EP0526364A1 - Non-destructive, realtime measurement equipment for fragile, continuous conveyed objects - Google Patents

Non-destructive, realtime measurement equipment for fragile, continuous conveyed objects Download PDF

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Publication number
EP0526364A1
EP0526364A1 EP92430018A EP92430018A EP0526364A1 EP 0526364 A1 EP0526364 A1 EP 0526364A1 EP 92430018 A EP92430018 A EP 92430018A EP 92430018 A EP92430018 A EP 92430018A EP 0526364 A1 EP0526364 A1 EP 0526364A1
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EP
European Patent Office
Prior art keywords
objects
sensor
measuring device
measurement
destructive
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EP92430018A
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German (de)
French (fr)
Inventor
Michel Crochon
Véronique Bellon
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Centre National du Machinisme Agricole du Genie Rural des Eaux et des Forets CEMAGREF
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Centre National du Machinisme Agricole du Genie Rural des Eaux et des Forets CEMAGREF
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Publication of EP0526364A1 publication Critical patent/EP0526364A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/06—Sorting according to size measured mechanically
    • B07C5/07—Sorting according to size measured mechanically by calipering using relatively moving article-engaging means, e.g. clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties

Definitions

  • the present invention relates to non-destructive and real-time measurement devices on fragile objects moving continuously.
  • the technical sector of the invention is the field of manufacture of non-destructive measurement equipment suitable for devices for handling and conveying objects continuously.
  • One of the main applications of the invention is to allow automatic measurement of the characteristics of fruits and vegetables, such as in particular the control of their maturity and / or their size, so that they can then be sorted and separate them into different predetermined categories.
  • Destructive measurement systems are excluded and not considered in the present invention, because one of its aims is to be able to determine the characteristics of each object with a view to sorting them: destructive measurements, which can obviously only be envisaged on samples do not achieve this goal.
  • the first two systems described above can also be used to measure fruit diameters; one could also cite other systems allowing by other means the measurement of maturity and / or firmness such as by vibration, and propagation sonic or, by analysis of light transmissions / absorption, or of the overall color of the fruit, but the results are not very precise and do not allow reliable and repetitive measurements to be made, allowing continuous sorting, with more than 80% of good results, which is however one of the essential objectives of the present invention.
  • the problem posed is, in general. to make non-destructive measurement devices of characteristics, such as that of firmness, but also those of dimensions, on fragile objects, such as fruits of heterogeneous size, transported continuously on a conveyor system in order to be sorted and oriented according to the result of said measurements one by one to various outputs, each corresponding to given category criteria, with a selection accuracy rate greater than 80% and without significant deterioration or visual marking of their surface.
  • the conveying system comprises an endless chain made up of diabolo-shaped cylinders, which roll in the same direction as their driving direction, and whose spaces which separate them constitute said cells receiving the objects , these then being trained and rotated relative to one of their axis of quasi-revolution, in the opposite direction to their advancement, said shoe being fixed relative to said arm, and the drive and rotation speeds of the diabolos are such that each object rolls against the surface of the skate.
  • the device according to the invention may comprise a sensor for measuring the position of the support arm relative to the drive plane of the conveyor system, a calculation unit receiving the signal from this sensor and making it possible to deduce therefrom the maximum height from which the said shoe is lifted during the passage of each object, thus making it possible to deduce the diameter thereof.
  • the device comprises a deformation sensor, located in said shoe and the active part of which protrudes alone from the surface.
  • the device comprises at least two support arms, equipped with their pads and at least one measurement sensor each, said arms being arranged along the conveyor system at given distances from each other , such as by the rotation of said objects during the crossing of these distances, the parts of their rolling surface under at least two pads are different.
  • the result is new non-destructive measurement devices on fragile objects moving continuously, especially for fruit.
  • the devices according to the invention also make it possible to carry out the desired measurements such as that of the diameter and the firmness, or hardness, of the objects, at a fairly high speed, such as approximately five objects per second, which is compatible and necessary for good efficiency of automatic sorting; this is achieved with a minimum of bruising or risk of deterioration of the fragile surface of said objects, thanks to the relative rotational movement between each support pad and each object, and to the rounded shape of said pad, against which the object can thus rolling, at best without friction and therefore with a minimum risk of deterioration.
  • the measurements, being made on each object allow optimum individual sorting and in the option of having several sensors and supports in series over which all the objects pass, the successive measurements carried out on each can be combined in order to eliminate those having focused on a singular point of the object, such as for example at the place of the tail for a fruit, or to be averaged to take account of the almost revolutionary forms and therefore not really symmetrical of the objects, especially when these are natural products.
  • these measuring devices are applicable to any type of object, and that in this way different varieties of these can be transported on the same conveying system, in shape and firmness for example: it suffices to adapt and change the characteristics of the firmness sensors or the criteria for determining sorting and selection, depending on the variety of objects envisaged.
  • This second point can be made at the level of the calculation units by suitable programming, and the change can then be very rapid.
  • the application of the devices according to the invention is mainly described in the present invention for essentially diameter and firmness measurements for fruit, but these devices can be adapted to any type of object and also to any type of other measures, mainly those requiring direct contact with the object: in particular, we can cite the possibility of mounting optical fibers on the skids in order to obtain spectroscopic information on the object (color, humidity, sugar content for a fruit, etc.) , or detectors recovering the energy that would be sent for example through the object such as by laser, vibration, etc.
  • the device according to the invention can therefore be described as a multi-sensor and can be adapted to many uses.
  • a probationary system was carried out according to the device and the description below on a fruit packaging chain such as peaches and nectarines, to measure the firmness in order to sort them into three selectable classes ( ⁇ 6 kg / cm2; 6 to 12 kg / cm2;> 12 kg / cm2): the performance, at the rate of three fruits per second was 88% of well sorted fruits, and there were no unclassified fruits; moreover, few fruits were marked, only the most ripe had a small trace due to the measurement, which shows that the system corresponds to the safety constraints which are one of the objectives of the invention.
  • Figure 1 is a perspective view of a device according to the invention.
  • Figure 2 is a schematic side view of a device with several supports.
  • Figure 3 is a partial sectional view of a device for measuring firmness.
  • FIG. 1 is a perspective view of a non-destructive measurement device on fragile objects 1, of heterogeneous size and shape, the external surface of which is almost of revolution with respect to at least one axis, in order to be able to be driven in rotation on themselves in relation to one of their quasi-revolution axis, as here in particular shown as being spherical in shape (therefore having a multitude of axes of revolution), and moving continuously on a conveying system, type comprising receiving cells 2, in which said objects are placed and driven one by one, according to a given vertical directional plane P.
  • the conveyor system comprises an endless chain made up of diabolo-shaped cylinders 8, which roll along their axis yy ′ in the same direction as their drive direction xx ′, located at the intersection of the drive plane R of their axis of rotation and of the median plane of said diabolos, corresponding to the given directional plane P.
  • the direction of rotation of said diabolos is therefore such that the generators forming their upper part advance in the same direction as their driving direction xx ′, and their surfaces then entrain objects placed astride two diabolos in space 2 which separates, in an opposite direction from their advancement, that is to say towards the rear as regards the generators forming the upper part of these objects.
  • the measuring device then comprises at least one support arm 3, fixed and articulated at one of its ends 4 in any support 15, itself mounted for example on a height adjustment rod 14.
  • a shoe 5 is integral with the other end of said arm 3, and whose lower surface 6 is in the form of a cylinder whose generator is perpendicular to said plane P, extending on either side of it and located at above the conveying system: for this, for example, said arm 3 may preferably include a first part on the side of the end 4, parallel to the axis of direction of movement xx ′, then a bend allowing orient the second end of the arm perpendicular to the first part, and at the end of which the shoe 5 can be fixed and threaded perpendicular to this second end, and such that each of said objects 1 passing underneath pushes up and rolls with a movement relative rotation under and against said surface 6.
  • said objects 1 move without turning on themselves and immobile relatively on the conveyor, and said shoe 5 then rotates relative to the end of the support 3, so as to roll on the surface of object 1, when it passes below.
  • the measurement device comprises at least one sensor allowing a non-destructive measurement of a parameter or of a characteristic of each of said objects 1, when they pass under said shoe 5, the latter being adjusted in height in the rest position, in such a way that any object 1, having to pass underneath, necessarily repels it upwards thanks to a height adjustment of the shoe 5 and of the arm 3 relative to the support 14.
  • the objects 1 are rotated relative to said shoe 5, which can then be fixed relative to said arms 3, but the drive and rotation speeds of the diabolos 8 are then determined in such a way that each object 1 can roll against the surface 6 of the skate at best without friction, to limit any deterioration of the surface of the objects.
  • a deformation sensor 7 In said shoe 5 is located a deformation sensor 7, the active part 10 alone protrudes from the surface 6 to come into contact against that of the object 1 which rolls against it.
  • the support arm 3 comprises means 13 for adjusting this bearing force of said pad against the object, which by passing it raises it by exerting and undergoing an effort equivalent to this support force.
  • These said adjustment means 13 can be counterweights mounted on a parallel shaft along the steering axis xx ′, on either side of the support 15 of the end 4 of the support arm 3, so as to reduce or , on the contrary, to accentuate the weight of the assembly of this support arm and of the pad 5 against the object 1.
  • Another adjustment means 13 can be mounted on the shoe itself, in order to make it heavier if necessary.
  • Figure 2 is a schematic side view of a device with several supports which comprises at least two arms 3, equipped with their pad 5, and at least one measurement sensor each: in this figure, it has been shown four support arms 3 with their four pads 5, arranged along the conveyor system consisting of the diabolos 8, advancing in the direction xx ′, said arms being located at a distance L from each other, such as by the rotation of said objects 1 during the crossing of this distance L , the parts of their rolling surface under at least two consecutive pads are different.
  • these considered as a quasi-revolution shape can be of non-circular section, either ovoid, oval or other, such as can be a pear, an apple, a peach, or any vegetable and fruit remaining anyway in the general definition of near revolution.
  • the device may include a sensor for measuring the position of each support arm 3 relative to the advancement plane H of the conveyor diabolos, and a calculation unit receiving the signals from these sensors, making it possible to deduce the height H maximum or the average of this height H maximum from which said pads 5 are lifted during the passage of each of the objects 1.
  • said measurement sensor is a rotation angle sensor fixed to the end 4 of the arm 3, from which the rotation measurement makes it possible to know the height H, knowing the length of the arm 3 and the position of the axis of articulation of the end 4 relative to the reference plane h of advancement of the conveyor.
  • FIG. 3 is a view in partial section along the plane P defined previously in FIG. 1 of a device for measuring the firmness or the hardness of the objects 1, as partially mentioned in this FIG. 1.
  • the deformation sensor 7 is a probe, the active part of which is a point 10 and which comprises a spring 11, prearranged to a value of given compression, and a measurement module 12 of the displacement of said tip 10, connected to a calculation unit not shown.
  • the maximum displacement of the tip 10 is fixed at 0.5 mm and equal to the height d protruding at rest from the surface 6, its tip is of a diameter of 8 mm maximum and, preferably, 2 mm and the pre-setting compression force of the spring 11 is of 100 g maximum for the fruits and, preferably 70 g.
  • the object 1 shown on the left of the figure corresponds, for example to a fruit considered soft. in which the point 10 will sink completely from its maximum protruding height d into the fruit, which will then be considered to offer a resistance lower than that of the praring of the spring 11. If this praring corresponds to a selection of fruits to be eliminated, account given the too weak firmness thereof, any non-detection of displacement of the tip 10 will eliminate all the fruits considered; the fruit or object 1 represented on the right-hand side of FIG.
  • Known sensor devices such as that indicated here and existing on the market, allow measurements of precision of forces to plus or minus 10 g for a pre-calibration between 50 and 100 g, with a precision of displacement sensor of the order micron, which corresponds to a precision measurement of firmness of the order of a gram.
  • indentations of less than 0.5 mm, such as for example 0.3 mm: in this case, the discrimination, for example of peaches, of firmness greater than 6 kg / cm2, requires a force of 100 g for a flat tip, and 70 g for a spherical tip with a diameter of 3 mm.
  • the device also includes calculation units analyzing the signals emitted by each of said measurement sensors, such as their size and / or their firmness, such so that they are then processed by a known central unit of any type associated with said conveyor system, which then selects and organizes the evacuation of said objects identified on this conveyor system, to different outputs corresponding to criteria of given values of the parameters thus determined for each object 1.
  • any type of sensor requiring contact directly with said objects or at a given distance from them can be integrated into said device, either directly on the pad 5, or on the surface 6 thereof, or at any point on the support arm if it is a distance measurement, but in which the concept of direct contact with said objects is preserved by what is called a test body.
  • This in fact allows indirect measurement, but any point of the device is in any case in contact with said object, even if the sensor is not there directly, but is integral with the surface 6 which it will be, in the scope of the present invention, still in contact with object 1.
  • the determination of the curvature of the surface 6 of the shoe 5 can be determined as a function of the minimum and maximum average diameter of the shape whose external surface is almost of revolution of the objects 1 having to roll below. in order to be able to ensure better rolling without friction of these said objects against said surface linked to the speed of rotation of the drive diabolos 8, as well as to their speed of advance.
  • the rotation of the fruit with respect to said pad 5 is necessary, in addition to removing or reducing the bruising related to the measurement of firmness, according to one of the main objectives of the invention, but also also makes it possible to avoid rebounds behind objects 1 when they come into contact with said shoe 5.

