Sorting device
The sorting device enhances efficiency and flexibility by automating the sorting process through separate conveying methods and devices, reducing manual effort and allowing for layout adjustments.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- YANMAR HLDG CO LTD
- Filing Date
- 2023-02-06
- Publication Date
- 2026-06-30
Smart Images
Figure 0007882790000001 
Figure 0007882790000002 
Figure 0007882790000003
Abstract
Description
Technical Field
[0001] The present invention relates to a sorting device for sorting agricultural products and the like.
Background Art
[0002] Harvested agricultural products generally undergo grading determination before shipment and are sorted according to the determination results. Patent Document 1 discloses a sorting device that images objects to be sorted (such as fruits and vegetables) placed on each rotating body of a sorting conveyor with an imaging camera and determines the grade of each object to be sorted based on the image data. In the sorting device in Patent Document 1, a barcode is attached to each rotating body, and grading determination is performed with objects to be sorted placed on each rotating body, and the grades of each rotating body and each object to be sorted are linked by the barcode to automatically perform sorting work for each grade.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In the sorting device of Patent Document 1, it is necessary to directly place objects to be sorted on the rotating body one by one. For this reason, manual labor is required for the operation of placing the objects to be sorted on the rotating body, and this placement operation is time-consuming, resulting in a problem of reduced processing efficiency. In addition, it is necessary for the objects to be sorted to be placed on the rotating body at both the grading determination position and the sorting position of the objects to be sorted. For this reason, between the grading determination position and the sorting position, the same transport device is linearly laid out, and there is also a problem that it is difficult to arbitrarily change the layout of the transport device.
[0005] This invention has been made in view of the above problems, and aims to provide a sorting device that can improve processing efficiency and can also be easily modified in layout. [Means for solving the problem]
[0006] To solve the above problems, the sorting device of the present invention is a sorting device that sorts objects while transporting them, and is characterized by comprising: a first transport device that transports the objects to be sorted while rotating them; a second transport device arranged downstream of the first transport device and capable of sorting and discharging the transported objects to be sorted at any position; a surface measurement unit installed in the transport area of the first transport device and photographing the objects to be sorted from multiple directions as they are transported while rotating; a sorting measurement unit installed in the transport area of the second transport device and photographing the transported objects to be sorted; a determination unit that determines the objects to be sorted based on the photographic data from the surface measurement unit; a storage unit that stores the photographic data from the determination unit and the determination result from the determination unit in association; a comparison unit that compares the photographic data from the sorting measurement unit with the photographic data stored in the storage unit and identifies the objects to be sorted on the second transport device; and a discharge control unit that sorts and discharges the objects to be sorted identified by the comparison unit from the second transport device at a position corresponding to the determination result from the determination unit.
[0007] According to the above configuration, by using different conveying methods for the first conveying device (e.g., a roller conveyor) where the surface measuring unit is located and the second conveying device (e.g., a bucket conveyor) which enables sorting and discharge of the materials to be sorted, the first conveying device on the upstream side can be designed to reduce the effort required for loading, thereby improving the processing efficiency of the sorting device. Furthermore, by separating the main conveying path of the sorting device into the first and second conveying devices, it becomes easier to change the layout of the sorting device.
[0008] Furthermore, the sorting apparatus may be configured to include a transfer conveying device between the first conveying device and the second conveying device, which transfers the objects to be sorted between the first and second conveying devices, which have different conveying pitches.
[0009] With the above configuration, the transfer of sorted materials from the first conveying device to the second conveying device, which have different conveying pitches, is accurately performed by the transfer conveying device.
[0010] Furthermore, in the sorting device described above, the second conveying device is a bucket conveyor with a large number of buckets connected to it, and the buckets can be configured to open their bottoms at any point to allow the items to be sorted to fall downwards, thereby sorting and discharging them.
[0011] Furthermore, the sorting device may be configured to include a return transport device that returns and transports the sorted items that were not identified by the matching unit to the upstream side of the surface measurement unit in the first transport device.
[0012] With the above configuration, the sorted items that were not identified in the matching unit can be returned to the upstream side of the surface measurement unit, thereby returning them to the sorting target again.
[0013] Furthermore, the sorting device may be configured to have a centering section near the downstream end of the first conveying device that aligns the objects to be sorted to the center in the width direction of the first conveying device.
