Tofu production system and recording medium

Abstract

A tofu production system (1) comprises: a coagulation device (5) to which soy milk is supplied from a soy milk tank (3) and to which a coagulant is supplied from a coagulant tank (4), and which coagulates the soy milk using the coagulant to produce a soy milk coagulum; a measurement device (13) that measures the hardness of the soy milk coagulum that was coagulated in the coagulation device (5); and a control device (14) that, on the basis of the result of measuring the hardness of the soy milk coagulum, adjusts the supply amount of at least one of the soy milk and the coagulant supplied to the coagulation device (5).

Description

Soybean curd manufacturing system and recording medium

[0001] (Cross-reference to related applications) This application claims the benefit of the priority of Japanese Patent Application No. 2024-158016 filed on September 12, 2024, and the entire specification of the said application is incorporated herein by reference. (Technical field) The present disclosure relates to a soybean curd manufacturing system and a recording medium.

[0002] Soybean curd is manufactured using soy milk made from soybeans.

[0003] For example, in Patent Document 1, it is described that soybean curd is manufactured by performing processes such as coagulation, pressing, and molding on soy milk obtained from soybeans.

[0004] Japanese Patent No. 6672324

[0005] Since soybeans are natural products, their quality varies depending on weather conditions and growth status. Therefore, it is considered difficult to maintain a constant quality of soybean curd manufactured from soybeans (soy milk). For example, even if a predetermined amount of coagulant is added to soy milk, the hardness of the manufactured soybean curd does not always remain the same, and variations occur. In order to solve this problem, it is conceivable to measure an index contributing to hardness during the manufacturing process. For example, it is conceivable for an operator to check samples during the manufacturing process, but this has not been done because it is difficult to stabilize the quality of hardness due to relying on the operator's sense, and instead the process becomes complicated. Thus, there is also a food loss problem of discarding soybean curd when its hardness does not meet a certain quality.

[0006] In view of the above problems, an object of the present disclosure is to provide a soybean curd manufacturing system and a recording medium capable of improving the stability of the quality of the manufactured soybean curd.

[0007] To solve the above problems, the tofu manufacturing system of the first embodiment of the present disclosure comprises: a coagulation device that receives soy milk and a coagulant and coagulates the soy milk to produce a soy milk coagulation; a measuring device that measures the hardness of the soy milk coagulation produced in the coagulation device; and a control device that adjusts the supply amount of at least one of the soy milk and the coagulant supplied to the coagulation device based on the measurement result of the hardness of the soy milk coagulation.

[0008] Furthermore, the tofu manufacturing system of the second embodiment of the present disclosure, with respect to the first embodiment, measures the hardness of the soy milk coagulation after the soy milk and the coagulant have been supplied to the coagulation bucket of the coagulation device, and before the soy milk coagulation solidified in the coagulation bucket is stirred.

[0009] Furthermore, the tofu manufacturing system of the third embodiment of the present disclosure relates to the second embodiment, wherein the measuring device measures the hardness of the soy milk coagulation after a predetermined time has elapsed since the soy milk and the coagulant were supplied to the coagulation bucket.

[0010] Furthermore, the tofu manufacturing system of the fourth aspect of the present disclosure, relating to the first to third aspects, includes a control device that compares the measurement result of the hardness of the soy milk coagulation with a target hardness of the soy milk coagulation, and adjusts the supply amount of at least one of the soy milk and the coagulant so that the hardness of the soy milk coagulation approaches the target.

[0011] Furthermore, the tofu manufacturing system of the fifth aspect of the present disclosure, with respect to the fourth aspect, the control device reduces the supply amount of the coagulant when the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target, and increases the supply amount of the coagulant when the measurement result of the hardness of the soy milk coagulation indicates that it is softer than the target.

[0012] Furthermore, the tofu manufacturing system of the sixth aspect of the present disclosure, relating to the first to third aspects, further comprises a sensor for measuring the position of the soy milk solidified in the solidification device, wherein the measuring device adjusts the position of its tip based on the measurement result of the sensor and measures the hardness by bringing the tip into contact with the soy milk solidified.

[0013] Furthermore, the tofu manufacturing system of the seventh embodiment of the present disclosure relates to the sixth embodiment, and the measuring device has an electric actuator that adjusts the position of the tip.

[0014] Furthermore, the tofu manufacturing system of the eighth aspect of the present disclosure, with respect to the first to third aspects, further comprises a first supply device for supplying the soy milk to the coagulation device and a second supply device for supplying the coagulant to the coagulation device, wherein the control device controls at least one of the first supply device and the second supply device.

[0015] Furthermore, the tofu manufacturing system of the ninth embodiment of the present disclosure further comprises, with respect to the first to third embodiments, a molding apparatus for producing tofu by pressing and molding the soy milk coagulation produced in the coagulation apparatus.

[0016] Furthermore, the tenth embodiment of the present disclosure is a computer-readable recording medium for recording a tofu manufacturing program, wherein the tofu manufacturing program causes the computer to function as an acquisition unit for acquiring measurement results of the hardness of soy milk coagulation produced by soy milk and a coagulant in a coagulation device, and an adjustment unit for adjusting the supply amount of at least one of the soy milk and the coagulant supplied to the coagulation device based on the measurement results of the hardness of the soy milk coagulation.