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Abstract

The technical sector of the invention is that of manufacturing equipment for non-destructive measurements adapted to apparatuses for handling and conveying objects continuously, such as the monitoring of ripeness and/or of size of fruit and vegetables. <??>The present invention relates to a non-destructive, real-time measurement equipment for fragile objects (1) continuously moving on a conveyor system of the type comprising receptor cells (2), into which the said objects are placed and carried one by one, along a given directional plane (P). This equipment comprises at least one support arm (3), hinged at one end (4), a shoe (5) integral with the other end of the said arm and whose lower surface (6) is in the shape of a cylinder whose generatrix is perpendicular to the said plane (P), and such that each of the said objects (1) rolls under and against the said surface (6) by a movement of relative rotation, and at least one sensor allowing non-destructive measurement of a parameter of each of the said objects (1). <IMAGE>

Description

La présente invention a pour objet des dispositifs de mesures non destructives et en temps réel sur des objets fragiles se déplaçant en continu.The present invention relates to non-destructive and real-time measurement devices on fragile objects moving continuously.

Le secteur technique de l'invention est le domaine de la fabrication de matériel de mesures non destructives adapté aux appareils de manutention et de convoyage d'objets en continu.The technical sector of the invention is the field of manufacture of non-destructive measurement equipment suitable for devices for handling and conveying objects continuously.

Une des applications principales de l'invention est de permettre d'une manière automatique la mesure de caractéristiques de fruits et de légumes, tels qu'en particulier le contrôle de leur maturité et/ou de leur dimension, afin de pouvoir ensuite les trier et les séparer en différentes catégories prédéterminées.One of the main applications of the invention is to allow automatic measurement of the characteristics of fruits and vegetables, such as in particular the control of their maturity and / or their size, so that they can then be sorted and separate them into different predetermined categories.

On connaît en effet différents types de système de mesures non destructives adaptées à la nature de différents objets, mais chacun est souvent spécifique, soit du type de mesures souhaitées, soit du type d'objet considéré.There are in fact known different types of non-destructive measurement system adapted to the nature of different objects, but each is often specific, either of the type of measurements desired, or of the type of object considered.

Les systèmes de mesure destructives sont écartés et non considérés dans la présente invention, car un des buts de celle-ci est de pouvoir déterminer les caractéristiques de chaque objet en vue de leur tri : les mesures destructives, ne pouvant être évidemment envisagées que sur des échantillons, ne permettent pas d'atteindre cet objectif.Destructive measurement systems are excluded and not considered in the present invention, because one of its aims is to be able to determine the characteristics of each object with a view to sorting them: destructive measurements, which can obviously only be envisaged on samples do not achieve this goal.

Dans le domaine de la mesure des dimensions, on peut citer divers moyens tel qu'essentiellement ceux utilisant des capteurs optiques : des exemples peuvent être notés, d'une part dans le brevet FR. 1.458.715 déposé par la société FAIRBANKS MORSE le 07 octobre 1965 sous priorité américaine et décrivant un cadre à grille lumineuse à travers laquelle passe chaque objet coupant ainsi les faisceaux et obturant des cellules situées dans l'axe de ceux-ci, d'autre part, dans la demande PCT WO 90/04803 déposée le 28 Septembre 1990 par la société australienne COLOUR VISION SYSTEMS Ltd décrivant un appareil comportant une caméra à réseaux et un analyseur d'images.In the field of dimension measurement, various means can be cited such as essentially those using optical sensors: examples can be noted, on the one hand in the FR patent. 1,458,715 filed by the company FAIRBANKS MORSE on October 07, 1965 under American priority and describing a frame with a light grid through which each object passes, thus cutting the beams and closing cells located in the axis thereof, on the other part, in PCT application WO 90/04803 filed on September 28, 1990 by the Australian company COLOR VISION SYSTEMS Ltd describing an apparatus comprising a network camera and an image analyzer.

