EP0620051A1 - Verfahren und Vorrichtung zur automatischen Sortierung von Produkten, hauptsächlich von Früchten oder Gemüsen - Google Patents

Verfahren und Vorrichtung zur automatischen Sortierung von Produkten, hauptsächlich von Früchten oder Gemüsen Download PDF

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Publication number
EP0620051A1
EP0620051A1 EP94200873A EP94200873A EP0620051A1 EP 0620051 A1 EP0620051 A1 EP 0620051A1 EP 94200873 A EP94200873 A EP 94200873A EP 94200873 A EP94200873 A EP 94200873A EP 0620051 A1 EP0620051 A1 EP 0620051A1
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EP
European Patent Office
Prior art keywords
product
light
point
representative
points
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94200873A
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English (en)
French (fr)
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EP0620051B1 (de
Inventor
Philippe Blanc
Gilles Romero
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Materiel pour lArboriculture Fruitiere MAF SA
Original Assignee
Materiel pour lArboriculture Fruitiere MAF SA
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Publication of EP0620051A1 publication Critical patent/EP0620051A1/de
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Publication of EP0620051B1 publication Critical patent/EP0620051B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour

Definitions

  • the invention relates to a method and an automatic sorting device for products, in particular fruit or vegetables.
  • the present invention aims to overcome these drawbacks and has the main objective of providing an automatic sorting device making it possible to meet the various criteria for selecting products such as fruit and vegetables, without being influenced by the non-crippling zones of the latter.
  • Another objective of the invention is to provide a device capable of delivering information representative of the quality, color and volume of the products.
  • Another objective of the invention is to provide a device which can be installed on a conveyor with several transport lines, and ensure a great uniformity of calibration on the whole of this conveyor.
  • such a method makes it possible to remove the ambiguity existing between a Golden apple having a rough area and a Golden apple having a pink spot.
  • Such ambiguity which cannot be overcome by existing devices, is of great importance because roughness is a factor in derating, while pink spots are a factor in quality.
  • this method makes it possible to discriminate faults such as fresh shocks which cannot be detected with current methods.
  • the colorimetric information provided is not affected by the presence of any cavities, which in particular avoids having to specifically position the products for sorting, and which therefore allows a automatic and continuous feeding of said products.
  • This method makes it possible to take into account, for the purpose of determining the colorimetric classification of the products, only the surfaces of this product that are healthy and free from defects, that is to say surfaces free of shocks ...
  • This mode of implementation makes it possible to remove any ambiguity and to interpret all types of phenomena which may occur at the surface of the product.
  • this mode of implementation makes it possible to differentiate the colorimetric aspect and the qualitative aspect, whereas at present the qualitative aspect is only approached from the colorimetric aspect, which leads numerous aberrations regarding the sorting information provided.
  • each product is illuminated by means of an incident beam capable of illuminating a point on the surface of said product, and said beam is moved so as to materialize a light line.
  • the monochromatic and polychromatic beams are preferably superimposed so as to illuminate each product at a single point. This arrangement makes it possible to obtain the color coming from the same point by analyzing the energy backscattered by this point for the different wavelengths.
  • a polychromatic beam composed of at least three wavelengths chosen from the following colors is advantageously used: red, green, blue, yellow.
  • the monochromatic beam used is preferably an infrared beam.
  • polychromatic and monochromatic beams originating from laser sources are preferably used.
  • laser sources makes it possible to use wavelengths determined to the nearest nanometer.
  • the laser power makes it possible to detect subepidermal defects not visible to the naked eye.
  • each beam is moved, on the one hand parallel to the direction of movement of the products so as to form longitudinal light lines consisting of 'a succession of aligned points, and on the other hand, transversely, so as to cover the surface of the product by a succession of parallel light lines.
