Fruit sorting device

Abstract

To provide a small-sized fruit sorting device.SOLUTION: A fruit sorting device comprises: a first drive part; a rotation support part capable of being rotated around a first axis by the first drive part; and multiple loading tables which can be loaded with sorting objects, respectively, and which are supported by the rotation support part so as to be annularly arranged around the first axis. When the rotation support part is rotated by the first drive part, the multiple loading tables are circulated around the first axis.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

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

[0002] In recent years, labor shortages due to a decline in the agricultural population have become a serious problem. In order to improve the labor-intensive work of fruit sorting, attempts are being made in various places to automate fruit sorting and realize smart agriculture, for example, by utilizing technologies such as robotics and AI (Artificial Intelligence).

[0003] For example, Patent Document 1 describes a crop sorting device. The crop sorting device described in Patent Document 1 transports crops using a roller conveyor with multiple rotatable rollers. This crop sorting device controls the rotation direction of the rollers to rotate the crops, thereby photographing the exterior of the crops from various directions and photographing the interior of the crops as they are transported without rotating, and sorts the crops using the captured images. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2022-167190 Summary of the Invention [Problem to be solved by the invention]

[0005] In Japan, the majority of agricultural producers are those with small- to medium-sized farmland and small-volume production, and there is a need for technology that aims to reduce the burden on small- to medium-sized producers. The crop sorting device described in Patent Document 1 is designed to be used to sort crops harvested in large quantities on large-scale farmland, and is a large-scale device that sorts crops all at once. It is difficult for small- to medium-sized producers to adopt such a large-scale crop sorting device.

[0006] In view of the above circumstances, an embodiment of the present disclosure aims to provide a small-sized fruit sorting device that can be easily adopted by, for example, small and medium-sized producers. [Means for solving the problem]

[0007] A fruit sorting device according to one embodiment of the present disclosure includes a first drive unit, a rotary support unit rotatable about a first axis by the first drive unit, and a plurality of mounting tables supported by the rotary support unit so as to be arranged in a ring around the first axis, each capable of holding a sorting target. When the rotary support unit is rotated about the first axis by the first drive unit, the plurality of mounting tables circulate around the first axis. [Effects of the Invention]

[0008] According to one embodiment of the present disclosure, a compact fruit sorting device is provided. [Brief explanation of the drawings]

[0009] [Figure 1A] 1 is a perspective view of a fruit sorting device according to an embodiment of the present disclosure. FIG. [Figure 1B] 1 is a perspective view of a fruit sorting device according to an embodiment of the present disclosure. FIG. [Figure 2] 1 is a block diagram showing the configuration of a fruit sorting device according to an embodiment of the present disclosure. [Figure 3] FIG. 2 is a block diagram illustrating a configuration of a terminal device according to an embodiment of the present disclosure. [Figure 4] 1 is a top view of a placement table provided in a fruit sorting device according to an embodiment of the present disclosure. FIG. [Figure 5] An enlarged oblique view of the vicinity of a sensor unit provided in an embodiment of the fruit sorting device of the present disclosure. [Figure 6] FIG. 1 is a schematic diagram illustrating a state in which agricultural products are placed on a placement table according to an embodiment of the present disclosure. [Figure 7] FIG. 10 is a schematic diagram illustrating a state in which a crop has been dropped from a platform according to an embodiment of the present disclosure. [Figure 8] 10 is a schematic diagram illustrating the discharge operation of agricultural products by a second drive unit provided in a fruit sorting device according to an embodiment of the present disclosure. FIG. [Figure 9] 10 is a schematic diagram illustrating the discharge operation of agricultural products by a second drive unit provided in a fruit sorting device according to an embodiment of the present disclosure. FIG. [Figure 10] 10 is a schematic diagram illustrating the suppression of rotation of the mounting table by a stopper provided in a fruit sorting device according to one embodiment of the present disclosure. FIG. [Figure 11] 1 is a flowchart showing the flow of fruit sorting work performed using a fruit sorting device in one embodiment of the present disclosure. [Figure 12] 10 is a flowchart illustrating a process executed by a processor of a terminal device according to an embodiment of the present disclosure. [Figure 13] 10 is a top view of a placement table provided in a fruit sorting device according to another embodiment of the present disclosure. FIG. [Figure 14] FIG. 10 is a perspective view of a fruit sorting device according to a modified example of the present disclosure. [Figure 15] FIG. 10 is a diagram showing a state in which the mounting table is tilted in a modified example of the present disclosure. [Figure 16] 10A and 10B are diagrams illustrating a mechanism for tilting a mounting table in a modified example of the present disclosure. [Figure 17] 10A and 10B are diagrams illustrating a mechanism for tilting a mounting table in a modified example of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following description relates to a fruit sorting device according to an embodiment of the present disclosure. Common or corresponding elements are denoted by the same or similar reference numerals, and redundant descriptions will be appropriately simplified or omitted.

[0011] 1A and 1B are perspective views of a fruit sorting device 1 according to an embodiment of the present disclosure. Fig. 2 is a block diagram showing the configuration of the fruit sorting device 1. Fig. 2 also shows a terminal device 2 connected to the fruit sorting device 1.

[0012] In this embodiment, the direction of gravity in the environment in which the sorting device 1 is expected to be used is defined as the downward direction, the opposite direction of the downward direction is defined as the upward direction, and the direction perpendicular to the up-down direction (vertical direction) is defined as the horizontal direction. Additionally, the two mutually perpendicular horizontal directions are defined as the X direction and the Y direction. The vertical direction perpendicular to both the X direction and the Y direction is defined as the Z direction. In other words, the X, Y, and Z directions are mutually perpendicular. The X direction may also be called the left-right direction. The Y direction may also be called the front-back direction. The Z direction may also be called the up-down direction. Note that the names of the directions are used for convenience to explain the relative positional relationships of the components and do not indicate absolute directions. For example, depending on the orientation of the device, the X direction may not necessarily be the left-right direction, but may be the front-back direction.