Dans le domaine de la mesure de la fermeté des objets, on connaît de nombreux capteurs permettant en fait la mesure de la dureté de ceux-ci essentiellement par la mesure d'un déplacement ou d'une déformation d'une surface connue, soumise à une force donnée : quand l'objet est fragile, tous ces capteurs ne sont pas directement utilisables sous peine de risquer une détérioration de l'objet.In the field of measuring the firmness of objects, numerous sensors are known which in fact make it possible to measure the hardness of these essentially by measuring a displacement or a deformation of a known surface, subjected to a given force: when the object is fragile, all these sensors cannot be used directly, otherwise there is a risk of deterioration of the object.

On peut citer par exemple dans le domaine de l'application principale de la présente invention trois systèmes adaptés aux fruits, tels que :

  • celui décrit dans une publication de "TRANSACTIONS OF THE ASAE" (American Society of Agricultural Engineers) de 1977 (20/4 pages 762 à 767) par Mr. John S. PERRY, et enseignant un appareil dans lequel on envoie de l'air sous une pression donnée et on mesure une déformation; ceci n'est cependant pas utilisable pour des mesures en ligne, car ce procédé prend du temps et demande un très bon contact entre l'instrument et le fruit; si on veut donc faire des mesures en ligne à une cadence élevée, le risque de frottement des objets sur les surfaces soumises à pression, détériorera la surface desdits objets.
  • celui décrit dans une autre publication de ASAE en 1981 (24.05 pages 1368 à 1375 par J.J. MEHLSCHAU et Coll. et enseignant un capteur en ligne pour des poires, comportant des roues horizontales appliquées latéralement contre celles-ci lors de leur passage et soumises à une force donnée; le problème de ce système est alors la meurtrissure résiduelle après la mesure qui prend une allure de rail dans les fruits un peu murs.
  • celui décrit dans une publication de " l'AMERICAN SOCIETY FOR HORTICULTURAL SCIENCE" en 1967, (Vol. 87 pages 100 à 103) par G. E. MATTUS et enseignant un "pouce mécanique" basé sur le principe d'un pénétromètre ayant un embout plus petit que ceux utilisés dans des tests destructifs : ce système exige un temps de mesure assez long, car il faut appuyer le fruit tout d'abord sur une surface dure et appliquer ensuite le capteur à angle droit, ce qui ne permet pas une mesure en ligne en temps réel, à moins ici aussi d'accepter de réduire la fiabilité de la mesure et d'augmenter le risque de détérioration par contact sur la surface de l'objet.
Mention may be made, for example, in the field of the main application of the present invention, of three systems suitable for fruit, such as:
  • that described in a publication of "TRANSACTIONS OF THE ASAE" (American Society of Agricultural Engineers) of 1977 (20/4 pages 762 to 767) by Mr. John S. PERRY, and teaching an apparatus in which one sends air under a given pressure and a deformation is measured; however, this cannot be used for online measurements, as this process takes time and requires very good contact between the instrument and the fruit; if one therefore wants to make measurements online at a high rate, the risk of rubbing of the objects on the surfaces subjected to pressure, will deteriorate the surface of said objects.
  • that described in another publication by ASAE in 1981 (24.05 pages 1368 to 1375 by JJ MEHLSCHAU and Coll. and teaching an online sensor for pears, comprising horizontal wheels applied laterally against them during their passage and subjected to a given force; the problem with this system is then the residual bruising after the measurement which takes on the appearance of a rail in slightly ripe fruit.
  • that described in a publication of "the AMERICAN SOCIETY FOR HORTICULTURAL SCIENCE" in 1967, (Vol. 87 pages 100 to 103) by GE MATTUS and teaching a "mechanical thumb" based on the principle of a penetrometer having a smaller tip than those used in destructive tests: this system requires a fairly long measurement time, because you have to press the fruit first on a hard surface and then apply the sensor at right angles, which does not allow online measurement in real time, unless here too accept to reduce the reliability of the measurement and increase the risk of deterioration by contact on the surface of the object.

Les deux premiers systèmes décrits ci-dessus peuvent servir également à mesurer les diamètres des fruits; on pourrait citer par ailleurs d'autres systèmes permettant par d'autres moyens la mesure de maturité et/ou de fermeté tel que par vibration, et propagation sonique ou, par analyse des transmissions/absorption de la lumière, ou de la couleur globale du fruit, mais les résultats sont peu précis et ne permettent pas de donner des mesures fiables et répétitives permettant un tri en continu, avec plus de 80% de bons résultats, ce qui est pourtant un des objectifs essentiels de la présente invention.The first two systems described above can also be used to measure fruit diameters; one could also cite other systems allowing by other means the measurement of maturity and / or firmness such as by vibration, and propagation sonic or, by analysis of light transmissions / absorption, or of the overall color of the fruit, but the results are not very precise and do not allow reliable and repetitive measurements to be made, allowing continuous sorting, with more than 80% of good results, which is however one of the essential objectives of the present invention.

On peut remarquer que de nombreux équipements, essais et publications ont été, et sont toujours, développés pour la détermination d'un critère de maturité des fruits; certains ont fait l'objet de dépôts de demandes de brevets, essentiellement pour la mesure automatique de la fermeté, qui est le facteur le plus représentatif de la maturité, afin de remplacer le jugement humain, qui est fastidieux, sujet à erreurs et coûteux.It can be noted that numerous equipment, tests and publications have been, and are still, developed for the determination of a fruit maturity criterion; some have been the subject of patent applications, mainly for the automatic measurement of firmness, which is the most representative factor of maturity, in order to replace human judgment, which is tedious, prone to error and costly.

En effet, au niveau commercial, un tri de fruits suivant leur fermeté permet d'une part de séparer les fruits les plus mûrs, donc les meilleurs, des autres, ce qui constitue un tri à la qualité gustative, mais aussi de séparer les fruits qui vont pouvoir supporter un long voyage, des autres, ce qui à terme se traduit par un tri à l'aspect; par exemple, les pêches trop mures qui voyagent sur de longs trajets présentent en effet un aspect peu encourageant à leur arrivée.Indeed, at the commercial level, a sorting of fruits according to their firmness makes it possible on the one hand to separate the most ripe fruits, therefore the best, from the others, which constitutes a sorting with taste quality, but also to separate the fruits who will be able to withstand a long journey, from others, which ultimately results in sorting by appearance; for example, overripe peaches that travel on long journeys do not have an encouraging appearance when they arrive.

La fermeté a longtemps été déconsidérée pour une application en ligne, car la méthode classiquement employée, tel que le pénétromètre de Magness-Taylor, était destructive. Il semblait donc qu'une méthode faisant intervenir ce paramètre ne pouvait être que destructive. Pour les mesures dimensionnelles, les méthodes optiques ont généralement été privilégiées dans la recherche, mais sans permettre une fiabilité de résultats satisfaisants.Firmness has long been discredited for an online application, because the conventionally used method, such as the Magness-Taylor penetrometer, was destructive. It therefore seemed that a method involving this parameter could only be destructive. For dimensional measurements, optical methods have generally been favored in research, but without allowing reliability of satisfactory results.

Ainsi à l'encontre des habitudes et des orientations recommandées jusqu'à ce jour dans la profession, la présente invention est le résultat d'études et de recherches pour la mesure du critère de la fermeté qui permet un tri à double objectif, en fonction non seulement de la qualité gustative, mais aussi visuelle; ce critère semble en effet être très pertinent car il permet :

  • de séparer les fruits en différentes classes de qualité gustative donc de proposer aux clients un produit "sûr";
  • de constituer des plateaux avec des fruits d'une fermeté homogène, les fruits les plus durs pouvant être expédiés à grandes distances;
  • à terme, de rémunérer les producteurs en fonction de la qualité des récoltes, donc d'augmenter le niveau global de qualité de la production.
Thus, contrary to the habits and orientations recommended to date in the profession, the present invention is the result of studies and research for the measurement of the criterion of firmness which allows sorting with double objective, depending not only of taste quality, but also of visual quality; this criterion indeed seems to be very relevant because it allows:
  • to separate the fruits into different taste quality classes, therefore to offer customers a "safe"product;
  • to constitute trays with fruits of homogeneous firmness, the hardest fruits being able to be shipped over long distances;
  • ultimately, remunerate producers according to the quality of the crops, thus increasing the overall level of quality of production.

