable LS that does not meet the standards in terms of shape, color, or area from among the fruit or vegetable LS that was not picked up by the parallel link robot 20. The fruit or vegetable LS that was not rejected by the return NG inspection machine 112 is then fed back to the bowl feeder 110.

[0064] FIG. 2 is a block diagram showing an example of the hardware configuration of the control device 10 and the parallel link robot 20 according to the first embodiment.

[0065] As shown in FIG. 2, the control device 10 according to this embodiment includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an input / output interface (I / O) 14, a memory unit 15, and a connection unit 16.

[0066] The CPU 11, ROM 12, RAM 13, and I / O 14 are connected to each other via a bus. The I / O 14 is connected to various functional units including a storage unit 15 and a connection unit 16. These functional units can communicate with the CPU 11 via the I / O 14.

[0067] A control unit is configured with the CPU 11, ROM 12, RAM 13, and I / O 14. The control unit may be configured as a sub-control unit that controls part of the operation of the control device 10, or may be configured as part of a main control unit that controls the overall operation of the control device 10. For some or all of the blocks in the control unit, an integrated circuit such as an LSI (Large Scale Integration) or an IC chip set is used. Individual circuits may be used for each of the above blocks, or a circuit in which some or all of the blocks are integrated may be used. The above blocks may be provided integrally, or some of the blocks may be provided separately. Furthermore, parts of each of the above blocks may be provided separately. The integration of the control unit is not limited to LSI, and a dedicated circuit or a general-purpose processor may also be used.

[0068] For example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like is used as the storage unit 15. A control program 15A according to this embodiment is stored in the storage unit 15. Note that this control program 15A may be stored in the ROM 12.

[0069] The control program 15A may be pre-installed in the control device 10, for example. The control program 15A may be realized by storing it in a non-volatile non-transitory storage medium or distributing it via a network and installing it appropriately in the control device 10. Note that examples of non-volatile non-transitory storage media include CD-ROMs (Compact Disc Read Only Memory), magneto-optical disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memories, memory cards, etc.

[0070] The connection unit 16 is an interface for connecting each of the robots R1 to R5 that make up the parallel link robot 20. Each of these robots R1 to R5 has the same configuration, and the configuration of the robot R1 will be described below as an example.

[0071] The robot R1 includes a main body 21 and a holding unit 24. The main body 21 includes a camera 22 and a drive unit 23. One camera 22 is provided for each robot. The camera 22 photographs multiple fruit and vegetable items LS conveyed on the second line L2 from above, and the robot R1 transmits the photographed images to the control device 10. The drive unit 23 moves the robot R1 and drives the holding unit 24 to hold and insert the fruit and vegetable items LS in accordance with instructions from the control device 10. The holding unit 24 releasably holds the fruit and vegetable items LS. For example, a vacuum suction gripper is used for the holding unit 24. The shape of this gripper is not particularly limited, but it is preferable that it be a Bernoulli gripper. More preferably, it may be a Bernoulli gripper with a Coanda effect. By using this Bernoulli gripper, the fruit and vegetable items LS can be held accurately without being damaged. Note that "holding" here may mean suction or grasping. In the case of gripping, a gripping type gripper may be used.

[0072] The robot R1 is configured to be able to hold the fruits and vegetables LS conveyed on the second line L2 one by one and to insert the held fruits and vegetables LS into an empty can KN through an opening. The robot R1 photographs the fruits and vegetables LS with a camera 22, acquires coordinate data of the pickable fruits and vegetables LS with a holding unit 24, and picks up, for example, one piece of fruits and vegetables LS. The robot R1 synchronizes with the encoder of a timing screw that transports the empty can KN and releases (inserts) the fruits and vegetables LS into the empty can KN. The release into the empty can KN is performed by linking each robot with the corresponding empty can KN (here, one can) in a synchronization mode (also called a tracking mode). Before inserting the fruits and vegetables into the empty can KN, the camera 22 receives a trigger from the encoder of the timing screw or in response to a trigger from the camera 22 itself, photographs the pickable area, and the robot R1 acquires coordinate data of one or more pieces of fruits and vegetables LS that can be inserted from the captured image. The control device 10 controls the robot R1 based on the coordinate data obtained from the robot R1 to pick the fruits and vegetables LS. The robot R1 passes fruits and vegetables LS that are, for example, overlapping, of the wrong size, chipped, or missing bunches without giving them picking coordinates. However, even if fruits and vegetables LS are overlapping, it is possible to determine which is top and which is bottom by image analysis, so the top fruits and vegetables LS can be picked up.

[0073] The CPU 11 of the control device 10 according to this embodiment writes a control program 15A stored in the storage unit 15 into the RAM 13 and executes the program, thereby functioning as each unit shown in FIG.

[0074] Fig. 3 is a block diagram showing an example of the functional configuration of the control device 10 according to the first embodiment. Fig. 4 is a diagram illustrating the holding operation and the inserting operation of the fruit or vegetable LS according to the first embodiment.

[0075] As shown in FIG. 3, the CPU 11 of the control device 10 according to this embodiment functions as an acquisition unit 11A, a holding control unit 11B, and an input control unit 11C.

[0076] 4, empty cans KN are transported along the first line L1, and fruits and vegetables LS are transported along the second line L2. The robot R1 photographs the fruits and vegetables LS transported randomly along the second line L2 from above with the camera 22, and transmits the photographed image to the control device 10.

[0077] The acquisition unit 11A acquires the photographed image transmitted from the robot R1.

[0078] As shown in FIG. 4, the holding control unit 11B controls the robot R1 to hold each unit of fruit or vegetable LS conveyed on the second line L2. Specifically, the holding control unit 11B selects, from among the multiple fruit or vegetable LS captured in the captured images acquired by the acquisition unit 11A, fruit or vegetable LS whose shape satisfies a predetermined quality standard as the fruit or vegetable LS to be held. Here, the predetermined quality standard may include, for example, an index value representing circularity. The predetermined quality standard may also include an index value representing circularity and a color area. Examples of index values representing circularity include circularity and roundness. Circularity is an index value representing the proximity to a geometrically correct circle (a perfect circle), with a higher circularity representing a closer circle. Circularity is an index value representing the degree of deviation from a geometrically correct circle, with a lower circularity representing a closer circle. The color area represents the color area of a specific portion of the fruit or vegetable LS (e.g., the flesh portion). Circularity, roundness, and color area can be derived using known image analysis techniques.

