EP0736339B1 - Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere von Früchten oder Gemüsen - Google Patents

Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere von Früchten oder Gemüsen Download PDF

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Publication number
EP0736339B1
EP0736339B1 EP96200852A EP96200852A EP0736339B1 EP 0736339 B1 EP0736339 B1 EP 0736339B1 EP 96200852 A EP96200852 A EP 96200852A EP 96200852 A EP96200852 A EP 96200852A EP 0736339 B1 EP0736339 B1 EP 0736339B1
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EP
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Prior art keywords
reflection
conveyor
lateral
products
analytical device
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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.)
Expired - Lifetime
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EP96200852A
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English (en)
French (fr)
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EP0736339A1 (de
Inventor
Philippe Blanc
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
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Materiel pour lArboriculture Fruitiere MAF SA
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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
    • B07C5/34—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 device analysis for automatic sorting of products, in particular fruits or vegetables.
  • a first technique consists in having one or more camera (s) above and / or on the side of a conveyor so as to analyze a portion of the surface of fruits or vegetables transported on it.
  • this solution leads to a significant error rate because only a portion of the product surface is analyzed.
  • the shortcomings of these products on non-visible sides are not taken into account when sorting.
  • a solution consists of having four cameras distributed around a conveyor, at its junction with another conveyor raised above the latter, so as to analyze the fruits when they fall.
  • This solution allows, in fact, analyze most of the product surface.
  • this solution does not allow analyze all of the top and bottom faces some products.
  • dropping the products constitute a significant risk of trauma of these.
  • Another technique described in the patent EP 258 810 consists in placing a camera above the conveyor, a plurality of mirrors distributed above and on the sides of this conveyor so as to allow the camera to view the upper side and the faces side of the products, and a plurality of lamps lighting distributed above the conveyor. Apart from the underside of products resting on the conveyor, this solution therefore makes it possible to analyze most of the surface of said products without risk of trauma to these latter.
  • the implementation of such technique is relatively complex. Indeed, this implementation requires in particular to have the lamps lighting so as not to dazzle the camera, provision which proves difficult to obtain if one wishes get uniform lighting.
  • the positions relative of the camera and the different mirrors must be perfectly defined, which is not very obvious from the has congestion problems related to the presence of conveyor.
  • the adopted principle of use a CCD camera cut into analysis segments leads to a significant reduction in the resolution of the sensor.
  • Patent application WO-8906782 describes finally another technique using a device of analysis according to the characteristics of the preamble of the claim 1 of this application. However, this technique does not allow to analyze the underside of products.
  • the present invention proposes to overcome all the disadvantages of the above techniques described and its main objective is to provide a device for analyzing the products of an implementation and very simple operation, allowing, in addition, analyze the entire surface of these products without risk of trauma to them.
  • the invention relates to a device of analysis according to the characteristics of the preamble of the claim 1, further comprising second means reflection, called lower, arranged under the conveyor so as to intercept a portion of the light line reflected by the lateral reflection means and at allow to illuminate the underside of the products.
  • the principle of the invention therefore consists in generate a light line transversely scanning the surface of the conveyor, to deflect this light line, when of this scan, so as to successively illuminate the the entire periphery of the products, and for each point of said light line, to be obtained by means of reception arranged on the same optical axis as that of incident beam, information representative of the light energy backscattered by said point.
  • Such a device therefore makes it possible to carry out a plurality of data acquisitions as and when movement of products, including processing IT has no complexity.
  • this treatment can be carried out by means of a unit such as described in patent application FR 2,703,932.
  • the invention can be applied to the sorting of products transported on a calibrator of the type described in the request for French patent n ° 95.02223 filed on 21.02.95 in the name of the plaintiff, whose conveying fingers are particularly suitable for viewing optimal external surface of the products.
  • the deflection means are adapted for that a portion of the light line directly illuminates one of the side faces and a portion of the face upper products, side reflection means extending substantially vertically on the side of the conveyor so as to allow lighting on the other side side of the products.
