Method and apparatus for removing unwanted parts of agricultural products

Abstract

To enable the removal of unnecessary parts from agricultural products without excess or deficiency. [Solution] A method of removing unwanted parts from agricultural products by placing them one by one on a receiving device and photographing them as they are being transported along the main transport path, determining the cutting location and grade based on the captured images, sorting the transported agricultural products into two or more branch paths branching off from the main transport path according to their grade, and bringing a cutting blade into contact with the cutting location of the agricultural product to remove the unwanted parts from the cutting location. The method comprises a transport device for transporting receiving devices, a camera for photographing agricultural products being transported on the receiving devices, a determination device for determining the cutting location and grade of the agricultural product based on the images captured by the camera, and a cutting blade positioned above the main transport path and branch paths, wherein the cutting blade can contact the cutting location of the agricultural product based on the determination data from the determination device to cut the cutting location, and the agricultural product after the unwanted parts have been removed can be discharged according to its grade.

Description

Technical Field

[0001] The present invention relates to a method and apparatus for cutting and removing (excising) unnecessary parts of agricultural products.

Background Art

[0002] As shown in Fig. 1(a), the sweet potato A has fine roots B at the tip and a main root C on the opposite side (the vine cutting side). Before shipment, the harvested sweet potato A is cut at the cutting positions E-E and F-F in Fig. 1(a) to excise the fine roots B and the main root C (both unnecessary parts). In this case, the body D of the sweet potato A is also cut somewhat. The positions of the cutting positions E-E and F-F are set so that the cross-sectional areas of the cut surfaces G and H (Fig. 1(b)) are maximized and fit within the size of a one-yen coin.

[0003] Conventionally, there is Patent Document 1 as an apparatus for excising the roots of sweet potatoes.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Since sweet potatoes vary in shape, thickness, length, color, etc. one by one, it is difficult to position the cutting location. For this reason, there are cases where too much is cut or too little is cut and unnecessary parts are left (left uncut).

[0006] The problem to be solved by the present invention is to provide a method and apparatus for excising unnecessary parts that can cut the unnecessary parts of agricultural products, particularly sweet potatoes, without excess or deficiency and remove (excise) the unnecessary parts.

Means for Solving the Problems

[0007] [Method for Excising Unnecessary Parts of Agricultural Products] The present invention provides a method for removing unwanted parts from agricultural products, in which agricultural products are placed one by one on a receiving device and transported, a determination device is used to determine the cutting location of the agricultural product during transport, and a cutting blade is moved toward the agricultural product during transport to cut the cutting location and remove the unwanted part. In this case, a large number of agricultural products transported on the main transport path are distributed to two or more branch paths branching off from the main transport path, and the cutting locations of the agricultural products are cut by the cutting blade on both the main transport path and the branch paths. The agricultural products from which the unwanted parts have been removed can be sorted by grade.

[0008] [Device for removing unwanted parts of agricultural products] The present invention provides an agricultural product removal device that includes a conveying device, a receiving device capable of carrying and transporting agricultural products, a camera for photographing agricultural products being transported on the receiving device, a determination device for determining the cutting location of agricultural products based on the captured images, a branch path branching off from the main conveying path of the conveying device, and a sorting device for distributing the receiving device to two or more branch paths. Cutting blades are positioned on the main conveying path and the branch paths, and the cutting blades move toward the agricultural products being transported based on signals (determination data) from the determination device, contact the cutting location of the agricultural products, and cut from that location. The determination device can also determine the agricultural products into equal grades based on the captured images and sort the determined agricultural products into equal grades. A sorting machine can also be provided at the front of the conveying direction of the conveying device to sort the agricultural products into equal grades after the removal of unwanted parts. [Effects of the Invention]

[0009] [Method for removing unwanted parts of agricultural products] According to the present invention's method for removing unwanted parts of agricultural products, the unwanted parts of the agricultural products can be removed without excess or deficiency, resulting in uniformly sized cuts and a good appearance. Since the agricultural products are distributed and cut along a main transport path and two or more branch paths, unwanted parts can be removed along both the main transport path and the two or more branch paths, allowing a large amount of agricultural products to be cut in a short time.

[0010] [Device for removing unwanted parts of agricultural products] According to the agricultural product removal device of the present invention, unwanted parts can be removed in the main transport path and two or more branch paths, allowing a large amount of agricultural product to be cut in a short time. Since unwanted parts of agricultural products can be removed without excess or deficiency, the size of the cut surface is uniform, resulting in a good appearance. [Brief explanation of the drawing]

[0011] [Figure 1] (a) is a diagram illustrating the cross-section of the tip and base roots of a sweet potato, and (b) is a diagram illustrating the cross-section of the tip and base roots. [Figure 2] A plan view of an example of an agricultural product removal device according to the present invention. [Figure 3] A plan view of another example of the agricultural product removal device according to the present invention. [Figure 4] A perspective view of an example of a relay device in the agricultural product removal device of the present invention. [Figure 5] A perspective view of an example of a cutting blade and a moving device for removing unwanted parts of agricultural products according to the present invention. [Figure 6] (a) is a plan view of the transport device of the unwanted part removal device in Figure 2, (b) is a plan view of the sorting device of (a), and (c) is a plan view of the confluence section of the unwanted part removal device in Figure 2. [Figure 7] A perspective view of the receiving device in the agricultural product removal device of the present invention. [Figure 8] Figure 7 shows a side view of the mounting bracket. [Figure 9] Figure 7 shows a bottom side perspective view of the mounting bracket. [Figure 10] Front view of the mounting bracket, as shown in Figure 7. [Figure 11] Front view of another example of a receiving device in the agricultural product removal device of the present invention. [Modes for carrying out the invention]

[0012] The method and apparatus for removing unnecessary parts of agricultural crops according to the present invention will be described below with reference to the drawings, taking the case where the agricultural crop is a sweet potato as an example. The following embodiments are cases where the cross-sectional areas of the cut surfaces G and H (Fig. 1(b)) are cut so as to be less than or equal to a size with a substantially constant cross-sectional area (about the size of a one-yen coin at maximum) (the same applies hereinafter). Although an example is a case where both the tip root B and the original root C of the sweet potato A are removed, in the present invention, only one part of the sweet potato A can also be removed.