[0013] Characteristics of small- and medium-sized producers include, for example, limited capital, small cultivated areas, and low yields. Therefore, it is difficult for small- and medium-sized producers to introduce large-scale fruit sorting equipment, and the benefits are limited. It is desirable for small- and medium-sized producers to have a low barrier to entry when introducing a fruit sorting device. For example, a small and lightweight fruit sorting device is desirable, and it is even more desirable for the introduction and running costs of the sorting device to be low. The fruit sorting device 1 of this embodiment is configured to meet these requirements and is suitable for sorting agricultural produce on small- and medium-sized cultivated land. Here, agricultural produce includes food crops, feed crops, green manure crops, horticultural crops, and industrial crops, as well as specialized forest products such as mushrooms.

[0014] The sorting device 1 includes a housing 10, a rotation support unit 20, a first drive unit 30, a second drive unit 40, a mounting table 50, and a sensor unit 60. In order to efficiently sort the agricultural products P to be sorted, the sorting device 1 is provided with a plurality of mounting tables 50.

[0015] It should be noted that any reference to an element using a designation such as "first," "second," etc., used in this disclosure does not generally limit the quantity or order of those elements. These designations are used for convenience to distinguish between two or more elements. Thus, reference to a first and a second element does not imply, for example, that only two elements are employed, that the first element must precede the second element, etc.

[0016] The fruit sorting device 1 has a communication interface (not shown). A terminal device 2 is connected to the fruit sorting device 1 wirelessly or via a wired connection. The terminal device 2 is a controller that controls the operation of the fruit sorting device 1, and is, for example, a PC (Personal Computer), a smartphone, or a tablet terminal. The terminal device 2 does not have to be a general-purpose device such as a PC, but may be a device dedicated to the fruit sorting device 1.

[0017] In another embodiment, a control unit having the same control functions as the terminal device 2 may be incorporated into the fruit sorting device 1. In this case, for example, an input device and a display device may also be incorporated into the fruit sorting device 1. In addition, some components such as the sensor unit 60 may be provided as external devices. In other words, the fruit sorting device 1 is not limited to the configuration shown in FIG. 1A, etc. There is a degree of freedom in the design of the fruit sorting device 1, and various embodiments are possible.

[0018] Fig. 3 is a block diagram showing the configuration of the terminal device 2. As shown in Fig. 3, the terminal device 2 includes a processor 210, a memory 220, a storage 230, a communication interface 240, an input device 250, and a display device 260. The components of the terminal device 2 are connected via a bus 270. Note that Fig. 3 shows only one example of the configuration of the terminal device 2. The terminal device 2 may include other elements (e.g., a speaker) not shown in Fig. 3. The terminal device 2 may have a configuration that does not include some of the elements shown in Fig. 3.

[0019] The processor 210 reads out programs and data stored in the storage 230. The memory 220 is, for example, a random access memory (RAM). The processor 210 performs overall control of the terminal device 2 by using the memory 220 as a work area.

[0020] The processor 210 is, for example, a single processor or a multi-processor, and includes at least one processor. When multiple processors are included, the processor 210 may be packaged as a single device, or may be configured as multiple devices that are physically separated within the terminal device 2. The processor 210 may be called, for example, a control unit, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), or an MCU (Micro Controller Unit).

[0021] The storage 230 is, for example, a non-volatile semiconductor memory such as a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically Erasable Programmable ROM), an HDD (Hard Disk Drive), or an SSD (Solid State Drive).

[0022] The storage 230 stores a control program 232 that controls the fruit sorting device 1. The processor 210 executes the control program 232 to perform various processes according to an embodiment of the present disclosure (such as control of the fruit sorting device 1 and inspection of the agricultural produce P). The control program 232 is, for example, downloaded from an app store and installed in the terminal device 2 in advance.

[0023] Some of the various processes according to an embodiment of the present disclosure (for example, inspection of the crops P) may be executed by a device other than the terminal device 2 (for example, a cloud server).

[0024] The communication interface 240 is a communication interface with various media. The terminal device 2 is connected via the communication interface 240 to the fruit sorting device 1, external storage, a server on a network, and the like.

[0025] The input device 250 includes, for example, a keyboard, a mouse, a touch panel, operation buttons, a microphone, various sensors, etc. An operator can operate the fruit sorting device 1 by operating the input device 250.

[0026] The display device 260 includes a display and a driver. When the driver drives the display in accordance with a control signal from the processor 210, a screen corresponding to the control signal is displayed. The display may be a touch panel display. The display is, for example, an LCD (Liquid Crystal Display) or an organic EL (Electro Luminescence) display.

[0027] The display shows various information, such as guidance for workers, inspection results such as rank, the progress of the sorting process, and the final sorting results.

[0028] The operation of the fruit sorting device 1 will be outlined below. When the power to the fruit sorting device 1 is turned on, the rotating support unit 20 starts to rotate. The rotating support unit 20 supports a plurality of mounting tables 50. The plurality of mounting tables 50 are arranged in a ring shape around the rotating support unit 20. When the rotating support unit 20 rotates, the mounting tables 50 supported by the rotating support unit 20 move around the rotating support unit 20. The worker places the crops P one by one on the mounting tables 50 that successively approach the worker due to the rotational movement. "Placing the crops P" can also be rephrased as "adding the crops P."

[0029] When the crop P is shiitake mushrooms, the worker places the shiitake mushrooms on the table 50 upside down (with the cap facing downwards and the base on top) so that the position on the table 50 is stable.

[0030] The multiple mounting tables 50 revolve around the first axis AX1 and circulate around the rotation support unit 20. That is, the mounting tables 50 circulate on a circulation path CP around the rotation support unit 20. An information acquisition point P0 is set on the circulation path CP. Multiple discharge points P1 to P3 are set downstream of the information acquisition point P0. In this embodiment, as an example, the agricultural produce P is assigned one of three ranks A to C. Therefore, in this embodiment, three discharge points P1 to P3 are set corresponding to the ranks A to C, respectively.

[0031] The worker can set any number of ranks by operating the terminal device 2. The discharge points are set according to the number of ranks that has been set.

[0032] Sensor unit 60 is installed above information acquisition point P0 on circulation route CP. Sensor unit 60 includes an imaging element. Sensor unit 60 sequentially captures images of crops P placed on platform 50 as they are transported to information acquisition point P0. Sensor unit 60 outputs the captured image data to terminal device 2.