  • the means of diversion are preferably arranged substantially above the conveyor, intermediate reflection means being disposed between said deflection means and the means of lateral reflections so as to deflect the light line and to allow, on the one hand, direct lighting of a portion of the surface of the products and, on the other hand, a projection from a portion of the light line to the means of lateral reflections.
  • These intermediate means of reflection advantageously further comprise a reflector oblique arranged so as to deflect the light line in direction of a lateral reflection means, and a reflector lateral disposed so as to project said light line towards the products and the other means of lateral reflection.
  • this analysis device can be used to equip conveyors with two lines parallel conveyors.
  • this analysis device includes unique deflection means common to both conveyor lines, and reflection means arranged symmetrically with respect to the longitudinal axis of said conveyor.
  • the means of reflection lateral respectively disposed on either side of the conveyor have a height suitable for, on the one hand, at the level of their lower part, allow to illuminate laterally the products transported on the line juxtaposed conveying and, on the other hand, at their upper part, act as side reflector intermediate for the other conveyor line.
  • the analysis device preferably comprises means for ancillary reflection arranged to intercept the portion of light line adapted to directly illuminate products, so that the optical path of said portion of light line is of the same order of magnitude as those portions of the light line projected towards the means lateral and lower reflection.
  • the analysis device comprises at least two lighting means, and means optics capable of mixing the incident beams delivered by the different lighting means, these optical means being, moreover, advantageously constituted, for each lighting means, a polarizing cube.
  • the lighting means can thus include a laser source suitable for deliver a multi-beam wavelength beam preselected, and a light source capable of generating a polarized monochromatic beam, such as those described in French patent application No. 2,703,932, as well as a near infrared laser source such as described in French patent application No. 95.02402 filed on 24.02.95 in the name of the plaintiff.
  • the analysis device in accordance with the invention shown in Figure 1 is arranged above a double conveyor line for a grading machine such as described in French patent application No. 95.02223 filed on 21.02.95, including an endless chain 1 carrying two series of conveying fingers 2, 3 arranged in opposite on either side of said chain.
  • the superimposed beam from the sources lighting 4, 8, 12 is itself delivered to a polygon turn 19 with facets capable of reflecting said beam and generate light lines, said polygon being associated with rotating drive means around an axis parallel to the direction of travel of the grader.
  • a rotating polygon 19 is for example adapted so that the angle at the top of the scan is around 60 degrees, of which only about 32 degrees will be used.
  • the analysis device further comprises reflection means capable of deflecting the light line generated by the rotating polygon 19 so as to illuminate successively the entire surface of the products transported on the two conveyor lines 2, 3. It is note that in Figure 1 and for clarity, only the optical path allowing the analysis of the products carried by one of the conveyor lines 3 is shown. However, the analysis of the products carried by the other line of conveying 2 is obtained identically along a path optics symmetrical to that shown, during rotation of the rotating polygon 19.
  • the means of reflection include, in first place, two mirrors 20, 21 forming an open dihedral downwards of a plane angle substantially equal to 60 degrees, whose edge is arranged horizontally in the plane of vertical symmetry of the grader.
  • These means of reflection include, in in addition, two side mirrors 22, 23 arranged vertically on either side of the grader and extending substantially over a height between the fingers of conveying 2, 3 and the edge of the mirrors 20, 21.
  • the means of reflection include also, for each conveyor line 2, 3, two sets of mirrors 24, 25 and 26, 27 interposed between the central mirror 20 (or 21) and a lateral mirror 22 (or 23) so as to lengthen the optical path of the portion of the light line directly illuminating the products. (It is note that in figure 1, only mirrors 24-27 arranged above the conveyor line 2 are represented, it being understood that two similar sets are arranged symmetrically on top of each other conveyor line 3).
  • each of these sets is composed of two mirrors 24, 25 and 26, 27 forming a right dihedral with a horizontal edge, a said mirrors 24, 26 of each of these sets extending vertically and the other mirror 25, 27 extending horizontally.