[0017] The tofu manufacturing system and recording medium described herein can improve the stability of the quality of the tofu produced.

[0018] This is a schematic diagram showing an example of the overall configuration of a tofu manufacturing system according to the first embodiment of this disclosure. This is a diagram showing an example of coagulation in the coagulation device 5. This is a diagram showing an example of the specific configuration of the measuring device. This is a schematic diagram showing an example of the hardware configuration of the control device. This is a block diagram showing an example of various functions in the control device. This is a flowchart showing an example of the processing flow of the control device. This is a flowchart showing an example of the measurement flow by the measuring device.

[0019] Embodiments of this disclosure will be described below with reference to the attached drawings. In order to facilitate understanding of the explanation, the same reference numerals will be used for the same components in each drawing as much as possible, and redundant explanations will be omitted as appropriate.

[0020] ≪Configuration of the Tofu Manufacturing System≫ Figure 1 is a diagram showing an example of a schematic overall configuration of the tofu manufacturing system 1 according to the embodiment of this disclosure. The tofu manufacturing system 1 is a device that produces tofu by processing soy milk obtained from soybeans. Tofu refers to, for example, silken tofu, firm tofu, soft tofu, farm tofu, packaged tofu, etc.

[0021] The tofu manufacturing system 1 mainly comprises a soy milk tank 3, a coagulant tank 4, a soy milk supply device 3a, a coagulant supply device 4a, a coagulation device 5, a molding device 6, a cutting device 7, a container filling device 8, a sealing device 9, a sterilization device 10, a measuring device 13, and a control device 14. Note that the above configuration of the tofu manufacturing system 1 is just one example.

[0022] Soy milk tank 3 is a device for storing soy milk. Soy milk is produced from soybeans and supplied to soy milk tank 3. For example, soybeans soaked in water in a soaking tank are supplied to a grinder along with grinding water. The soybeans are then crushed in the grinder and supplied as raw soy milk to a raw soy milk hopper. The raw soy milk is heated in a cooking device from the raw soy milk hopper to become boiled soy milk, and then separated into soy milk and okara (soy pulp) in a press. The soy milk produced in this way is stored in soy milk tank 3.

[0023] The coagulant tank 4 is a device for storing coagulants. Coagulants include clear water (calcium sulfate), bittern (magnesium chloride), calcium chloride, glucono delta-lactone, etc.

[0024] The soy milk supply device 3a is the first supply device that supplies soy milk from the soy milk tank 3 to the coagulation device 5. Specifically, the soy milk supply device 3a supplies soy milk to the coagulation bucket 15, which will be described later. The amount of soy milk supplied is adjusted by the control device 14, which will be described later.

[0025] The coagulant supply device 4a is a second supply device that supplies coagulant from the coagulant tank 4 to the coagulation device 5. Specifically, the coagulant supply device 4a supplies coagulant to the coagulation bucket 15, which will be described later. The amount of coagulant supplied is adjusted by the control device 14, which will be described later.

[0026] The coagulation device 5 is a device that receives soy milk and a coagulant and coagulates the soy milk to produce a soy milk solid. Figure 2 is a diagram showing an example of coagulation in the coagulation device 5. As shown in Figure 2, the coagulation device 5 has a coagulation bucket 15 into which soy milk and a coagulant are put. The coagulation device 5 mixes the soy milk and coagulant supplied to the coagulation bucket 15. The coagulation device 5 then performs primary coagulation of the soy milk. For example, the coagulation device 5 puts soy milk and a coagulant into the coagulation bucket 15 (or mixes soy milk and a coagulant together) and then allows a predetermined time to pass, thereby coagulating the soy milk (primary coagulation). In this way, the coagulation device 5 performs primary coagulation of soy milk with a coagulant in the coagulation bucket 15 to produce a soy milk solid. The coagulation device 5 then stirs and breaks up the soy milk solid in the coagulation bucket 15. The broken-up soy milk solid is then supplied to the molding device 6. The coagulation bucket 15 is, for example, washed after it has been emptied, and then soy milk and coagulant are supplied again to produce soy milk coagulation. It is preferable that the coagulation device 5 has multiple coagulation buckets 15, and that soy milk coagulation is produced sequentially using each of the multiple coagulation buckets 15.

[0027] Returning to Figure 1, the molding device 6 is a device that manufactures tofu by pressing and molding the crumbled soy milk coagulation. In this embodiment, the case where the molding device 6 is a continuous molding machine will be described as an example. The molding device 6 squeezes out the water from the soy milk coagulation supplied from the coagulation device 5 by pressing it. Then, the molding device 6 molds the soy milk coagulation into a predetermined shape. For example, in the molding device 6, the soy milk coagulation is supplied between cloth belts arranged in the vertical direction, and is pressed and molded by the pressure applied in the vertical direction, continuously producing sheet-like tofu.