[0014] With the above configuration, the objects to be sorted can be appropriately positioned in front of the sorting and measuring unit located downstream of the centering unit, measurement errors of the objects to be sorted in the sorting and measuring unit can be prevented, and reliable sorting of the objects to be sorted can be achieved.
[0015] Furthermore, in the sorting device described above, the centering section can be configured as an impeller that is positioned towards one side in the width direction of the first conveying device and has a rotation axis parallel to the conveying direction of the first conveying device.
[0016] In addition, in the sorting device, the first conveyor is a roller conveyor in which a large number of rollers are connected, all the rollers revolve and each roller rotates on its own axis, and the direction of rotation of each roller on its own axis can be the same as the direction of revolution of the roller.
[0017] According to the above configuration, the direction of rotation of the object to be sorted itself on the first conveyor due to the rotation on its own axis of the roller is opposite to the direction of revolution of the roller. As a result, in the imaging portion of the object to be sorted by the surface measurement unit, the relative speed of the object to be sorted with respect to the surface measurement unit decreases, and the imaging accuracy of the object to be sorted by the surface measurement unit can be improved.
Effect of the Invention
[0018] By using different conveying methods for the first conveyor on which the surface measurement unit is arranged and the second conveyor capable of sorting and discharging the objects to be sorted, the sorting device can improve the processing efficiency and facilitate the layout change of the sorting device.
Brief Description of the Drawings
[0019] [Figure 1] This shows an embodiment of the present invention and is a schematic configuration diagram of a sorting device. [Figure 2] This is a schematic configuration diagram showing the conveying area of the first conveyor. [Figure 3] This is a schematic configuration diagram showing the conveying area of the second conveyor. [Figure 4] This is a functional block diagram of the sorting device. [Figure 5] This is a schematic configuration diagram showing a modified example of the sorting device. [Figure 6] This is a schematic configuration diagram of the sorting device according to the second embodiment. [Figure 7] This is a diagram for explaining the action of the impeller centering agricultural products in the sorting device according to the second embodiment. [Figure 8] This is a schematic configuration diagram showing a modified example of the sorting device according to the second embodiment. [Figure 9] In the sorting device according to the third embodiment, it is a diagram showing the relationship between the roller moving direction and the roller rotation direction in the first conveying device.
Embodiments for Carrying Out the Invention
[0020] 〔First Embodiment〕 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram (viewed from above) of a sorting device 10 according to the present embodiment. As shown in FIG. 1, the sorting device 10 includes a first conveying device 11, a second conveying device 12, a relay part (relay conveying device) 13, a surface measurement part 14, a sorting measurement part 15, a sorting discharge part 16, a return part (return conveying device) 17, and a control device 18. The sorting device 10 can be suitably used for sorting (grading) agricultural products according to their grades. In the present embodiment, the sorting device 10 is exemplified as a device for sorting carrots.
[0021] In the sorting device 10, a main conveyance path is formed by the first conveyance device 11, the second conveyance device 12, and the relay part 13. Specifically, the first conveyance device 11 is arranged on the upstream side of the main conveyance path, and the second conveyance device 12 is arranged on the downstream side of the main conveyance path. The relay part 13 is arranged between the first conveyance device 11 and the second conveyance device 12, and transfers the agricultural product (object to be sorted) C conveyed by the first conveyance device 11 onto the second conveyance device 12.
[0022] The first conveyance device 11 and the second conveyance device 12 may have the same conveyance capacity (time processing capacity), but their conveyance speeds may be different from each other. At this time, if the conveyance pitches of the first conveyance device 11 and the second conveyance device 12 are made different, the conveyance capacities can be made uniform even if the conveyance speeds are different. In this case, by suppressing the conveyance speed of the first conveyance device 11, it becomes easier for an operator to perform auxiliary work, and it becomes easier to acquire a high-resolution image in the surface measurement part 14 described later. Also, by setting the second conveyance device 12 to a pitch of a certain level or more, sorting discharge can be accurately performed.