[0079] In this case, the holding control unit 11B selects, as the fruit or vegetable LS to be held, a fruit or vegetable LS whose index value representing circularity satisfies a certain condition—specifically, a fruit or vegetable LS whose circularity is equal to or greater than a threshold or whose circularity is equal to or less than a threshold. However, the threshold for circularity and the threshold for circularity are different. The holding control unit 11B may also select, as the fruit or vegetable LS to be held, a fruit or vegetable LS whose circularity and color area are both equal to or greater than a threshold, or whose circularity is equal to or less than a threshold and whose color area is equal to or greater than a threshold. Here, the roundness or circularity is calculated because a circular fruit or vegetable LS is assumed. However, the shape of the fruit or vegetable LS may also be polygonal, so an appropriate index value may be calculated according to the shape of the fruit or vegetable LS. If the fruit or vegetable LS is polygonal, for example, pattern matching or the like may be used to select a fruit or vegetable LS having a shape greater than a certain level. For example, the outline of the fruit or vegetable LS may be indexed, or the color of the fruit or vegetable LS may be binarized and indexed based on the shades of black and white. The holding control unit 11B controls the holding unit 24 of the robot R1 to pick up and hold the selected fruit or vegetable LS. Here, the position of the fruit or vegetable LS to be held can be determined by converting the coordinate data of the fruit or vegetable LS obtained from the robot R1 based on the coordinate change amount corresponding to the conveying speed of the second line L2.

[0080] That is, the holding control unit 11B selects fruit or vegetable LS that meets predetermined quality standards (e.g., circularity, color area) from the captured image, and acquires coordinate data for the selected fruit or vegetable LS from the robot R1. The holding control unit 11B converts the coordinate data acquired from the robot R1 based on a coordinate change amount corresponding to the conveying speed of the second line L2, and controls the robot R1 to move to the coordinates after the coordinate conversion. The robot R1 moves over the selected fruit or vegetable LS and turns on the suction function of the holding unit 24. After the robot R1 reaches the position of the coordinates after the coordinate conversion, it descends and picks up the selected fruit or vegetable LS.

[0081] As shown in Fig. 4, the input control unit 11C controls the robot R1 to input the fruit or vegetable LS held by the robot R1 into the opening of an empty can KN being transported on the first line L1. Specifically, the input control unit 11C controls the holder 24 holding the fruit or vegetable LS to move above the opening of the empty can KN and to input the fruit or vegetable LS into the opening of the empty can KN while moving the holder 24 in the same direction as the transport direction of the empty can KN. It is desirable that the input control unit 11C synchronizes the movement speed of the holder 24 holding the fruit or vegetable LS with the transport speed of the empty can KN, and controls the holder 24 to move ahead of the empty can KN downstream in the transport direction while inputting the fruit or vegetable LS into the opening of the empty can KN.

[0082] Next, a method for selecting fruit or vegetable LS from a captured image will be specifically described with reference to Figures 5A and 5B. In the following, a case where circularity is used as an example of an index value representing circularity will be described, but true circularity may be used instead of circularity.

[0083] Fig. 5A is a diagram showing an example of a captured image from which the circularity of the fruit or vegetable LS has been derived, and Fig. 5B is a diagram showing an example of a captured image from which the circularity and color area of the fruit or vegetable LS have been derived.

[0084] As an example, as shown in FIG. 5A, the retention control unit 11B performs image analysis on multiple fruit and vegetable LS included in the captured image to derive their circularity. The circularity is derived for all fruit and vegetable LS in the captured image. However, if two pieces of fruit and vegetable LS overlap, it may be difficult to derive the circularity of the lower piece of fruit and vegetable LS. Therefore, the set of two pieces may be considered as one. The same applies to three or more pieces of fruit and vegetable LS overlapping. Whether the fruit and vegetable LS overlap can be determined from the captured image. The retention control unit 11B determines whether the obtained circularity is equal to or greater than a first threshold. Note that fruit and vegetable LS may have an oval shape, so it is desirable to set the first threshold to a certain degree of tolerance. The first threshold may be set appropriately, for example, within a range of 70% to less than 100%. A circularity of 100% means that the fruit and vegetable is a perfect circle. Note that when circularity is used, the retention control unit 11B determines whether the obtained circularity is equal to or less than the first threshold. In this case, the first threshold value may be set appropriately within the range of, for example, greater than 0% and equal to or less than 30%. A circularity of 0% means that the object is a perfect circle.

[0085] As an example, as shown in FIG. 5B, the retention control unit 11B performs image analysis on multiple fruit and vegetable LS whose circularity is equal to or greater than a first threshold, and derives the color area. The color area is derived only for fruit and vegetable LS whose circularity is equal to or greater than the first threshold. In other words, the color area is not derived for fruit and vegetable LS whose circularity is less than the first threshold. As described above, the color area represents the color area of a specific portion (e.g., the flesh portion) and is expressed, for example, as a ratio of the area of the specific portion to the total area. The retention control unit 11B determines whether the obtained color area is equal to or greater than a second threshold. The second threshold may be set appropriately, for example, in the range of 70% or more and less than 100%, more preferably 80% or more and less than 100%.

[0086] That is, the storage control unit 11B identifies multiple fruit and vegetable LS with a circularity equal to or greater than a first threshold from the captured image, and selects, from the identified multiple fruit and vegetable LS, fruit and vegetable LS with a color area equal to or greater than a second threshold. Note that if there are multiple fruit and vegetable LS with both a circularity and a color area equal to or greater than a threshold, for example, the fruit and vegetable LS located furthest downstream may be selected. Note that although the case where circularity and color area are used has been described here, it is also possible to use only circularity, as mentioned above. In this case, the storage control unit 11B simply selects, from the captured image, fruit and vegetable LS with a circularity equal to or greater than a threshold.