[0013] The method for removing unnecessary parts of agricultural crops according to the present invention can cut the cutting positions E-E and F-F of the sweet potato A in Fig. 1 using a device for removing unnecessary parts with various configurations to remove the tip root B and the original root C. However, in this embodiment, a case of cutting using the device for removing unnecessary parts in Figs. 2 to 9 will be described as one example.

[0014] (Embodiment 1 of the method for removing unnecessary parts of agricultural crops) The method for removing unnecessary parts of agricultural crops according to the present invention can be implemented as follows. 1. As shown in Fig. 2, place sweet potatoes A one by one on the receiver 2 moved by the conveying device 1 and convey them along the main conveying path 3. 2. During conveyance, remove dirt (mainly mud) on the sweet potato A with the dirt removing tool 4 (Fig. 2). 3. Take a photograph of the sweet potato A after dirt removal with the camera 5 (Fig. 2) during conveyance. 4. Based on the image taken by the camera 5, determine (position) the cutting positions E-E and F-F of the sweet potato A with a determination device (not shown). Grading determination is also performed based on shape, thickness, length, color, etc. The determination is made in grades such as grade A, grade B, grade C, and so on. 5. During conveyance of the sweet potato A after determination of the cutting position and grading determination, move the receiver 2 laterally based on the grading determination data and distribute it to the branch paths 6a and 6b (Fig. 2) in two or more rows according to grades. 6. Move the moving device 7 (Figs. 2 and 5) arranged above the main conveyance path 3 and above the branch paths 6a and 6b to the side of the receiver 2 on which the sweet potato A is placed (lateral movement in the X-X direction and / or vertical movement in the Y-Y direction). Further, horizontally move the disk-shaped cutting blade 8 (Fig. 5) equipped on the moving device 7 in the P-P direction, bring the cutting blade 8 into contact with the cutting locations E-E and F-F (Fig. 1(a)) of the sweet potato A, rotate the cutting blade 8 to cut the cutting locations E-E and F-F, and remove the unnecessary parts (the root tip B and the original root C: Fig. 1(a)). 7. Horizontally move the receiver 2 on which the sweet potato A is placed after removing the unnecessary parts along the return conveyance paths 9a and 9b (Fig. 2) to the main conveyance path 3 side and merge it into the main conveyance path 3. 8. After merging, convey it to the front of the main conveyance path 3 and collect the sweet potatoes A by class. The collection can be performed automatically by a machine or manually. 9. The receiver 2 that has been emptied after the sweet potato A has been collected is conveyed by the horizontally rotating conveying device 1 and returned to the original location (the location where the sweet potato A is placed). 10. Place the next sweet potato A on the returned receiver 2, repeat the steps 2 to 6 above to cut the cutting locations E-E and F-F of the next sweet potato A and remove the root tip B and the original root C. Further, perform the steps 7 to 9 above. By repeating this, the cutting and removal of the root tip B and the original root C of the sweet potato A are repeated.

[0015] (Embodiment 2 of the method for removing unnecessary parts of agricultural products) In Embodiment 1 (Fig. 2), the sweet potato A after removing the unnecessary parts is merged into the main conveyance path 3. However, the method for removing unnecessary parts in Embodiment 2 is a method in which the return conveyance paths 9a and 9b are not provided at the ends of the branch paths 6a and 6b, the branch paths 6a and 6b are made to go straight, and the sweet potatoes A are collected by class at the ends.