[0033] Terminal device 2 executes an inspection program to inspect (e.g., rank) crops P. For example, terminal device 2 executes image analysis processing on crops P captured in a captured image and ranks crops P based on the analysis results. The inspection program may be a program module included in control program 232, or may be a program independent of control program 232. The control program 232 and the inspection program work together via an API (Application Programming Interface) to rank crops P.

[0034] Additionally, in this embodiment, the terminal device 2 can use a machine learning model to rank the crops P. The machine learning model is, for example, an AI (Artificial Intelligence) program that analyzes and ranks the crops P shown in a captured image, and is realized by a neural network.

[0035] The machine learning model may be provided by cloud computing. That is, the terminal device 2 does not need to have the machine learning model. In this case, the terminal device 2 accesses the machine learning model stored in the cloud and provides the captured image to the machine learning model. The terminal device 2 obtains a result (e.g., the rank of the crop P) from the machine learning model on the cloud. Because AI analysis, which requires a high processing load, can be performed on the cloud, the worker can use, for example, an inexpensive terminal device 2 with low performance.

[0036] The machine learning model can be trained using image data uploaded from each producer's terminal device 2 connected to the cloud. Because a large amount of image data can be collected as learning material, the accuracy of machine learning is improved.

[0037] If the crop P is shiitake mushrooms, the ranking is based on factors such as size (mainly the cap), cap shape, shape defects, cap opening, presence of insects or foreign matter, and cap thickness.

[0038] For example, sorting characteristics such as the degree to which the cap is open are influenced by sensory criteria. Therefore, it is effective to use AI, which judges multiple characteristics from their interactions rather than a simple numerical judgment. If AI is used more, differences in personal and regional sorting standards will be eliminated. For example, quality will be standardized in a wide-producing region. This is expected to improve the quality of shiitake mushrooms overall. Similar effects are expected from using AI more in agricultural crops other than shiitake mushrooms.

[0039] Information obtained from images of the crops P is stored and used, for example, as information for sorting and growing the crops P. Possible uses include linking the images taken during sorting with the evaluation of the shipping destination, and estimating the quality of the taste based on the harvest time and the color of the crops P shown in the images.

[0040] AI can not only find correct answers given in advance, but also find and infer hidden patterns through self-learning. Therefore, by providing AI with a large number of appropriate images taken during fruit sorting, it is expected that it will be able to be used in ways beyond those currently envisioned.

[0041] There is an empty space around the rotation support part 20 and below the circulation path CP, in which storage containers corresponding to each rank can be placed.

[0042] The worker installs storage containers in advance below the discharge points corresponding to each set rank. For example, the worker installs storage containers 3A to 3C corresponding to three ranks A to C, respectively. Storage container 3A corresponding to rank A is installed below discharge point P1 on circulation route CP. Storage container 3B corresponding to rank B is installed below discharge point P2 on circulation route CP. Storage container 3C corresponding to rank C is installed below discharge point P3 on circulation route CP.

[0043] The platforms 50 tilt when transported to the discharge point corresponding to the rank assigned to the placed crops P (in other words, above the storage container corresponding to that rank). This causes the crops P to fall from the platforms 50 and enter the storage container corresponding to that rank. In other words, each of the multiple platforms 50 on which the crops P are placed tilts when it reaches the discharge point corresponding to the rank of the crops P, causing the crops P to fall into the storage container. This allows the crops P to be sorted according to their rank. The platforms 50 return to their original position after passing the discharge point.

[0044] A slider may be installed below each discharge point. In this case, crops P drop from platform 50 onto the slider, slide along the slider, and enter the storage container. Compared to dropping crops P directly from platform 50 into the storage container, the drop is smaller, so crops P are less likely to be damaged.

[0045] The only work required of the worker is essentially to place the crops P on the platform 50. That is, according to this embodiment, the ranking of the crops P is performed automatically using AI analysis or the like, and the crops P are also automatically stored in the storage containers corresponding to each rank.

[0046] The sorting device 1 does not have large, complex mechanisms such as roller conveyors or belt conveyors. The sorting device 1 has a simple configuration that is suitable for miniaturization and lightweight design. This makes it easy to keep the introduction and running costs of the sorting device 1 low.

[0047] Additionally, the multiple mounting tables 50 on which the crops P to be sorted are placed circulate in the limited space around the rotation support unit 20 of the sorting device 1. In other words, the transport path (circulation path CP) for the crops P fits within the limited space. The sorting device 1 requires less space for installation than devices equipped with roller conveyors or belt conveyors.

[0048] In the fruit sorting device 1, the dead space below the circulation path CP can be effectively used as a discharge destination (place for installing storage containers). Because the circulation path CP and the discharge destination overlap when viewed from above, the horizontal projection area of ​​the fruit sorting device 1 is small. This also reduces the space required to install the fruit sorting device 1.

[0049] For example, the fruit sorting device 1 is small enough to fit into a space of about 1 m in diameter and 1 m in height, which allows for a high degree of freedom in selecting an installation location even in a collection and shipping yard where space is insufficient.

[0050] The fruit sorting device 1 will now be described in detail. The housing 10 supports each part of the fruit sorting device 1. The housing 10 is made of resin, metal, ceramic, composite material (for example, FRP (Fiber Reinforced Plastics)), or the like.

[0051] The rotation support unit 20 includes a base 21 and supports 22. The base 21 is formed in a cylindrical shape centered on the first axis AX1. The supports 22 are supported by the base 21. A plurality of supports 22 are provided. The supports 22 are formed on the upper part of the base 21 and extend radially to the sides of the base 21. Each of the supports 22 supports a corresponding one of the mounting tables 50. The supports 22 are arranged at equal intervals in the circumferential direction of the base 21. Therefore, the mounting tables 50 supported by the supports 22 are also arranged at equal intervals in the circumferential direction of the base 21.

[0052] Base 21 is made of resin, metal, ceramic, composite material, or the like. Support body 22 and table 50 are parts that crops P touch or may touch. Therefore, support body 22 and table 50 are made of, for example, a resin material that has excellent stain resistance. The surfaces of support body 22 and table 50 may be subjected to a stain resistance treatment. Base 21 is not limited to a cylindrical shape, and may be formed into a polygonal pillar shape such as a square. Base 21 may be formed into, for example, a frustum shape or a sphere shape.

