Fruit filling system, alignment mechanism, and container filling mechanism

Abstract

The objective is to provide a fruit filling system, alignment mechanism, and container filling mechanism that can reduce the cost of filling fruit into containers by minimizing the reliance on manual processes. [Solution] The fruit filling system 1 comprises an alignment mechanism 10 for aligning one or more fruits, and a container filling mechanism for filling each aligned fruit into a container 150. The alignment mechanism 10 grasps the axis L connecting the stem portion 100a and the fruit apex portion 100b of the fruit, and aligns each fruit so that each axis L is parallel to a specific reference axis SL. The container filling mechanism 60 fills each fruit into the container 150, taking into account the orientation of each fruit based on the axis L.

Description

Technical Field

[0001] The present disclosure relates to a fruit filling system, an alignment mechanism, and a container filling mechanism.

Background Art

[0002] Conventionally, when packing fruits such as oranges and apples, for example, by placing an orange on a receiving part, the weight of the orange operates a member, thereby expanding the opening of a plastic bag. The orange placed on the receiving part is taken into the plastic bag through the expanded opening of the plastic bag, and there is known a packing device for packing (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] <� In the conventional packing device, it is possible to save the labor of manually expanding the opening of the plastic bag, and a certain degree of simplification has been achieved. However, in the conventional packing device, the act of placing an orange on the receiving part is still performed manually. Furthermore, in the conventional packing device, since the orange is taken into the plastic bag so as to fall therein, it has been necessary to rely on manual labor to align the oranges taken into the plastic bag. Therefore, the filling of fruits into containers often relies on manual labor, and there has been a problem of increased costs.

[0005] In view of the above problems, an object of the present disclosure is to provide a fruit filling system, an alignment mechanism, and a container filling mechanism that reduce the steps relying on manual labor and reduce the cost of fruit filling in filling fruits into containers.

Means for Solving the Problems

[0006] The fruit filling system according to this disclosure comprises an alignment mechanism for aligning one or more fruits, and a container filling mechanism for filling each aligned fruit into a container. The alignment mechanism grasps the axis connecting the stem end and the apex of each fruit and aligns each fruit so that each axis is parallel to a specific reference axis. The container filling mechanism fills each fruit into a container, taking into account the orientation of each fruit based on its axis.

[0007] The alignment mechanism according to this disclosure comprises an imaging device and a gripping device for gripping fruits. The imaging device images the fruits to be aligned, which are the fruits to be aligned, and grasps the axis line connecting the stem portion and the apex portion of the fruits to be aligned. The gripping device sequentially places the fruits to be aligned so that their axes are parallel to a specific reference axis, thereby aligning one or more fruits.

[0008] The container filling mechanism according to this disclosure comprises a container-filling gripping device that grips one fruit from among one or more fruits aligned so that the axis connecting the stem end and the apex of the fruit is parallel to a specific reference axis, and a container-filling imaging device that grasps the state of the container and each fruit to be filled into the container. The container-filling gripping device grasps the fruit to be filled into the container while grasping the position of the apex, and the container-filling gripping device fills the fruit into the container so that the apex faces directly toward the inner surface of the container, based on the state of the container and the fruit grasped by the container-filling imaging device. [Effects of the Invention]

[0009] The fruit filling system, alignment mechanism, and container filling mechanism of this disclosure reduce the amount of manual labor required in filling fruit into containers, thereby lowering the cost of fruit filling. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram showing the fruit filling system of Embodiment 1. [Figure 2] This is a schematic diagram showing a mandarin orange according to Embodiment 1. [Figure 3]This is a schematic diagram showing a state in which multiple oranges are lined up according to Embodiment 1. [Modes for carrying out the invention]

[0011] Embodiment 1. The following describes embodiments for implementing this disclosure with reference to the drawings. The following sections schematically show the extent necessary to explain the objectives of this disclosure, and primarily describe the extent necessary to explain the relevant parts of this disclosure. Any parts omitted from the explanation will be considered to be covered by prior art.

[0012] Figure 1 is a diagram showing the configuration of the fruit filling system 1 in Embodiment 1. In this Embodiment 1, mandarins 100 are used as the fruit. The fruit filling system 1 comprises an alignment mechanism 10 and a container filling mechanism 60. The alignment mechanism 10 sequentially places one fruit at a time, aligning multiple fruits. At this time, the fruits handled by the alignment mechanism 10, i.e., the fruits that the alignment mechanism 10 aligns, are called aligned fruits. The container filling mechanism 60 fills one or more aligned mandarins 100 into a container 150, which is a transparent plastic bag.

[0013] Figure 2 is a schematic diagram showing a mandarin orange 100 according to Embodiment 1. The mandarin orange 100 grows at the tip of a branch extending from a mandarin orange tree. On the surface of the mandarin orange 100, the calyx portion 100a, which was the part that was connected to the branch even after the mandarin orange 100 has been picked, remains. On the opposite side of the calyx portion 100a of the mandarin orange 100, the apex portion 100b, which is the tip of the mandarin orange 100, is formed. In fruits such as mandarin oranges 100, the base of the pistil swells and becomes the fruit. The apex portion 100b is the part of the fruit to which the tip of the pistil was connected. However, in fruits such as figs, the apex portion 100b cannot be defined as described above. For fruits such as figs, the part opposite the calyx portion 100a is considered to be the part corresponding to the apex portion 100b.

[0014] The axis L is a straight line connecting the center point of the stem portion 100a and the center point of the fruit apex portion 100b, and the axis L can be considered the central axis of the mandarin orange 100. Since mandarin oranges grow naturally, there may be cases where a perfectly geometrically central axis does not exist. However, even in such cases, the axis L approximates the central axis of the mandarin orange 100, and therefore, the axis L can be considered the central axis of the mandarin orange 100.

[0015] The alignment mechanism 10 includes an imaging device 11 and a gripping device 12. The imaging device 11 includes, for example, a camera (not shown), a camera control device (not shown) that controls the orientation and timing of the camera, an analysis device (not shown) that analyzes the imaging information, which is a still image or video taken by the camera, to determine the position and orientation of the oranges 100, and an output device (not shown) that outputs the position and orientation information of the oranges 100 determined by the analysis device to an external device.