[0087] Here, the holding control unit 11B controls the robot R1 so that the holding unit 24 picks up and holds the selected fruit or vegetable LS. In this case, the holding control unit 11B may select a number of fruit or vegetable LS greater than the number of holding units 24, and if the robot R1 fails to hold or insert one selected fruit or vegetable LS, control the robot R1 to hold another selected fruit or vegetable LS. Since each robot has one holding unit 24 according to this embodiment, it is preferable to select, for example, two fruit or vegetable LS in advance. This allows the robot R1 to hold and insert the second fruit or vegetable LS if it fails to hold or insert the first fruit or vegetable LS, thereby more reliably inserting the fruit or vegetable LS. Another holding unit 24 may be provided as a spare. In this case, the spare holding unit 24 may also hold the fruit or vegetable LS in the same way as the holding unit 24 currently inserting the fruit or vegetable LS. If the holding unit 24 currently inserting the fruit or vegetable LS fails to insert the fruit or vegetable LS, the spare holding unit 24 may insert the fruit or vegetable LS instead of the holding unit 24 currently inserting the fruit or vegetable LS.

[0088] Next, a method for putting fruit or vegetable LS into the opening of the empty can KN will be specifically described with reference to FIGS.

[0089] FIG. 6 is a top view that schematically shows the robot R1 putting fruit or vegetable LS into the opening of an empty can KN. FIG. 7 is a side view that schematically shows the robot R1 putting fruit or vegetable LS into the opening of an empty can KN. (S1) to (S4) in FIG. 6 correspond to (S1) to (S4) in FIG. 7. In FIGS. 6 and 7, the open triangles indicate a time series flow, which transitions chronologically from (S1) to (S4). FIG. 8 is a side view that shows a state in which the movement speed of the robot R1 holding the fruit or vegetable LS is synchronized with the transport speed of the empty can KN. Note that, for simplicity of illustration, only the holding unit 24 of the robot R1 is shown in FIGS. 6 to 8.

[0090] 6 (S1) and 7 (S1), the control device 10 selects the fruit or vegetable LS to be held from the fruit or vegetable LS being transported on the second line L2, and causes the selected fruit or vegetable LS to be sucked and held by the holding unit 24 of the robot R1. Then, with the holding unit 24 still holding the fruit or vegetable LS, the control device 10 moves the holding unit 24 over the opening of the empty can KN being transported on the first line L1.

[0091] In (S2) of Fig. 6 and (S2) of Fig. 7, the control device 10 moves the holding unit 24 in the same direction as the conveying direction of the empty cans KN (the direction indicated by the arrow). In other words, the movement speed of the holding unit 24 holding the fruit or vegetable LS is synchronized with the conveying speed of the empty cans KN. Here, "synchronization" does not mean that the movement speed of the holding unit 24 and the conveying speed of the empty cans KN do not have to be exactly the same, but may be the same within a predetermined tolerance range.

[0092] 8, it is desirable to move the holding part 24 of the robot R1 downstream in the conveying direction ahead of the empty can KN. In other words, the center of the holding part 24 is shifted downstream in the conveying direction from the center of the opening of the empty can KN. This makes it possible to more reliably feed the fruit or vegetable LS into the empty can KN.

[0093] In (S3) of FIG. 6 and (S3) of FIG. 7, the control device 10 moves the holding unit 24 in the same direction as the conveyance direction of the empty can KN (the direction indicated by the arrow), turns off the suction of the holding unit 24, and throws (releases) the fruit or vegetable LS into the opening of the empty can KN. That is, the holding unit 24 moves over the opening of the empty can KN and drops the fruit or vegetable LS while moving in the same direction. Therefore, when viewed from the side, the fruit or vegetable LS appears to fall at an angle due to inertial force. Note that the "drop" here may refer to, for example, a free fall. However, air may be ejected from the holding unit 24 simultaneously with the release of suction of the holding unit 24 to encourage the fall. The ejection of air is preferable because it improves the accuracy of the drop compared to a free fall. Furthermore, as shown in FIG. 8, if the holding unit 24 moves slightly ahead of the empty can KN and drops the fruit or vegetable LS, the fruit or vegetable LS will collide with the wall downstream of the empty can KN in the conveyance direction and fall into the empty can KN.

[0094] In (S4) of FIG. 6 and (S4) of FIG. 7, the control device 10 moves the holding part 24 of the robot R1 from the first line L1 to a predetermined origin position.

[0095] 8 illustrates a case in which the holding unit 24 drops the fruit or vegetable LS while moving slightly ahead of the empty can KN, but this is not limiting. The fruit or vegetable LS may be dropped at a position where the center of the opening of the empty can KN and the center of the fruit or vegetable LS are aligned. Here, the moving speed of the holding unit 24 may be faster than the conveying speed of the empty can KN within the above-mentioned allowable range, and the fruit or vegetable LS may be dropped at a position where the center of the opening of the empty can KN and the center of the fruit or vegetable LS are aligned. In this case, the fruit or vegetable LS will fall while moving slightly faster than the empty can KN due to inertial force, and will hit the wall of the empty can KN downstream in the conveying direction and fall into the empty can KN.

[0096] Next, the operation of the control device 10 according to the first embodiment will be described with reference to FIG.

[0097] FIG. 9 is a flowchart showing an example of the flow of processing by the control program 15A according to the first embodiment.

[0098] First, when the control device 10 is instructed to control the parallel link robot 20, the control program 15A is started by the CPU 11, and the following steps are executed.

[0099] 9, the CPU 11 acquires, as an example, the captured image shown in Fig. 5A described above. As described above, the captured image is an image captured by the camera 22 of the robot R1 from above of the fruits and vegetables LS being randomly transported on the second line L2.

[0100] In step S102, the CPU 11 performs image analysis on a plurality of fruit and vegetable pieces LS included in the captured image, as shown in FIG. 5A above, for example, and derives the circularity.