[0053] Additionally, the resin parts of each part of the fruit sorting device 1 may be formed from ABS (Acrylonitrile Butadiene Styrene) resin, which is lightweight, moldable, and cost-effective. The resin parts of each part of the fruit sorting device 1 may be injection-molded or formed using a 3D printer. In the latter case, the resin parts can be manufactured more cheaply and easily.

[0054] There are no particular restrictions on the color of the materials constituting the fruit sorting device 1. However, the support 22 and the platform 50 appear in the background of the crop P photographed by the sensor unit 60. Therefore, it is desirable that the support 22 and the platform 50 have a color that makes them easy to distinguish from the crop P in image analysis processing and AI analysis. As an example, the support 22 and the platform 50 are colored blue, which is useful for distinguishing reflected light and shadows from the illumination light source from insect damage, etc. In other words, the support 22 and the platform 50 are formed from materials colored blue, which makes them easy to blend into the background image.

[0055] The colors of the support 22 and the mounting table 50 can be selected appropriately depending on the illumination light source, the type of crop P, etc. For example, these parts can be colored black to emphasize shadows, or white to promote reflection from the illumination light source and encourage light to enter.

[0056] A first driving unit 30 is supported inside the base 21. The first driving unit 30 includes a controller, a driver, a stepping motor, and a transmission mechanism. The controller generates a pulse signal in response to a control signal input from the terminal device 2. The driver supplies a driving current corresponding to the pulse signal to the stepping motor. The stepping motor is driven at an amount of rotation and a rotation speed corresponding to the supplied pulse signal.

[0057] The base 21 is provided with a shaft centered on the first axis AX1. The rotation of the stepping motor is transmitted to the shaft of the base 21 via a transmission mechanism such as a gear. As a result, the rotation support unit 20 (the base 21 and the support 22 supported by the base 21) and the mounting table 50 supported by the support 22 rotate around the first axis AX1 at a rotation amount and rotation speed controlled by the terminal device 2. The rotation support unit 20 and the mounting table 50 rotate clockwise when viewed from above. The rotation speed is, for example, 12 seconds / revolution.

[0058] In this way, the rotation support part 20 serves as a turntable that rotates around the first axis AX1.

[0059] 4 is a top view of table 50. In FIG. 4, table 50 is shown tilting when crops P are dropped onto it.

[0060] 4, table 50 is a semi-open transfer section that opens upward and is formed in a dish shape (or, in other words, a shallow bowl shape). That is, table 50 has a shape that includes recess 51 that can accommodate crops P to be sorted.

[0061] Diameter D of recess 51 of table 50 (in other words, the inner diameter of table 50) is, for example, slightly larger than the diameter of a large-sized crop P (here, a shiitake mushroom cap). Diameter D is, for example, about 10 cm. The crop P is placed so that it fits into recess 51. This prevents the crop P from accidentally falling off table 50.

[0062] An opening 52 is formed in the center of the bottom of the recess 51 of the mounting table 50. The opening 52 is, for example, circular. The diameter of the opening 52 is about 3 cm.

[0063] Foreign matter (dust, dirt, scraps of agricultural produce P, etc.) generated during the sorting process does not accumulate in the recess 51 but falls downward through the opening 52. Because foreign matter does not accumulate in the recess 51, the recess 51 is kept clean. The frequency of cleaning the mounting table 50 is reduced, improving maintainability. Because foreign matter is less likely to appear in captured images, the inspection accuracy of image analysis processing and AI analysis is improved.

[0064] If too much foreign matter accumulates in recess 51, there is a risk that the crop P will interfere with the foreign matter. For example, if crop P is placed on a foreign matter, crop P will assume a tilted position. If crop P is placed in an inappropriate position, there is a risk that the inspection accuracy of image analysis processing and AI analysis will decrease.

[0065] In this embodiment, by forming opening 52 in recess 51, foreign matter is less likely to accumulate in recess 51. This reduces interference between crop P and foreign matter. It also makes it easier to place crop P in an appropriate posture, ensuring the inspection accuracy of image analysis processing and AI analysis.

[0066] A portion of crop P placed in recess 51 fits loosely into opening 52. When crop P is a shiitake mushroom, the top of the cap fits loosely into opening 52. This stabilizes the position of crop P within recess 51.

[0067] 5 is an enlarged perspective view of the vicinity of sensor unit 60. As shown in FIG. 5, sensor unit 60 is installed above information acquisition point P0 on circulation path CP. Sensor unit 60 sequentially acquires information about crops P being transported to information acquisition point P0. In other words, sensor unit 60 is an example of an information acquisition unit that sequentially acquires information about crops P (an example of a sorting target) placed on a mounting table 50 that has been transported to information acquisition point P0 (an example of a predetermined position) among multiple mounting tables 50 circulating around first axis AX1.

[0068] The sensor unit 60 includes an illumination light source, a camera, and a measurement sensor. The illumination light source is, for example, a ring-shaped LED (Light Emitting Diode) array light source. The imaging element and measurement sensor are arranged in an area surrounded by the ring-shaped illumination light source. The illumination light source emits light so that the environment for the camera to capture images is sufficiently bright. The illumination light source illuminates at least the entire mounting table 50. In this embodiment, for example, a white light source that emits white light having an emission spectrum in the visible light range is used. The sensor unit 60 may not include a measurement sensor and may include only the illumination light source and the camera.

[0069] The camera includes a lens and an imaging element. The lens has a field of view large enough to capture the entire mounting table 50. The field of view of the lens is, for example, 100 degrees. The lens is, for example, a resin lens. The lens is, for example, a spherical lens to reduce manufacturing costs. The lens may be, for example, an aspherical lens to suppress various aberrations.

[0070] The imaging element may be, for example, a CMOS (Complementary Metal Oxide Semiconductor) image sensor equipped with a color filter, a CCD (Charge Coupled Device) image sensor, etc. The imaging element captures an image of the crop P placed on the mounting table 50 that has been transferred to the information acquisition point P0. The camera may include an optical filter (such as a polarizing element) to prevent flare and adjust the amount of light.