[0023] Figure 2 is a schematic diagram (side view) showing the conveying area of the first conveying device 11. As shown in Figure 2, the first conveying device 11 is a roller conveyor made up of a large number of connected rollers 110. All rollers 110 revolve in the direction of arrow A, and each roller 110 also rotates on its own axis. That is, agricultural products C placed on the first conveying device 11 are conveyed from upstream to downstream by the revolving motion of the rollers 110, and the agricultural products C themselves also rotate (vertically) on the first conveying device 11 due to the rotation of each roller 110. The direction of rotation of the rollers 110 may be the same as the direction of their revolving motion, or it may be the opposite direction, but all rollers 110 rotate in the same direction. Agricultural products C are supplied to the first conveying device 11 from the supply conveyor 20.
[0024] In the transport area of the first transport device 11, a surface measurement unit 14 is positioned along the way, and the agricultural product C being transported is measured by a camera built into the surface measurement unit 14. The measurement area of the surface measurement unit 14 is set to a length that allows the agricultural product C to rotate at least once within that area. In addition, the surface measurement unit 14 takes multiple images (for example, 8 times) of a single agricultural product C within its measurement area. As a result, the surface measurement unit 14 can obtain image data of almost the entire surface of a single agricultural product C. The image data from the surface measurement unit 14 is transmitted to the control device 18. The control contents of the control device 18 will be described later.
[0025] Figure 3 is a schematic diagram (side view) showing the transport area of the second transport device 12. As shown in Figure 3, the second transport device 12 is a bucket conveyor consisting of a large number of connected buckets 120, and one agricultural product C can be placed in each bucket 120. In the second transport device 12, all buckets 120 revolve in the direction of arrow B, transporting the agricultural product C from upstream to downstream. In addition, each bucket 120 can open its bottom at any point (open the bucket 120) to drop the agricultural product C placed on it downwards. The opening timing of each bucket 120 is controlled by the control device 18.
[0026] The transfer section 13 transfers the agricultural products C that have been transported by the first transport device 11 to the second transport device 12 so that one agricultural product C is placed in each bucket 120. The configuration of the transfer section 13 is not particularly limited, but in the examples in Figures 2 and 3, the transfer section 13 is made of a gear-shaped member, and the agricultural products C are transported by sandwiching one agricultural product C between two adjacent teeth.
[0027] In the transport area of the second transport device 12, a sorting and measuring unit 15 is located near the upstream end, and the agricultural products C being transported are measured by a camera built into the sorting and measuring unit 15. The sorting and measuring unit 15 only needs to take one photograph for each agricultural product C, and the photographic data is transmitted to the control device 18.
[0028] Furthermore, a sorting and discharge section 16 and a return section 17, which are sub-transport paths, are intersected with the second transport device 12. The sorting and discharge section 16 is a transport path that sorts and outputs agricultural products C whose grade has been determined. At the end of the transport of the sorting and discharge section 16, a recovery section (not shown) corresponding to each grade is provided. The return section 17 is a transport path for returning agricultural products C that could not be sorted by the sorting and measuring section 15 back to the first transport device 11 (specifically, the upstream side of the surface measuring section 14). The sorting and discharge section 16 and the return section 17 are located below the second transport device 12 at the point where they intersect, and they receive and transport the agricultural products C that fall when the bucket 120 is opened. Also, since the sorting and discharge section 16 and the return section 17 are only required to transport agricultural products C, a simple belt conveyor can be used.
[0029] In the example shown in Figure 1, the sorting and discharge section 16 is illustrated with three conveyors 16A to 16C that transport agricultural products C sorted according to their respective grades, "S, M, and L". However, the number of conveyors provided in the sorting and discharge section 16 is not particularly limited, and the number of conveyors in the sorting and discharge section 16 can be arbitrarily increased or decreased depending on the number of different grades to be sorted.
[0030] Furthermore, in the example shown in Figure 1, there is a worker near the end of the return section 17, and the worker manually returns the agricultural products C that have been transported by the return section 17 back to the first transport device 11. However, the present invention is not limited to this, and the transport end of the return section 17 may be positioned above the first transport device 11, and the agricultural products C that have been transported by the return section 17 may be dropped back onto the first transport device 11.
[0031] If a worker is positioned near the end of the conveyance section 17 (i.e., upstream of the surface measurement section 14 in the first conveying device 11), this worker may perform visual sorting of the agricultural products in front of the surface measurement section 14. This visual sorting includes manually removing agricultural products C that are poorly shaped, too small, or have scratches or cracks, as substandard products. The worker may also separate and rearrange agricultural products C on the first conveying device 11 when two or more agricultural products C are being conveyed overlapping on the first conveying device 11.