[0101] In step S103, the CPU 11 performs image analysis on multiple fruits and vegetables LS whose circularity derived in step S102 is equal to or greater than the first threshold, as shown in FIG. 5B above, as an example, and derives a color area, which is the color area of a specific part (e.g., a fruit part).

[0102] In step S104, the CPU 11 selects the fruit or vegetable LS whose color area calculated in step S103 is equal to or greater than the second threshold as the fruit or vegetable LS to be held. Note that the number of fruit or vegetable LS selected may be greater than the number of holding units 24. In the following description, it is assumed that the number of fruit or vegetable LS selected is greater than the number of holding units 24 in case the robot R1 fails to hold the fruit or vegetable LS.

[0103] In step S105, the CPU 11 acquires the coordinate data of the fruit or vegetable LS selected in step S104 from the robot R1.

[0104] In step S106, the CPU 11 adds a coordinate change amount corresponding to the transport speed of the second line L2 that transports the fruit or vegetable LS to the coordinate data acquired in step S105, thereby converting the coordinate data of the selected fruit or vegetable LS.

[0105] In step S107, the CPU 11 moves the holding unit 24 of the robot R1 onto the selected fruit or vegetable LS being transported on the second line L2 based on the coordinate data after coordinate transformation, as shown in (S1) of Figure 6 above, as an example.

[0106] In step S108, the CPU 11 turns on the suction of the holder 24 of the robot R1, and the robot R1 picks up and holds the selected fruit or vegetable LS being conveyed on the second line L2.

[0107] In step S109, the CPU 11 determines whether the robot R1 has succeeded in holding the fruit or vegetable LS. If it is determined that the robot R1 has failed to hold the fruit or vegetable LS (in the case of a negative determination), the process proceeds to step S110, and if it is determined that the robot R1 has succeeded in holding the fruit or vegetable LS (in the case of a positive determination), the process proceeds to step S112.

[0108] In step S110, the CPU 11 moves the holder 24 of the robot R1 onto another selected fruit or vegetable LS being transported on the second line L2.

[0109] In step S111, the CPU 11 turns on the suction of the holder 24 of the robot R1, so that the robot R1 picks up and holds another selected fruit or vegetable LS being conveyed on the second line L2, and the process proceeds to step S109.

[0110] In step S112, the CPU 11 acquires the position of the empty can KN to be dropped in. Here, the robot R1 and the empty can KN to be dropped in are associated in advance, and the position of the empty can KN to be dropped in can be acquired as line information regarding the first line L1.

[0111] In step S113, the CPU 11 moves the holding unit 24 holding the fruit or vegetable LS onto the opening of the empty can KN being transported on the first line L1 based on the position of the empty can KN obtained in step S112, as shown in (S2) of Figure 6 and (S2) of Figure 7 above, as an example.

[0112] In step S114, the CPU 11 moves the holder 24 in the same direction as the conveyance direction of the empty cans KN, as shown in (S2) of Fig. 6 and (S2) of Fig. 7 above, for example. In other words, the movement speed of the holder 24 holding the fruit or vegetable LS is synchronized with the conveyance speed of the empty cans KN.

[0113] In step S115, the CPU 11 turns off the suction of the holding unit 24 while moving the holding unit 24 in the same direction as the conveying direction of the empty can KN, and throws (releases) the fruit or vegetable LS into the opening of the empty can KN, as shown in (S3) of Figure 6 and (S3) of Figure 7 above, for example. Then, the CPU 11 moves the holding unit 24 of the robot R1 from the first line L1 to a predetermined origin position, as shown in (S4) of Figure 6 and (S4) of Figure 7 above, for example.

[0114] In step S116, the CPU 11 determines whether the end timing has arrived. If it is determined that the end timing has not arrived (if the determination is negative), the process returns to step S101 and is repeated. If it is determined that the end timing has arrived (if the determination is positive), the process by the control program 15A is terminated.

[0115] As described above, according to this embodiment, solid materials meeting the desired quality can be selected from the randomly transported non-uniform solid materials and held in units of one. Furthermore, the held solid materials can be moved in synchronization with the empty containers being transported at high speed. Therefore, the held solid materials can be placed in units of one with high precision into the openings of the empty containers.

[0116] [Second embodiment] In the first embodiment, a configuration in which solid materials are held one unit at a time and dispensed into the opening of an empty container is described. In the second embodiment, a configuration in which multiple solid materials are held in a line and dispensed into the openings of multiple empty containers at a predetermined timing is described.

[0117] The components of beverage production system 100A according to the second embodiment are the same as the components of beverage production system 100 described in the first embodiment, except for the configuration of parallel link robot 20. For this reason, the same components as those of beverage production system 100 described in the first embodiment are given the same reference numerals, and repeated explanations thereof will be omitted.

[0118] FIG. 10 is a block diagram showing an example of the hardware configuration of a parallel link robot 20A according to the second embodiment.

[0119] 10, a parallel link robot 20A according to this embodiment includes multiple robots R1 to R5, similar to the first embodiment. Each of these robots R1 to R5 has the same configuration, and the configuration of robot R1 will be described below as an example.

[0120] The robot R1 includes a main body 21 and multiple holding units 24A-24C. When it is not necessary to distinguish between the multiple holding units 24A-24C, they will be simply referred to as holding units 24. While the example in FIG. 10 shows three holding units 24, two or more holding units 24 may be included. The drive unit 23 moves the robot R1 and drives each of the multiple holding units 24 in accordance with instructions from the control device 10 to hold and insert the fruit or vegetable LS. Each of the multiple holding units 24 releasably holds the fruit or vegetable LS. The multiple holding units 24 hold the fruit or vegetable LS in a line along the conveyance direction. For example, a vacuum suction gripper is used for each of the multiple holding units 24. The shape of the gripper is not particularly limited, but it is preferable that it be a Bernoulli gripper. More preferably, it may be a Bernoulli gripper with a Coanda effect. By using this Bernoulli gripper, the fruit or vegetable LS can be held with precision without being damaged. The term "holding" here may refer to suction or gripping. In the case of gripping, a gripping type gripper may be used.