[0016] (Embodiment 3 of the method for removing unnecessary parts of agricultural products) The Embodiment 3 of the method for removing unnecessary parts of the agricultural products of the present invention will be described based on Fig. 3. 1. The method for removing unnecessary parts in Embodiment 3, which involves placing the sweet potato A on the receiver 2 and conveying it, and cutting the cutting locations E-E and F-F during conveyance, is the same as the steps 1 to 7 in Embodiment 1. 2. In Embodiment 3, the receiving device 2, which has been joined to the main transport path 3, is transported to the end of the main transport path 3 as shown in Figure 3 and handed over to an intermediate device (for example, a belt conveyor) 10 (Figure 4), and then placed (handed over) to a sorting machine receiving device 42 equipped on the transport device (sorting machine transport device) 12 of the sorting machine 11 located beyond the intermediate device 10. 3. In step 2 above, the sweet potato A is transferred to the relay device 10, and the empty receiving device 2 is transported by the horizontal rotation of the conveying device 1 back to its original location (where the sweet potato A is placed). This return process is the same as in step 9 of Embodiment 1. 4. In Embodiment 1, as shown in Figure 2, the receiving device 2 on which the sweet potatoes A, after the unwanted parts have been removed, is brought from the branch paths 6a, 6b... through the return transport paths 9a, 9b... and merged into the main transport path 3. Therefore, the sweet potatoes A sent to the sorting machine 11 contain a mixture of grades determined by a determination device (not shown). In Embodiment 3, the sweet potatoes A handed over to the sorting machine 11 are photographed again by the sorting machine camera 13 (Figure 3), and the grade of the sweet potatoes A is determined again by the sorting machine determination device (not shown) based on the captured image. 5. Based on the grade data determined in step 4, the sorting machine receiving tray 42 on which sweet potato A is placed is sent to the sorting machine branching paths 14a, 14b, and 14c (Figure 3) according to grade. The sorting machine branching paths 14a, 14b, and 14c are provided for different grades, such as A-grade, B-grade, ... N-grade. 6. The sweet potatoes A on the sorting machine receiving device 42, which have been sent to the sorting machine branching paths 14a, 14b, and 14c, are taken over by the sorting machine relay devices (e.g., belt conveyors) 15a, 15b, and 15c (Figure 3) and sent to the discharge paths (e.g., belt conveyors) 16a, 16b, and 16c (Figure 3). 7. The sweet potatoes A sent to discharge channels 16a, 16b, and 16c are transported to their respective destinations and collected according to their grade. Collection can be done automatically or manually. 8. The next sweet potato A is placed on the receiving device 2, which has returned to its original position in step 3, and transported. During transport, the cut points EE and FF of the sweet potato A are cut, the tip root B and base root C are removed, and the sweet potato A, after the removal of unwanted parts, can be sorted into grades in the sorting machine 11 in the same manner as in steps 4 to 7 and collected.

[0017] (Embodiment 4 of the method for removing unwanted parts of agricultural products) In Embodiment 3, the sweet potatoes A after merging are photographed again by the sorting machine camera 13 and graded again by the sorting machine judgment device. However, in Embodiment 4, the grade of the sweet potatoes A after merging is determined based on the image taken before merging and the graded judgment data from before merging, without taking another photograph or performing another graded judgment after merging.

[0018] [Cutting point] In all of the embodiments 1 to 4 described above, it is desirable that the cut points EE and FF of sweet potato A be locations where the cut area (cut surface) is approximately the same size.

[0019] [Disconnect] Ideally, the cuts should be made simultaneously at both cut points EE and FF on both sides of sweet potato A, but if possible, they can be done separately or on only one side.

[0020] [Stain removal] The dirt removal described in embodiments 1 to 4 can be performed by bringing a rotating brush or other tool into contact with the sweet potato A during transport. If possible, it can also be done while spraying a liquid, such as water. Dirt removal is not necessarily required if the sweet potato is only lightly soiled.

[0021] [Determining the cutting location and grade of sweet potatoes] The determination of the cut points EE and FF and the grade of sweet potato A, as performed in embodiments 1 to 4 described above, can be done by photographing sweet potato A with camera 5 and positioning it on the captured image with a determination device (not shown). The grade can be determined as A, B, C, etc., based on the shape, thickness, length, color, and other conditions of sweet potato A. The determination of the cut points EE and FF may be performed on both the stem side and the root side of sweet potato A, or on either one. The determined data of the cut points and grade is stored in a storage device (not shown).

[0022] [Imposing] When cutting points EE and FF with the cutting blade 8, if the sweet potato A shifts position, the cutting point may shift. Therefore, as shown in Figure 7, pressing the sweet potato A towards the receiving device 2 with a pusher (for example, a rotating belt) 17 while it is being transported stabilizes the sweet potato A, making it less likely to shift position and easier to cut from cutting points EE and FF. The rotation direction of the pusher (rotating belt) 17 can be opposite to or in the same direction as the movement of the receiving device 2, but rotating it in the opposite direction makes it easier to stabilize the sweet potato A.

[0023] (Embodiment 1 of a device for removing unwanted parts of agricultural products) An example of an embodiment of the present invention's apparatus for removing unwanted parts of agricultural products will be described with reference to Figure 2. The apparatus for removing unwanted parts shown in Figure 2 includes a conveying device 1, a receiving device 2 that moves along with the movement of the conveying device 1, and a pressing device 17 (Figure 7) that holds down the sweet potatoes A placed one by one on the receiving device 2 to prevent the sweet potatoes A from shifting position. It also includes a camera 5 that photographs the sweet potatoes A being transported on the receiving device 2, and a determination device (not shown) that determines the cutting locations EE and FF of the sweet potatoes A based on the image of the sweet potatoes A taken by the camera 5, and determines the grade of the sweet potatoes A based on their shape, thickness, length, color, etc. Furthermore, it includes a moving device 7 (Figure 5) that moves laterally and / or up and down based on a determination signal from the determination device, and a cutting blade 8 (Figure 5) attached to the moving device 7.

[0024] [Conveying equipment] As shown in Figure 2, the conveying device 1 has two traveling bodies (for example, a chain or timing belt) 20 arranged parallel to each other with a gap between them laterally, and numerous conveying bars (long, thin pipes or rods) 21 attached at regular intervals to them. These conveying bars 21 move in the same direction as the traveling bodies 20 move.

[0025] As shown in Figure 2, each of the two traveling bodies 20 is wound around the outer circumference of a rotatable driving rotating body (e.g., a sprocket or timing gear) 22 and a driven rotating body (e.g., a sprocket or timing gear) 23. The traveling body rotates horizontally as the driving rotating body 22 rotates the outer circumference of the driving rotating body 22 from top to bottom (changes direction), and rotates the outer circumference of the driven rotating body 23 from bottom to top (changes direction), thus moving horizontally toward the driving rotating body 22.