[0071] Terminal device 2 outputs a control signal to first drive unit 30 to drive the stepping motor and control the amount of rotation (in other words, the movement angle of mounting table 50). Terminal device 2 calculates the current position of mounting table 50 on circulation path CP from the movement angle of mounting table 50. Based on the calculated current position of mounting table 50, terminal device 2 detects the timing at which mounting table 50 will be transferred to information acquisition point P0. Terminal device 2 instructs sensor unit 60 to capture an image at the detected timing. This causes an image of crop P transferred to information acquisition point P0. The camera may capture a still image of crop P, or may capture a video image.

[0072] The camera may be installed in multiple locations, not only above the crops P but also to the side or below. For example, part or all of platform 50 may be formed from a light-transmitting material. This allows a camera installed in a location other than above to capture images of crops P in recess 51. Examples of light-transmitting materials include organic glass (polycarbonate, acrylic, polypropylene) and various inorganic glasses.

[0073] By using images captured at various angles, the accuracy of image analysis processing and AI analysis can be improved. As a modification, crops P can be captured at various angles by rotating platform 50 relative to the camera.

[0074] The measurement sensor is, for example, a ToF (Time of Flight) sensor that measures the distance to an object. The ToF sensor emits distance measurement light (e.g., laser light) with a wavelength different from visible light, and calculates the distance to the irradiation position based on the time difference between the emission timing and reception timing of the laser light at the irradiation position.

[0075] When platform 50 is empty, the laser light emitted from the ToF sensor hits the bottom surface of recess 51 in platform 50, reflects, and is received by the light-receiving unit of the ToF sensor. When crop P is placed on platform 50, the laser light emitted from the ToF sensor hits the crop P placed on platform 50, reflects, and is received by the light-receiving unit of the ToF sensor. Therefore, the difference between the time difference between the projection and reception of the laser light onto empty platform 50 (in other words, the distance between the ToF sensor and the bottom surface of recess 51 in platform 50) and the time difference between the projection and reception of the laser light onto platform 50 with crop P placed on it (in other words, the distance between the ToF sensor and crop P placed on platform 50) indicates the thickness of crop P (e.g., the thickness of a shiitake mushroom cap). Terminal device 2 estimates the thickness of crop P based on this difference.

[0076] In this way, the measurement sensor measures a value related to the size of the crop P (here, the thickness of the crop P) placed on the platform 50 that has been transported to the information acquisition point P0 (an example of a predetermined position). The value measured by the measurement sensor is not limited to thickness, but may also be other values ​​(for example, hardness, moisture content, etc.).

[0077] 6 to 9 are schematic diagrams illustrating the operation of discharging crops P placed on platform 50. FIG. 6 shows the state in which crops P are placed on platform 50. FIG. 7 shows the state in which crops P have been dropped from platform 50. FIGS. 8 and 9 are schematic diagrams illustrating the operation of second drive unit 40 to discharge crops P.

[0078] 6 and 7, the support 22 is a shaft extending in the direction of the second axis AX2, which is, for example, the radial direction of the base 21 formed in a cylindrical shape.

[0079] 7, a connection portion 53 is formed on the outer peripheral surface of the mounting table 50. For example, the tip of the support 22 is inserted into a hole formed in the connection portion 53. This fixes the support 22 and the mounting table 50 together, and the support 22 supports the mounting table 50.

[0080] The worker can remove the mounting table 50 from the support 22 by pulling out the support 22 from the hole formed in the connecting portion 53. In other words, the mounting table 50 is replaceable. If the mounting table 50 is damaged, the worker can easily replace it with a new mounting table 50. The worker can also replace the mounting table 50 with various mounting tables 50 of different shapes and sizes to match the agricultural produce P to be sorted (shiitake mushrooms, cucumbers, tomatoes, etc.).

[0081] A transmission member 23 is attached to the base end of the support body 22. The transmission member 23 is formed to extend in a direction perpendicular to the axial direction (direction of the second axis AX2) of the support body 22. A ball bearing 23a is attached to the tip end of the transmission member 23.

[0082] The second driving units 40 are provided corresponding to the respective discharge points. In this embodiment, the second driving units 40 are provided at the three discharge points P1 to P3, respectively.

[0083] The second drive unit 40 includes a solenoid 41 and a metal fitting 42. The metal fitting 42 is formed in an L-shape. The metal fitting 42 is arranged so that a long side 42a of the L-shape is perpendicular to the second axis AX2 and a short side 42b of the L-shape is parallel to the second axis AX2. The metal fitting 42 is supported by the housing 10 so as to be rotatable about the third axis AX3.

[0084] When the solenoid 41 is off, the plunger is located at the protruding position (see, for example, the schematic diagram S1 in FIG. 9). When the solenoid 41 is turned on, the plunger moves to the attracting position (see, for example, the schematic diagram S3 in FIG. 9). The plunger remains at the attracting position until the solenoid 41 is turned off.

[0085] One end of the long side 42a of the metal fitting 42 is fixed to the plunger of the solenoid 41. When the plunger is in the protruding position, the short side 42b of the metal fitting 42 is positioned below the transmission member 23. Therefore, the short side 42b and the transmission member 23 do not interfere with each other. Furthermore, the long side 42a of the metal fitting 42 is positioned offset from the transmission member 23 in the radial direction of the base 21. Therefore, the long side 42a and the transmission member 23 do not interfere with each other either. Therefore, while the mounting table 50 is being moved along the circulation path CP, the transmission member 23 passes by without coming into contact with the metal fitting 42, as shown in schematic diagrams S1 and S2 of FIG. 8. Therefore, the posture of the mounting table 50 does not change.

[0086] When the plunger is moved from the protruding position to the suction position, the metal fitting 42 rotates about the third axis AX3. As a result, the short side 42b of the metal fitting 42 enters the movement path of the ball bearing 23a. Therefore, while the mounting table 50 is being moved along the circulation path CP, the short side 42b interferes with the ball bearing 23a.

[0087] As shown in schematic diagrams S3 and S4 of Figure 9, when ball bearing 23a comes into contact with short side 42b of metal fitting 42, it rolls and slides on the surface of short side 42b, causing it to bounce up. This causes transmission member 23 to rotate in first direction D1 about second axis AX2. Furthermore, support body 22 and platform 50 rotate integrally with transmission member 23 in first direction D1 about second axis AX2. As platform 50 rotates and tilts, crops P placed on platform 50 fall.