[0121] The robot R1 is configured to hold a plurality of fruit and vegetable pieces LS conveyed on the second line L2 in a line and to insert the held plurality of fruit and vegetable pieces LS into the openings of a plurality of empty cans KN. The robot R1 photographs the fruit and vegetable pieces LS with a camera 22, acquires coordinate data of the fruit and vegetable pieces LS that can be picked up by each of the plurality of holders 24, and sequentially picks up the plurality of fruit and vegetable pieces LS (here, three pieces). The robot R1 synchronizes with the encoder of the timing screw that conveys the empty cans KN and releases (injects) the plurality of fruit and vegetable pieces LS into the plurality of empty cans KN (here, three pieces) at a predetermined timing. Note that "releasing (injecting) at a predetermined timing" may mean releasing (injecting) the plurality of fruit and vegetable pieces LS simultaneously or sequentially releasing (injecting) the plurality of fruit and vegetable pieces LS with a predetermined time lag. "Simultaneous" here does not necessarily mean completely simultaneous, but may be simultaneous within a predetermined tolerance. The predetermined tolerance may be set, for example, in response to timing discrepancies due to device precision errors. Furthermore, the "predetermined time" may be set to an appropriate value depending on, for example, the performance and specifications required of the device. Releasing the empty cans KN is performed by coordinating each robot with a corresponding number of empty cans KN (three in this example) in a synchronization mode (tracking mode). The camera 22 receives a trigger from the timing screw encoder before dropping the cans KN into the empty cans KN, or receives a trigger from the camera 22 itself, and photographs the pickable area. The robot R1 then acquires coordinate data for three or more pieces of fruit or vegetable LS that can be dropped from the photographed image. The control device 10 controls the robot R1 based on the coordinate data obtained from the robot R1, and the robot R1 picks multiple pieces of fruit or vegetable LS. The robot R1 passes over any fruit or vegetable LS that is, for example, overlapping, has an incorrect size, is missing, or has loose clusters, without assigning picking coordinates.

[0122] FIG. 11 is a diagram illustrating the holding and inserting operations of a plurality of fruit or vegetable pieces LS according to the second embodiment.

[0123] As shown in FIG. 3, the CPU 11 of the control device 10 according to this embodiment functions as an acquisition unit 11A, a holding control unit 11B, and an input control unit 11C.

[0124] As shown in Fig. 11, empty cans KN are transported along the first line L1, and fruit and vegetables LS are transported along the second line L2. The robot R1 photographs the fruit and vegetables LS transported randomly along the second line L2 from above with the camera 22, and transmits the photographed image (the area surrounded by the dotted line in Fig. 11) to the control device 10.

[0125] The acquisition unit 11A acquires the photographed image transmitted from the robot R1.

[0126] As shown in FIG. 11, the holding control unit 11B controls the robot R1 to line up and hold a plurality of fruit and vegetables LS conveyed on the second line L2. Specifically, the holding control unit 11B selects, from the captured image acquired by the acquisition unit 11A, a plurality of fruit and vegetables LS whose shapes satisfy predetermined quality standards (e.g., circularity, color area) as the fruit and vegetables LS to be held, and assigns priorities to the selected plurality of fruit and vegetables LS in order from the downstream side in the conveyance direction. Here, the number of selected fruit and vegetables LS is equal to or greater than the number of holding units 24. In the example of FIG. 11, priorities "1" to "3" are assigned in order from the downstream side in the conveyance direction of the captured image. The holding control unit 11B selects, as the plurality of fruit and vegetables LS to be held, a plurality of fruit and vegetables LS whose circularity is equal to or greater than a threshold, or selects, as the plurality of fruit and vegetables LS whose circularity and color area are both equal to or greater than a threshold. As described above, circularity may be used instead of circularity. When using circularity, the holding control unit 11B selects multiple fruit and vegetable LS whose circularity is below a threshold, or selects multiple fruit and vegetable LS whose circularity is below a threshold and whose color area is above a threshold. Here, circularity is derived because a circular fruit and vegetable LS is assumed. However, since the shape of the fruit and vegetable LS may be polygonal, an appropriate index value may be derived according to the shape of the fruit and vegetable LS. The holding control unit 11B controls the multiple holding units 24 of the robot R1 according to the assigned priority to sequentially pick up and hold the selected multiple fruit and vegetable LS. Here, the position of each of the multiple fruit and vegetable LS to be held can be determined by coordinate conversion of the coordinate data of each of the multiple fruit and vegetable LS obtained from the robot R1 based on the coordinate change corresponding to the conveyance speed of the second line L2.

[0127] That is, the holding control unit 11B selects multiple pieces of fruit or vegetable LS that meet predetermined quality standards (e.g., circularity, color area) from the captured image, and acquires coordinate data from the robot R1 for each of the selected pieces of fruit or vegetable LS. The holding control unit 11B converts the coordinates of each piece of coordinate data acquired from the robot R1 based on a coordinate change amount corresponding to the conveyance speed of the second line L2, and controls the robot R1 to move sequentially to the coordinates after the coordinate conversion according to the priority assigned by the robot R1. The robot R1 moves over the selected fruit or vegetable LS and turns on the suction function of the holding unit 24. After reaching the position of the coordinates after the coordinate conversion, the robot R1 descends to pick up the selected fruit or vegetable LS.

[0128] As shown in Fig. 11, the input control unit 11C controls the robot R1 to input, at a predetermined timing, a plurality of fruit or vegetable LS held by the robot R1 into the openings of a plurality of empty cans KN being transported on the first line L1. Specifically, the input control unit 11C controls the plurality of holders 24, each holding a fruit or vegetable LS, to move over the openings of a corresponding plurality of empty cans KN, and controls the plurality of holders 24 to input the plurality of fruit or vegetable LS into the openings of the corresponding plurality of empty cans KN at a predetermined timing while moving in the same direction as the conveyance direction of the empty cans KN. It is desirable that the input control unit 11C synchronizes the movement speed of the plurality of holders 24, each holding a fruit or vegetable LS, with the conveyance speed of the plurality of empty cans KN, and controls the plurality of holders 24 to input the plurality of fruit or vegetable LS into the openings of the corresponding plurality of empty cans KN at a predetermined timing while moving ahead of the plurality of empty cans KN downstream in the conveyance direction.