[0016] The imaging device 11 recognizes and grasps the stem portion 100a, the apex portion 100b, and the axis L, which is a straight line passing through the center point of the stem portion 100a and the center point of the apex portion 100b of the aligned mandarin oranges 100. The imaging device 11 outputs information on the positions of the grasped stem portion 100a, apex portion 100b, and axis L of the mandarin oranges 100 to an external device.

[0017] For example, the position of axis L may be output as information of the positions of any two points on axis L. Furthermore, the information regarding the positions of the stem portion 100a, the apex portion 100b, and axis L of the mandarin orange 100 may be limited to including information of the positions of the center points of at least the stem portion 100a and the apex portion 100b.

[0018] The gripping device 12 includes, for example, a gripping arm (not shown) for gripping and moving the orange 100, a control device (not shown) for controlling the position and movement of the gripping arm, and an input / output unit (not shown) into which information such as the position and orientation of the orange 100, as captured by the imaging device 11, is input.

[0019] Based on information such as the position and orientation of the orange 100 grasped by the imaging device 11, the gripping device 12 grips one orange 100, which is the object to be placed, i.e., the aligned fruit, and places the gripped orange 100 in an arbitrary posture at an arbitrary location.

[0020] A conveyor (not shown) sequentially conveys the oranges 100 to the alignment mechanism 10. The alignment mechanism 10 aligns one or more conveyed oranges 100 on a mounting table (not shown).

[0021] First, the imaging device 11 images the conveyance path of the orange 100 and grasps the position of one conveyed orange 100. One conveyed orange 100 is to be placed and aligned as an aligned fruit. The information on the position of the orange 100, which is an aligned fruit, is output to the gripping device 12. Based on the input information on the position of the orange 100, which is an aligned fruit, the gripping device 12 grips the orange 100 as a gripping target.

[0022] Note that for grasping the position of the orange 100, which is an aligned fruit, other configurations may be used instead of the imaging device 11. For example, a detector such as a phototube or a limit switch may be used to grasp the position of the orange 100, which is an aligned fruit. The orange 100 is conveyed along a certain conveyance path by a conveyor.

[0023] Therefore, a detector can be installed at a specific position on the conveyance path, and the detector can detect that the orange 100 has been conveyed to the specific position. Thereby, based on the signal of the detector, it can be grasped that the orange 100, which is an aligned fruit, exists at the specific position. The gripping device 12 is pre-stored with the information on the above specific position. Thereby, the gripping device 12 can grasp and grip the position of the orange 100, which is an aligned fruit, existing at the specific position.

[0024] Next, in a state where the gripping device 12 grips the orange 100, which is an aligned fruit, the gripping device 12 rotates the orange 100 around the rotation axis of a gripping arm (not shown).

[0025] The imaging device 11 further images the mandarin orange 100 as it rotates around its axis, and recognizes the stem portion 100a and the fruit apex portion 100b of the mandarin orange 100. Based on this, the imaging device 11 determines the position and orientation of the center point of the stem portion 100a, the center point of the fruit apex portion 100b, and the axis L, which is the line connecting the center points of the stem portion 100a and the fruit apex portion 100b. In other words, the imaging device 11 images the aligned fruit and determines the axis L of the aligned fruit based on the captured imaging information. The imaging information may be a video or a still image.

[0026] The gripping device 12 stops rotating around its axis when the imaging device 11 grasps the axis L of the aligned mandarin oranges 100. Based on the information from the imaging device 11 regarding the axis L, stem portion 100a, and fruit apex portion 100b of the mandarin oranges 100, the gripping device 12 places the aligned mandarin oranges 100 on the mounting platform in a fixed position.

[0027] Figure 3 is a schematic diagram showing a state in which multiple mandarins 100 are aligned according to Embodiment 1. A constant posture is a posture in which the axis L is parallel to an imaginary reference axis SL, and the stem portion 100a or the fruit apex portion 100b is facing in a constant direction along the reference axis SL. That is, the mandarins 100 are placed in a posture in which the axis L is parallel to the imaginary reference axis SL.

[0028] In Figure 3, the stem portion 100a and the apex portion 100b of each mandarin orange 100 are omitted from the drawing. Furthermore, as shown in Figure 3, the axis L of each mandarin orange 100 only needs to be approximately parallel to the reference axis SL, and does not need to be strictly parallel. This is because mandarin oranges 100 are naturally formed and may tilt when placed on a surface.

[0029] The aligned mandarin oranges 100 are placed on the mounting stand in a position where the fruit apex 100b of the mandarin orange 100 faces in a first direction, which is one direction toward the reference axis SL. The mandarin oranges 100 are most stable when positioned with the stem portion 100a facing upwards and the fruit apex 100b facing downwards.

[0030] Therefore, the gripping device 12 places the mandarin orange 100 on the mounting platform in such a position that the axis L of the mandarin orange 100 is parallel to the reference axis SL which is perpendicular to the ground, and that the apex 100b is facing downward in the vertical direction. Since the direction from the center of the mandarin orange 100 toward the stem portion 100a and the direction toward the apex portion 100b are in opposite directions, the position in which the apex 100b is facing downward in the vertical direction and the position in which the stem portion 100a is facing upward in the vertical direction are equivalent positions.

[0031] The alignment mechanism 10 sequentially transports oranges 100, and the imaging device 11 and the gripping device 12 work together to sequentially place the oranges 100 onto the platform, aligning multiple oranges 100 on the platform. In the multiple oranges 100 aligned on the platform, each axis L is parallel to the reference axis SL which is perpendicular to the ground, and each orange 100 is placed so that its apex 100b faces downward in the first direction. In other words, the alignment mechanism 10 aligns each fruit by sequentially placing the fruit so that the stem portion 100a or the apex 100b of the aligned fruit faces a specific direction along the reference axis SL.

[0032] As described above, the gripping device 12 needs degrees of freedom to rotate the aligned oranges 100 around its axis of rotation, and degrees of freedom to move on a plane to transport and place the oranges 100 at any point on the placement platform. Naturally, the gripping device 12 is required to have the necessary degrees of freedom depending on the installation situation. Furthermore, the gripping device 12 may use a multi-joint mechanism with more degrees of freedom.