Or tous les systèmes actuels, dont certains sont cités précédemment, ne permettent pas de mesurer ce critère avec suffisamment de fiabilité, en respectant les objectifs de la présente invention.However, all of the current systems, some of which are mentioned above, do not allow this criterion to be measured with sufficient reliability, while respecting the objectives of the present invention.

En effet, le problème posé est, d'une manière générale. de réaliser des dispositifs de mesures non destructives de caractéristiques, tel que celle de la fermeté, mais aussi celles des dimensions, sur des objets fragiles, tels que des fruits de taille hétérogène, transportés en continu sur un système de convoyage en vue d'être triés et orientés suivant le résultat desdites mesures un par un vers diverses sorties, correspondant chacune à des critères de catégories donnés , avec un taux de précision de sélection supérieur à 80% et sans détérioration ou marquage visuel important de leur surface.Indeed, the problem posed is, in general. to make non-destructive measurement devices of characteristics, such as that of firmness, but also those of dimensions, on fragile objects, such as fruits of heterogeneous size, transported continuously on a conveyor system in order to be sorted and oriented according to the result of said measurements one by one to various outputs, each corresponding to given category criteria, with a selection accuracy rate greater than 80% and without significant deterioration or visual marking of their surface.

Une solution au problème posé est un dispositif de mesures non destructives sur des objets fragiles, de taille et de forme hétérogène dont la surface externe est quasiment de révolution par rapport à au moins un axe se déplaçant en continu sur un système de convoyage de type comportant des alvéoles réceptrices, dans lesquelles sont placés et entraînés lesdits objets un par un, suivant un plan directionnel donné; le dispositif comporte alors au moins un bras support, fixé et articulé à une extrémité, un patin solidaire de l'autre extrémité dudit bras, dont la surface inférieure est en forme de cylindre dont la génératrice est perpendiculaire audit plan, s'étendant de part et d'autre de celui-ci et situé au-dessus du système de convoyage, et tel que chacun desdits objets repousse vers le haut et roule par mouvement de rotation relatif sous et contre ladite surface, et au moins un capteur permettant une mesure non destructive d'un paramètre de chacun desdits objets, lors de leur passage sous ledit patin.One solution to the problem posed is a non-destructive measurement device on fragile objects, of size and heterogeneous shape, the external surface of which is almost of revolution with respect to at least one axis moving continuously on a conveyor system of the type comprising receiving cells, in which said objects are placed and driven one by one, according to a given directional plane; the device then comprises at least one support arm, fixed and articulated at one end, a shoe integral with the other end of said arm, the lower surface of which is in the form of a cylinder whose generator is perpendicular to said plane, extending from and other of it and located above the conveyor system, and such that each of said objects pushes up and rolls by relative rotational movement under and against said surface, and at least one sensor allowing a measurement not destructive of a parameter of each of said objects, during their passage under said pad.

Dans un mode de réalisation préférentiel, le système de convoyage comprend une chaîne sans fin constituée de cylindres en forme de diabolos, qui roulent dans le même sens que leur direction d'entrainement, et dont les espaces qui les séparent constituent lesdites alvéoles recevant les objets, ceux-ci étant alors entraînés et mis en rotation par rapport à un de leur axe de quasi révolution, en sens inverse de leur avancement, ledit patin étant fixe par-rapport audit bras, et les vitesses d'entraînement et de rotation des diabolos sont telles que chaque objet roule contre la surface du patin.In a preferred embodiment, the conveying system comprises an endless chain made up of diabolo-shaped cylinders, which roll in the same direction as their driving direction, and whose spaces which separate them constitute said cells receiving the objects , these then being trained and rotated relative to one of their axis of quasi-revolution, in the opposite direction to their advancement, said shoe being fixed relative to said arm, and the drive and rotation speeds of the diabolos are such that each object rolls against the surface of the skate.

A titre d'exemple, le dispositif suivant l'invention peut comporter un capteur de mesure de la position du bras support par rapport au plan d'entraînement du système de convoyage, une unité de calcul recevant le signal de ce capteur et permettant d'en déduire la hauteur maximum dont s'est soulevé ledit patin lors du passage de chaque objet, permettant ainsi d'en déduire le diamètre de celui-ci.For example, the device according to the invention may comprise a sensor for measuring the position of the support arm relative to the drive plane of the conveyor system, a calculation unit receiving the signal from this sensor and making it possible to deduce therefrom the maximum height from which the said shoe is lifted during the passage of each object, thus making it possible to deduce the diameter thereof.

Dans un autre exemple important de mesure, le dispositif comporte un capteur de déformation, situé dans ledit patin et dont la partie active dépasse seule de la surface.In another important example of measurement, the device comprises a deformation sensor, located in said shoe and the active part of which protrudes alone from the surface.

Dans un autre mode de réalisation préférentiel, le dispositif comporte au moins deux bras supports, équipés de leurs patins et d'au moins un capteur de mesure chacun, lesdits bras étant disposés le long du système de convoyage à des distances données les uns des autres, telles que par la rotation desdits objets durant le franchissement de ces distances, les parties de leur surface roulant sous au moins deux patins sont différentes.In another preferred embodiment, the device comprises at least two support arms, equipped with their pads and at least one measurement sensor each, said arms being arranged along the conveyor system at given distances from each other , such as by the rotation of said objects during the crossing of these distances, the parts of their rolling surface under at least two pads are different.

Le résultat est de nouveaux dispositifs de mesures non destructives sur des objets fragiles se déplaçant en continu, en particulier pour des fruits.The result is new non-destructive measurement devices on fragile objects moving continuously, especially for fruit.

Ces dispositifs répondent en effet aux divers inconvénients cités précédemment à propos des systèmes connus à ce jour, et peuvent être adaptés très facilement aux systèmes de convoyage existants, surtout ceux qui assurent déjà, bien que pour des raisons différentes liées à la nécessité d'entraîner des objets un par un, la rotation de ceux-ci en sens inverse de la direction de convoyage, grâce à des cylindres d'entraînement en forme de diabolos, dont la forme permet également de s'adapter à différents diamètres d'objets, qui se centrent alors par eux-mêmes dans le plan médian de ces diabolos, et dans les espaces séparant ceux-ci et constituant des alvéoles de réception.These devices indeed respond to the various drawbacks mentioned above with respect to the systems known to date, and can be very easily adapted to existing conveying systems, especially those which already provide, although for different reasons related to the need to drive objects one by one, their rotation in the opposite direction to the conveying direction, thanks to drive cylinders in the shape of diabolos, whose shape also makes it possible to adapt to different diameters of objects, which then center by themselves in the median plane of these diabolos, and in the spaces separating them and constituting receiving cells.

Ces systèmes sont très utilisés en amont du tri automatique des fruits que l'on peut considérer être de forme quasi de révolution, réalisé à ce jour sur le seul critère de leur poids ou éventuellement de leur volume, ce qui nécessite leur entraînement un par un et, à partir duquel on calcule leur dimension extérieure et leur calibrage en connaissant leur densité moyenne.These systems are widely used upstream of the automatic sorting of the fruits which one can consider to be of almost revolutionary form, carried out to date on the sole criterion of their weight or possibly of their volume, which requires their training one by one and, from which we calculate their external dimension and their calibration knowing their average density.

Les dispositifs suivant l'invention permettent en outre d'effectuer les mesures souhaitées telle que celle du diamètre et de la fermeté, ou dureté, des objets, à une assez grande rapidité, telle que cinq objets environ par seconde, ce qui est compatible et nécessaire à une bonne efficacité d'un tri automatique; cela est réalisé avec un minimum de meurtrissure ou de risque de détérioration de la surface fragile desdits objets, grâce au mouvement de rotation relatif entre chaque patin d'appui et chaque objet, et à la forme arrondie dudit patin, contre laquelle l'objet peut ainsi rouler, au mieux sans frottement et donc avec un risque minimum de détérioration.The devices according to the invention also make it possible to carry out the desired measurements such as that of the diameter and the firmness, or hardness, of the objects, at a fairly high speed, such as approximately five objects per second, which is compatible and necessary for good efficiency of automatic sorting; this is achieved with a minimum of bruising or risk of deterioration of the fragile surface of said objects, thanks to the relative rotational movement between each support pad and each object, and to the rounded shape of said pad, against which the object can thus rolling, at best without friction and therefore with a minimum risk of deterioration.