[0026] [Transport bar] The transport bars 21 are attached to the opposing traveling bodies 20 as shown in Figure 6(a), and pass through the support fixture 2 as a pair, as shown in Figures 7 and 9. The support fixture 2 is slidable in its axial direction along the pair of transport bars 21 through which it passes.

[0027] [Main transport route, branch route, return transport route] As shown in Figure 2, the conveying device 1 has a main conveying path 3, two branching paths 6a and 6b, and two return conveying paths 9a and 9b. The main conveying path 3 is in a straight line. The branching paths 6a and 6b branch off diagonally from the middle of the conveying direction of the main conveying path 3, and multiple branches are provided for different grades of sweet potato A, such as for Grade A and Grade B. The return conveying paths 9a and 9b are positioned from the ends of the branching paths 6a and 6b toward the end of the conveying direction of the main conveying path 3, and their ends merge with the main conveying path 3 as shown in Figure 2.

[0028] [Guide rail] The main transport path 3 is the main guide rail 24a (Figure 6(b)), the branch paths 6a and 6b are the branch guide rails 24b (Figure 6(b)), and the return transport paths 9a and 9b are the return guide rails 24c (Figure 6(b)). These guide rails 24a, 24b, and 24c are groove-shaped with an upward-facing U-shaped opening, as shown in Figure 6(b), and guide pins 26 (Figures 7 and 9) that protrude downward from the support 2 can be fitted into these grooves 25 (Figure 6(b)).

[0029] [Main guide rail] The main guide rail 24a is arranged in a straight line along the main transport path 3 and guides the guide pin 26 of the support 2, which moves in conjunction with the movement of the transport bar 21, thereby guiding the support 2.

[0030] [Branching guide rail] The branching guide rail 24b is positioned diagonally forward along the branching paths 6a and 6b (Figure 2), and guides the guide pin 26 of the support device 2 as it moves along the branching paths 6a and 6b in conjunction with the movement of the transport bar 21, thereby guiding the support device 2.

[0031] [Return guide rail] The return guide rail 24c (Figure 6(c)) is positioned along the return transport paths 9a and 9b (Figure 2), and the movement of the transport bar 21 returns the receiving devices 2 that have been transported along the branch paths 6a and 6b back to the main transport path 3 and merges them. Specifically, the forward end of the branch guide rail 24b in the transport direction is bent toward the forward side of the main guide rail 24a, connecting (merging) with the main guide rail 24a. With this structure, the movement of the transport bar 21 causes the guide pins 26 of the receiving devices 2, which are moving along the branch guide rail 24b, to move along the curve of the return guide rail 24c, automatically returning to the merging section 32 (Figure 6(c)) of the main guide rail 24a, and allowing them to be transported along the main guide rail 24a beyond the merging section 32.

[0032] [Distribution device] In the conveying device 1 shown in Figure 2, there are sorting devices 27a and 27b (Figures 2 and 6(b)) at several locations along the main conveying path 3 in the direction of conveying. Branch paths 6a and 6b (Figures 2 and 6(a)) are located beyond each of the sorting devices 27a and 27b. Return conveying paths 9a and 9b (Figure 2) are located along the direction of conveying beyond each of the branch paths 6a and 6b.

[0033] The sorting devices 27a and 27b (Figure 6(b)) are installed at two or more locations along the transport device 1, and are used for sorting by class, such as for Class A and Class B.

[0034] The sorting devices 27a and 27b sort the receiving devices 2, which are transported along the main guide rail 24a (Figure 6(b)) of the main transport path 3, by sliding them in the axial direction (lateral direction) of the transport bar 21, and distributing them to the branch guide rails 24b (Figures 6(a) and 6(b)) of the branch paths 6a and 6b (Figure 2). Specifically, as shown in Figure 6(b), a switching piece 30 is provided in the middle of the main guide rail 24a, and the switching piece 30 is attached to the main guide rail 24a by a support shaft 31, allowing it to swivel left and right (towards the main guide rail 24a and towards the branch guide rail 24b) with the support shaft 31 as the pivot point.

[0035] When the switching piece 30 is swung so that it is parallel to the main guide rail 24a as shown by the dashed line in Figure 6(b), the guide pin 26 of the support 2 (Figure 9) moves in a straight line along the main guide rail 24a. When the support shaft 31 is swung towards the main guide rail 24a as shown by the solid line, the guide pin 26 of the support 2 moves along the branch guide rail 24b (the path of the support 2 is divided).

[0036] [Bracket] The support device 2 is capable of holding one sweet potato A at a time, and as shown in Figure 7, several support pieces 34 are provided at intervals on a horizontally elongated base plate 33. The base plate 33 is a thick plate. The support pieces 34 are thinner plates than the base plate 33, protruding above the base plate 33, and arranged in a row at predetermined intervals in the horizontal direction of the base plate 33. In the center of the upper surface of each support piece 34, there is a V-shaped or U-shaped recessed positioning portion 35, as shown in Figures 7 and 8. The sweet potato A is placed horizontally on the positioning portion 35 so that it can be positioned. The shape of the positioning portion 35 may be any other shape as long as it can stably hold the sweet potato A, such as an arc shape or a rectangular recess.

[0037] Multiple support pieces 34 arranged in a horizontal row (Figures 7 and 10) are all the same height, but as shown in Figure 11, the height of the outer support pieces 34 can be made lower than the height of the inner support pieces 34. By making them lower, the cutting blade 8 that descends when cutting the tip root B and base root C is less likely to come into contact with the outer support pieces 34, and the cutting edge of the cutting blade 8 is less likely to be damaged.