  • the sensors preferably comprise means for decomposing the light energy returned by the product into a discrete number of preselected wavelengths and, for each wavelength, means for collecting and focusing, and a detector arranged to receive the collected energy and to deliver an analog signal representative of said energy.
  • the decomposition means advantageously consist of at least one deflected blade optics selected for given wavelengths.
  • these decomposition means are also inserted between the two faces forming the hypotenuse of two rectangular prisms, one of said prisms being arranged so that one of its faces constitutes the entry window of said means of decomposition.
  • the arrangement of the various optical components forms, between the input face and that of the output, a complete optical system of the same optical index.
  • Fresnel reflection is minimized because it takes place on the input and output faces which are as orthogonal as possible to the mean directions of the beams entering and leaving the system.
  • the different faces can undergo a conventional anti-reflection treatment.
  • the decomposition means can be of two types. They can thus either consist of a diffraction grating, or be made up of at least two holographic mirrors by reflection, spaced apart and selective for the predetermined wavelengths.
  • optical assembly is advantageously adapted to deliver a second analog signal representative of the light intensity returned by the product in the wavelength of the incident beam.
  • the device of the invention can in particular allow the sorting of fruit on a conveyor comprising n transport lines.
  • the first lighting means comprise a single lighting source delivering a beam divided into at least n beams transported by optical fibers at each line.
  • This arrangement makes it possible to illuminate the different transmission lines in a strictly identical manner, regardless of the evolution of the lighting source. As a result, any problem relating to a possible difference in brightness from one line to the next is eliminated, and perfect calibration uniformity is obtained over the whole machine.
  • the aim of the device shown in the figures is to provide a deterministic, flexible and scalable technique, making it possible to meet the various criteria for selecting fruit and vegetables without being influenced by the non-crippling zones of the latter.
  • the conveyor 1 shown in FIG. 1 is a conventional conveyor comprising n parallel conveyor lines each provided, for example, with a plurality of spaced rollers between which the fruits are housed, said rollers being able to be driven in rotation around their axis of revolution to the right of the sorting device.
  • This device consists of n measuring heads, such as 2, each arranged above a conveyor line and resting on a gantry 3 arranged transversely above the conveyor 1.
  • Each of these measurement heads 2 contains an electronic rack 4 for monitoring the process, a measurement enclosure 5 containing an acquisition chain 6 capable of collecting the energy returned by the fruit, a range finder 7 and a system 8 for deflecting the beam. Each measurement head also contains the electronics 9 of the rangefinder.
  • Each measuring head is also connected via an optical fiber such as 10 and a multiplexer 11 for n optical fibers 10, to a cabinet 12 containing a laser assembly comprising a multi-line laser (in the red example, green, blue) and, conventionally, means for cooling said laser and an electrical cabinet.
  • a laser assembly comprising a multi-line laser (in the red example, green, blue) and, conventionally, means for cooling said laser and an electrical cabinet.
  • FIG. 2 schematically represents, on the one hand, a range finder and a multi-line laser 13 inserted in accordance with the invention in an optical arrangement making it possible to superimpose the monochromatic beam coming from the range finder 7 and the polychromatic beam coming from the laser 13 and, on the other hand, a system of deflection of the beams thus superimposed.
  • the rangefinder 7 has a collimated infrared laser diode 14, the beam of which is delivered via a deflection mirror 15 to a separator 16 distinguishing the outward and return beams.
  • This rangefinder 7 further comprises a conoscopic head 17 associated with two avalanche diodes 18, 19, and an electronic card 20 capable of calculating and delivering representative signals, on the one hand from the distance fruit / conoscopic head 17 and, d other part of the light intensity returned by the fruit in the infrared.
  • This rangefinder furthermore comprises two imaging lenses 21, 22 arranged on either side of the separator 16, and adapted to focus the beam respectively on the fruit and on the conoscopic head 17.
  • the beam from this range finder 7 and the beam from the multi-line laser 13 are delivered to a dichroic beam splitter 23 capable, as indicated above, of superimposing said beams.