[0088] In this way, the posture of platform 50 changes in conjunction with the movement of support 22 by second drive unit 40, causing crop P placed on platform 50 to fall from platform 50. That is, the posture of platform 50 changes in conjunction with the movement of support 22 to a first posture (see FIG. 6, for example) on which crop P can be placed, or to a second posture (see FIG. 7, for example) in which platform 50 tilts from the first posture so that placed crop P falls. In addition, when support 22 is rotated about second axis AX2 by second drive unit 40, platform 50 supported by support 22 rotates about second axis AX2 so as to tilt, causing crop P placed on platform 50 to fall from platform 50.

[0089] While solenoid 41 is turned on, short side 42b of metal fitting 42 is positioned on the path of movement of ball bearing 23a. Therefore, platform 50, which is sequentially transported to the discharge point, is sequentially tilted at the discharge point, and crops P fall sequentially.

[0090] The transmission member 23 is biased to its initial position by a biasing member 24 such as a spring. Therefore, when the ball bearing 23a passes over and overcomes the short side 42b of the metal fitting 42, the transmission member 23 rotates in a second direction D2 opposite to the first direction D1 and returns to its initial position, as shown in the schematic diagram S5 of FIG. 9 . Furthermore, the support 22 and the mounting table 50 also rotate in the second direction D2 together with the transmission member 23 and return to their initial positions (their original positions before rotation). In other words, the biasing member 24 is an example of a member that returns the mounting table 50, which has rotated together with the support 22, to its original position before rotation.

[0091] When the solenoid 41 is turned off, the short side 42b of the metal fitting 42 moves away from the path of movement of the ball bearing 23a. In this case, the transmission member 23 also returns to its initial position. Furthermore, the support 22 and the mounting table 50 rotate integrally with the transmission member 23 and return to their original positions.

[0092] There is a risk that table 50 may inadvertently rotate about second axis AX2 due to, for example, its own weight or the impact when crops P are placed on it. In this case, a problem occurs in which crops P unintentionally fall. Therefore, in this embodiment, the center of gravity CG of table 50 is offset from second axis AX2 to prevent table 50 from rotating due to its own weight (see FIG. 6). Specifically, the position of table 50 relative to support body 22 is set so that the center of gravity CG of table 50 does not intersect with second axis AX2.

[0093] By eccentrically positioning the center of gravity CG, the mounting table 50 is less likely to rotate unintentionally in the first direction D1. On the other hand, the mounting table 50 is more likely to rotate unintentionally in the second direction D2. Therefore, the stopper 25 is provided. Figure 10 is a schematic diagram illustrating how the stopper 25 suppresses the rotation of the mounting table 50.

[0094] The stopper 25 is attached to the support 22. The stopper 25 is formed to extend in a direction perpendicular to the second axis AX2, and is located across the second axis AX2 from the center of gravity CG of the mounting table 50. The stopper 25 is biased by the biasing member 24 to come into contact with a wall portion 26 formed inside the base 21. As a result, the support 22 to which the stopper 25 is attached, the transmission member 23 supported by the support 22, and the mounting table 50 are stopped at their initial positions. The stopper 25 abutting against the wall portion 26 prevents the mounting table 50 from rotating in the second direction D2 beyond the initial position.

[0095] In this manner, in this embodiment, by eccentrically displacing the center of gravity CG and providing the stopper 25, it is possible to more reliably prevent inadvertent rotation of the mounting table 50. That is, the stopper 25 is an example of a member that prevents overshoot when the biasing member 24 returns the mounting table 50 to the position before rotation.

[0096] In another embodiment, the center of gravity CG of the mounting table 50 may be configured not to be eccentric from the second axis AX2. Specifically, the positional relationship between the support body 22 and the mounting table 50 may be set so that the center of gravity CG of the mounting table 50 intersects with the second axis AX2.

[0097] FIG. 11 is a flowchart showing the flow of fruit sorting performed using the fruit sorting device 1. Note that the order of the steps in the flowchart shown in the embodiment of the present disclosure may be changed as long as it is consistent. For example, although the embodiment of the present disclosure presents the processing of various steps using an exemplary order, it is not limited to this presented order. Furthermore, the steps in the flowchart shown in the embodiment of the present disclosure may be executed in parallel or in parallel as long as it is consistent.

[0098] The worker prepares for the sorting operation (Step S101). Specifically, the worker sets an inspection program suited to the crop P to be sorted, sets ranks, sets discharge points corresponding to each rank, and installs storage containers at each discharge point. If a battery is used as the power source for the sorting device 1, the worker charges it in advance.

[0099] The worker turns on the power of the sorting device 1 (step S102). The worker starts the sorting work (step S103). Specifically, the worker sequentially places previously harvested crops P on the placing table 50 at a position upstream of the information acquisition point P0. Depending on the crop P, the harvesting and sorting work may be performed in parallel.

[0100] Guidance may be displayed on the screen of the display device 260 of the terminal device 2. Even workers who are not familiar with fruit sorting can easily perform the fruit sorting work by following the instructions in the guidance. Audio guidance may be provided instead of or in addition to the guidance displayed on the screen. Workers can easily perform the fruit sorting work by following the instructions in the audio guidance output from the speaker of the terminal device 2.

[0101] The crops P placed on the table 50 are successively sorted by the fruit sorting device 1 and stored in storage containers according to rank (step S104).

[0102] The worker collects each storage container containing the produce P (step S105). The worker then performs tasks such as packing and shipping the collected produce P of each rank.

[0103] Information acquired by the sorting device 1 (photographed images of the crops P, measurement results by the ToF sensor, etc.) and AI analysis results are recorded and accumulated in the storage 230 of the terminal device 2 or in the cloud. Therefore, after completing the harvesting and sorting work, the worker can utilize this accumulated data to improve the quality of the crops P (step S106).

[0104] For example, the worker can estimate the quality of the taste based on the link between the images taken during fruit sorting and the evaluation of the shipping destination, the harvest time, the color of the crop P shown in the images, etc.

[0105] When the worker has finished collecting the crops P, he or she performs maintenance on the fruit sorting device 1 and ends the work (step S107).