[0033] Furthermore, there may be cases where the imaging device 11 cannot recognize the stem portion 100a, the apex portion 100b of the aligned fruit, and the axis L, which is a straight line passing through the center point of the stem portion 100a and the center point of the apex portion 100b. There are many factors that can cause this, but one example is when the stem portion 100a of the aligned mandarin orange 100 is hidden and not visible because it is being held by the gripping device 12.

[0034] In cases such as this, for mandarins 100 that are not aligned and whose stem portion 100a, fruit apex portion 100b, and axis L (a straight line passing through the center point of the stem portion 100a and the center point of the fruit apex portion 100b) cannot be recognized by the imaging device 11, they may be placed on the conveyor belt again and transported again by the alignment mechanism 10.

[0035] The container filling mechanism 60 can select one orange 100 from the lined oranges 100 to be placed in the next container 150 and fill it into the container 150. By repeating this process, the container filling mechanism 60 can fill the container 150 with a set number of oranges 100. The fruit that the container filling mechanism 60 places into the container 150 is referred to as the filled fruit. The container filling mechanism 60 includes a container-filling gripping device 61 and a container-filling imaging device 62.

[0036] The container-filling and gripping device 61 has a multi-jointed arm (not shown) capable of gripping the oranges 100, and a control device (not shown) that controls the multi-jointed arm. The container-filling and gripping device 61 can grasp each orange 100 that is lined up on the mounting table.

[0037] For example, the container-packing and gripping device 61 may further include an imaging device (not shown) and an image analysis device, and these devices may be used to determine the position and orientation of the oranges 100 aligned on the platform. Alternatively, the container-packing and gripping device 61 may grip the oranges 100 based on the determined position and orientation of the aligned oranges 100. Furthermore, the imaging device and image analysis device may not be used.

[0038] In such cases, for example, multiple specific locations on the platform where the oranges 100 should be placed may be pre-set, and a detector such as a photosensor or limit switch may be provided for each specific location. The corresponding detector that detects that an orange 100 has been placed in a specific location outputs a signal indicating that status.

[0039] The container packing and gripping device 61 determines whether or not a mandarin orange 100 is placed at a corresponding specific location based on signals from each detector. Furthermore, the location of each specific location where the mandarin orange 100 is placed is pre-entered and stored in the container packing and gripping device 61.

[0040] This allows the container-filling and gripping device 61 to determine the position of each placed mandarin orange 100. Furthermore, the orientation of the aligned mandarin oranges 100 is determined by the alignment mechanism 10. Therefore, the orientation of each aligned mandarin orange 100 can be pre-programmed into the container-filling and gripping device 61.

[0041] In this embodiment 1, specifically, since the fruit apex 100b is positioned vertically downward, if the mandarin orange 100 is grasped in that position, the fruit apex 100b can be set to be vertically downward when the container-packing gripping device 61 grasps the mandarin orange 100.

[0042] As a result, the container-packing and gripping device 61 can determine the position and orientation of each mandarin orange 100 placed on the mounting platform based on the information of the aligned mandarin oranges 100. That is, the container-packing and gripping device 61 can grip the mandarin oranges 100 while knowing the position of the stem portion 100a, the position of the fruit apex portion 100b, and the position of the axis L.

[0043] The container-filling imaging device 62 monitors the container 150 into which the mandarins 100 are filled, and the condition of the mandarins 100 being filled into the container 150.

[0044] Here, the state of container 150 refers to the position of container 150, the location of the opening of container 150, i.e., the location where the mandarins 100 are placed, and the shape of the opening of container 150. The state of mandarins 100 filled into container 150 refers to the amount of mandarins 100 packed into container 150, the position of the axis L of the mandarins 100 packed into container 150, the stem portion 100a, and the apex portion 100b, as well as their orientation.

[0045] The container-filling imaging device 62 includes a camera (not shown), a control device (not shown) for controlling the camera, and an image analysis device (not shown). The container-filling imaging device 62 uses the camera to photograph the container 150 and the oranges 100 that will be filled into the container 150, and by analyzing the captured image information with the image analysis device, the state of the container 150 and the oranges 100 that will be filled into the container 150 can be determined. The image information may be video or still images.

[0046] Furthermore, the container-filling imaging device 62 sequentially outputs information on the state of the container 150 and the oranges 100 to be filled into the container 150 to the container-filling gripping device 61. Based on the state of the container 150 and the oranges 100 to be filled into the container 150 as grasped by the container-filling imaging device 62, the container-filling gripping device 61 fills the container 150 with the oranges 100 it is gripping.

[0047] The container-filling and gripping device 61 fills the container 150 with mandarins 100 so that the fruit apex 100b directly faces the inner surface of the container 150. Here, the state in which the fruit apex 100b directly faces the inner surface of the container 150 means that there are no other mandarins 100 between the inner surface of the container 150 and the fruit apex 100b facing it.

[0048] Furthermore, the state in which there are no other mandarins 100 between the inner surface of the container 150 and the fruit apex 100b facing it includes the state in which the fruit apex 100b is in contact with the inner surface of the container 150, and even if the fruit apex 100b is not in contact with the inner surface of the container 150, the state in which the surface of the mandarin 100 is in contact with the area around the fruit apex 100b.

[0049] Even if the fruit apex 100b does not come into contact with the inner surface of the container 150, the condition in which the surface of the mandarin orange 100 surrounding the fruit apex 100b comes into contact with it specifically refers to the case where the fruit apex 100b is recessed compared to the surface of the mandarin orange 100 surrounding the fruit apex 100b. In such a case, the fruit apex 100b does not come into contact with the inner surface of the container 150, and instead the surface of the mandarin orange 100 surrounding the fruit apex 100b comes into contact with the inner surface of the container 150.

[0050] Container 150 is supported with its opening near the container filling mechanism 60. Once a predetermined number of oranges 100 have been filled into a container 150, it is immediately moved, and a new container 150 is similarly supported. The support of the containers 150 may be carried out mechanically or manually.