[0028] In the above example, the molding device 6 was described as a continuous molding machine, but it is not limited to a continuous type. For example, the molding device 6 may be one in which soy milk coagulation is supplied to a mold box, and pressure is applied to compress and mold it. In such a case, the soy milk coagulation is molded to the shape of the mold box to become tofu.

[0029] The cutting device 7 is supplied with sheet-shaped tofu formed by the molding device 6, and cuts the sheet-shaped tofu into predetermined sizes. The cutting device 7 cuts the tofu into pieces the size of one block, for example. For example, the cutting device 7 cuts the sheet-shaped tofu in the longitudinal and width directions, so that the tofu after cutting has predetermined lengths in both the longitudinal and width directions.

[0030] The container filling device 8 fills the cut tofu into containers (packs). For example, the container is filled with water, and the cut tofu is placed into the container.

[0031] The sealing device 9 is a device that seals the tofu placed in a container. Specifically, the container containing the tofu is filled with water, and a film is sealed over it. This seals the tofu inside the container. Although the above example illustrates sealing with a film, the method by which the tofu seals the container is not limited.

[0032] The sterilization device 10 sterilizes the sealed tofu by heating it. For example, the sterilization device 10 sterilizes the tofu by passing the container with the tofu into boiling water for a predetermined time. After heating, the sterilization device 10 cools the tofu.

[0033] This is how tofu is manufactured and shipped as a product.

[0034] The measuring device 13 is a device for measuring the hardness of the soy milk coagulation that has been solidified in the coagulation device 5. Specifically, as shown in Figure 2, the measuring device 13 measures the hardness (degree of soy milk coagulation) of the soy milk coagulation that has been primarily solidified in the coagulation bucket 15.

[0035] The measuring device 13 measures the hardness of the soy milk coagulation after the soy milk and coagulant have been supplied to the coagulation bucket 15 of the coagulation device 5. Specifically, the measuring device 13 measures the hardness of the soy milk coagulation after a predetermined time has elapsed since the soy milk and coagulant were supplied to the coagulation bucket 15. In other words, the measuring device 13 measures the hardness of the soy milk coagulation after the completion of the primary coagulation of the soy milk. The predetermined time is set in advance so that measurement can be performed after the completion of the primary coagulation.

[0036] Furthermore, the measuring device 13 measures the hardness of the soy milk coagulation before it is stirred in the coagulation bucket 15. In other words, the hardness is measured for the soy milk coagulation before it has been partially coagulated and broken down by stirring.

[0037] The timing of the hardness measurement by the measuring device 13 is controlled, for example, by the control device 14, which will be described later.

[0038] Figure 3 shows an example of the specific configuration of the measuring device 13. As shown in Figure 3, the measuring device 13 is installed on top of the solidification bucket 15. The measuring device 13 comprises a drive unit 31 and a sensor unit 32.

[0039] The drive unit 31 is a device that moves the position of the sensor unit 32 relative to the solidification bucket 15 (soy milk solidified product). For example, the drive unit 31 has a first air cylinder 34, an electric actuator 35, and a second air cylinder 36.

[0040] The first air cylinder 34 moves the tip 38 of the sensor unit 32 to the inside of the solidification bucket 15 when taking measurements. The first air cylinder 34 also moves the tip 38 of the sensor unit 32 to the outside of the solidification bucket 15 after taking measurements, etc. For example, when cleaning the solidification bucket 15, the first air cylinder 34 moves the tip 38 of the sensor unit 32 to the outside of the solidification bucket 15.

[0041] The electric actuator 35 moves the tip 38 of the sensor unit 32 to the vicinity of the surface of the first solidified soy milk solid. For this purpose, as shown in Figure 3, a sensor 37 is provided on the upper part of the solidification bucket 15 in correspondence with the measuring device 13. The sensor 37 measures the position (P1 in Figure 3) of the soy milk solidified in the solidification device 5. The sensor 37 is, for example, a displacement sensor. Specifically, the sensor 37 measures the position (height) of the surface of the first solidified soy milk solid in the solidification bucket 15. For example, the position of the surface of the soy milk solid is determined as a relative position to the sensor 37. The surface position of the soy milk solid may fluctuate due to variations in the amount of soy milk supplied, for example, but the surface position of the soy milk solid is measured by the sensor 37 for each of the first solidified soy milk solids. The electric actuator 35 moves the tip 38 of the sensor unit 32 to a position a predetermined distance away from the surface position of the soy milk solid identified by the sensor 37 (a position a predetermined distance above the surface). Since the sensor 37 identifies the surface position of the soy milk solidified material, the tip 38 is moved accurately to the vicinity of the soy milk solidified material's surface. Furthermore, because there may be variations in the height of each of the multiple solidification buckets 15, the combination of the sensor 37 and the electric actuator 35 can accommodate equipment variations.

[0042] The second air cylinder 36 moves the tip 38 of the sensor unit 32 from the position moved by the electric actuator 35 (on the outside of the soy milk solidification) to the inside of the soy milk solidification. In other words, the second air cylinder 36 causes the tip 38 of the sensor unit 32 to penetrate the surface of the soy milk solidification. For example, the second air cylinder 36 moves the tip 38 at a low speed to penetrate the soy milk solidification.