[0032] Next, a specific control method for the sorting device 10 will be described. Figure 4 is a functional block diagram of the sorting device 10. As shown in Figure 4, the control device 18 includes a determination unit 181, a storage unit 182, a matching unit 183, a distance calculation unit 184, and a bucket opening unit (discharge control unit) 185.
[0033] The determination unit 181 determines the grade of agricultural product C based on the image data captured by the surface measurement unit 14. At this time, the grade of agricultural product C is determined by its size, and the grade of agricultural product C is determined by its shape, color, etc. The storage unit 182 stores the image data captured by the surface measurement unit 14 and the determination result (grade) from the determination unit 181, associating them with an ID number assigned to each agricultural product C.
[0034] The matching unit 183 compares the image data captured by the sorting and measuring unit 15 with the image data stored in the storage unit 182 (image data captured by the surface measuring unit 14) and identifies the agricultural product C on the second transport device 12 based on the image characteristics of the agricultural product C. Specifically, if there is a match between one image data from the sorting and measuring unit 15 and multiple image data from the surface measuring unit 14 for a given agricultural product C, the ID number of that agricultural product C can be identified. Furthermore, if the matching of image data by the matching unit 183 is performed by extracting image characteristics from the image data using an image processing program and matching the extracted image characteristics, both accuracy and efficiency of matching can be achieved. In this way, since the matching unit 183 identifies the ID number of the agricultural product C based on the image characteristics of the agricultural product C, it is possible to identify the agricultural product C even if the transport order of the agricultural product C is changed between the surface measuring unit 14 and the sorting and measuring unit 15.
[0035] If the matching unit 183 identifies the ID number of the agricultural product corresponding to the image data taken by the sorting and measuring unit 15, the judgment result (equivalent grade) stored in association with that ID number can also be identified. Once the ID number of the agricultural product C has been identified, the data can be deleted from the storage unit 182 at that point. This prevents the data stored in the storage unit 182 from exceeding its storage capacity.
[0036] In the matching unit 183, if it attempts to match the image data captured by the sorting and measuring unit 15 with all the image data stored in the storage unit 182, the amount of data to be matched may become too large, making it difficult to operate the sorting device 10 efficiently. For this reason, it is preferable for the matching unit 183 to narrow down the number of image data to be matched to a certain extent, and information from the distance calculation unit 184 is used to narrow down the number of image data to be matched. The distance calculation unit 184 calculates the transport distance of the first transport device 11 and the second transport device 12 from encoders provided on each of the first and second transport devices 12.
[0037] For example, when the distance from the surface measurement unit 14 to the sorting measurement unit 15 in the sorting device 10 is L1, if all the agricultural products C with a conveyance distance from the surface measurement unit 14 within L1 are used as the data to be verified by the sorting measurement unit 15, the amount of data to be verified will become too large. Therefore, a distance L2 (<L1) from the surface measurement unit 14 is set, and the agricultural products C within the range where the conveyance distance from the surface measurement unit 14 is L2 or more and L1 or less are used as the data to be verified by the sorting measurement unit 15. Thereby, the data to be verified by the sorting measurement unit 15 can be significantly reduced. For example, if L2 = L1 / 2, the data to be verified can be reduced by half, and if L2 = 2L / 3, the data to be verified can be reduced to 1 / 3. Thus, by tracking the conveyance distance of the agricultural products C, the range of the amount of data to be verified can be made smaller.
[0038] Also, for the conveyance distance L1, a margin α may be set in consideration of the conveyance error in the first conveyance device 11. That is, in the first conveyance device 11 which is a roller conveyor, the relative position of the agricultural product C on the first conveyance device 11 may change due to the rotation of the roller 110, and the actual conveyance distance (actual conveyance distance) of the agricultural product C by the first conveyance device 11 and the conveyance distance (calculated conveyance distance) of the first conveyance device 11 calculated by the distance calculation unit 184 do not always match, and it is preferable to set the margin α. For example, by setting the margin α, the agricultural products C within the range where the conveyance distance from the surface measurement unit 14 is L2 or more and (L1 + α) or less can be used as the data to be verified by the sorting measurement unit 15. The margin α is preferably a negative value when the rotation direction of the roller 110 is the same as the revolution movement direction of the roller 110, and a positive value when the rotation direction of the roller 110 is opposite to the revolution movement direction of the roller 110.