[0051] Furthermore, the container filling mechanism 60 may also have a mechanism for opening and supporting the inlet of the container 150. In that case, it is desirable to have a mechanical mechanism that can sequentially support the containers 150 and open the inlets of the containers 150.

[0052] Furthermore, the container 150 may be a non-transparent bag or a box other than a bag. If the container 150 is a box and the opening is always open, a mechanism for opening the box opening is not necessary.

[0053] Next, the operation of the container filling mechanism 60 will be explained. The container filling mechanism 60 handles one or more oranges 100 which are aligned on a platform or the like. That is, the container filling mechanism 60 handles each orange 100 which has been aligned by the alignment mechanism 10. Note that since the container filling mechanism 60 is a separate mechanism from the alignment mechanism 10, the oranges 100 it handles do not have to be oranges 100 which have been aligned by the alignment mechanism 10.

[0054] In that case, the one or more oranges 100 handled by the container filling mechanism 60 should be aligned such that the axis L connecting the stem portion 100a and the apex portion 100b of each orange 100 is parallel to the reference axis SL, and the apex portion 100b faces the first direction. In other words, as described above, each orange 100 should be aligned such that the axis L is along the vertical direction and the apex portion 100b is facing downward in the vertical direction.

[0055] The container-filling and gripping device 61 first grips one mandarin orange 100 from among the aligned mandarin oranges 100 to be used as a filling fruit. At the time the container-filling and gripping device 61 grips the mandarin orange 100, it recognizes that the axis L is aligned vertically and that the position of the fruit apex 100b is on the lower side.

[0056] The container-filling and gripping device 61 grasps the mandarin oranges 100, which are to be filled, and proceeds to fill the container 150 with the mandarin oranges 100. Based on the movement of its own joints, the container-filling and gripping device 61 constantly keeps track of the position of the axis L and the position of the fruit apex 100b of the mandarin orange 100.

[0057] The container-filling imaging device 62 constantly images the container 150 and understands its condition. Specifically, the container-filling imaging device 62 understands the position of the entrance to the container 150 and the inner surface of the container 150. Because the container-filling imaging device 62 constantly images the container 150, it also constantly images the area near the entrance to the container 150 for filling, as well as the mandarin oranges 100 that have been transported into the container 150, and understands the condition of the mandarin oranges 100.

[0058] Based on the information captured by the container imaging device 62, namely the information about the container 150 and the mandarin oranges 100 that are to be filled into the container 150, the container filling and gripping device 61 fills the container 150 with mandarin oranges 100 that it is gripping so that the fruit apex 100b is directly facing the inner surface of the container 150. Once the container filling and gripping device 61 has finished filling the container 150 with the mandarin oranges 100 it is gripping, it moves to the loading platform to grip the next mandarin orange 100.

[0059] The container-filling and gripping device 61 grips the next mandarin orange 100 as the fruit to be filled, and fills the container 150 with the mandarin orange 100 based on the information held by the container-filling and imaging device 62. The container-filling and gripping device 61 repeats this operation a number of times corresponding to the number of mandarin oranges 100 to be filled into the container 150. In this way, the container-filling mechanism 60 fills the container 150 with each fruit, taking into account the orientation of each fruit based on the axis L.

[0060] As a result, once the container 150 is filled with the set number of oranges 100, the container 150 is removed and a new container 150 is supported. The new container 150 is supported with its opening open. In this way, the fruit filling system 1 fills the container 150 with fruit.

[0061] Embodiment 2. The alignment mechanism 10 of Embodiment 2 differs from the alignment mechanism 10 of Embodiment 1 in that it can arrange the fruits by changing their arrangement according to their size. Furthermore, the container filling mechanism 60 of Embodiment 2 differs from the container filling mechanism 60 of Embodiment 1 in that it can fill the container 150 with fruits while taking into account the size of the fruits.

[0062] The size of each mandarin orange can vary. For example, the size of mandarin oranges can be classified into multiple sizes such as S, M, L, and LL. Furthermore, even within the S-sized mandarin oranges, they can be further divided into three sizes: large, medium, and small. For example, they can be classified as S-large, S-medium, and S-small. In this case, the multiple classifications based on the size of the mandarin oranges are called size classifications.

[0063] The sorting mechanism 10 determines which of the multiple size classifications one or more oranges 100 belong to, and sequentially places the oranges 100 in the corresponding locations for each size classification, thereby aligning each orange 100 according to its size classification. Further details are explained below.

[0064] The imaging device 11 determines the size of the mandarin oranges 100, along with the positions of the stem portion 100a, the apex portion 100b, and the axis L of the mandarin oranges 100 as aligned fruits. The imaging device 11 analyzes the imaging information, such as the captured still images or video, to determine the size of the mandarin oranges 100 as aligned fruits.

[0065] The imaging device 11 can further determine, based on the size of the captured oranges 100, which of several size classifications the oranges 100, as arranged fruit, belong to. The imaging device 11 can be pre-programmed with information on the size of oranges 100 corresponding to each size classification, and can also store this size information.

[0066] The imaging device 11 compares the size information of the mandarins 100 corresponding to each size classification with the size of the mandarins 100 as identified and aligned fruits, and determines and identifies which size classification the aligned mandarins 100 belong to. Meanwhile, the mounting platform has pre-set mounting ranges corresponding to each size classification.

[0067] The gripping device 12 has pre-programmed placement ranges on the platform corresponding to each set size classification. Based on the size classification information of the mandarins 10 as aligned fruits, which is grasped by the imaging device 11, the gripping device 12 places the mandarins 10 as aligned fruits in the placement range corresponding to the size classification.

[0068] Even when the gripping device 12 places the mandarin oranges 100 as aligned fruit within the corresponding placement range, the gripping device 12 places the mandarin oranges 100 such that the axis L of the mandarin oranges 100 is parallel to the reference axis SL and the apex 100b faces the first direction.

[0069] Next, the operation of the alignment mechanism 10 will be explained. The imaging device 11 grasps the position of the stem portion 100a of the mandarin oranges 100 as aligned fruit, and at the same time grasps the size of the mandarin oranges 100. Furthermore, the imaging device 11 determines and grasps which size classification the mandarin oranges 100 belong to based on their size as aligned fruit.