[0043] In the above example, the case where the drive unit 31 is composed of the first air cylinder 34, the electric actuator 35, and the second air cylinder 36 was described as an example, but it is not limited to the above. That is, in the drive unit 31, the configuration may be omitted or other configurations may be added. Also, the driving method such as an air cylinder or an electric actuator is not limited to the above, and it is also possible to apply a device using another driving method. Further, the first air cylinder 34, the electric actuator 35, the second air cylinder 36, the sensor 37, the sensor unit 32, etc. constituting the drive unit 31 are preferably dust-proof and drip-proof.

[0044] The sensor unit 32 is a device for measuring the hardness of the soymilk coagulum. The sensor unit 32 is, for example, a force gauge. Note that as long as the hardness of the soymilk coagulum can be measured, the hardness measurement method is not limited. The sensor unit 32 has a tip 38 provided at its end. The tip 38 is, for example, a plunger. The tip 38 is, for example, disc-shaped or conical in shape.

[0045] For example, the hardness of the soymilk coagulum is measured by the force required when the tip 38 penetrates the surface of the soymilk coagulum. In other words, the hardness of the soymilk coagulum is measured by the repulsive force of the soymilk coagulum against the contacting tip 38. Specifically, the tip 38 is moved by the second air cylinder, and the hardness of the soymilk coagulum is measured when the tip 38 penetrates the surface of the soymilk coagulum.

[0046] As described above, the measuring device 13 adjusts the position of the tip 38 based on the measurement result by the sensor 37, and brings the tip 38 into contact with the soymilk coagulum to measure the hardness.

[0047] The control device 14 is an information processing device (computer) that executes various processes based on the measurement results of the measuring device 13. Specifically, the control device 14 adjusts the supply amount of at least one of the soymilk and the coagulant supplied to the coagulation device 5 based on the measurement result of the hardness of the soymilk coagulum. That is, the control device 14 controls at least one of the soymilk supply device 3a and the coagulant supply device 4a. The control device 14 performs feedback control using the measurement result of the hardness of the soymilk coagulum.

[0048] <<Hardware Configuration>> Figure 4 is a diagram schematically showing an example of the hardware configuration of the control device 14.

[0049] As shown in Figure 4, the control device 14 includes a control unit 20, a communication unit 21, a storage unit 22, an operation unit 23, and a display unit 24. The control unit 20 is mainly composed of a CPU (Central Processing Unit) 25 and a memory 26.

[0050] In the control unit 20, the CPU (Central Processing Unit) 25, as an example of a processor, executes a predetermined program stored in the memory 26 or the storage unit 22 or the like, and functions as various functional means.

[0051] The communication unit 21 is composed of a communication interface or the like for communicating with an external device.

[0052] The storage unit 22 is composed of a hard disk or the like. The storage unit 22 stores various programs, various information, and information on processing results necessary for the execution of processing in the control unit 20. The storage unit 22 is an example of a non-temporary computer-readable instruction recording medium.

[0053] The operation unit 23 is a device for performing operations on the control device 14, and is, for example, a keyboard, a mouse, a touch panel, or the like.

[0054] The display unit 24 is a device for displaying various information, processing results, and the like, and is, for example, a display, a touch panel, or the like.

[0055] Note that the control device 14 can be realized by using an information processing device such as a dedicated or general-purpose computer. Also, the control device 14 may be composed of a single information processing device or may be composed of a plurality of information processing devices. Also, Figure 4 only shows a part of the main hardware configuration of the control device 14, and the control device 14 can have other configurations. Also, for example, some configurations such as the operation unit 23 and the display unit 24 may be omitted.

[0056] <<Functional Configuration>> Figure 5 is a block diagram showing an example of various functions in the control device 14.

[0057] The control device 14 includes an acquisition unit 40, an adjustment unit 41, and an output unit 42. These functions are realized by the CPU 25 executing a program (tofu manufacturing program) stored in, for example, a memory unit 22.

[0058] The acquisition unit 40 acquires the measurement results from the measuring device 13. The acquisition unit 40 acquires the measurement results of the hardness of the soy milk coagulation produced by soy milk and coagulant in the coagulation device 5 from the measuring device 13.

[0059] The acquisition unit 40 controls the measuring device 13. Specifically, the acquisition unit 40 determines the measurement timing and causes the measuring device 13 to start measuring, thereby acquiring the hardness measurement result. For example, the acquisition unit 40 determines whether a predetermined time (before the soy milk coagulation is broken down by stirring) has elapsed since the soy milk and coagulant were supplied to the coagulation bucket 15. Then, if the acquisition unit 40 determines that the predetermined time has elapsed, it starts measuring the hardness of the soy milk coagulation. This allows the acquisition of the measurement result of the hardness of the first-coagulated soy milk coagulation (before the soy milk coagulation is broken down by stirring).

[0060] The adjustment unit 41 adjusts the amount of soy milk and coagulant supplied to the coagulation device 5. Reference values ​​are set for the amount of soy milk and coagulant supplied. These reference values ​​are, for example, initial values ​​for the amount of soy milk and coagulant supplied, which are set in advance to correspond to the target hardness of the soy milk coagulation. The adjustment unit 41 adjusts the supply amount relative to these reference values. Specifically, the adjustment unit 41 makes adjustments based on the measurement results of the hardness of the soy milk coagulation.