[0129] In the example of FIG. 11, three pieces of fruit or vegetable LS selected from the captured image (area surrounded by dotted lines) are picked up sequentially from the downstream side in the conveyance direction. In this case, it is advisable to assign priorities (e.g., "1," "2," and "3") to the three selected pieces of fruit or vegetable LS in order from the downstream side in the conveyance direction. That is, the holder 24A picks up the fruit or vegetable LS with priority "1," then the holder 24B picks up the fruit or vegetable LS with priority "2," and then the holder 24C picks up the fruit or vegetable LS with priority "3." When picking up the second and third pieces of fruit or vegetable LS, it is desirable to control the position of the holder 24 so that the picked first piece of fruit or vegetable LS does not collide with the other pieces of fruit or vegetable LS. Furthermore, if the fruit or vegetable LS are being transported regularly, it is also possible to pick up three pieces of fruit or vegetable LS simultaneously.

[0130] The holding parts 24A to 24C are arranged in series in threes at intervals equal to the intervals between the empty cans KN. When picking up the fruits and vegetables LS, they are held one by one in turn, and when dropping the fruits and vegetables LS into the empty cans KN, the held fruits and vegetables LS are released at a predetermined timing.

[0131] Next, a method for selecting a plurality of fruits and vegetables LS from a photographed image and assigning priorities will be specifically described with reference to FIG.

[0132] FIG. 12 is a diagram showing an example of a captured image from which the circularity and color area of a fruit or vegetable LS are derived.

[0133] As an example, as shown in FIG. 12 , the holding control unit 11B identifies multiple fruit and vegetable LS with a circularity equal to or greater than a first threshold from the captured image, selects multiple fruit and vegetable LS with a color area equal to or greater than a second threshold from the identified multiple fruit and vegetable LS, and assigns priorities to the selected multiple fruit and vegetable LS in order from the downstream side in the conveyance direction. In this case, the holding control unit 11B may select a number of fruit and vegetable LS (four in this example) greater than the number of holders 24. In the example of FIG. 12 , priorities (e.g., “1,” “2,” “3,” and “4”) are assigned to the four selected fruit and vegetable LS. The holding control unit 11B controls the robot R1 so that each of the three holders 24 picks up and holds each of the three selected fruit and vegetable LS. However, if the robot R1 fails to hold or insert any of the fruit and vegetable LS, the holding control unit 11B may also control the robot R1 to hold another selected fruit and vegetable LS. Since each robot has three holders 24 in this embodiment, for example, it is preferable to select four fruit and vegetable LS in advance. This allows the fourth fruit or vegetable LS to be held more reliably if any of the three fails to be held.

[0134] Next, the operation of the control device 10 according to the second embodiment will be described with reference to FIG.

[0135] FIG. 13 is a flowchart showing an example of the flow of processing by the control program 15A according to the second embodiment.

[0136] First, when the control device 10 is instructed to control the parallel link robot 20A, the control program 15A is started by the CPU 11, and the following steps are executed.

[0137] In step S121 of Fig. 13, the CPU 11 acquires, as an example, the captured image shown in Fig. 12. As described above, the captured image is an image captured by the camera 22 of the robot R1 from above of the fruits and vegetables LS being randomly transported on the second line L2.

[0138] In step S122, the CPU 11 performs image analysis on a plurality of fruit and vegetable pieces LS included in the captured image, as shown in FIG. 12 above, for example, and derives the circularity.

[0139] In step S123, the CPU 11 performs image analysis on multiple fruits and vegetables LS whose circularity derived in step S122 is equal to or greater than the first threshold, as shown in FIG. 12 above, as an example, and derives a color area, which is the color area of a specific part (e.g., a fruit part).

[0140] In step S124, the CPU 11 selects, as the plurality of fruit or vegetable LS to be held, the plurality of fruit or vegetable LS whose color area calculated in step S123 is equal to or greater than the second threshold value. Note that the number of fruit or vegetable LS selected may be greater than the number of holding units 24. In the following description, it is assumed that the number of fruit or vegetable LS selected is greater than the number of holding units 24 in case robot R1 fails to hold the fruit or vegetable LS.

[0141] In step S125, the CPU 11 acquires, from the robot R1, coordinate data for each of the plurality of fruits and vegetables LS selected in step S124.

[0142] In step S126, the CPU 11 assigns priorities to each of the plurality of fruits and vegetables LS selected in step S124 in order from the downstream side in the conveying direction, as shown in FIG. 12 above, for example.

[0143] In step S127, the CPU 11 adds a coordinate change amount corresponding to the conveying speed of the second line L2 that conveys the fruits and vegetables LS to each of the multiple coordinate data acquired in step S125, and converts the coordinate data of each of the selected multiple fruits and vegetables LS.

[0144] In step S128, the CPU 11 moves the holding unit 24A of the robot R1 onto the first selected fruit or vegetable LS being transported on the second line L2 based on the priority and the coordinate data after coordinate transformation, as shown in Figure 11, as an example.

[0145] In step S129, the CPU 11 turns on the suction of the holder 24A of the robot R1, and the robot R1 picks up and holds the first selected fruit or vegetable LS being conveyed on the second line L2.

[0146] In step S130, the CPU 11 moves the holding unit 24B of the robot R1 onto the second selected fruit or vegetable LS being transported on the second line L2 based on the priority and the coordinate data after coordinate transformation, as shown in Figure 11, as an example.

[0147] In step S131, the CPU 11 turns on the suction of the holder 24B of the robot R1, and picks up and holds the second selected fruit or vegetable LS being conveyed on the second line L2.