  • these two sets are offset laterally and vertically, the set 24, 25 most close to the side mirror 22 being located substantially at a same height as the central mirror 20, and the other set 26, 27 lying below said mirror central.
  • the means of reflection include, finally, two lower mirrors 28, 29 each arranged under a conveyor line 2, 3 and adapted to illuminate the face lower products. As shown in Figure 1, these mirrors 28, 29 are inclined at an angle of the order of 30 degrees from the horizontal to face to the corresponding side mirror 22, 23 and to intercept a portion of the light line reflected by the latter.
  • the arrangement of these reflection means allows to successively illuminate three areas of the surface of produced during the rotation of the rotating polygon 19: a first zone 1 lit by mirrors side 22, 23, a second zone 2 lit by through the side mirrors 22, 23 and the mirror lower 29, and a third zone 3 directly lit after reflection by mirrors 24-27 and the mirror lateral 22.
  • these areas have portions that can potentially be processed by calculation so as to avoid the accumulation of the same defect, guaranteeing the analysis of the entire surface of products.
  • Such an analysis device allows acquire, during each scan, a series of signals analog (e.g. 128 analog signals for each zone of the product), triggering the start of a cycle being for example controlled by means of a cell.
  • a series of signals analog e.g. 128 analog signals for each zone of the product
  • the scanning speed (achieved in a time of the order of 66 microseconds) allows a large number of data acquisitions for each product (for example 128 acquisitions of signal sequences analog).

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  • Sorting Of Articles (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Claims (11)

  1. Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere Früchte oder Gemüse, die in Längsrichtung über einen Förderer bewegt werden, der mit Auflagen (2, 3) für die genannten Produkte versehen ist, die so gestaltet sind, dass die Unterseite der Produkte so wenig wie möglich verdeckt wird, wobei die Sortierungsvorrichtung folgendes umfasst:
    Punktbeleuchtungsmittel (4, 8, 12) zum Erzeugen eines polarisierten einfallenden Lichtbündels,
    Mittel (19) zum Ablenken des polarisierten einfallenden Lichtbündels, um das genannte Lichtbündel zum Bestreichen der Oberfläche des Förderers über eine querverlaufende Beleuchtungslinie relativ zur Bewegungsrichtung des genannten Förderer zu führen,
    erste, sogenannte seitliche Reflexionsmittel (22, 23), die seitlich in Bezug auf den Förderer auf eine solche Weise angeordnet sind, dass sie einen Abschnitt der Beleuchtungslinie schneiden und eine seitliche Beleuchtung der Produkte zulassen,
    Trennmittel (6, 10, 14), die auf der optischen Achse des polarisierten einfallenden Lichtbündels ausgerichtet sind und die Aufgabe haben, das genannte einfallende Lichtbündel von der depolarisierten Beleuchtungsenergie zu trennen, die von den Produkten und den Reflexionsmitteln (22, 23, 28; 29) zurückgestreut wird,
    eine Erfassungskette (7, 11, 15), die Sensoren umfasst, die so angeordnet sind, dass sie zurückgestreute Beleuchtungsenergie empfangen, und die die Aufgabe haben, analoge Signale zu erzeugen, die für die einzelnen Punkte jeder Beleuchtungslinie die Beleuchtungsintensität des genannten Punktes repräsentieren,
    und eine Verarbeitungseinheit mit einem A/D-Wandler zum Empfangen der von den Sensoren ausgesendeten analogen Signale und zum Umwandeln der genannten Signale in digitale Wertefolgen, und Rechenmittel, um anhand von vordefinierten programmierten Kriterien nutzbare Sortierungsinformationen zu errechnen,
       wobei die Analysevorrichtung dadurch gekennzeichnet ist, dass sie zweite, sogenannte untere Reflexionsmittel (28, 29) umfasst, die unter dem Förderer auf eine solche Weise angeordnet sind, dass sie einen Abschnitt der Beleuchtungslinie schneiden, der von den seitlichen Reflexionsmitteln (22, 23) reflektiert wird, und um eine Beleuchtung der Unterseite der Produkte zu erlauben.