[0070] The imaging device 11 transmits information regarding the size classification of the mandarins 100 as aligned fruits to the gripping device 12. Based on the transmitted size classification information, the gripping device 12 places the mandarins 100 as aligned fruits at the corresponding positions for each size classification. At the same time, the gripping device 12 places the mandarins 100 so that their axis L is parallel to the reference axis SL and their apex 100b faces the first direction.

[0071] In this way, the alignment mechanism 10 sequentially places the oranges 100 according to their size, aligning the multiple oranges 100 according to their size classification. The other configurations and operations of the alignment mechanism 10 in Embodiment 2 are the same as those of the alignment mechanism 10 in Embodiment 1, so their description will be omitted.

[0072] Next, the container filling mechanism 60 will be explained. The container filling mechanism 60 fills multiple oranges 100 into containers 150 in a predetermined order of size.

[0073] The container-filling and gripping device 61 grasps and grips mandarins 100 of an appropriate size from among the mandarins 100 arranged in a placement area corresponding to each size classification, to be used as the filled fruit.

[0074] The container-packing and gripping device 61 may, for example, use an image analysis device (not shown) to determine the corresponding size classification, position, and orientation of the oranges 100 placed within the placement area corresponding to each size classification. Based on the information obtained by the image analysis device, the container-packing and gripping device 61 grips the oranges 100 belonging to the desired size classification.

[0075] Alternatively, the corresponding size classification, position, and orientation of each mandarin orange 100 placed within the corresponding placement area may be determined without using an image analysis device. In this case, for example, multiple specific locations within the placement area corresponding to each size classification may be pre-set as the places where each mandarin orange 100 will be placed.

[0076] Each specific location is equipped with a detector such as a photosensor or a limit switch, and each detector can detect whether or not a mandarin orange 100 is placed in its corresponding location. The detector outputs a signal indicating whether or not a mandarin orange 100 is placed there.

[0077] The container packing and gripping device 61 determines, based on signals from each detector, whether or not a mandarin orange 100 is placed in a specific location within the placement area corresponding to each size classification. Meanwhile, the location of each specific location on the placement platform where the mandarin orange 100 is placed, and the size classification corresponding to each specific location, are pre-entered and stored in the container packing and gripping device 61.

[0078] Based on signals from each detector, the location of each specific point, and information on the size classification to which each specific point corresponds, the container packing and gripping device 61 identifies the location of the mandarin oranges 100 that belong to the desired size classification.

[0079] Each of the aligned oranges 100 is positioned in a predetermined orientation determined by the alignment mechanism 10. Therefore, the orientation of each orange 100 placed on the platform is pre-programmed into the container packing and gripping device 61.

[0080] Therefore, the container-filling and gripping device 61 can determine the corresponding size classification, position, and orientation of each aligned mandarin orange 100 based on pre-entered information. In other words, the container-filling and gripping device 61 can grasp one mandarin orange 100 as a filled fruit while knowing the position of the fruit apex 100b of the mandarin orange 100 that corresponds to the desired size classification.

[0081] The container-filling imaging device 62 monitors the container 150 into which the mandarins 100 are filled, and the condition of the mandarins 100 being filled into the container 150.

[0082] Here, the state of the mandarin oranges 100 to be filled into container 150 includes, in addition to what was described in Embodiment 1, information on the corresponding size classification of the fruit to be next filled into container 150, i.e., the mandarin oranges 100 that are to be filled.

[0083] The container-filling imaging device 62 is pre-programmed with information regarding the order in which the oranges 100 are filled into the container 150. This order is determined based on the size of the oranges 100. For example, the order is such that the oranges 100 gradually get smaller as you move from the bottom of the container 150 towards the opening.

[0084] Container 150 is filled with a set number of oranges of the same size, for example, 100 medium-sized oranges. However, even among the 100 medium-sized oranges, there is variation in size. In such cases, each of the 100 oranges is sorted into three size categories based on its size, for example, medium-small, medium-medium, and medium-large, in order from smallest to largest.

[0085] In such cases, the mandarins 100 are filled into the container 150 in an order such that they gradually get smaller as you move from the bottom to the opening; that is, the mandarins 100 corresponding to M-large, M-medium, and M-small are filled in order from the bottom to the opening of the container 150. This improves the filling rate of the mandarins 100 into the container 150 and improves the appearance of the mandarins 100 packed into the container 150.

[0086] When the container-filling imaging device 62 images the container 150, it also images the oranges 100 that are already filled in the container 150. Therefore, the container-filling imaging device 62 determines the size of the oranges 100 currently in the top layer based on the imaging information, such as still images or videos, of the container 150. Furthermore, the container-filling imaging device 62 determines the size of the oranges 100 that should be filled into the container 150 next, based on the size of the oranges 100 in the top layer, and determines the size classification corresponding to that size. In other words, the container-filling imaging device 62 determines the size classification of the oranges 100 to be filled into the container 150 next, i.e., the oranges 100 as filled fruit, so that the size of the fruit to be filled into the container 150 decreases from the bottom of the container 150 towards the opening of the container 150.

[0087] The container-filling imaging device 62 sequentially outputs to the container-filling gripping device 61 information on the container 150 it has grasped, including information on the size classification of the fruit to be filled next, i.e., the mandarin oranges 100 that will be filled into the container 150, and the state of the mandarin oranges 100 that will be filled into the container 150. Based on the information input from the container-filling imaging device 62, the container-filling gripping device 61 grips the mandarin oranges 100 that correspond to the desired size classification and fills them into the container 150.

[0088] The container-filling and gripping device 61 fills the container 150 with mandarins 100 that correspond to the desired size classification, based on information from the container-filling imaging device 62, so that the fruit apex 100b directly faces the inner surface of the container 150.

[0089] Next, the operation of the container filling mechanism 60 will be explained. One or more oranges 100 handled by the container filling mechanism 60 are aligned on a platform or the like within the corresponding placement area for each size classification. Each orange 100 is aligned by the alignment mechanism 10, and the container filling mechanism 60 handles each orange 100 that has been aligned by the alignment mechanism 10.