[0038] The substrate 33 of the support unit 2 has two parallel through-holes 36 (Figures 9 to 11), and the conveyor bar 21 of the conveyor device 1 passes through each of the through-holes 36 as shown in Figure 9. If necessary, three or more through-holes 36 can be provided, and the conveyor bar 21 can pass through each of the through-holes 36. In any case, the support unit 2 is mounted so that it can slide in the axial direction of the conveyor bar 21 through which it passes.

[0039] Guide pins 26 are provided protruding downward from the base plate 33 of the support unit 2. The guide pins 26 are fitted into grooves 25 (Figure 6(b)) of the main guide rail 24a (Figure 6(b)) which is arranged linearly below the main transport path 3 of the support unit 2. As the support unit 2 moves along with the transport bar 21, it moves along the main guide rail 24a. If it is diverted to the branch guide rail 24b during movement, it moves along the branch guide rail 24b and then along the return guide rail 24c (Figure 6(c)).

[0040] [Stain removal tool] The dirt removal device 4 (Figure 2) removes dirt (mud, other adhering substances) from the sweet potatoes A during transport, and consists of a rotating brush and other cleaning tools. The dirt removal device 4 is installed near (above or to the side of) the transport device 1. The dirt removal device 4 can also be installed at two or more locations in the transport direction of the transport device 1 to remove dirt in multiple stages.

[0041] [camera] Camera 5 (Figure 2) is a camera capable of taking still images or videos of sweet potato A during transport, and is used to photograph sweet potato A during transport. Camera 5 can be placed one or more times near the transport device 1. For example, if it is placed to the side and on top of the receiving device 2, the length of sweet potato A can be checked by photographing it from above with the upper camera 5, and its shape, thickness, length, color, etc. can be checked by photographing it with both the side and top cameras 5.

[0042] [Judgment device] The grading device can determine the cut points EE and FF based on the image of sweet potato A captured by camera 5. It also has a grade determination function that can determine the grade of sweet potato A. Grade determination can be performed based on the shape, length, thickness, color, etc. of sweet potato A captured by camera 5, classifying it as A-grade, B-grade, etc.

[0043] The determination device transmits the determined cutting locations EE and FF data as a cutting signal to the moving device 7 (Figures 2 and 5) located above the transport device 1, causing the moving device 7 to move laterally and / or up and down, thereby moving the cutting blade 8 (Figure 5) attached to the moving device 7 closer to the cutting locations EE and FF. Alternatively, the cutting signal can be used to move the cutting blade 8 laterally and bring it into contact with the cutting locations EE and FF. Furthermore, the determined class data can be transmitted as class signals to the sorting devices 27a and 27b (Figures 2 and 6(b)), switching the switching pieces 30 of the sorting devices 27a and 27b to the positions of the solid and virtual lines in Figure 6(b), thereby sorting the transported sweet potatoes A into branch paths 6a and 6b according to their class.

[0044] [Distribution action] Sweet potatoes A, which have been determined to be of equal rank and transported by conveying device 1, are sorted according to their rank by sorting devices 27a and 27b. An example of sorting is explained below. 1. If the sweet potato A being transported along the main transport path 3 along the main guide rail 24a is classified as Grade A, the switching pieces 30 of the sorting devices 27a and 27b are set to the straight-ahead position based on the signal from the classification device, and the receiving device 2 is moved straight along the main guide rail 24a. 2. If the sweet potato A being transported along the main transport path 3 along the main guide rail 24a is classified as Grade B, the switching piece 30 of the Grade B sorting device 27a (Figure 2) is switched based on the signal from the sorting device so that the receiving device 2 is sent (sorted) to the Grade B branch guide rail 24b side. 3. If the sweet potato A being transported along the main transport path 3 along the main guide rail 24a is classified as Class C, the switching piece 30 of the Class C sorting device 27b (Figure 2) is switched based on the signal from the sorting device so that the receiving device 2 is sent (sorted) to the Class C branch guide rail 24b side.

[0045] [Return action] The guide pin 26 of the support 2, which moves along the branch guide rail 24b, moves along the curve of the return guide rail 24c, automatically enters (is returned to) the junction 32 (Figure 6(c)) of the main guide rail 24a, and is transported along the main guide rail 24a beyond the junction 32.

[0046] [Mobile device] A moving device 7 (Figure 5) is positioned above each of the main transport path 3 and the two or more branch paths 6a and 6b. The moving device 7 can move laterally in the XX direction (Figure 5) and / or move up and down in the YY direction (Figure 5) to bring the cutting blade 8 equipped on the moving device 7 closer to the cutting point of the sweet potato A. The cutting blade 8 can also be moved laterally in the PP direction (Figure 5) to come into contact with the cutting points EE and FF. Furthermore, it can move back and forth in the ZZ direction (Figure 5) to traverse the cutting points EE and FF of the sweet potato A.

[0047] The moving device 7 can be a motor-driven type in which a screw shaft rotates due to the rotation of an electric motor, causing it to move laterally and / or up and down; a cylinder-driven type in which it moves laterally and / or up and down using an air cylinder, hydraulic cylinder, etc.; or any other method of movement. In order to quickly bring the cutting blade 8 close to the cutting points EE and FF of the sweet potato A during transport, a drive system with a high speed of movement, such as an electric type, is suitable.