De plus, les mesures, étant faites sur chaque objet permettent un tri individualisé optimum et dans l'option de disposer de plusieurs capteurs et supports en série sur lesquels passent tous les objets, les mesures successives effectuées sur chacun peuvent être combinées afin d'éliminer celles ayant porté sur un point singulier de l'objet, tel que par exemple à l'endroit de la queue pour un fruit, ou d'être moyennées pour tenir compte des formes quasi de révolution et donc non réellement symétriques des objets, surtout lorsque ceux-ci sont des produits naturels.In addition, the measurements, being made on each object allow optimum individual sorting and in the option of having several sensors and supports in series over which all the objects pass, the successive measurements carried out on each can be combined in order to eliminate those having focused on a singular point of the object, such as for example at the place of the tail for a fruit, or to be averaged to take account of the almost revolutionary forms and therefore not really symmetrical of the objects, especially when these are natural products.

On peut également souligner que ces dispositifs de mesure sont applicables à tout type d'objets, et qu'ainsi on peut transporter sur le même système de convoyage différentes variétés de ceux-ci, en forme et en fermeté par exemple : il suffit d'adapter et de changer les caractéristiques des capteurs de fermeté ou les critères de détermination de tri et de sélection, en fonction de la variété des objets envisagés.It can also be emphasized that these measuring devices are applicable to any type of object, and that in this way different varieties of these can be transported on the same conveying system, in shape and firmness for example: it suffices to adapt and change the characteristics of the firmness sensors or the criteria for determining sorting and selection, depending on the variety of objects envisaged.

Ce deuxième point peut être fait au niveau des unités de calcul par une programmation adaptée, et le changement peut être alors très rapide.This second point can be made at the level of the calculation units by suitable programming, and the change can then be very rapid.

Enfin, on décrit principalement dans la présente invention l'application des dispositifs suivant l'invention à des mesures de diamètre et de fermeté pour des fruits essentiellement, mais ces dispositifs peuvent être adaptés à tout type d'objets et également à tout type d'autres mesures, essentiellement celles nécessitant un contact direct avec l'objet : en particulier, on peut citer la possibilité de monter des fibres optiques sur les patins afin d'obtenir des informations spectroscopiques sur l'objet (couleur, humidité, teneur en sucre pour un fruit etc...), ou encore des détecteurs récupérant l'énergie qu'on enverrait par exemple à travers l'objet tel que par laser, vibration etc....Finally, the application of the devices according to the invention is mainly described in the present invention for essentially diameter and firmness measurements for fruit, but these devices can be adapted to any type of object and also to any type of other measures, mainly those requiring direct contact with the object: in particular, we can cite the possibility of mounting optical fibers on the skids in order to obtain spectroscopic information on the object (color, humidity, sugar content for a fruit, etc.) , or detectors recovering the energy that would be sent for example through the object such as by laser, vibration, etc.

Le dispositif suivant l'invention peut être donc qualifié de multi capteur et s'adapter à de nombreuses utilisations.The device according to the invention can therefore be described as a multi-sensor and can be adapted to many uses.

Un système probatoire a été réalisé suivant le dispositif et la description ci-après sur une chaîne de conditionnement de fruits tel que les pèches et les nectarines, pour en mesurer la fermeté afin de les trier en trois classes sélectionnables (< 6 kg/cm²; 6 à 12 kg/cm²; > 12 kg/cm²) : la performance, à raison de trois fruits par seconde été de 88% de fruits bien triés, et il n'y a pas eu de fruits non classés; de plus, peu de fruits étaient marqués, seuls les plus murs avaient une petite trace due à la mesure, ce qui montre que le système correspond aux contraintes d'innocuité qui sont un des objectifs de l'invention.A probationary system was carried out according to the device and the description below on a fruit packaging chain such as peaches and nectarines, to measure the firmness in order to sort them into three selectable classes (<6 kg / cm²; 6 to 12 kg / cm²;> 12 kg / cm²): the performance, at the rate of three fruits per second was 88% of well sorted fruits, and there were no unclassified fruits; moreover, few fruits were marked, only the most ripe had a small trace due to the measurement, which shows that the system corresponds to the safety constraints which are one of the objectives of the invention.

On pourrait citer d'autres avantages de la présente invention, mais ceux cités ci-dessus en montrent déjà suffisamment pour en démontrer la nouveauté et l'intérêt.We could cite other advantages of the present invention, but those mentioned above already show enough to demonstrate its novelty and interest.

La description, les dessins ci-après représentent des exemples de réalisation de l'invention, mais n'ont aucun caractère limitatif : d'autres réalisations sont possibles dans le cadre de la portée et de l'étendue de la présente invention, en particulier en utilisant d'autres types de capteurs de mesures non destructives, et suivant leur application sur différents types d'objets.The description and the drawings below represent exemplary embodiments of the invention, but are in no way limiting: other embodiments are possible within the scope and scope of the present invention, in particular using other types of non-destructive measurement sensors, and following their application to different types of objects.

La figure 1 est une vue perspective d'un dispositif suivant l'invention.Figure 1 is a perspective view of a device according to the invention.

La figure 2 est une vue de profil schématique d'un dispositif à plusieurs supports.Figure 2 is a schematic side view of a device with several supports.

La figure 3 est une vue en coupe partielle d'un dispositif pour la mesure de la fermeté.Figure 3 is a partial sectional view of a device for measuring firmness.

La figure 1 est une vue perspective d'un dispositif de mesures non destructives sur des objets fragiles 1, de taille et de forme hétérogène dont la surface externe est quasiment de révolution par rapport à au moins axe, pour pouvoir être entraînés en rotation sur eux-mêmes par rapport à un de leur axe de quasi révolution, tel qu'ici en particulier représenté comme étant de forme sphérique (donc ayant une multitude d'axes de révolution), et se déplaçant en continu sur un système de convoyage, de type comportant des alvéoles réceptrices 2, dans lesquelles sont placés et entraînés lesdits objets un par un, suivant un plan directionnel vertical donné P.FIG. 1 is a perspective view of a non-destructive measurement device on fragile objects 1, of heterogeneous size and shape, the external surface of which is almost of revolution with respect to at least one axis, in order to be able to be driven in rotation on themselves in relation to one of their quasi-revolution axis, as here in particular shown as being spherical in shape (therefore having a multitude of axes of revolution), and moving continuously on a conveying system, type comprising receiving cells 2, in which said objects are placed and driven one by one, according to a given vertical directional plane P.

D'une manière préférentielle, le système de convoyage comprend une chaîne sans fin constituée de cylindres en forme de diabolos 8, qui roulent suivant leur axe yy′ dans le même sens que leur direction d'entraînement xx′, située à l'intersection du plan d'entraînement R de leur axe de rotation et du plan médian desdits diabolos, correspondant au plan directionnel donné P.Preferably, the conveyor system comprises an endless chain made up of diabolo-shaped cylinders 8, which roll along their axis yy ′ in the same direction as their drive direction xx ′, located at the intersection of the drive plane R of their axis of rotation and of the median plane of said diabolos, corresponding to the given directional plane P.

Les espaces qui séparent lesdits diabolos constituent lesdites alvéoles 2 recevant les objets 1.The spaces which separate said diabolos constitute said cells 2 receiving the objects 1.

Le sens de rotation desdits diabolos est donc tel que les génératrices formant leur partie supérieure avancent dans le même sens que leur direction d'entraînement xx′, et leurs surfaces entraînent alors les objets posés à cheval sur deux diabolos dans l'espace 2 qui les sépare, dans un sens inverse de leur avancement, soit donc vers l'arrière en ce qui concerne les génératrices formant la partie supérieure de ces objets.The direction of rotation of said diabolos is therefore such that the generators forming their upper part advance in the same direction as their driving direction xx ′, and their surfaces then entrain objects placed astride two diabolos in space 2 which separates, in an opposite direction from their advancement, that is to say towards the rear as regards the generators forming the upper part of these objects.