[0039] Also, if the margin α is set to have both positive and negative ranges, the agricultural product C can be identified even when the order of the agricultural products C is switched during conveyance. Note that the switching of the order of the agricultural products C during conveyance is likely to occur when the first conveyance device 11 and the second conveyance device 12 are in a right-angle layout as in the modification example described later.
[0040] Once agricultural product C is identified on the second conveying device 12, sorting is performed according to the grade of agricultural product C. That is, the control device 18 opens the bucket 120 on which the agricultural product C is placed via the bucket opening unit 185 at a predetermined timing. For example, if the identified agricultural product C is of grade "M", the bucket 120 is opened when the agricultural product C passes over the conveyor 16A for sorting grade "M". The timing at which the bucket opening unit 185 opens the bucket 120 can be determined by the transport distance of the second conveying device 12, which is calculated by the distance calculation unit 184 after measurement by the sorting measurement unit 15.
[0041] Furthermore, the matching unit 183 may find that the photographic data from the sorting and measuring unit 15 does not match any of the photographic data stored in the storage unit 182. For example, if two agricultural products C are placed on a single bucket 120, the sorting and measuring unit 15 will acquire photographic data of the two agricultural products C overlapping, but there is no corresponding photographic data from the surface measuring unit 14, and in this case, the ID number of the agricultural product C cannot be identified. In this way, agricultural products C whose ID number cannot be identified in the matching unit 183 are returned to the first transport device 11 by the return unit 17. In addition, if an agricultural product C whose ID number cannot be identified by matching after a predetermined time has elapsed since the photograph was taken by the surface measuring unit 14, its photographic data may be deleted from the storage unit 182.
[0042] Furthermore, in the sorting device 10, control can be performed by a time measurement unit (timer) instead of the distance calculation unit 184. For example, the matching unit 183 may extract the photographic data of agricultural product C from the storage unit 182 after a predetermined time has elapsed since measurement by the surface measurement unit 14, and use it for matching. The predetermined time in this case is based on the transport distance from the surface measurement unit 14 to the sorting measurement unit 15. In addition, the timing of opening the bucket 120 may be determined by measuring the time it takes to reach the corresponding sorting discharge unit 16 (or return unit 17) after measurement by the sorting measurement unit 15.
[0043] As described above, the sorting device 10 according to this embodiment uses a roller conveyor for the first conveying device 11 where the surface measuring unit 14 is located, eliminating the need to directly place individual agricultural products C into buckets or the like at this stage. Furthermore, the transfer of agricultural products C from the first conveying device 11 to the second conveying device 12 is performed automatically by the transfer unit 13. This reduces the effort required to place agricultural products C into the sorting device 10, thereby improving processing efficiency.
[0044] Furthermore, in the sorting device 10 according to this embodiment, the main transport path is broadly divided into two transport devices (first transport device 11 and second transport device 12), which are connected by a transfer section 13. Therefore, by devising a connection between the first transport device 11 and the second transport device 12, it becomes easy to change the layout of the main transport path. This increases the flexibility of the layout of the sorting device 10, making it possible to install the sorting device 10 in facilities where it is difficult to secure a long straight distance.
[0045] Figure 5 shows a modified version of the sorting device 10, in which the first conveying device 11 and the second conveying device 12 are laid out at a right angle when viewed from above. In the sorting device 10 shown in Figure 5, a connecting conveyor (transfer conveying device) 19 is placed between the first conveying device 11 and the second conveying device 12. By changing the conveying direction of the main conveying path with this connecting conveyor 19, the right-angle layout of the first conveying device 11 and the second conveying device 12 is made possible.