[0090] Furthermore, since the container filling mechanism 60 is a separate mechanism from the alignment mechanism 10, the oranges 100 handled do not have to be oranges 100 that have been aligned by the alignment mechanism 10. In that case, each orange 100 only needs to be aligned such that the axis L connecting the stem portion 100a and the apex portion 100b of each orange 100 is parallel to a specific reference axis SL, and the apex portion 100b faces the first direction. In addition, each orange 100 only needs to be placed and aligned within the placement range corresponding to each size classification.

[0091] In this second embodiment, specifically, taking into consideration the stability of the mandarin oranges 100 when placed, each mandarin orange 100 should be aligned such that its axis L is parallel to the reference axis SL along the vertical direction, its fruit apex 100b faces downward in the vertical direction, and it is aligned within the placement range corresponding to each size classification.

[0092] The container-filling imaging device 62 constantly images and monitors the state of the container 150 and the state of the oranges 100 packed inside it. We will begin the explanation from the point where a new container 150 is filled with oranges 100 for the first time.

[0093] The container-filling imaging device 62 detects that container 150 is empty of oranges. In this case, that is, when it is time to start filling a new container 150 with oranges, it automatically identifies the largest size category as the size category of the oranges to be filled next.

[0094] For example, if medium-sized oranges are to be filled into container 150, the largest size classification would be medium-sized. Therefore, the container-filling imaging device 62 recognizes the size classification of the next fruit to be filled, i.e., the oranges 100 that are to be filled, as medium-sized.

[0095] The container-filling and gripping device 61 receives size classification information of the mandarin oranges 100, which are the filled fruit, from the container-filling and imaging device 62. Based on the information captured by the container-filling and imaging device 62, i.e., the size classification information input from the container-filling and imaging device 62, the container-filling and gripping device 61 grips the mandarin oranges 100 that are aligned within the placement range corresponding to the size classification. These mandarin oranges 100 are the filled fruit.

[0096] The container-filling and gripping device 61 fills the container 150 with mandarin oranges 100, which are the fruit to be filled. Even when filling the container 150 while taking into consideration the size of the mandarin oranges 100, the container-filling and gripping device 61 fills the container 150 with mandarin oranges 100 that are gripped so that the fruit apex 100b is directly facing the inner surface of the container 150, based on the information obtained by the container-filling and imaging device 62.

[0097] Once one batch of mandarins (100) has been filled, the container filling mechanism 60 moves on to filling the next batch of mandarins (100) into the container 150. The container filling imaging device 62 determines the size of the topmost mandarin (100) in the container 150 and determines its size classification. It then outputs this information, along with other information, to the container filling gripping device 61, using a size classification one size smaller than the size classification of the topmost mandarin (100) as the size classification of the filled mandarin (100).

[0098] Specifically, for example, if the container-packing imaging device 62 determines that the size classification corresponding to the current topmost orange 100 is M Large, it will determine that the size classification of the filled orange 100 is M Medium, which is one size smaller than M Large. Therefore, the container-packing imaging device 62 outputs the M Medium information as size classification information to the container-packing gripping device 61.

[0099] The container-packing imaging device 62 determines the size of the mandarin oranges 100 by imaging the topmost mandarin orange 100 and analyzing the image. However, it is not limited to this method; for example, the size classification of the mandarin oranges 100 packed as the topmost mandarin orange 100 could be stored, and the size classification of the topmost mandarin orange 100 could be determined from that storage.

[0100] When the container-filling and gripping device 61 receives information on the size classification of the mandarin oranges 100 to be filled from the container-filling and imaging device 62, it grips the mandarin oranges 100 that are aligned within the placement range corresponding to the size classification as the mandarin oranges 100 to be filled. The container-filling and gripping device 61 then fills the mandarin oranges 100 into the container 150.

[0101] The container filling mechanism 60 repeats this operation until a predetermined number of oranges 100 are filled into the container 150, completing the filling of one container 150 with oranges 100. The other configurations and operations of the container filling mechanism 60 in Embodiment 2 are the same as those of the container filling mechanism 60 in Embodiment 1, and therefore will not be described.

[0102] In Embodiment 2, the container-filling imaging device 62 determines the size classification of the mandarin oranges 100 to be filled into the container 150 so that the size of the fruit to be filled into the container 150 decreases from the bottom of the container 150 towards the opening of the container 150. However, it is not limited to this, and for example, if there are only two size classifications for the mandarin oranges 100, M-large and M-medium, it is possible to fill the container by placing an M-large mandarin orange 100 on top of an M-large mandarin orange 100. Therefore, the container-filling imaging device 62 may determine the size classification of the mandarin oranges 100 to be filled into the container 150 so that the size of the fruit to be filled into the container 150 is equal in size or decreases from the bottom of the container 150 towards the opening of the container 150.

[0103] Furthermore, the fruit filling system 1 of Embodiment 1 and Embodiment 2 uses mandarin oranges 100 as the fruit. However, it is not limited to this, and any fruit that has a stem portion 100a and a fruit apex portion 100b may be used as the fruit.

[0104] Furthermore, the fruit filling system 1 of Embodiment 1 and Embodiment 2 uses a transparent plastic bag as the container 150. However, it is not limited to this, and the container 150 may also be a box. Moreover, the container 150 may be made of a material that is not entirely transparent, or a material that is partially transparent. For example, a paper bag may be used as the container. If a container 150 made of a partially or entirely transparent material is used, the fruit tops 100b of the fruit being packed inside will be visible from the outside of the container 150, improving its appearance.

[0105] Furthermore, in the fruit filling system 1 of Embodiment 1 and Embodiment 2, the fruit apex 100b is directly facing the inner surface of the container 150. However, this is not limited to this, and the part of the fruit that is directly facing the inner surface of the container 150 may be selected considering ease of filling, appearance, or filling rate.

[0106] Furthermore, the container-filling imaging device 62 in Embodiment 1 and Embodiment 2 grasps the state of the container 150 and the oranges 100 filled in the container 150. However, it is not limited to this, and the container-filling imaging device 62 may also grasp other states. For example, the container-filling imaging device 62 may be applied when the container-filling gripping device 61 grasps the aligned fruit. That is, in addition to the state of the container 150 and the oranges 100 filled in the container 150, the container-filling imaging device 62 may also grasp the state of the aligned fruit.