[0148] In step S132, the CPU 11 moves the holding unit 24C of the robot R1 onto the selected third fruit or vegetable LS being transported on the second line L2 based on the priority and the coordinate data after coordinate transformation, as shown in Figure 11, as an example.

[0149] In step S133, the CPU 11 turns on the suction of the holder 24C of the robot R1, and the robot R1 picks up and holds the selected third fruit or vegetable LS being conveyed on the second line L2.

[0150] In step S134, the CPU 11 determines whether the robot R1 has successfully held multiple pieces of fruit or vegetable LS (three pieces in this case). If it is determined that the robot R1 has failed to hold any of the multiple pieces of fruit or vegetable LS (in the case of a negative determination), the process proceeds to step S135, and if it is determined that the robot R1 has successfully held the multiple pieces of fruit or vegetable LS (in the case of a positive determination), the process proceeds to step S137.

[0151] In step S135, the CPU 11 moves the holder 24 among the holders 24A to 24C that failed to hold the fruit or vegetable LS onto another selected fruit or vegetable LS being conveyed on the second line L2.

[0152] In step S136, the CPU 11 turns on the suction of the holder 24 that failed to hold the fruit or vegetable LS, and picks up and holds another selected fruit or vegetable LS conveyed on the second line L2, and then the process proceeds to step S134.

[0153] In step S137, the CPU 11 acquires the positions of the plurality of empty cans KN to be dropped in. Here, the robot R1 and the plurality of empty cans KN to be dropped in are associated in advance, and the positions of the plurality of empty cans KN to be dropped in can be acquired as line information regarding the first line L1.

[0154] In step S138, based on the positions of the plurality of empty cans KN obtained in step S137, the CPU 11 moves the plurality of holding sections 24A to 24C, each holding a fruit or vegetable LS, onto the openings of the plurality of empty cans KN being transported on the first line L1.

[0155] In step S139, the CPU 11 moves the plurality of holders 24A to 24C in the same direction as the conveyance direction of the plurality of empty cans KN. That is, the movement speed of the plurality of holders 24A to 24C, each holding the fruit or vegetable LS, is synchronized with the conveyance speed of the plurality of empty cans KN.

[0156] In step S140, the CPU 11 moves the plurality of holders 24A-24C in the same direction as the conveyance direction of the plurality of empty cans KN, turns off the suction of the holders 24A-24C at a predetermined timing, and throws (releases) the plurality of fruit or vegetable pieces LS into the openings of each of the plurality of empty cans KN. Then, the CPU 11 moves the plurality of holders 24A-24C of the robot R1 from the first line L1 to a predetermined origin position.

[0157] In step S141, the CPU 11 determines whether or not the end timing has arrived. If it is determined that the end timing has not arrived (in the case of a negative determination), the CPU 11 returns to step S121 and repeats the process. If it is determined that the end timing has arrived (in the case of a positive determination), the CPU 11 ends the series of processes by this control program 15A.

[0158] As described above, according to this embodiment, it is possible to select and hold a plurality of solid objects that meet the desired quality from among the randomly transported non-uniform solid objects. Furthermore, it is possible to move the held plurality of solid objects in synchronization with the plurality of empty containers that are transported at high speed. Therefore, it is possible to efficiently feed the plurality of held solid objects into the openings of the plurality of empty containers with high accuracy.

[0159] In each of the above embodiments, the robot control process executed by the CPU after reading the software (program) may be executed by various processors other than the CPU. Examples of such processors include a programmable logic device (PLD) such as a field-programmable gate array (FPGA) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an application-specific integrated circuit (ASIC) that has a circuit configuration designed specifically for executing a specific process.

[0160] Furthermore, the operations of the processor in each of the above embodiments may not only be performed by a single processor, but may also be performed by multiple processors located at physically separate locations working together. Furthermore, the order of the operations of the processor is not limited to the order described in each of the above embodiments, and may be changed as appropriate.

[0161] The above describes an example of a system and a control device according to an embodiment. The embodiment may be in the form of a program for causing a computer to execute the functions of each unit of the control device. The embodiment may be in the form of a non-transitory storage medium that stores the program and is readable by a computer.

[0162] Furthermore, the configuration of the control device described in the above embodiment is merely an example, and may be changed depending on the situation without departing from the spirit of the invention.

[0163] Furthermore, the processing flow of the program described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged within the scope of the main idea.

[0164] In the above embodiment, the processing according to the embodiment is realized by a software configuration using a computer by executing a program, but the present invention is not limited to this. The embodiment may be realized by, for example, a hardware configuration or a combination of a hardware configuration and a software configuration.

[0165] The following additional notes are provided regarding the above-described embodiments.