[0048] [Cutting blades] A rotary blade is suitable for the cutting tool 8. The cutting tool 8 can move back and forth in the ZZ direction (Figure 5) while rotating at high speed to cut the sweet potato A at cutting points EE and FF.

[0049] [Pressing tool] When sweet potatoes A are being transported and cut with a cutting blade 8, the sweet potatoes A may shift position, making it difficult or impossible to cut them from the cutting points EE and FF. To prevent these problems, in this invention, as shown in Figure 7, a pressing device (for example, a rotating belt) 17 is provided above the receiving device 2, and the pressing device 17 presses the sweet potatoes A against the receiving device 2 to stabilize them and allow them to be cut. When the sweet potatoes A are pressed towards the receiving device 2 by the pressing device 17, they become more stable and less prone to shifting position, making it easier to cut them from the cutting points EE and FF. The rotation direction of the pressing device (rotating belt) 17 can be in the same direction as or opposite to the direction of movement of the receiving device 2, but rotating it in the opposite direction makes it easier to stabilize the sweet potatoes A.

[0050] [Collecting sweet potatoes] In Figure 2, sweet potatoes A, from which unwanted parts have been removed, can be merged from branch paths 6a and 6b into the main transport path 3, and then transported to the end of the main transport path 3 for collection. Collection can be performed automatically or manually.

[0051] (Embodiment 2 of the device for removing unwanted parts of agricultural products) Embodiment 2 of the unwanted part removal device of the present invention is shown in Figure 3. In the unwanted part removal device of Figure 3, a sorting machine 11 is placed ahead of the transport device 1 in the transport direction of Figure 2, so that sweet potatoes A from which unwanted parts have been removed are sent to the sorting machine 11 and collected while being sorted (selected) by grade by the sorting machine 11. The unwanted part removal device of Embodiment 2 (Figure 3) will be described below. The same configuration and operation as the unwanted part removal device of Figure 2 will be omitted from the explanation.

[0052] [Relay device] In Figure 3, the sweet potatoes A, after the unwanted parts have been removed and transported by the transport device 1 (Figures 2 and 3), are sent to a relay device 10 (Figures 2 and 3) located beyond the transport device 1, and the sweet potatoes A taken over by the relay device 10 are then sent to the sorting machine 11.

[0053] As shown in Figure 4, the relay device 10 is a belt conveyor type in which multiple belts 37 can be positioned between the support pieces 34 of the receiving device 2 of the conveying device 1 and the support pieces 44 of the receiving device (sorting machine receiving device) 42 (Figure 4) of the sorting machine 11. This relay device 10 is designed to take over the sweet potatoes A on the receiving device 2 being conveyed by the conveying device 1 via the belts 37 and send them onto the sorting machine receiving device 42 of the sorting machine 11.

[0054] The sorting machine conveying device 12 has the same configuration as the conveying device 1 in Figure 2, with a pair of conveying bars 21 to which the sorting machine support 42 is slidably attached, so that the sorting machine support 42 moves in the same direction as the conveying bars 21 move. The sorting machine support 42 has the same configuration as the support 2 in Embodiment 1.

[0055] [Fruit sorting machine camera, fruit sorting machine judgment device] As shown in Figure 2, the sweet potatoes A from which the unwanted parts have been removed are returned to the main transport path 3. As a result, the grades of the sweet potatoes A sorted by the transport device 1 become mixed, and it is not possible to sort and collect the sweet potatoes A by grade as is. Therefore, in this embodiment, as shown in Figure 3, a sorting machine camera 13 is installed near the sorting machine 11 to photograph the sweet potatoes A again, and the sorting machine judgment device (not shown) can determine the grade based on the captured image. The sorting machine camera 13, like the camera 5 in Embodiment 1, can capture still images and videos of the sweet potatoes A.

[0056] [Fruit sorting machine sorting device] In Figure 3, sorting devices (sorting machine sorting devices) 43a, 43b, and 43c (all with the same configuration as sorting devices 27a and 27b in Figure 2) are installed along the transport route of the sorting machine conveying device 12. The sorting machine sorting devices 43a, 43b, and 43c sort the sweet potatoes A on the sorting machine receiving device 42, which are transported by the sorting machine conveying device 12, into grades and send them to the sorting machine branching paths 14a, 14b, and 14c. The sorting machine sorting devices 43a, 43b, and 43c can be four or more depending on the number of grades.

[0057] The sorting machine sorting devices 43a, 43b, and 43c have the same configuration as the sorting devices 27a and 27b of the conveying device 1 (Figure 6(b)), and the switching piece 30 is provided so as to be able to pivot on the support shaft 31, so that by switching the switching piece 30 the sorting machine receiving devices 42 that are conveyed in a straight line by the sorting machine conveying device 12 are sorted into sorting machine branch paths 14a, 14b, and 14c according to their respective grades.

[0058] [Fruit sorting machine branching point] The sorting machine branching paths 14a, 14b, and 14c are upward-facing U-shaped guide rails, similar to the branching guide rail 24b of the conveying device 1 (Figure 6(b)). The guide bars 26 of the sorting machine receiver 42 (Figure 9) are fitted into the grooves 25 of these guide rails, and the fruit is conveyed by the sorting machine conveying device 12. The guide rails of the sorting machine branching paths 14a, 14b, and 14c in Figure 3 are positioned diagonally forward of the sorting machine conveying device 12. The sorting machine branching paths 14a, 14b, and 14c can also be four or more depending on the number of grades.