Le dispositif de mesure suivant l'invention comporte alors au moins un bras support 3, fixé et articulé à une de ses extrémités 4 dans tout support 15, lui-même monté par exemple sur une tige de réglage en hauteur 14.The measuring device according to the invention then comprises at least one support arm 3, fixed and articulated at one of its ends 4 in any support 15, itself mounted for example on a height adjustment rod 14.

Un patin 5 est solidaire de l'autre extrémité dudit bras 3, et dont la surface inférieure 6 est en forme de cylindre dont la génératrice est perpendiculaire audit plan P, s'étendant de part et d'autre de celui-ci et situé au-dessus du système de convoyage : pour cela par exemple, ledit bras 3 peut comporter, de préférence, une première partie du côté de l'extrémité 4, parallèle à l'axe de direction de déplacement xx′, puis un coude permettant d'orienter la deuxième extrémité du bras perpendiculairement à la première partie, et au bout de laquelle peut être fixé et enfilé le patin 5 perpendiculaire à cette deuxième extrémité, et tel que chacun desdits objets 1 passant en dessous repousse vers le haut et roule par un mouvement de rotation relatif sous et contre ladite surface 6.A shoe 5 is integral with the other end of said arm 3, and whose lower surface 6 is in the form of a cylinder whose generator is perpendicular to said plane P, extending on either side of it and located at above the conveying system: for this, for example, said arm 3 may preferably include a first part on the side of the end 4, parallel to the axis of direction of movement xx ′, then a bend allowing orient the second end of the arm perpendicular to the first part, and at the end of which the shoe 5 can be fixed and threaded perpendicular to this second end, and such that each of said objects 1 passing underneath pushes up and rolls with a movement relative rotation under and against said surface 6.

Dans un autre mode de réalisation, il peut être envisagé que lesdits objets 1 se déplacent sans tourner sur eux mêmes et immobiles relativement sur le convoyeur, et ledit patin 5 tourne alors par rapport à l'extrémité du support 3, de façon à rouler sur la surface de l'objet 1, quand celui-ci passe en dessous.In another embodiment, it can be envisaged that said objects 1 move without turning on themselves and immobile relatively on the conveyor, and said shoe 5 then rotates relative to the end of the support 3, so as to roll on the surface of object 1, when it passes below.

Le dispositif de mesures comporte au moins un capteur permettant une mesure non destructive d'un paramètre ou d'une caractéristique de chacun desdits objets 1, lors de leur passage sous ledit patin 5, celui-ci étant réglé en hauteur en position repos, de telle façon que tout objet 1, devant passer en dessous, le repousse obligatoirement ver le haut grâce à un réglage en hauteur du patin 5 et du bras 3 par rapport au support 14.The measurement device comprises at least one sensor allowing a non-destructive measurement of a parameter or of a characteristic of each of said objects 1, when they pass under said shoe 5, the latter being adjusted in height in the rest position, in such a way that any object 1, having to pass underneath, necessarily repels it upwards thanks to a height adjustment of the shoe 5 and of the arm 3 relative to the support 14.

Dans la présente réalisation, les objets 1 sont mis en rotation par rapport audit patin 5, qui peut alors être fixe par rapport auxdits bras 3, mais les vitesses d'entraînement et de rotation des diabolos 8 sont alors déterminés de telle façon que chaque objet 1 puisse rouler contre la surface 6 du patin au mieux sans frottement, pour limiter toute détérioration de la surface des objets.In the present embodiment, the objects 1 are rotated relative to said shoe 5, which can then be fixed relative to said arms 3, but the drive and rotation speeds of the diabolos 8 are then determined in such a way that each object 1 can roll against the surface 6 of the skate at best without friction, to limit any deterioration of the surface of the objects.

Dans ledit patin 5 est situé un capteur de déformation 7, dont la partie active 10 dépasse seule de la surface 6 pour venir en contact contre celle de l'objet 1 qui roule contre celle-ci.In said shoe 5 is located a deformation sensor 7, the active part 10 alone protrudes from the surface 6 to come into contact against that of the object 1 which rolls against it.

Afin d'assurer des réglages de la force d'appui dudit patin sur lesdits objets, le bras support 3 comporte des moyens 13 de réglage de cette force d'appui dudit patin contre l'objet, qui en passant dessous le soulève en exerçant et subissant un effort équivalent à cette force d'appui.In order to ensure adjustments of the bearing force of said pad on said objects, the support arm 3 comprises means 13 for adjusting this bearing force of said pad against the object, which by passing it raises it by exerting and undergoing an effort equivalent to this support force.

Ces dits moyens 13 de réglage peuvent être des contre-poids montés sur un arbre parallèle suivant l'axe de direction xx′, de part et d'autre du support 15 de l'extrémité 4 du bras support 3, de façon à diminuer ou, au contraire, à accentuer le poids de l'ensemble de ce bras support et du patin 5 contre l'objet 1.These said adjustment means 13 can be counterweights mounted on a parallel shaft along the steering axis xx ′, on either side of the support 15 of the end 4 of the support arm 3, so as to reduce or , on the contrary, to accentuate the weight of the assembly of this support arm and of the pad 5 against the object 1.

Un autre moyen de réglage 13 peut être monté sur le patin lui-même, afin d'alourdir celui-ci si nécessaire.Another adjustment means 13 can be mounted on the shoe itself, in order to make it heavier if necessary.

La figure 2 est une vue de profil schématique d'un dispositif à plusieurs supports qui comporte au moins deux bras 3, équipés de leur patin 5, et d'au moins un capteur de mesure chacun : dans la présente figure, il a été représenté quatre bras supports 3 avec leurs quatre patins 5, disposés le long du système de convoyage constitué des diabolos 8, avançant suivant la direction xx′, lesdits bras étant situés à une distance L les uns des autres, telle que par la rotation desdits objets 1 durant le franchissement de cette distance L, les parties de leur surface roulant sous au moins deux patins consécutifs sont différentes. Ceci permet, du fait de cette distance L et du nombre choisi, préférentiellement à quatre, de bras supports, d'éliminer des mesures prises par exemple dans des points singuliers desdits objets, tel que représenté ici comme pouvant être les points d'attache des queues de fruits, mais également des points de défaut de ceux-ci, et également même en l'absence de défaut, d'effectuer une moyenne sur au moins deux des quatre mesures possibles de dimensionnement quand l'objectif de la mesure est de déterminer la calibration moyenne de chacun desdits objets.Figure 2 is a schematic side view of a device with several supports which comprises at least two arms 3, equipped with their pad 5, and at least one measurement sensor each: in this figure, it has been shown four support arms 3 with their four pads 5, arranged along the conveyor system consisting of the diabolos 8, advancing in the direction xx ′, said arms being located at a distance L from each other, such as by the rotation of said objects 1 during the crossing of this distance L , the parts of their rolling surface under at least two consecutive pads are different. This allows, because of this distance L and the number chosen, preferably four, of support arms, to eliminate measurements taken for example in singular points of said objects, as shown here as being able to be the attachment points of fruit tails, but also points of defect thereof, and also even in the absence of defect, to make an average over at least two of the four possible dimensioning measurements when the objective of the measurement is to determine the average calibration of each of said objects.

En effet, ceux-ci considérés de forme de quasi révolution, peuvent être de section non circulaire, soit ovoïde, ovale ou autre, tels que peuvent l'être une poire, une pomme, une pêche, ou tout légume et fruit restant quand même dans la définition générale de quasi révolution.Indeed, these considered as a quasi-revolution shape, can be of non-circular section, either ovoid, oval or other, such as can be a pear, an apple, a peach, or any vegetable and fruit remaining anyway in the general definition of near revolution.

Pour cela, le dispositif peut comporter un capteur de mesure de la position de chaque bras support 3 rapport au plan d'avancement H des diabolos du convoyeur, et une unité de calcul recevant les signaux de ces capteurs, permettant d'en déduire la hauteur H maximum ou la moyenne de cette hauteur H maximum dont sont soulevés lesdits patins 5 lors du passage de chacun des objets 1.For this, the device may include a sensor for measuring the position of each support arm 3 relative to the advancement plane H of the conveyor diabolos, and a calculation unit receiving the signals from these sensors, making it possible to deduce the height H maximum or the average of this height H maximum from which said pads 5 are lifted during the passage of each of the objects 1.

De préférence, ledit capteur de mesure est un capteur d'angle de rotation fixé à l'extrémité 4 du bras 3, à partir duquel la mesure de rotation permet de connaître la hauteur H, connaissant la longueur du bras 3 et de la position de l'axe d'articulation de l'extrémité 4 par rapport au plan de référence h d'avancement du convoyeur.Preferably, said measurement sensor is a rotation angle sensor fixed to the end 4 of the arm 3, from which the rotation measurement makes it possible to know the height H, knowing the length of the arm 3 and the position of the axis of articulation of the end 4 relative to the reference plane h of advancement of the conveyor.