  • This superimposed beam is itself delivered to a deflection system comprising, first of all, a rotating polygon 24 provided with facets such as 24a capable of reflecting the incident beam and of generating light lines, said polygon being associated with means of 'rotational drive (not shown).
  • These deflection means further comprise a mirror 25 mounted oscillating with respect to a longitudinal axis, and arranged to intercept the light line coming from a facet 24a of the polygon 24, and to project this light line towards the transport line.
  • This oscillating mirror 25 is also associated with rotation means (not shown) able to rotate the latter about its longitudinal axis so that the light line scans the width of the transport line.
  • the acquisition chain 6 firstly comprises means for decomposing the light energy returned by the product into a discrete number of wavelengths corresponding to the wavelengths of the multi-line laser beam. It includes, in in addition, for each wavelength, collection and focusing means, and a detector arranged to deliver an analog signal representative of the energy returned.
  • the acquisition chain of FIG. 3 comprises two holographic mirrors by reflection 26, 27, spaced and parallel, adapted to each deflect one of the wavelengths of the multi-line beam, and to be transparent for the third wavelength.
  • this acquisition chain comprises collection and focusing means consisting of a condenser 28, 29, 30, and detectors 31, 32, 33.
  • an infrared filter 33a is arranged in front of the detector 33 corresponding to the third wavelength.
  • the acquisition chain represented in FIG. 4 comprises, for its part, a diffraction grating 34 inserted between the hypotenuse faces of two rectangular prisms 35, 36 forming a cube with said diffraction grating, said cube being arranged so that one of its faces constitutes the entry window of the acquisition chain.
  • This acquisition chain further comprises collection and focusing means consisting of a first common condenser 37 for two detectors 38, 39 arranged downstream of the latter, and a second condenser 40 associated with a third detector 41 and a filter. infrared 41a.
  • the device according to the invention also has synchronization means making it possible to create a digitization zone centered on the fruits to be examined.
  • the latter firstly comprise means of detection, such as a cell, of the point of origin of the light line generated by the rotation of the polygon. They also include step-by-step means of measuring the progress of the fruit on the conveyor.
  • the triggering of a processing cycle is given by the central processing unit for each movement of one step of the product, upon reception of the signal from the detection cell.
  • FIGS. 6, 7, 8 represent three intensity curves as obtained during the decomposition of the returned light energy by a light line according to the three wavelengths of the multi-line laser beam.
  • the three curves have a concave discontinuity in the same area, it uses the signal from the rangefinder.
  • the discontinuity observed for the curves representative of the wavelengths of the laser beam necessarily corresponds to a defect such as spot ...
  • the colorimetric analysis is carried out for the points other than those corresponding to the zone of the cavity.
  • a qualitative analysis schematized by the Q curve is performed for the points in this area.
  • the algorithm is based on the principle that for all abscissa points lower than mX, the curve must be necessarily constant or increasing.
  • any point i of ordinate Yi such that Yi is less than the ordinate Yi-1 of a previous point i-1, will be considered as stained.
  • This appreciation can however be refined by accepting certain differences in amplitudes, that is to say by considering the stained point i only if (Yi - Yi-1) is less than a predetermined threshold.
  • the next step is to quantify the spot, this quantification must be identical for two fruits of different shapes.
  • Normalization is therefore carried out by operating a projection into a normalization space in which, for a given spot and whatever its position on the fruit, the same associated gray level is obtained.
  • the gray level of the stained pixel will be projected on a straight line so that the value obtained corresponds to that of a maximum size fruit.
  • the color processing algorithm consists in storing, firstly, for each wavelength, the values of the gray levels (0 to 255) of all the points of the zone DF.
  • the following steps depend on the fruit to be classified and the predominant colors of the latter, and are adaptable to each type of fruit. For example and for apples, the color spectra between green and blue are calculated for each point and between red and green