[0059] The sorting machine branching paths 14a, 14b, and 14c are positioned upward diagonally ahead of the conveying bar 21 of the sorting machine 11. When the switching piece 30 of the sorting machine sorting device 43a, 43b, and 43c is switched to the sorting machine branching paths 14a, 14b, and 14c, the sorting machine receiving device 42, which is moving straight along the sorting machine conveying device 12, is moved onto the sorting machine branching paths 14a, 14b, and 14c and conveyed diagonally ahead and upward.

[0060] The sorting machine receivers 42 (Figure 3), which are transported along the sorting machine branching paths 14a, 14b, and 14c, are taken over by sorting machine relay devices 15a, 15b, and 15c, and then distributed to discharge paths (e.g., belt conveyors) 16a, 16b, and 16c.

[0061] [Fruit sorting machine relay device] The sorting machine relay devices 15a, 15b, and 15c are arranged in parallel, similar to the relay device 10 in Figure 4, and the sweet potatoes A on the sorting machine receiving devices 42 that are transported along the sorting machine branching paths 14a, 14b, and 14c are placed onto these belts 37 and transferred, and then sent from the belts 37 to the discharge paths 16a, 16b, and 16c.

[0062] [Exhaust channel] The discharge passages 16a, 16b, and 16c are used to send the sweet potatoes A, which have been taken over from the sorting machine relay devices 15a, 15b, and 15c, to the side of the sorting machine conveying device 12, and extend across the top of the sorting machine conveying device 12 to the outside of the sorting machine conveying device 12.

[0063] As shown in Figure 3, if the sorting machine 11 is placed in front of the conveying device 1, the sweet potatoes A placed on the receiving device 2 will undergo a series of automatic processes, from the removal of unwanted parts to sorting by grade after removal. [Industrial applicability]

[0064] The embodiments described above are examples of the present invention. The present invention is not limited to these embodiments, and other configurations, structures, and methods can be used as long as they can solve the problems of the present invention. The present invention can also be used to cut off unwanted parts of agricultural products other than sweet potatoes, such as radishes, turnips, shallots, onions, etc. Some sweet potatoes A only have a tip root B or a base root C. In this case, only the tip root B or the base root C needs to be cut off. The same applies to other agricultural products. [Explanation of symbols]

[0065] 1. Conveying device 2 Receiver 3 Main transport path 4. Stain removal tools 5 Cameras 6a, 6b branch road 7 Mobile device 8. Cutting blades 9a, 9b Return transport path 10 relay devices 11. Fruit sorting machine 12. Fruit sorting machine conveying device 13. Sorting machine camera 14a, 14b, 14c Sorting machine branching path 15a, 15b, 15c Sorting machine intermediate device 16a, 16b, 16c discharge passage 17 Pressing tool 20 Running units 21 Conveyor bar 22. Driven rotating body 23 Driven Rotating Body 24a Main guide rail 24b Branching guide rail 24c return rail 25 (guide rail) groove 26 Guide pins (of the receiving device) 27a, 27b Sorting device 30 switching pieces 31 (The pivot shaft of the switching piece) 32 Confluence 33 (The substrate of the mounting device) 34 (Support piece of the receiver) 35 Positioning part (of the support piece) 36 (Through hole of the support) 37 belt 42. Fruit sorting machine holder 43a, 43b, 43c Sorting machine sorting device 44 (Support piece of sorting machine support) A. Sweet potato B Tip root (fine root) C root (neck root) D Sweet potato flesh EE cutting point FF cutting point G (Cut end of root) H (The cut surface of the root)

Claims

1. In a method for removing unwanted parts of agricultural products, The agricultural products are placed one by one on a receiving device and transported along the main transport path. The agricultural products are photographed during transport, and the cutting location and grade are determined based on the photographed images. Based on the grade determination data, the agricultural products being transported are distributed to two or more branch paths branching off from the main transport path. A cutting blade positioned above the main transport path and branch paths is moved laterally and / or up and down based on the cutting location determination data to approach the cutting location. The cutting blade is pressed against the cutting location, and the agricultural product is cut on the receiving device from that cutting location, removing the unwanted parts. A method for removing unwanted parts of agricultural products, characterized by the following features.

2. The agricultural products are placed one by one on a receiving device and transported along the main transport path. The agricultural products are photographed while being transported. Based on the photographed images, the cutting location and grade are determined. Based on the grade determination data, the agricultural products being transported are distributed to two or more branch paths branching off from the main transport path. Cutting blades positioned above the main transport path and branch paths are moved laterally and / or up and down based on the cutting location determination data to approach the cutting location. The cutting blades are pressed against the cutting location, and while the agricultural products being transported along the main transport path and branch paths are pressed against the receiving device by a pushing device, the cutting location of the agricultural product is cut with the cutting blades, and the unwanted parts are removed. A method for removing unwanted parts of agricultural products, characterized by the following features.

3. In the method for removing unwanted parts of agricultural products according to claim 1 or claim 2, The agricultural products are placed on a receiving device to remove any dirt while being transported, and then photographed. A method for removing unwanted parts of agricultural products, characterized by the following features.

4. In the method for removing unwanted parts of agricultural products according to claim 1 or claim 2, The agricultural products, with unwanted parts removed, are sent to a sorting machine at the end of the transport direction. In the sorting machine, the agricultural products are sorted into grades based on grade determination data and discharged according to grade. A method for removing unwanted parts of agricultural products, characterized by the following features.