[0061] In this embodiment, one example described is when the adjustment unit 41 adjusts the supply amount of coagulant based on the measurement result of the hardness of the soy milk coagulation. In this case, the adjustment unit 41 sets the supply amount of soy milk according to a reference value. That is, the supply amount of soy milk does not change according to the measurement result of the hardness of the soy milk coagulation, while the supply amount of coagulant changes according to the measurement result of the hardness of the soy milk coagulation. Through adjustment by the adjustment unit 41, the ratio of the supply amount of coagulant to the supply amount of soy milk (coagulant concentration) changes according to the measurement result of the hardness of the soy milk coagulation.

[0062] Specifically, the adjustment unit 41 compares the measurement result of the hardness of the soy milk coagulation with the target hardness of the soy milk coagulation. The target hardness of the soy milk coagulation is referred to as the "target hardness." The target hardness is predetermined as a numerical value or numerical range, for example, corresponding to the hardness index used for measurement. The adjustment unit 41 then adjusts the amount of coagulant supplied so that the hardness of the soy milk coagulation approaches the target hardness.

[0063] The adjustment unit 41 reduces the supply amount of coagulant when the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target hardness. For example, the adjustment unit 41 sets the adjustment amount (reduction amount) of the coagulant supply amount according to the difference between the measurement result of the hardness of the soy milk coagulation and the target hardness. The adjustment amount may be set as a predetermined value. The adjustment unit 41 then subtracts the adjustment amount from the standard value of the coagulant supply amount to determine the amount of coagulant to supply. In other words, if the hardness of the manufactured soy milk coagulation is harder than the target hardness, the adjustment unit 41 reduces the ratio of the coagulant supply amount to the soy milk supply amount. This causes the hardness of the soy milk coagulation to change in the direction of becoming softer.

[0064] Furthermore, the adjustment unit 41 increases the supply amount of coagulant if the measurement result of the hardness of the soy milk coagulation indicates that it is softer than the target hardness. For example, the adjustment unit 41 sets the adjustment amount (increase amount) of the coagulant supply amount according to the difference between the measurement result of the hardness of the soy milk coagulation and the target hardness. The adjustment amount may be set as a predetermined value. The adjustment unit 41 then adds the adjustment amount to the standard value of the coagulant supply amount to determine the amount of coagulant to supply. In other words, if the hardness of the manufactured soy milk coagulation is softer than the target hardness, the adjustment unit 41 increases the ratio of the coagulant supply amount to the soy milk supply amount. This causes the hardness of the soy milk coagulation to change in the direction of becoming harder.

[0065] In this way, the determination unit receives feedback on the consistency of the soy milk coagulation (measurement result) and adjusts the supply state of soy milk and coagulant. In the above example, the case in which the supply amount is adjusted relative to the reference value (initial value) was illustrated, but when adjusting the supply amount for the second time or later, the previous supply amount (for example, the adjusted supply amount) may be used as the reference value.

[0066] The output unit 42 outputs the amount of soy milk to be supplied and the amount of coagulant to be supplied, as determined by the adjustment unit 41. Specifically, the output unit 42 outputs the amount of soy milk to be supplied, as determined by the adjustment unit 41, to the soy milk supply device 3a. As a result, the soy milk supply device 3a supplies soy milk to the coagulation device 5 according to the amount of soy milk to be supplied, as determined by the adjustment unit 41. The output unit 42 also outputs the amount of coagulant to be supplied, as determined by the adjustment unit 41, to the coagulant supply device 4a. As a result, the coagulant supply device 4a supplies coagulant to the coagulation device 5 according to the amount of coagulant to be supplied, as determined by the adjustment unit 41. This reflects the feedback control.

[0067] <Processing Flow> Figure 6 is a flowchart showing an example of the processing flow of the control device 14 according to this embodiment. Each of the following steps is repeatedly executed at a predetermined control cycle, for example, when tofu is being manufactured in the tofu manufacturing system 1. The order and content of each of the following steps can be changed as appropriate.

[0068] (Step SP10) The acquisition unit 40 determines whether it is time to measure the hardness of the soy milk coagulation. If it is time to measure the hardness of the soy milk coagulation, the process proceeds to step SP11. If it is not time to measure the hardness of the soy milk coagulation, the process repeats step SP10.

[0069] (Step SP11) The acquisition unit 40 starts measuring the hardness of the soy milk coagulation and acquires the measurement result of the hardness of the soy milk coagulation. Then the process moves on to step SP12.

[0070] (Step SP12) The adjustment unit 41 determines whether the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target hardness. If the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target hardness, the process proceeds to step SP13. If the measurement result of the hardness of the soy milk coagulation does not indicate that it is harder than the target hardness (indicates that it is soft), the process proceeds to step SP14.

[0071] (Step SP13) The adjustment unit 41 sets the adjustment amount (reduction amount) for the supply amount of the coagulant. Then the process moves on to step SP15.