[0046] The connecting conveyor 19 transfers agricultural products C between the first conveying device 11 and the second conveying device 12 while changing the direction of transport, and a belt conveyor with a short transport distance can be used. Furthermore, it is preferable that the transport speed of the second conveying device 12 be greater than the transport speed of the connecting conveyor 19. This is because if agricultural products C are transported in contact with each other in the second conveying device 12, the sorting and measuring unit 15 cannot perform image processing using software, and furthermore, accurate separation and sorting in the second conveying device 12 becomes impossible. By increasing the transport speed of the second conveying device 12, an appropriate gap can be made between the agricultural products C being transported in the second conveying device 12. In addition, the return unit 17 may return the agricultural products C to the supply conveyor 20 upstream of the first conveying device 11.
[0047] [Second Embodiment] Figure 6 is a schematic configuration diagram (top view) of the sorting device 10 according to this embodiment. In the following description, components having substantially the same function as those in Embodiment 1 will be referred to by the same reference numerals, and their descriptions will be omitted.
[0048] As shown in Figure 6, the sorting device 10 of this embodiment has an impeller (centering unit) 30 near the downstream end of the first conveying device 11, that is, upstream of the sorting measurement unit 15. The impeller 30 is positioned towards one side in the width direction of the first conveying device 11, and the rotation axis of the impeller 30 is positioned parallel to the conveying direction of the first conveying device 11.
[0049] The impeller 30 centers the agricultural products C being transported by the first conveying device 11 so that they are near the center in the width direction of the first conveying device 11. Figure 7 illustrates the operation of the impeller 30 in centering the agricultural products C. As shown in Figure 7, each blade of the impeller 30 extends radially outward from the central axis (rotation axis) of the impeller 30, and the main surface of each blade is mounted parallel to the rotation axis. The direction of rotation of the impeller 30 is such that the blades on the lower side of the impeller 30 move from the end side in the width direction of the first conveying device 11 toward the center.
[0050] As the impeller 30 rotates, if the agricultural product C being transported by the first conveying device 11 is near the end of the first conveying device 11 in the width direction, the agricultural product C is pushed back towards the center by the blades of the rotating impeller 30, thereby centering the agricultural product C. Furthermore, the impeller 30 described above is capable of effectively centering the agricultural product C being transported by the first conveying device 11, which is a roller conveyor. That is, the agricultural product C being transported by the first conveying device 11 is transported while stuck in the grooves between adjacent rollers 110, and it is easy to apply force to the agricultural product C stuck in these grooves, making centering easier.
[0051] In the sorting device 10 of this embodiment, agricultural products C are centered by the impeller 30 near the downstream end of the first conveying device 11, so that when agricultural products C are transferred from the first conveying device 11 to the second conveying device 12, they can be reliably placed on the bucket 120 of the second conveying device 12. In other words, improper placement of agricultural products C on the bucket 120 can be prevented. Furthermore, by preventing improper placement of agricultural products C on the bucket 120, agricultural products C can be properly positioned for the sorting and measuring unit 15. As a result, measurement errors of agricultural products C in the sorting and measuring unit 15 can also be prevented, and reliable sorting of agricultural products C can be achieved.
[0052] Figures 6 and 7 illustrate a configuration in which one impeller 30 is provided to the first conveying device 11. That is, the impeller 30 is provided on only one side in the width direction of the first conveying device 11. However, the present invention is not limited to this, and as shown in Figure 8, two impellers 30 may be provided to the first conveying device 11. That is, impellers 30 may be provided on both sides in the width direction of the first conveying device 11.
[0053] [Third Embodiment] Figure 9 is a diagram showing the relationship between the direction of movement of the roller 110 in the first conveying device 11 and the direction of rotation of the roller 110 in the sorting device 10 according to this embodiment. In the following description, components having substantially the same function as those in Embodiment 1 will be referred to by the same reference numerals, and their descriptions will be omitted.
[0054] As described in the first embodiment, the first conveying device 11 is a roller conveyor in which a large number of rollers 110 are connected, and all rollers 110 revolve around an orbit, while each roller 110 also rotates on its own axis. In this embodiment, the direction of rotation of the rollers 110 is the same as the direction of revolving movement of the rollers 110.