La figure 3 est une vue en coupe partielle suivant le plan P défini précédemment dans la figure 1 d'un dispositif pour la mesure de la fermeté ou de la dureté des objets 1, tel qu'évoqué partiellement dans cette figure 1.FIG. 3 is a view in partial section along the plane P defined previously in FIG. 1 of a device for measuring the firmness or the hardness of the objects 1, as partially mentioned in this FIG. 1.

Dans le mode préférentiel de la réalisation représentée ici, le capteur de déformation 7 est un palpeur, dont la partie active est une pointe 10 et qui comprend un ressort 11, prétaré à une valeur de compression donnée, et un module de mesure 12 du déplacement de ladite pointe 10, reliée à une unité de calcul non figurée.In the preferred embodiment shown here, the deformation sensor 7 is a probe, the active part of which is a point 10 and which comprises a spring 11, prearranged to a value of given compression, and a measurement module 12 of the displacement of said tip 10, connected to a calculation unit not shown.

De préférence, pour des applications en particulier de la mesure de la maturité des fruits sans risquer de meurtrir la surface de ceux-ci, le déplacement maximum de la pointe 10 est fixé à 0,5 mm et égal à la hauteur d dépassant au repos de la surface 6, son embout est d'un diamètre de 8 mm maximum et, de préférence, 2 mm et la force de compression de prétarage du ressort 11 est de 100 g maximum pour les fruits et, de préférence 70 g.Preferably, for applications in particular for measuring the maturity of the fruits without risking bruising the surface thereof, the maximum displacement of the tip 10 is fixed at 0.5 mm and equal to the height d protruding at rest from the surface 6, its tip is of a diameter of 8 mm maximum and, preferably, 2 mm and the pre-setting compression force of the spring 11 is of 100 g maximum for the fruits and, preferably 70 g.

Sur la figure 3, l'objet 1 représenté sur la partie gauche de la figure correspond, par exemple à un fruit considéré comme mou. dans lequel la pointe 10 s'enfoncera totalement de sa hauteur de dépassement maximum d dans le fruit, qui sera alors considéré comme offrant une résistance inférieure à celle du prétarage du ressort 11. Si ce prétarage correspond à une sélection de fruits à éliminer, compte tenu de la trop faible fermeté de celui-ci, toute non détection de déplacement de la pointe 10 permettra d'éliminer tous les fruits considérés; le fruit ou l'objet 1 représenté sur la partie droite de la figure 1 est considéré ici comme un fruit très dur, où au contraire la pointe 10 est complètement rentrée à l'intérieur du patin 5, et correspond donc à une fermeté de l'objet supérieure à la valeur correspondant à cet enfoncement maximum, et qui permet là aussi de sélectionner des fruits au-dessus de cette dite valeur connue et prédéterminée. Entre ces valeurs, la progression est linéaire.In Figure 3, the object 1 shown on the left of the figure corresponds, for example to a fruit considered soft. in which the point 10 will sink completely from its maximum protruding height d into the fruit, which will then be considered to offer a resistance lower than that of the praring of the spring 11. If this praring corresponds to a selection of fruits to be eliminated, account given the too weak firmness thereof, any non-detection of displacement of the tip 10 will eliminate all the fruits considered; the fruit or object 1 represented on the right-hand side of FIG. 1 is considered here as a very hard fruit, where on the contrary the point 10 is completely retracted inside the pad 5, and therefore corresponds to a firmness of the 'object greater than the value corresponding to this maximum sinking, and which again allows to select fruit above this said known and predetermined value. Between these values, the progression is linear.

Les appareillages connus de capteur comme 'celui indiqué ici et existant dans le commerce, permettent des mesures de précision de forces à plus ou moins 10 g pour un prétarage compris entre 50 et 100 g, avec une précision de capteur de déplacement de l'ordre du micron, ce qui correspond à une précision de la mesure de la fermeté de l'ordre du gramme. Pour ne pas marquer l'objet 1 tel qu'indiqué précédemment, on se cantonne à des enfoncements inférieures à 0,5 mm, comme par exemple 0,3 mm : dans ce cas, la discrimination par exemple de pêches, de fermeté supérieure à 6 kg/cm², nécessite une force de 100 g pour un embout plat, et de 70 g pour un embout sphérique de diamètre de 3 mm.Known sensor devices such as that indicated here and existing on the market, allow measurements of precision of forces to plus or minus 10 g for a pre-calibration between 50 and 100 g, with a precision of displacement sensor of the order micron, which corresponds to a precision measurement of firmness of the order of a gram. In order not to mark object 1 as indicated above, we confine ourselves to indentations of less than 0.5 mm, such as for example 0.3 mm: in this case, the discrimination, for example of peaches, of firmness greater than 6 kg / cm², requires a force of 100 g for a flat tip, and 70 g for a spherical tip with a diameter of 3 mm.

On préfèrera ce dernier embout, car il marque moins le fruit et la pression à exercer est moindre.We prefer this last tip, because it marks the fruit less and the pressure to exert is less.

Des essais répétitifs et nombreux ont permis de vérifier que la maturité d'un fruit par exemple peut en effet être calculée à partir de la mesure de cette micro pénétration d'embouts sur l'épiderme du fruit, et cela avec une fiabilité supérieure à plus de 80%, et un débit de convoyage de plus de trois fruits par seconde et un marquage pratiquement invisible du fait du dispositif suivant l'invention.Repetitive and numerous tests have made it possible to verify that the maturity of a fruit for example can indeed be calculated from the measurement of this micro penetration of tips on the skin of the fruit, and this with reliability greater than more of 80%, and a conveying rate of more than three fruits per second and a practically invisible marking due to the device according to the invention.

Afin de compléter la mesure et d'atteindre l'objectif de tri, le dispositif suivant l'invention comprend également des unités de calcul analysant les signaux émis par chacun desdits capteurs de mesures, tels que leur dimension et/ou leur fermeté, de telle façon qu'ils sont ensuite traités par une unité centrale connue de tout type associée audit système de convoyage, qui sélectionne et organise alors l'évacuation desdits objets repérés sur ce système de convoyage, vers différentes sorties correspondant à des critères de valeurs données des paramètres ainsi déterminés pour chaque objet 1.In order to complete the measurement and achieve the sorting objective, the device according to the invention also includes calculation units analyzing the signals emitted by each of said measurement sensors, such as their size and / or their firmness, such so that they are then processed by a known central unit of any type associated with said conveyor system, which then selects and organizes the evacuation of said objects identified on this conveyor system, to different outputs corresponding to criteria of given values of the parameters thus determined for each object 1.

Comme indiqué précédemment, tout type de capteur nécessitant un contact directement avec lesdits objets ou à une distance donnée de ceux-ci, peut être intégré dans ledit dispositif, soit directement sur le patin 5, soit à la surface 6 de celui-ci, soit à un point quelconque du bras support s'il s'agit d'une mesure à distance, mais dans laquelle on conserve la notion de contact direct avec lesdits objets par ce que l'on appelle un corps d'épreuve. Celui-ci permet en fait une mesure indirecte, mais un point quelconque du dispositif est de toute façon en contact avec ledit objet, même si le capteur ne s'y trouve pas directement, mais est solidaire de la surface 6 qui elle sera, dans le cadre de la présente invention, toujours en contact avec l'objet 1.As indicated above, any type of sensor requiring contact directly with said objects or at a given distance from them, can be integrated into said device, either directly on the pad 5, or on the surface 6 thereof, or at any point on the support arm if it is a distance measurement, but in which the concept of direct contact with said objects is preserved by what is called a test body. This in fact allows indirect measurement, but any point of the device is in any case in contact with said object, even if the sensor is not there directly, but is integral with the surface 6 which it will be, in the scope of the present invention, still in contact with object 1.

La détermination de la courbure de la surface 6 du patin 5 peut être déterminée en fonction du diamètre moyen minimum et maximum de la forme dont la surface externe est quasiment de révolution des objets 1 devant rouler en dessous. afin de pouvoir assurer un meilleur roulement sans frottement de ces dits objets contre ladite surface liée à la vitesse de rotation des diabolos 8 d'entraînement, ainsi qu'à leur vitesse d'avancement.The determination of the curvature of the surface 6 of the shoe 5 can be determined as a function of the minimum and maximum average diameter of the shape whose external surface is almost of revolution of the objects 1 having to roll below. in order to be able to ensure better rolling without friction of these said objects against said surface linked to the speed of rotation of the drive diabolos 8, as well as to their speed of advance.