[0072] (Step SP14) The adjustment unit 41 sets the adjustment amount (increase amount) for the supply of the coagulant. Then the process moves on to step SP15.

[0073] (Step SP15) The adjustment unit 41 adjusts the supply amount of coagulant according to the set adjustment amount. For example, the adjustment unit 41 determines the supply amount of coagulant by subtracting the adjustment amount (decrease amount) from the standard value of the supply amount of coagulant, or by adding the adjustment amount (increase amount) to the standard value. The adjustment unit 41 also sets the supply amount of soy milk according to the standard value. Then the process moves on to step SP16.

[0074] (Step SP16) The output unit 42 outputs the amount of soy milk to be supplied and the amount of coagulant to be supplied, determined by the adjustment unit 41, to the soy milk supply device 3a and the coagulant supply device 4a, respectively.

[0075] In this way, the control device 14 measures the hardness of the soy milk coagulation and performs feedback control.

[0076] Figure 7 is a flowchart showing an example of the measurement flow using the measuring device 13 according to this embodiment. Each of the following steps is started when measuring the hardness of the soy milk coagulation. Note that the order and content of each of the following steps can be changed as appropriate.

[0077] (Step SP20) The sensor 37 measures the position (height) of the surface of the soy milk coagulation that has been first coagulated in the coagulation bucket 15. Then the process moves on to step SP21.

[0078] (Step SP21) The electric actuator 35 uses the position of the soy milk coagulation surface measured by the sensor 37 to move the tip 38 of the sensor unit 32 to the vicinity of the soy milk coagulation surface. Then the step proceeds to step SP22.

[0079] (Step SP22) The second air cylinder 36 moves the tip 38 of the sensor unit 32 to the inside of the soy milk solid. For example, the second air cylinder 36 moves the tip 38 of the sensor unit 32 at a constant speed, and the sensor unit 32 measures the hardness of the soy milk solid. Then the step moves on to step SP23.

[0080] (Step SP23) Once the measurement is complete, the electric actuator 35 and the second air cylinder 36 return the tip 38 of the sensor unit 32 to its original position. For example, the tip 38 of the sensor unit 32 is returned to the position it was in before step SP21. Then the process moves on to step SP24.

[0081] (Step SP24) The tip 38 of the sensor unit 32 is cleaned. For example, any soy milk solids adhering to the tip 38 are washed with water or the like. The step is then completed, and if the hardness of the soy milk solids is to be measured again, the process is executed from step SP20.

[0082] <Effects> In this embodiment, the tofu manufacturing system 1 comprises a coagulation device 5 to which soy milk and a coagulant are supplied and which coagulates the soy milk to produce a soy milk coagulation product; a measuring device 13 for measuring the hardness of the soy milk coagulation product coagulated in the coagulation device 5; and a control device 14 that adjusts the supply amount of at least one of the soy milk and coagulant supplied to the coagulation device 5 based on the measurement result of the hardness of the soy milk coagulation product.

[0083] This configuration allows for the measurement of hardness and adjustment of the supply of soy milk and coagulant, thereby improving the stability of the tofu's quality (hardness). In particular, since the hardness of the soy milk coagulation correlates with the hardness of the tofu produced, using the measurement results of the soy milk coagulation hardness can effectively improve the stability of the tofu's hardness. Furthermore, by measuring and feeding back the hardness of the soy milk coagulation, changes in hardness can be quickly reflected in the feedback control, enabling efficient improvement of quality (hardness) stability. As a result, the quality (hardness) of the tofu is stabilized, and food waste can be reduced.

[0084] Furthermore, in the tofu manufacturing system 1, the measuring device 13 measures the hardness of the soy milk coagulation after the soy milk and coagulant have been supplied to the coagulation bucket 15 of the coagulation device 5, and before the soy milk coagulation formed in the coagulation bucket 15 is stirred.

[0085] This configuration allows for accurate measurement of the hardness of the soy milk coagulation by taking measurements before the coagulated soy milk coagulation breaks down. Furthermore, since the hardness of the soy milk coagulation before it breaks down is strongly correlated with the hardness of the tofu produced, quality can be effectively stabilized by using feedback control based on the measurement results of the hardness of the soy milk coagulation before it breaks down.

[0086] Furthermore, in the tofu manufacturing system 1, the measuring device 13 measures the hardness of the soy milk coagulation after a predetermined time has elapsed since the soy milk and coagulant were supplied to the coagulation bucket 15.

[0087] With this configuration, the hardness of the primary-coagulated soy milk product can be measured by taking the measurement after a predetermined time has elapsed since the supply of soy milk and coagulant.

[0088] Furthermore, in the tofu manufacturing system 1, the control device 14 compares the measurement result of the hardness of the soy milk coagulation with the target hardness of the soy milk coagulation, and adjusts the supply amount of at least one of the soy milk and coagulant so that the hardness of the soy milk coagulation approaches the target.

[0089] With this configuration, the hardness of the soy milk coagulation can be stabilized by feedback control using the measurement results of the soy milk coagulation.