[0055] The rotation of the roller 110 is performed to rotate the agricultural product C itself on the first conveying device 11. If the direction of rotation of the roller 110 is the same as the direction of the roller 110's revolution, then the direction of rotation of the agricultural product C will be opposite to the direction of the roller 110's revolution. In this case, as shown in Figure 9, if the surface measurement unit 14 takes a picture of the agricultural product C from above, then the direction of the peripheral velocity of the portion of the agricultural product C photographed by the surface measurement unit 14 (the upper surface side of the agricultural product C) (leftward in Figure 9) will be opposite to the direction of movement of the roller 110 on which the agricultural product C is placed (rightward in Figure 9). As a result, in the portion of the agricultural product C photographed, the peripheral velocity of the agricultural product C acts to cancel out the movement speed of the roller 110, and the relative velocity of the agricultural product C with respect to the surface measurement unit 14 decreases.
[0056] In the sorting device 10 of this embodiment, the accuracy of the surface measurement unit 14 in photographing the agricultural product C can be improved by reducing the relative speed of the agricultural product C with respect to the surface measurement unit 14.
[0057] The embodiments disclosed herein are illustrative in all respects and are not intended to be restrictive. Therefore, the technical scope of the present invention is not construed solely by the embodiments described above, but is defined by the claims. This includes all modifications within the meaning and scope of the equivalents of the claims.
[0058] For example, the sorting device 10 according to this embodiment is used for sorting agricultural products according to their grade, but the present invention is not limited to this. The sorting device according to the present invention can also be used for applications such as determining shape defects in industrial products and sorting them into good and defective products. Furthermore, although the sorting device 10 in Figure 1 is illustrated with a configuration of one main transport path, it may also be configured to include two or more main transport paths. [Explanation of Symbols]
[0059] 10 Sorting device 11. First conveying device 110 Laura 12. Second conveying device 120 buckets 13. Transfer section (transfer conveying device) 14-sided measuring section 15. Sorting and Measurement Section 16 Sorting and Discharge Section 16A~16C Conveyor 17. Return section (return transport device) 18 Control device 181 Judgment Department 182 Storage section 183 Verification Unit 184 Distance calculation section 185 Bucket opening section (discharge control section) 19. Connecting conveyor (transfer conveying device) 30 Impeller (centering section)
Claims
1. A sorting device that sorts while transporting the items to be sorted, A first conveying device that conveys the sorted items while rotating them, A second conveying device is positioned downstream of the first conveying device and is capable of sorting and discharging the items to be conveyed at any position. A surface measurement unit is installed in the transport area of the first transport device and photographs the object to be sorted from multiple directions as it is transported while rotating. A sorting and measuring unit is installed in the transport area of the second transport device and photographs the items to be sorted as they are being transported. A determination unit that determines the sorted object based on the image data captured by the surface measurement unit, A storage unit that stores the image data obtained by the determination unit and the determination result obtained by the determination unit in association, A comparison unit compares the image data captured by the sorting and measuring unit with the image data stored in the storage unit to identify the object to be sorted on the second transport device, A sorting apparatus characterized by comprising a discharge control unit that sorts and discharges the sorted items identified by the matching unit from the second conveying device at a position corresponding to the determination result by the determination unit.
2. A sorting apparatus according to claim 1, A sorting apparatus characterized by having a transfer conveying device between the first conveying device and the second conveying device, which transfers the objects to be sorted between the first conveying device and the second conveying device, which have different conveying pitches.
3. A sorting apparatus according to claim 1 or 2, The second conveying device is a bucket conveyor in which a large number of buckets are connected, The sorting device is characterized in that the bucket opens its bottom at any point and drops the placed items to be sorted downwards to sort and discharge them.
4. A sorting apparatus according to claim 1 or 2, A sorting apparatus characterized by comprising a return transport device that returns and transports sorted items that were not identified by the matching unit to the upstream side of the surface measurement unit in the first transport device.
5. A sorting apparatus according to claim 1 or 2, A sorting apparatus characterized by having a centering section near the downstream end of the first conveying apparatus that aligns the objects to be sorted to the center in the width direction of the first conveying apparatus.
6. A sorting apparatus according to claim 5, The sorting device is characterized in that the centering section is positioned towards one side in the width direction of the first conveying device and is an impeller having a rotation axis parallel to the conveying direction of the first conveying device.
7. A sorting apparatus according to claim 1 or 2, The first conveying device is a roller conveyor comprising a large number of connected rollers, in which all the rollers revolve around an orbit and each roller rotates on its own axis. A sorting device characterized in that the direction of rotation of the roller is the same as the direction of revolution of the roller.