La rotation du fruit par rapport audit patin 5 est nécessaire, outre pour la suppression ou la diminution des meurtrissures liées à la mesure de la fermeté, suivant un des objectifs principaux de l'invention, mais également permet d'éviter également des rebonds en arrière des objets 1 lorsqu'ils entrent en contact avec ledit patin 5.The rotation of the fruit with respect to said pad 5 is necessary, in addition to removing or reducing the bruising related to the measurement of firmness, according to one of the main objectives of the invention, but also also makes it possible to avoid rebounds behind objects 1 when they come into contact with said shoe 5.

Claims (10)

Dispositif de mesures non destructives sur des objets fragiles (1), de taille et de forme hétérogène dont la surface externe est quasiment de révolution par rapport à au moins un axe se déplaçant en continu sur un système de convoyage de type comportant des alvéoles réceptrices (2), dans lesquelles sont placés et entraînés lesdits objets un par un, suivant un plan directionnel donné (P), caractérisé en ce qu'il comporte au moins un bras support (3), fixé et articulé à une extrémité (4), un patin (5) solidaire de l'autre extrémité dudit bras, dont la surface inférieure (6) est en forme de cylindre dont la génératrice est perpendiculaire audit plan (P), s'étendant de part et d'autre de celui-ci et situé au-dessus du système de convoyage, et tel que chacun desdits objets (1) repousse vers le haut et roule par mouvement de rotation relatif sous et contre ladite surface (6), et au moins un capteur permettant une mesure non destructive d'un paramètre de chacun desdits objets (1), lors de leur passage sous ledit patin (5).Device for non-destructive measurements on fragile objects (1), of heterogeneous size and shape, the external surface of which is almost of revolution with respect to at least one axis moving continuously on a conveyor system of the type comprising receiving cells ( 2), in which said objects are placed and driven one by one, according to a given directional plane (P), characterized in that it comprises at least one support arm (3), fixed and articulated at one end (4), a shoe (5) integral with the other end of said arm, the lower surface (6) of which is in the form of a cylinder whose generatrix is perpendicular to said plane (P), extending on either side thereof and located above the conveyor system, and such that each of said objects (1) pushes up and rolls by relative rotational movement under and against said surface (6), and at least one sensor allowing a non-destructive measurement of 'a parameter of each d esits objects (1), during their passage under said pad (5). Dispositif de mesures suivant la revendication 1, et tel que le système de convoyage comprend une chaîne sans fin constituée de cylindres en forme de diabolos (8), qui roulent dans le même sens que leur direction d'entraînement, et dont les espaces qui les séparent constituent lesdites alvéoles (2) recevant les objets (1), ceux-ci étant alors entraînés et mis en rotation en sens inverse de leur avancement, caractérisé en ce que ledit patin (5) est fixe par rapport audit bras (3), et les vitesses d'entraînement et de rotation des diabolos sont telles que chaque objet (1) roule contre la surface (6) du patin.Measuring device according to claim 1, and such that the conveying system comprises an endless chain made up of diabolo-shaped cylinders (8), which roll in the same direction as their driving direction, and the spaces between them separate constitute said cells (2) receiving the objects (1), these then being driven and rotated in the opposite direction to their advancement, characterized in that said pad (5) is fixed relative to said arm (3), and the drive and rotation speeds of the diabolos are such that each object (1) rolls against the surface (6) of the skate. Dispositif de mesures suivant l'une quelconque des revendications 1 et 2, caractérisé en ce qu'il comporte un capteur de mesure de la position du bras support (3) par rapport au plan d'entraînement du système de convoyage, une unité de calcul recevant le signal de ce capteur et permettant d'en déduire la hauteur (h) maximum dont s'est soulevé ledit patin (5) lors du passage de chaque objet (1).Measuring device according to either of Claims 1 and 2, characterized in that it includes a sensor for measuring the position of the support arm (3) relative to the drive plane of the conveyor system, a calculation unit receiving the signal from this sensor and making it possible to deduce therefrom the maximum height (h) from which said shoe (5) was lifted during the passage of each object (1). Dispositif de mesures suivant la revendication 3, caractérisé en ce que ledit capteur de mesure est un capteur d'angle de rotation fixé à l'extrémité (4) du bras (3).Measuring device according to claim 3, characterized in that said measurement sensor is a rotation angle sensor fixed to the end (4) of the arm (3). Dispositif de mesures suivant l'une quelconque des revendications 1 à 4, caractérisé en ce qu'il comporte un capteur de déformation (7), situé dans ledit patin (5) et dont la partie active (10) dépasse seule de la surface (6).Measuring device according to any one of Claims 1 to 4, characterized in that it comprises a deformation sensor (7), located in said shoe (5) and the active part (10) of which protrudes alone from the surface ( 6). Dispositif de mesures suivant la revendication 5, caractérisé en ce que le capteur de déformation (7) est un capteur dont la partie active est une pointe (10) et qui comprend un ressort (11) prétaré à une valeur de compression donnée, et un module de mesure (12) du déplacement de ladite pointe (10), relié à une unité de calcul.Measuring device according to claim 5, characterized in that the deformation sensor (7) is a sensor the active part of which is a point (10) and which comprises a spring (11) pre-adjusted to a given compression value, and a measurement module (12) of the displacement of said tip (10), connected to a calculation unit. Dispositif de mesures suivant la revendication 6, caractérisé en ce que le déplacement maximum de la pointe (10) est de 0,5 mm et égal à sa hauteur (d) dépassant au repos de la surface (6), son embout est d'un diamètre de 8 mm maximum, et la force de compression de prétarage du ressort (11) est de 100 g maximum pour les fruits.Measuring device according to claim 6, characterized in that the maximum displacement of the tip (10) is 0.5 mm and equal to its height (d) projecting at rest from the surface (6), its tip is a diameter of 8 mm maximum, and the pre-setting compression force of the spring (11) is 100 g maximum for fruit. Dispositif de mesures suivant l'une quelconque des revendications 2 à 7, caractérisé en ce qu'il comporte au moins deux bras supports (3), équipés de leurs patins (5), et au moins d'un capteur de mesure chacun, lesdits bras étant disposés le long du système de convoyage à des distances (L) les uns des autres, telles par la rotation desdits objets (1) durant le franchissement de cette distance (L), les parties de leur surface roulant sous au moins deux desdits patins sont différentes.Measuring device according to any one of claims 2 to 7, characterized in that it comprises at least two support arms (3), equipped with their pads (5), and at least one measurement sensor each, said arms being arranged along the conveyor system at distances (L) from each other, such as by the rotation of said objects (1) during the crossing of this distance (L), the parts of their rolling surface under at least two of said skates are different. Dispositif de mesures suivant l'une quelconque des revendications 1 à 8, caractérisé en ce qu'il comprend des unités de calcul analysant les signaux émis par chacun desdits capteurs de mesure, de telle façon qu'ils sont ensuite traités par une unité centrale qui sélectionne et organise d'une manière connue, l'évacuation desdits objets repérés sur le système de convoyage, vers différentes sorties correspondant à des critères de valeurs données des paramètres ainsi déterminés pour chaque objet (1).Measuring device according to any one of Claims 1 to 8, characterized in that it comprises calculation units analyzing the signals emitted by each of said measurement sensors, so that they are then processed by a central unit which selects and organizes in a known manner, the evacuation of said objects identified on the conveyor system, to different outputs corresponding to criteria of given values of the parameters thus determined for each object (1). Dispositif de mesures suivant l'une quelconque des revendications 1 à 9, caractérisé en ce que ledit bras support (3) comporte des moyens (13) de réglage de la force d'appui dudit patin (5) contre les objets qui en passant dessous le soulèvent en exerçant et subissant un effort équivalent à cette force d'appui.Measuring device according to any one of Claims 1 to 9, characterized in that the said support arm (3) comprises means (13) for adjusting the bearing force of the said pad (5) against the objects passing under it raise it by exerting and undergoing an effort equivalent to this support force.
EP92430018A 1991-08-01 1992-07-22 Non-destructive, realtime measurement equipment for fragile, continuous conveyed objects Withdrawn EP0526364A1 (en)

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