[0166] (Appendix 1) a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device that controls the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of each of the plurality of empty containers conveyed on the first line at a predetermined timing; A beverage production system comprising: (Appendix 2) The first line and the second line run parallel to each other in the same direction. 2. The beverage production system of claim 1. (Appendix 3) the feeding device includes a plurality of holding units that releasably hold the plurality of solid objects in a line, the control device controls the feeding device to move the plurality of holding units, which hold the plurality of solid objects in an aligned manner, above the openings of the plurality of empty containers, and to feed the plurality of solid objects into the openings of the plurality of empty containers at a predetermined timing while moving the plurality of holding units in the same direction as the conveying direction of the empty containers. 10. The beverage production system of claim 1 or 2. (Appendix 4) The control device synchronizes the movement speed of the plurality of holding units holding the plurality of solid objects in a line with the conveying speed of the plurality of empty containers, and controls the feeding device to feed the plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing while moving the plurality of holding units ahead of the plurality of empty containers downstream in the conveying direction. 4. The beverage production system of claim 3. (Appendix 5) the control device selects, from the captured images of the plurality of solid objects conveyed on the second line, a plurality of solid objects whose shapes satisfy a predetermined quality standard as solid objects to be retained, and assigns priorities to the selected plurality of solid objects in order from the downstream side in the conveying direction. A beverage production system according to any one of Supplementary Note 1 to Supplementary Note 4. (Appendix 6) the predetermined quality criterion includes an index value representing circularity; the control device selects a plurality of solid objects whose index values satisfy a certain condition from the captured image, and assigns priorities to the selected plurality of solid objects in order from a downstream side in a conveying direction. 6. The beverage production system of claim 5. (Appendix 7) the predetermined quality standard includes an index value representing circularity and a color area representing the color area of the specific portion; the control device identifies a plurality of solid objects whose index values satisfy a certain condition from the captured image, selects a plurality of solid objects whose color area is equal to or greater than a threshold value from among the identified plurality of solid objects, and assigns priorities to the selected plurality of solid objects in order from the downstream side in the conveying direction. 6. The beverage production system of claim 5. (Appendix 8) the feeding device includes a plurality of holding units that releasably hold the plurality of solid objects in a line, the control device selects a number of solid objects greater than the number of the plurality of holding units, and when the feeding device fails to hold or feed any of the selected solid objects, controls the feeding device to hold another selected solid object. A beverage production system according to any one of Supplementary notes 5 to 7. (Appendix 9) The holding unit is a vacuum suction type gripper. 4. The beverage production system of claim 3. (Appendix 10) The gripper is a Bernoulli gripper. 10. The beverage production system of claim 9. (Appendix 11) The solid material is formed into a slice shape. A beverage production system according to any one of Supplementary Note 1 to Supplementary Note 10. (Appendix 12) The solid material is a fruit or vegetable. A beverage production system according to any one of Supplementary Note 1 to Supplementary Note 11. (Appendix 13) The solid material is a piece of wood. A beverage production system according to any one of Supplementary Note 1 to Supplementary Note 11. (Appendix 14) a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; The control device of a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of the plurality of empty containers conveyed on the first line at a predetermined timing; Control device. (Appendix 15) a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; A control program for a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of each of the plurality of empty containers conveyed on the first line at a predetermined timing; A control program for a computer to execute. (Appendix 16) a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; A beverage production method using a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of the plurality of empty containers conveyed on the first line at a predetermined timing; Beverage manufacturing method. (Appendix 17) The water activity of the solid material is 0.80 or less. 17. A method for producing a beverage according to claim 16. [Explanation of symbols]

[0167] 10 Control device 11 CPU 11A Acquisition Department 11B Holding control section 11C Input control unit 12 ROM 13 RAM 14 I / O 15 Storage section 15A Control Program 16 Connection 20, 20A Parallel Link Robot (Insertion Device) 100, 100A Beverage Production System

Claims

1. a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device that controls the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of each of the plurality of empty containers conveyed on the first line at a predetermined timing; A beverage production system comprising:

2. The first line and the second line run parallel to each other in the same direction. The beverage production system of claim 1 .

3. the feeding device includes a plurality of holding units that releasably hold the plurality of solid objects in a line, the control device controls the feeding device to move the plurality of holding units, which hold the plurality of solid objects in an aligned manner, above the openings of the plurality of empty containers, and to feed the plurality of solid objects into the openings of the plurality of empty containers at a predetermined timing while moving the plurality of holding units in the same direction as the conveying direction of the empty containers. The beverage production system of claim 1 .

4. The control device synchronizes the movement speed of the plurality of holding units holding the plurality of solid objects in a line with the conveying speed of the plurality of empty containers, and controls the feeding device to feed the plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing while moving the plurality of holding units ahead of the plurality of empty containers downstream in the conveying direction. The beverage production system of claim 3 .

5. the control device selects, from the captured images of the plurality of solid objects conveyed on the second line, a plurality of solid objects whose shapes satisfy a predetermined quality standard as solid objects to be retained, and assigns priorities to the selected plurality of solid objects in order from the downstream side in the conveying direction. The beverage production system of claim 1 .

6. the predetermined quality criterion includes an index value representing circularity; the control device selects solid objects whose index values satisfy a certain condition from the captured image, and assigns priorities to the selected solid objects in order from the downstream side in the conveying direction. The beverage production system of claim 5 .

7. the predetermined quality standard includes an index value representing circularity and a color area representing the color area of the specific portion; the control device identifies a plurality of solid objects whose index values satisfy a certain condition from the captured image, selects a plurality of solid objects whose color area is equal to or greater than a threshold value from among the identified plurality of solid objects, and assigns priorities to the selected plurality of solid objects in order from the downstream side in the conveying direction. The beverage production system of claim 5 .

8. the feeding device includes a plurality of holding units that releasably hold the plurality of solid objects in a line, the control device selects a number of solid objects greater than the number of the plurality of holding units, and when the feeding device fails to hold or feed any of the selected solid objects, controls the feeding device to hold another selected solid object. The beverage production system of claim 5 .

9. The holding unit is a vacuum suction type gripper. The beverage production system of claim 3 .

10. The gripper is a Bernoulli gripper. The beverage production system of claim 9.

11. The solid material is formed into a slice shape. The beverage production system of claim 1 .

12. The solid material is a fruit or vegetable. The beverage production system of claim 1 .

13. The solid material is a piece of wood. The beverage production system of claim 1 .

14. a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; The control device of a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of the plurality of empty containers conveyed on the first line at a predetermined timing; Control device.

15. a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; A control program for a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of each of the plurality of empty containers conveyed on the first line at a predetermined timing; A control program for a computer to execute.

16. a first line for transporting empty containers having openings; a second line for conveying solid objects having a projected area smaller than the area of the opening; an injection device configured to be able to hold a plurality of the solid objects conveyed on the second line in an aligned manner and to be able to inject the held plurality of solid objects into the openings of each of the plurality of empty containers at a predetermined timing; a control device for controlling the operation of the insertion device; A beverage production method using a beverage production system comprising: controlling the feeding device so that the plurality of solid objects conveyed on the second line are fed into the openings of the plurality of empty containers conveyed on the first line at a predetermined timing; Beverage manufacturing method.

17. The water activity of the solid material is 0.80 or less.

17. The method of producing a beverage according to claim 16.

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