5. In the method for removing unwanted parts of agricultural products according to claim 1 or claim 2, The agricultural products, with unwanted parts removed, are returned from the branching path to the main transport path, and then sent to a sorting machine further along the transport path. In the sorting machine, the agricultural products are sorted into grades based on grade determination data and discharged according to their respective grades. A method for removing unwanted parts of agricultural products, characterized by the following features.

6. In the method for removing unwanted parts of agricultural products according to claim 5, The system photographs the agricultural products as they are transported through the sorting machine, determines their grade based on the images, and then sorts the transported agricultural products by grade and discharges them from the sorting machine according to their respective grades. A method for removing unwanted parts of agricultural products, characterized by the following features.

7. The system comprises a conveying device that rotates endlessly in the horizontal direction, two or more receiving devices attached to the conveying device that move with the conveying device, a camera that photographs agricultural products placed on the receiving devices, a determination device that determines the cutting location of the agricultural products on the captured images and determines the grade, two or more branch paths branching off from the main conveying path, a distribution device that distributes the receiving devices to the two or more branch paths, and cutting blades positioned above the main conveying path and the branch paths. The holder can hold agricultural products one by one. The cutting blade is attached to the moving device. The moving device can move the cutting blade based on the cutting location determination data to bring it into contact with the cutting location of the crop. The cutting blade can cut the part of agricultural products that needs to be cut. A device for removing unwanted parts of agricultural products, characterized by the above features.

8. The system comprises a conveying device that rotates endlessly in the horizontal direction, two or more receiving devices attached to the conveying device that move with the conveying device, a camera that photographs agricultural products placed on the receiving devices, a determination device that determines the cutting location of the agricultural products on the captured images and determines the grade, two or more branch paths branching off from the main conveying path, a distribution device that distributes the receiving devices to the two or more branch paths, a pressing device that presses the agricultural products being conveyed along the main conveying path and branch paths against the receiving devices, and cutting blades positioned above the main conveying path and branch paths. The holder can hold agricultural products one by one. The cutting blade is attached to the moving device. The moving device can move the cutting blade based on the cutting location determination data to bring it into contact with the cutting location of the crop. The cutting blade can cut the part of agricultural products that needs to be cut. A device for removing unwanted parts of agricultural products, characterized by the above features.

9. In the apparatus for removing unwanted parts of agricultural products according to claim 7 or claim 8, Equipped with a dirt removal tool to remove dirt from agricultural products while they are being transported on a receiving device, A device for removing unwanted parts of agricultural products, characterized by the above features.

10. In the apparatus for removing unwanted parts of agricultural products according to claim 7 or claim 8, There is a sorting machine ahead of the conveying device. The sorting machine can sort agricultural products fed from the conveying device into grades based on grade determination data and discharge them accordingly. A device for removing unwanted parts of agricultural products, characterized by the above features.

11. In the apparatus for removing unwanted parts of agricultural products according to claim 7 or claim 8, There is a branch road ahead of the main transport path in the direction of transport, and a return transport path ahead of the branch road in the direction of transport. The leading end of the return transport path is connected to the main transport path, forming a merging point. The receiving equipment, which has been diverted to the branch path, is transported after the unnecessary parts are removed, allowing it to merge with the main transport path at the merging point. A device for removing unwanted parts of agricultural products, characterized by the above features.

12. In the apparatus for removing unwanted parts of agricultural products according to claim 11, There is a sorting machine ahead of the conveying device. The sorting machine includes a sorting machine conveying device that can take over and convey agricultural products that have had unwanted parts removed and are fed in from the conveying device, The sorting machine is equipped with a camera that can photograph agricultural products after unwanted parts have been removed during transport, and a sorting machine judgment device that can determine the grade of agricultural products based on the images taken by the sorting machine camera. Based on the judgment data determined by the sorting machine judgment device, it is equipped with a discharge channel that can sort and discharge agricultural products on the sorting machine conveying device according to their respective grades. A device for removing unwanted parts of agricultural products, characterized by the above features.

13. In the apparatus for removing unwanted parts of agricultural products according to claim 12, Between the conveying device and the sorting machine's conveying device, there is a relay device that transfers the agricultural products, after the unwanted parts have been removed and transported by the conveying device, to the sorting machine's conveying device. The sorting machine is equipped with a sorting machine sorting device that distributes agricultural products received from the transfer device to sorting machine branching paths according to their grade, and a discharge path that takes the agricultural products distributed to the sorting machine branching paths and discharges them outside the sorting machine conveying device. A device for removing unwanted parts of agricultural products, characterized by the above features.

14. In the apparatus for removing unwanted parts of agricultural products according to claim 11, There is a sorting machine ahead of the conveying device. The sorting machine can take over and transport agricultural products that have had unwanted parts removed, which are sent from the conveying device. Based on the grade data determined by the sorting device, the sorting machine conveyor has a discharge channel that can sort and discharge agricultural products according to their grade. A device for removing unwanted parts of agricultural products, characterized by the above features.

15. In the apparatus for removing unwanted parts of agricultural products according to claim 14, Between the conveying device and the sorting machine's conveying device, there is a relay device that transfers the agricultural products, after the unwanted parts have been removed and transported by the conveying device, to the sorting machine's conveying device. The sorting machine is equipped with a sorting machine sorting device that distributes agricultural products received from the transfer device to sorting machine branching paths according to their grade, and a discharge path that takes the agricultural products distributed to the sorting machine branching paths and discharges them outside the sorting machine conveying device. A device for removing unwanted parts of agricultural products, characterized by the above features.

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