[0107] The fruit filling system 1 according to Embodiment 1 comprises an alignment mechanism 10 for aligning one or more fruits, and a container filling mechanism 60 for filling each aligned fruit into a container 150. The alignment mechanism 10 grasps the axis L connecting the stem portion 100a and the fruit apex portion 100b of the fruit, and aligns each fruit so that each axis L is parallel to a specific reference axis SL. The container filling mechanism 60 fills each fruit into the container 150, taking into account the orientation of each fruit based on the axis L. This reduces the amount of manual labor required in filling the fruit into the container 150, thereby reducing the cost of fruit filling. Furthermore, because the fruits are aligned in the set orientation, processing can be performed quickly, and the fruit can be filled into the container 150 more efficiently. In addition, by filling the fruit into the container 150 while considering the orientation of the fruit, the fruit filling rate into the container 150 is improved, and the fruit can be filled into the container 150 more efficiently.

[0108] The alignment mechanism 10 in the fruit filling system 1 according to Embodiment 1 includes an imaging device 11 that images the fruits to be aligned and grasps the axis L of the fruits based on the image information, and a gripping device 12 that grips the fruits. The gripping device 12 aligns the fruits by sequentially placing them based on the axis L of the fruits. As a result, the imaging device 11 and the gripping device 12 work together to align the fruits. Therefore, the fruits can be aligned more efficiently, and thus the fruits can be filled into the container 150 more efficiently.

[0109] In the fruit filling system 1 according to Embodiment 1, the gripping device 12 further aligns the fruits by sequentially placing them so that the stem portion 100a or the fruit apex portion 100b of each aligned fruit faces a specific direction along the reference axis SL. This specifies the orientation of the fruits to be aligned. Therefore, by handling fruits with a specified orientation, the fruits can be filled into the container 150 more efficiently.

[0110] The container filling mechanism 60 in the fruit filling system 1 according to Embodiment 1 includes a container-filling gripping device 61 that grips one fruit from among the fruits aligned by the alignment mechanism 10, a container 150, and a container-filling imaging device 62 that grasps the state of each fruit to be filled into the container 150. The container-filling gripping device 61 grips the fruit to be filled into the container 150 while grasping the position of the fruit apex 100a. Furthermore, based on the container 150 grasped by the container-filling imaging device 62 and the state of the filled fruit, the container-filling gripping device 61 fills the fruit into the container 150 so that the fruit apex 100b directly faces the inner surface of the container 150. This allows the container-filling gripping device 61 to grip the fruit while considering its orientation. Therefore, when filling the container 150, the fruit can be filled into the container 150 more quickly and in the specified orientation. In addition, this ensures that the fruit apex 100b directly faces the inner surface of the container 150. Therefore, the filling rate into the container 150 is improved, and the fruit can be filled into the container 150 more efficiently. In addition, this allows the hard stem portion 100a to be filled without touching the container 150, thus preventing damage to the container 150. Furthermore, when using a container 150 made of a transparent material such as a transparent plastic bag, the fruit apex portion 100b can be uniformly seen from the outside of the container 150, improving its appearance.

[0111] The alignment mechanism 10 according to Embodiment 1 comprises an imaging device 11 and a gripping device 12 for gripping fruits. The imaging device 11 images the fruits to be aligned and grasps the axis L connecting the stem portion 100a and the apex portion 100b of the fruit. The gripping device 12 aligns one or more fruits by sequentially placing the fruits so that the axis L of the fruits is parallel to a specific reference axis SL. This allows the fruits to be aligned in a specific orientation. Therefore, because the orientation of the fruits is uniform, the fruits can be filled into the container 150 without correcting the orientation of the gripped fruits. Thus, the efficiency of filling the fruits is improved, the number of manual processes in filling the fruits into the container 150 is reduced, and the cost of filling the fruits can be reduced.

[0112] In the alignment mechanism 10 according to Embodiment 1, the gripping device 12 further aligns the fruits by sequentially placing them so that the stem portion 100a or the fruit apex portion 100b of each fruit faces a specific direction along the reference axis SL. This allows the fruits to be aligned in a specific posture with a uniform orientation. Therefore, because the posture of the fruits, including their orientation, is uniform, the fruits can be filled into the container 150 without correcting the orientation of the gripped fruits. Thus, the fruits can be filled more easily, and the efficiency of filling the fruits can be further improved.

[0113] The container filling mechanism 60 according to Embodiment 1 includes a container-filling gripping device 61 that grips one fruit from among one or more fruits aligned so that the axis L connecting the stem portion 100a and the fruit apex portion 100b is parallel to a specific reference axis SL, and a container-filling imaging device 62 that grasps the state of the container 150 and each fruit to be filled into the container 150. The container-filling gripping device 62 grasps the fruit to be filled into the container 150 while grasping the position of the fruit apex portion 100b. The container-filling gripping device 61 then fills the container 150 with the fruit so that the fruit apex portion 100b directly faces the inner surface of the container 150, based on the state of the container 150 and the filled fruit grasped by the container-filling imaging device 62. This allows the container 150 to be filled with fruit using the container filling mechanism 60. Therefore, the process of filling the container 150 with fruit can be made less reliant on manual labor, and the cost of filling the fruit can be reduced. Furthermore, this allows the container-filling gripping device 61 to grip the fruit while considering its orientation. Therefore, when filling the container 150, the fruit can be filled into the container 150 more quickly and in the specified orientation. Also, this ensures that the fruit apex 100b is directly facing the inner surface of the container 150. Therefore, the filling rate into the container 150 is improved, and the fruit can be filled into the container 150 more efficiently. In addition, this ensures that the hard stem portion 100a does not come into contact with the container 150, thus preventing damage to the container 150. Furthermore, when using a transparent container 150 such as a transparent plastic bag, the fruit apex 100b is uniformly visible from the outside of the container 150, improving its appearance.