Landscapes

  • Sorting Of Articles (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Spectrometry And Color Measurement (AREA)
  • Discharge Of Articles From Conveyors (AREA)
EP94200873A 1993-04-16 1994-03-30 Verfahren und Vorrichtung zur automatischen Sortierung von Produkten, hauptsächlich von Früchten oder Gemüsen Expired - Lifetime EP0620051B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9304605 1993-04-16
FR9304605A FR2703932B1 (fr) 1993-04-16 1993-04-16 Procede et dispositif de tri automatique de produits, notamment de fruits et legumes.

Publications (2)

Publication Number Publication Date
EP0620051A1 true EP0620051A1 (de) 1994-10-19
EP0620051B1 EP0620051B1 (de) 1998-07-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP94200873A Expired - Lifetime EP0620051B1 (de) 1993-04-16 1994-03-30 Verfahren und Vorrichtung zur automatischen Sortierung von Produkten, hauptsächlich von Früchten oder Gemüsen

Country Status (6)

Country Link
US (1) US5729473A (de)
EP (1) EP0620051B1 (de)
AT (1) ATE167818T1 (de)
DE (1) DE69411308T2 (de)
ES (1) ES2118311T3 (de)
FR (1) FR2703932B1 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0736339A1 (de) * 1995-04-06 1996-10-09 Materiel Pour L'arboriculture Fruitiere (M.A.F.) S.A. Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere von Früchten oder Gemüsen
EP0796671A1 (de) * 1996-03-22 1997-09-24 Alcatel Postal Automation Systems Bilderfassungssystem für Paketensortierung
US5732147A (en) * 1995-06-07 1998-03-24 Agri-Tech, Inc. Defective object inspection and separation system using image analysis and curvature transformation
EP1188385A1 (de) * 1999-06-08 2002-03-20 Japan Tobacco Inc. Verfahren und einrichtung zur detektion von fremdkörper in rohmaterial
EP4137813A1 (de) 2021-08-20 2023-02-22 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und verfahren zur automatischen qualitätsprüfung von obst und gemüse und anderen lebensmitteln
DE102021211548A1 (de) 2021-08-20 2023-02-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein System und Verfahren zur automatischen Qualitätsprüfung von Obst und Gemüse und anderen Lebensmitteln

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US6069696A (en) * 1995-06-08 2000-05-30 Psc Scanning, Inc. Object recognition system and method
US6219438B1 (en) * 1997-09-02 2001-04-17 Lucent Technologies Inc. Produce indentifier using barcode scanner and wavelet image processing and having compensation for dirt accumulated on viewing window
US7227148B2 (en) * 1999-06-08 2007-06-05 Japan Tobacco Inc. Apparatus for detecting impurities in material and detecting method therefor
BE1012795A3 (nl) * 1999-07-23 2001-03-06 Barco Elbicon N V Gebruik van optische golfgeleidertechnologie in een sorteerinrichting.
ES2159244B1 (es) * 1999-07-30 2002-04-01 Miguel Antonio Ortiz Maquina para clasificacion por calibre de frutos.
US20020079469A1 (en) * 2000-12-21 2002-06-27 Kennedy Hamish Alexander Nigel Product tracking during grading
AU2002257083A1 (en) * 2001-03-22 2002-10-08 University Of Utah Optical method and apparatus for determining status of agricultural products
US7316322B2 (en) * 2002-12-24 2008-01-08 Kubota Corporation Quality evaluation apparatus for fruits and vegetables
WO2008014553A1 (en) * 2006-08-01 2008-02-07 Photonic Detection Systems Pty Ltd Optical sensing system and optical devices therefor
DE102006042311B4 (de) * 2006-09-06 2013-12-05 3D-Shape Gmbh Dreidimensionale Vermessung von Objekten in einem erweiterten Winkelbereich
NO329603B1 (no) * 2007-11-22 2010-11-22 Integrated Optoelectronics As Fremgangsmate og system for maling og bestemmelse / gjenkjenning av ulike materialer
WO2011066267A2 (en) * 2009-11-25 2011-06-03 Jing-Yau Chung Rejection of defective vegetable with scattering and refracting light
US10408748B2 (en) * 2017-01-26 2019-09-10 ClariFruit System and method for evaluating fruits and vegetables
RU2749576C1 (ru) * 2020-03-11 2021-06-15 Федеральное государственное бюджетное образовательное учреждение высшего образования "Оренбургский государственный аграрный университет" Имитационный стенд для настройки бесконтактных датчиков
WO2023199102A1 (en) * 2022-04-14 2023-10-19 Tomra Sorting Gmbh Scanning of objects
WO2023198900A1 (en) * 2022-04-14 2023-10-19 Tomra Sorting Gmbh Scanning of objects