[0106] Fig. 12 shows a flowchart of the processing executed by the processor 210 of the terminal device 2 in one embodiment of the present disclosure. For example, when the power of the fruit sorting device 1 is turned on and the control program 232 is started on the terminal device 2, the processing shown in Fig. 12 starts to be executed. When a predetermined stop operation is performed, the processing shown in Fig. 12 ends.

[0107] The processor 210 performs an initialization process for the fruit sorting device 1 (step S201). For example, the processor 210 drives the stepping motor to its initial position. In other words, the processor 210 moves the mounting tables 50 to their initial positions. The processor 210 assigns an identifier to each mounting table 50 that has been moved to its initial position. The processor 210 associates, for example, the position of the mounting table 50 on the circulation path CP with the identifier assigned to the mounting table 50, and stores this information in a work area such as the memory 220.

[0108] The processor 210 starts the rotation of the rotation support part 20 (step S202) in accordance with, for example, an operator's operation on the input device 250. As a result, the mounting table 50 circulates around the circulation path CP by rotating, for example, clockwise.

[0109] For example, processor 210 rotates rotation support unit 20 at a constant speed. Processor 210 may periodically rotate and stop rotation support unit 20. In the latter case, for example, the rotation of rotation support unit 20 is stopped intermittently so that mounting table 50 temporarily stops at information acquisition point P0. By temporarily stopping mounting table 50 at information acquisition point P0, for example, more time can be spent on acquiring information by sensor unit 60 (taking an image of crop P, measuring thickness using a ToF sensor, etc.). This improves the accuracy of the acquired information.

[0110] For example, an optical sensor that detects that crop P has been placed on table 50 may be provided on table 50. In this case, processor 210 detects that crop P has been placed on table 50 based on an electrical signal output from the optical sensor. Processor 210, for example, puts fruit sorting device 1 into a standby state until crop P is placed on table 50. When processor 210 detects that crop P has been placed on table 50, it cancels the standby state and starts rotation of rotation support unit 20.

[0111] When rotation of rotation support unit 20 begins, mounting table 50 is sequentially transported to information acquisition point P0. As described above, processor 210 calculates the current position of mounting table 50 on circulation path CP from control information of the stepping motor. Based on the calculated current position of mounting table 50, processor 210 detects the timing at which mounting table 50 will be transported to information acquisition point P0. Processor 210 instructs sensor unit 60 to capture an image at the detected timing (step S203). As a result, the illumination light source illuminates crop P transported to information acquisition point P0, and the camera captures an image. Sensor unit 60 outputs the captured image and measurement data from the ToF sensor to terminal device 2.

[0112] The ToF sensor may also serve to detect whether or not crop P is present on platform 50. For example, if the ToF sensor obtains measurement data of the same value as when platform 50 is empty, crop P is not placed on platform 50. In this case, processor 210 does not instruct sensor unit 60 to capture an image. If the ToF sensor obtains measurement data of a different value than when platform 50 is empty, crop P is placed on platform 50. In this case, processor 210 instructs sensor unit 60 to capture an image.

[0113] If an optical sensor is provided on platform 50, processor 210 stores in the work area the identifier of platform 50 on which the placement of crop P is detected. Processor 210 may instruct the sensor unit to capture an image when platform 50 assigned this identifier is transported to information acquisition point P0.

[0114] Processor 210 performs ranking using AI analysis or the like based on the information received from sensor unit 60 (photographed images of crops P, measurement data by the ToF sensor, etc.) (step S204). Here, for example, ranking is performed on three levels (ranks A to C).

[0115] The processor 210 associates the captured image, the measurement data, the inspection result (rank), and the identifier of the mounting table 50, and stores them in, for example, the storage 230 (step S205).

[0116] The rank, which is the inspection result, indicates the discharge point at which the crop P is discharged. That is, crops P of rank A are discharged at discharge point P1. Crops P of rank B are discharged at discharge point P2. Crops P of rank C are discharged at discharge point P3.

[0117] Processor 210 assigns an identifier to each platform 50 and monitors their current positions. When platform 50 is transported to the discharge point corresponding to the rank assigned to the crop P placed on platform 50, processor 210 turns on solenoid 41 to tilt platform 50 (step S206). This causes the crop P to fall from platform 50 and enter the storage container corresponding to that rank. In other words, the crops P are sorted by rank. Platform 50 returns to its original position after passing the discharge point.

[0118] In this way, second drive unit 40 operates as a sorting unit in cooperation with processor 210 to sort crop P to be sorted in accordance with inspection results based on information (photographed images of crop P, measurement data from the ToF sensor, etc.) acquired by sensor unit 60 (an example of an information acquisition unit). Second drive unit 40 operating as a sorting unit ejects crop P from platform 50 to a storage container (an example of a location according to the inspection results) by tilting platform 50 at a timing controlled by processor 210. In addition, the sorting unit ejects crop P from platform 50 to the storage container by dropping crop P from platform 50 that has been moved above the storage container.

[0119] In this embodiment, while placing platform 50 makes one revolution around circulation path CP, information about crops P placed on placing platform 50 is acquired (images of crops P, thickness measurement using a ToF sensor, etc.), inspection is performed using AI analysis, etc., and crops P are sorted (discharged) according to rank. The worker simply places crops P on placing platform 50. This significantly reduces the workload.

[0120] In the fruit sorting device 1 according to this embodiment, the entire transport path for agricultural products P fits into a small space (circulation path CP) around the rotation support unit 20. Because there are no large and complex mechanisms such as roller conveyors or belt conveyors, the space required to install the fruit sorting device 1 can be kept small.

[0121] Because it does not have large, complex mechanisms such as conveyors, it is easy to maintain, and it is easy to achieve resistance to agricultural environments such as mud, dust, and water, as well as low cost. Because the sorting device 1 is small, lightweight, and has a simple structure, it can be taken to a washing area and washed completely, or its parts can be removed and washed. In addition, it is easy to prepare (store) and replace spare parts.

[0122] The above is a description of exemplary embodiments of the present disclosure. The embodiments of the present disclosure are not limited to those described above, and various modifications are possible within the scope of the technical idea of ​​the present disclosure. For example, the embodiments of the present application also include appropriate combinations of embodiments explicitly shown in the specification or obvious embodiments.