[0114] In the fruit filling system 1 according to Embodiment 2, the imaging device 11 further determines the size of the target fruit and which of the multiple size classifications, which are divided based on size, the target fruit belongs to. The gripping device 12 then sequentially places the target fruit in the location corresponding to each size classification, thereby aligning each fruit according to its size classification. This allows the fruit to be arranged while also considering its size. Therefore, for example, when filling the container 150 with fruit, or in other operations, it becomes possible to handle the fruit while considering its size, allowing for more efficient handling of the fruit.

[0115] In the fruit filling system 1 according to Embodiment 2, the container-filling imaging device 62 determines the size classification of the fruit to be filled next so that the size of the fruit to be filled into the container 150 becomes equal or smaller from the bottom of the container 150 towards the opening of the container 150. The container-filling gripping device 61 then grips one fruit belonging to an appropriate size classification as the fruit to be filled next, based on the information obtained by the container-filling imaging device 62, and fills the container 150 with it. This allows the container 150 to be automatically filled with fruit while taking the size of the fruit into consideration. Consequently, the fruit filling rate into the container 150 is improved, and the fruit can be filled into the container 150 more efficiently. Furthermore, when a bag is used as the container 150, filling the bottom of the bag with larger fruits increases the stability of the bag, making it suitable for transport and display.

[0116] In the fruit filling system 1 according to Embodiment 1 or Embodiment 2, the container 150 is a bag. This makes it possible to automate fruit filling even with bags that have lower durability than box-shaped containers 150. As a result, even if the bag is weaker than a box-shaped container 150, such as one whose opening shape is not always consistent, the container filling imaging device 62 understands the state of the bag container 150, so fruit filling can be automated.

[0117] In the alignment mechanism 10 according to Embodiment 2, the imaging device 11 further determines the size of the target fruit and which of the multiple size classifications, which are divided based on size, the target fruit belongs to. The gripping device 12 then sequentially places the target fruit in the location corresponding to each size classification, thereby aligning each fruit according to its size classification. This makes it possible to arrange the fruit while also considering its size. Therefore, for example, when filling the container 150 with fruit or in other operations, it becomes possible to handle the fruit while considering its size, allowing for more efficient handling of the fruit.

[0118] In the container filling mechanism 60 according to Embodiment 2, the container filling imaging device 62 determines the size classification of the fruit to be filled into the container 150 so that the size of the fruit to be filled into the container 150 becomes equal or smaller from the bottom of the container 150 towards the opening of the container 150. The size classification is one of several classifications based on the size of the fruit. The container filling gripping device 61 then grips one fruit belonging to an appropriate size classification as a filling fruit based on the information obtained by the container filling imaging device 62 and fills it into the container 150. This allows the fruit to be automatically filled into the container 150, taking into account the size of the fruit. Consequently, the fruit filling rate into the container 150 is improved, and the fruit can be filled into the container 150 more efficiently. Furthermore, when a bag is used as the container 150, filling larger fruits at the bottom of the bag increases the stability of the bag, making it suitable for transport and display. [Explanation of Symbols]

[0119] 1...Fruit filling system, 10...Alignment mechanism, 11...Imaging device, 12...Gripping device, 60...Container filling mechanism, 61...Container packing and gripping device, 62...Container packing imaging device, 100... mandarin orange (fruit), 100a... stem part, 100b... fruit apex, 150...Container, SL...Reference axis, L...Axis

Claims

1. An alignment mechanism for aligning one or more fruits, A container filling mechanism for filling each of the aligned fruits into a container, Equipped with, The alignment mechanism grasps the axis connecting the stem portion and the apex portion of the fruit, and aligns each fruit so that each axis is parallel to a specific reference axis. The container filling mechanism fills each of the fruits into the container, taking into consideration the orientation of each fruit based on the axis. Fruit filling system.

2. The alignment mechanism includes an imaging device that images the fruits to be aligned and grasps the axis of the aligned fruits based on the image information captured, and a gripping device that grips the aligned fruits. The gripping device aligns each fruit by sequentially placing the aligned fruits based on the axis of the aligned fruits. The fruit filling system according to claim 1.

3. The gripping device further aligns the fruits by sequentially placing them so that the stem portion or the apex portion of each fruit faces a specific direction along the reference axis. The fruit filling system according to claim 2.

4. The container filling mechanism includes a container-filling gripping device that grips one of the fruits from among the fruits that have been aligned by the alignment mechanism, The container and a container-filling imaging device for understanding the state of each of the fruits filled in the container, It has, The container-filling gripping device grasps the fruit to be filled into the container while understanding the position of the fruit apex, The container-filling gripping device fills the container with the fruit so that the fruit apex faces the inner surface of the container, based on the container grasped by the container-filling imaging device and the state of the filled fruit. The fruit filling system according to claim 3.

5. The imaging device further determines the size of the aligned fruits and determines which of the multiple size classifications, which are divided based on size, the aligned fruits belong to. The gripping device arranges the fruits according to their size classification by sequentially placing them in locations corresponding to each size classification. The fruit filling system according to claim 4.

6. Imaging device and A gripping device for grasping fruit, Equipped with, The imaging device images the aligned fruits, which are the fruits to be aligned, and grasps the axis connecting the calyx and the apex of the aligned fruits. The gripping device aligns one or more fruits by sequentially placing the aligned fruits so that the axis of each fruit is parallel to a specific reference axis. Alignment mechanism.

7. The gripping device further aligns the fruits by sequentially placing them so that the stem portion or the apex portion of each fruit faces a specific direction along the reference axis. The alignment mechanism according to claim 6.

8. The imaging device further determines the size of the aligned fruits and determines which of the multiple size classifications, which are divided based on size, the aligned fruits belong to. The gripping device arranges the fruits according to their size classification by sequentially placing them in locations corresponding to each size classification. The alignment mechanism according to claim 7.

9. A container-packing and gripping device for gripping one of the fruits from among one or more fruits that are aligned so that the axis connecting the stem end and the apex of the fruit is parallel to a specific reference axis, A container, and a container-filling imaging device for capturing the state of each of the fruits to be filled into the container, Equipped with, The container-filling gripping device grasps the fruit to be filled into the container while understanding the position of the fruit apex, The container-filling gripping device fills the container with the fruit so that the fruit apex faces the inner surface of the container, based on the state of the container and the filled fruit as grasped by the container-filling imaging device. Container filling mechanism.

Images