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GB2167180A (en) * 1984-02-21 1986-05-21 Alexandr Ivanovich Zamotaev Optical method and plant for sorting fruits according to quality
EP0231027A2 (de) * 1986-01-31 1987-08-05 Kabushiki Kaisha Toshiba Vorrichtung zur Lichttransmissionsprüfung
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
NL9000565A (nl) * 1990-03-12 1991-10-01 Tno Inrichting voor het sorteren van vruchten.

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NL8302228A (nl) * 1983-06-22 1985-01-16 Optische Ind De Oude Delft Nv Meetstelsel voor het onder gebruikmaking van een op driehoeksmeting berustend principe, contactloos meten van een door een oppervlakcontour van een objectvlak gegeven afstand tot een referentieniveau.
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Publication number Priority date Publication date Assignee Title
GB2167180A (en) * 1984-02-21 1986-05-21 Alexandr Ivanovich Zamotaev Optical method and plant for sorting fruits according to quality
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
EP0231027A2 (de) * 1986-01-31 1987-08-05 Kabushiki Kaisha Toshiba Vorrichtung zur Lichttransmissionsprüfung
NL9000565A (nl) * 1990-03-12 1991-10-01 Tno Inrichting voor het sorteren van vruchten.

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0736339A1 (de) * 1995-04-06 1996-10-09 Materiel Pour L'arboriculture Fruitiere (M.A.F.) S.A. Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere von Früchten oder Gemüsen
FR2732626A1 (fr) * 1995-04-06 1996-10-11 Materiel Arboriculture Dispositif d'analyse en vue du tri automatique de produits, notamment de fruits ou legumes
US5673113A (en) * 1995-04-06 1997-09-30 Materiel Pour L'arboriculture Fruitiere Analysis device for the automatic grading of products, in particular of fruits or vegetables
US5732147A (en) * 1995-06-07 1998-03-24 Agri-Tech, Inc. Defective object inspection and separation system using image analysis and curvature transformation
EP0796671A1 (de) * 1996-03-22 1997-09-24 Alcatel Postal Automation Systems Bilderfassungssystem für Paketensortierung
FR2746330A1 (fr) * 1996-03-22 1997-09-26 Alcatel Postal Automation Syst Systeme d'acquisition d'images pour le tri de paquets
US6122001A (en) * 1996-03-22 2000-09-19 Alcatel Postal Automation Systems Image acquisition system for sorting packets
EP1188385A1 (de) * 1999-06-08 2002-03-20 Japan Tobacco Inc. Verfahren und einrichtung zur detektion von fremdkörper in rohmaterial
EP1188385A4 (de) * 1999-06-08 2010-09-15 Japan Tobacco Inc Verfahren und einrichtung zur detektion von fremdkörper in rohmaterial
EP4137813A1 (de) 2021-08-20 2023-02-22 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und verfahren zur automatischen qualitätsprüfung von obst und gemüse und anderen lebensmitteln
DE102021211548A1 (de) 2021-08-20 2023-02-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein System und Verfahren zur automatischen Qualitätsprüfung von Obst und Gemüse und anderen Lebensmitteln

Also Published As

Publication number Publication date
EP0620051B1 (de) 1998-07-01
FR2703932B1 (fr) 1995-07-07
DE69411308T2 (de) 1999-03-25
US5729473A (en) 1998-03-17
DE69411308D1 (de) 1998-08-06
FR2703932A1 (fr) 1994-10-21
ATE167818T1 (de) 1998-07-15
ES2118311T3 (es) 1998-09-16

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