[0090] Furthermore, in the tofu manufacturing system 1, the control device 14 reduces the amount of coagulant supplied when the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target, and increases the amount of coagulant supplied when the measurement result of the hardness of the soy milk coagulation indicates that it is softer than the target.

[0091] With this configuration, the firmness of the soy milk coagulation (tofu firmness) can be appropriately adjusted by increasing or decreasing the amount of coagulant.

[0092] Furthermore, the tofu manufacturing system 1 is further equipped with a sensor 37 that measures the position of the soy milk solidified in the coagulation device 5, and the measuring device 13 adjusts the position of its tip 38 based on the measurement result of the sensor 37, and measures the hardness by bringing the tip 38 into contact with the soy milk solidified.

[0093] With this configuration, the position of the tip 38 can be precisely adjusted by measuring the position of the soy milk coagulation. Furthermore, knowing the position of the soy milk coagulation makes it possible to shorten the measurement time.

[0094] Furthermore, in the tofu manufacturing system 1, the measuring device 13 has an electric actuator 35 that adjusts the position of the tip portion 38.

[0095] With this configuration, the position of the tip portion 38 can be adjusted with high precision by using the electric actuator 35.

[0096] Furthermore, the tofu manufacturing system 1 further includes a soy milk supply device 3a that supplies soy milk to the coagulation device 5, and a coagulant supply device 4a that supplies a coagulant to the coagulation device 5, and the control device 14 controls at least one of the soy milk supply device 3a and the coagulant supply device 4a.

[0097] This configuration allows for adjustment of the supply of soy milk and coagulant.

[0098] Furthermore, the tofu manufacturing system 1 further includes a molding device 6 that compresses and molds the soy milk coagulation produced in the coagulation device 5 to produce tofu.

[0099] This configuration allows for the production of tofu using soy milk coagulation whose hardness has been adjusted by feedback control.

[0100] ===Modifications=== Note that this disclosure is not limited to the embodiments described above. That is, any design modifications made to the above-described examples by those skilled in the art are also included within the scope of this disclosure, as long as they retain the features of this disclosure. Furthermore, the elements of the above embodiments and the modifications described below can be combined to the extent that it is technically possible, and any combination thereof is also included within the scope of this disclosure, as long as it retains the features of this disclosure.

[0101] Furthermore, in the above embodiment, the measuring device 13 was described as measuring the hardness of the soy milk coagulation after a predetermined time has elapsed since the supply of soy milk and coagulant to the coagulation bucket 15 (before the soy milk coagulation is broken down by stirring). The method for determining the timing of hardness measurement is not limited to the above. For example, the state of the soy milk coagulation in the coagulation bucket 15 may be detected by a sensor or the like. That is, the hardness may be measured after the sensor or the like detects that primary coagulation is complete (before the soy milk coagulation is broken down by stirring).

[0102] Furthermore, in the above embodiment, the measuring device 13 measured the hardness of the soy milk coagulation by penetrating the surface of the soy milk coagulation with its tip 38. In this case, the measuring device 13 may perform measurements at multiple locations on the surface of the soy milk coagulation. For example, the hardness of the soy milk coagulation may be derived by integrating the results of the hardness measurements at multiple locations. For example, the average value of the hardness measurement results at multiple locations may be used as the measurement result for the hardness of the soy milk coagulation.

[0103] Furthermore, in the above embodiment, the adjustment unit 41 sets the supply amount of soy milk according to a reference value and adjusts the supply amount of coagulant based on the measurement result of the hardness of the soy milk coagulation, but the specific adjustment method is not limited to the above. For example, the adjustment unit 41 may set the supply amount of coagulant according to a reference value and adjust the supply amount of soy milk based on the measurement result of the hardness of the soy milk coagulation. In this case, the supply amount of soy milk changes according to the measurement result of the hardness of the soy milk coagulation, while the supply amount of coagulant does not change according to the measurement result of the hardness of the soy milk coagulation. Alternatively, the adjustment unit 41 may adjust the supply amount of soy milk and the supply amount of coagulant based on the measurement result of the hardness of the soy milk coagulation. In this case, the supply amount of soy milk and the supply amount of coagulant change according to the measurement result of the hardness of the soy milk coagulation. Thus, the supply amount of at least one of soy milk and coagulant may be adjusted based on the measurement result of the hardness of the soy milk coagulation. When adjusting the amount of soy milk supplied, the adjustment unit 41 adjusts the amount of soy milk supplied so that the hardness of the soy milk coagulation approaches the target hardness. Specifically, the adjustment unit 41 increases the amount of soy milk supplied when the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target hardness. For example, the adjustment unit 41 sets the adjustment amount (increase) of the soy milk supply according to the difference between the measurement result of the hardness of the soy milk coagulation and the target hardness. The adjustment amount may be set as a predetermined value. The adjustment unit 41 then adds the adjustment amount to the standard value of the soy milk supply to determine the amount of soy milk supplied. The adjustment unit 41 also decreases the amount of soy milk supplied when the measurement result of the hardness of the soy milk coagulation indicates that it is softer than the target hardness. For example, the adjustment unit 41 sets the adjustment amount (decrease) of the soy milk supply according to the difference between the measurement result of the hardness of the soy milk coagulation and the target hardness. The adjustment amount may be set as a predetermined value. The adjustment unit 41 then subtracts the adjustment amount from the standard value of the soy milk supply amount to determine the amount of soy milk to be supplied. This makes it possible to change the hardness of the soy milk coagulation depending on the amount of soy milk supplied.