[0123] For example, in another embodiment, two sorting devices 1 may be arranged side by side in a tandem configuration. In this case, the crops P can be sorted into a greater number of ranks. Also, more crops P can be sorted in a shorter time.

[0124] Fig. 13 is a top view of table 50 in another embodiment. As with Fig. 4, Fig. 13 also shows how table 50 tilts when crops P are dropped onto it.

[0125] In the above embodiment, the center of gravity CG of the mounting table 50 is offset from the second axis AX2, but in the embodiment shown in Fig. 13, the center of gravity CG of the mounting table 50 is not offset from the second axis AX2. In other words, there is a degree of freedom in designing the support mechanism of the mounting table 50 by the support body 22, and various embodiments are possible.

[0126] Fig. 14 is a perspective view of a fruit sorting device 1 according to a modified example. In Fig. 14, in order to clearly show the differences between the above embodiment and Modified Example 1, parts such as a part of the housing 10 and storage containers are omitted as appropriate.

[0127] Fig. 15 shows a state in which mounting table 50 is tilted in the modified example. As shown in Fig. 15, in the modified example, mounting table 50 is tilted so as to face outward from fruit sorting device 1 (more specifically, outward from base 21). This causes crops P placed on mounting table 50 to fall.

[0128] In this modified example, the mounting tables 50 are tilted so that they face a direction (radial direction of the base 21) perpendicular to the circumferential direction (direction of the circulation path CP) in which the mounting tables 50 are lined up. Because there are no mounting tables 50 at the end of the tilt, there is almost no risk of the crops P falling from the mounting tables 50 coming into contact with adjacent mounting tables 50. This reduces the occurrence of problems such as damage to the crops P due to contact with the mounting tables 50 when they fall. Furthermore, since it is only necessary to ensure the space required for the rotation of the mounting tables 50 in the radial direction of the base 21, the placement intervals of the mounting tables 50 can be kept small. In other words, the fruit sorting device 1 according to this modified example is configured to be suitable for arranging a larger number of mounting tables 50.

[0129] 16 and 17, the mechanism by which table 50 tilts in the modified example will be described. For convenience, only some elements of fruit sorting device 1 are shown in FIGS. 16 and 17. In the modified example, when second drive unit 40 rotates support body 22 around second axis AX2, table 50 tilts and crops P fall.

[0130] In this modified example, a first connecting member 27 is attached to the tip of the support body 22. The first connecting member 27 connects and supports the support body 22 and a shaft body 28. The shaft body 28 is supported by the first connecting member 27 and is positioned parallel to the support body 22. The shaft body 28 rotates integrally with the support body 22 around the second axis AX2.

[0131] In this modification, a second connecting member 54 is attached to the bottom of the mounting table 50. The second connecting member 54 is supported by the base 21 so as to be rotatable about a fourth axis AX4. A slit-shaped guide hole 55 is formed in the second connecting member 54. The shaft 28 is inserted into the guide hole 55.

[0132] As the support 22 rotates, the shaft 28 rotates around the second axis AX2, and the shaft 28 slides inside the guide hole 55, lifting the second connecting member 54 upward. This causes the second connecting member 54 to rotate around the fourth axis AX4, and the mounting table 50 rotates around the fourth axis AX4 together with the second connecting member 54. This causes the mounting table 50 to tilt so that it faces outward from the sorting device 1. [Explanation of symbols]

[0133] 1: Fruit sorting device 2: Terminal device 10: Housing 20: Rotation support part 21: Foundation 22:Support 30: First drive unit 40: Second drive unit 41: Solenoid 42: Metal fittings 50: Mounting table 60: Sensor section

Claims

1. A first drive unit; a rotation support part that can be rotated around a first axis by the first drive part; a plurality of placement tables, each capable of placing a selection object thereon, supported by the rotation support part so as to be arranged in a ring shape around the first axis; When the rotation support unit is rotated around the first axis by the first drive unit, the plurality of mounting tables circulate around the first axis. Fruit sorting equipment.

2. The rotation support portion is a base centered on the first axis; a plurality of support bodies formed to extend radially laterally from the base; Including, Each of the plurality of supports supports each of the plurality of mounting tables. The sorting device according to claim 1.

3. Further, a second drive unit that moves the support body is provided, In conjunction with the movement of the support by the second drive unit, the posture of the placement table changes to a first posture in which the sorting object can be placed, or to a second posture inclined from the first posture so that the placed sorting object falls. The sorting device according to claim 2.

4. the support is a shaft extending in a second axial direction, When the shaft body is rotated around the second axis by the second drive unit, the stage supported by the shaft body rotates so as to tilt, and the sorting object placed on the stage falls from the stage. The sorting device according to claim 3.

5. a member for returning the mounting table that has rotated together with the shaft body to its original position before the rotation; a member for suppressing overshoot when the mounting table returns to the position before the rotation by the member, The sorting device according to claim 4.

6. the center of gravity of the mounting table is offset from the second axis so as to suppress rotation of the mounting table due to its own weight; The sorting device according to claim 4.

7. the mounting table includes a recess capable of accommodating the object to be sorted, An opening is formed at the bottom of the recess. The sorting device according to claim 1.

8. an information acquisition unit that sequentially acquires information on the selection targets placed on a placement table that has been transferred to a predetermined position among the plurality of placement tables that circulate around the first axis; The sorting device according to claim 1.

9. The apparatus further includes a sorting unit that sorts the objects to be sorted according to an inspection result based on the information acquired by the information acquisition unit. The sorting device according to claim 8.

10. the sorting unit ejects the sorting object from the placement table to a location according to the inspection result. The sorting device according to claim 9.

11. the sorting unit drops the sorting object from the placement table that has been moved above a location corresponding to the inspection result, thereby discharging the sorting object from the placement table to the location. The sorting device according to claim 10.

12. the information acquisition unit captures an image of the selection target placed on the placement table transferred to the predetermined position, The selection unit selects the selection target according to an inspection result based on a photographed image of the selection target by the information acquisition unit. The sorting device according to claim 9.

13. the information acquisition unit measures values ​​relating to the size, shape, or color of the object to be sorted placed on the placement table transferred to the predetermined position; The sorting unit sorts the objects to be sorted according to an inspection result based on a measured value. The sorting device according to claim 9.

Images