[0104] The above example illustrates one way of adjusting the supply amount of soy milk and coagulant based on the measurement results of the hardness of the soy milk coagulation, but the adjustment method is not limited to the above. For example, the adjustment unit 41 may adjust the ratio of the supply amount of soy milk to the supply amount of coagulant based on the measurement results of the hardness of the soy milk coagulation. When the ratio is adjusted, either the supply amount of soy milk or the supply amount of coagulant may be changed, or both may be changed.

[0105] Furthermore, in the above embodiment, the control device 14 is shown as an example of performing feedback control using the measurement result of the hardness of the soy milk coagulation. Feedback control may also be performed using parameters other than the measurement result of the hardness of the soy milk coagulation. For example, the weight and size of the tofu produced by the molding device 6 or the tofu cut by the cutting device 7 may be used for feedback control. For example, the weight of the tofu may be measured and used for feedback control. Also, since the tofu is cut to a predetermined length in the longitudinal and width directions by the cutting device 7, the length in the height direction may be measured and used for feedback control. Note that it is not limited to the height direction, and the size of the tofu may be measured and used for feedback control. Also, the weight of the tofu may be estimated from the measurement result of the length in the height direction (size measurement result) and used for feedback control. Thus, the parameters used for feedback control are not limited to the hardness of the soy milk coagulation.

[0106] Furthermore, the control device 14 may also notify workers of an abnormality if the measurement result of the hardness of the soy milk coagulation is outside the acceptable range. In this case, the control device 14 is equipped with a notification unit. That is, if the measurement result of the hardness of the soy milk coagulation is too hard or too soft, an abnormality in the soy milk coagulation is notified.

[0107] Furthermore, in relation to feedback control, the adjustable range for the supply amount of soy milk and the adjustable range for the supply amount of coagulant may be set in advance. In this case, the control device 14 adjusts the supply amount of soy milk and coagulant within the adjustable range. If it is necessary to exceed the adjustable range in order to adjust the supply amount of soy milk and coagulant, the control device 14 may also notify the worker or other personnel of the abnormality.

Claims

1. A tofu manufacturing system comprising: a coagulation device that receives soy milk and a coagulant and coagulates the soy milk to produce a soy milk coagulation; a measuring device that measures the hardness of the soy milk coagulation produced in the coagulation device; and a control device that adjusts the supply amount of at least one of the soy milk and the coagulant supplied to the coagulation device based on the measurement result of the hardness of the soy milk coagulation.

2. The tofu manufacturing system according to claim 1, wherein the measuring device measures the hardness of the soy milk coagulation after the soy milk and the coagulant have been supplied to the coagulation bucket of the coagulation device, and before the soy milk coagulation formed in the coagulation bucket is stirred.

3. The tofu manufacturing system according to claim 2, wherein the measuring device measures the hardness of the soy milk coagulation after a predetermined time has elapsed since the soy milk and the coagulant were supplied to the coagulation bucket.

4. The tofu manufacturing system according to any one of claims 1 to 3, wherein the control device compares the measurement result of the hardness of the soy milk coagulation with a target hardness of the soy milk coagulation, and adjusts the supply amount of at least one of the soy milk and the coagulant so that the hardness of the soy milk coagulation approaches the target.

5. The tofu manufacturing system according to claim 4, wherein the control device reduces the supply amount of the coagulant when the measurement result of the hardness of the soy milk coagulation indicates that it is harder than the target, and increases the supply amount of the coagulant when the measurement result of the hardness of the soy milk coagulation indicates that it is softer than the target.

6. A tofu manufacturing system according to any one of claims 1 to 3, further comprising a sensor for measuring the position of the soy milk solidified in the solidification apparatus, wherein the measuring apparatus adjusts the position of its tip based on the measurement result of the sensor and measures the hardness by bringing the tip into contact with the soy milk solidified.

7. The tofu manufacturing system according to claim 6, wherein the measuring device has an electric actuator for adjusting the position of the tip.

8. A tofu manufacturing system according to any one of claims 1 to 3, further comprising: a first supply device for supplying the soy milk to the coagulation device; and a second supply device for supplying the coagulant to the coagulation device, wherein the control device controls at least one of the first supply device and the second supply device.

9. A tofu manufacturing system according to any one of claims 1 to 3, further comprising a molding apparatus for compressing and molding the soy milk coagulation produced in the coagulation apparatus to produce tofu.

10. A non-temporary computer-readable recording medium for recording a tofu manufacturing program that causes a computer to function as an acquisition unit for acquiring measurement results of the hardness of soy milk coagulation produced by soy milk and coagulant in a coagulation device, and an adjustment unit for adjusting the supply amount of at least one of the soy milk and coagulant supplied to the coagulation device based on the measurement results of the hardness of the soy milk coagulation.

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