  2. Analysevorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Ablenkungsmittel (19) so gestaltet sind, dass ein Abschnitt der Beleuchtungslinie nach der Reflexion auf einem der seitlichen Reflexionsmittel direkt eine der Seitenflächen und ein Abschnitt der Oberseite der Produkte beleuchtet, wobei die seitlichen Reflexionsmittel (22, 23) im wesentlichen senkrecht auf der Seite des Förderers so verlaufen, dass sie eine Beleuchtung der anderen Seitenfläche der Produkte zulassen.
  3. Analysevorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Ablenkungsmittel (19) im wesentlichen über dem Förderer angeordnet sind, wobei Zwischenreflexionsmittel (20, 21) zwischen den genannten Ablenkungsmitteln und den seitlichen Reflexionsmitteln (22, 23) so angeordnet sind, dass sie die Beleuchtungslinie ablenken und einerseits zulassen, dass nach der Reflexion auf einem der seitlichen Reflexionsmittel ein Abschnitt der Oberfläche der Produkte direkt beleuchtet und andererseits ein Abschnitt der Beleuchtungslinie in Richtung auf die genannten seitlichen Reflexionsmittel projiziert wird.
  4. Analysevorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die Zwischenreflexionsmittel einen schrägen Reflektor (20, 21) aufweisen, der so angeordnet ist, dass er die Beleuchtungslinie in Richtung eines seitlichen Reflexionsmittels (22, 23) ablenkt, und einen seitlichen Reflektor (23, 22), der so angeordnet ist, dass er die genannte Beleuchtungslinie in Richtung auf die Produkte und das andere seitliche Reflexionsmittel projiziert.
  5. Analysevorrichtung nach Anspruch 3 oder 4 für Förderer mit zwei parallelen Förderspuren (2, 3), dadurch gekennzeichnet, dass sie beiden Förderlinien gemeinsame eindeutige Ablenkmittel (19) und Reflexionsmittel (20-23, 28, 29) aufweist, die symmetrisch in Bezug auf die Längsachse des genannten Förderers angeordnet sind.
  6. Analysevorrichtung nach Anspruch 4 und 5 in Kombination, dadurch gekennzeichnet, dass die seitlichen Reflexionsmittel (22, 23), die jeweils auf beiden Seiten des Förderers angeordnet sind, so hoch sind, dass sie einerseits in der Höhe ihres unteren Teils eine seitliche Beleuchtung der transportierten Produkte auf der gegenüberliegenden Förderlinie (2, 3) zulassen und andererseits in der Höhe ihres oberen Teils als seitlicher Zwischenreflektor für die andere Förderlinie dienen.
  7. Analysevorrichtung nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass sie angebaute Reflexionsmittel (24-27) zum Schneiden des Abschnitts der Beleuchtungslinie aufweisen, um nach der Reflexion von einem der seitlichen Reflexionsmittel die Produkte direkt zu beleuchten, so dass der Lichtweg des genannten Abschnitts der Beleuchtungslinie dieselbe Größenordnung hat wie der der Beleuchtungslinienabschnitte, die in Richtung auf die seitlichen (22, 23) und unteren (28, 29) Reflexionsmittel projiziert werden.
  8. Analysevorrichtung nach einem der vorherigen Ansprüche, bei der die Ablenkungsmittel ein Polygon (19) aufweisen, das mit Facetten versehen ist, die das einfallende Lichtbündel reflektieren, und Antriebsmittel zum Drehen des genannten Polygons um eine parallele Rotationsachse in der Bewegungsrichtung des Förderers.
  9. Analysevorrichtung nach einem der vorherigen Ansprüche, bei der die Trennmittel aus einem Polarisatorwürfel (6, 10, 14) bestehen.
  10. Analysevorrichtung nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass sie wenigstens zwei Beleuchtungsmittel (4, 8, 12) und optische Mittel (16 - 18) umfassen, um die einfallenden, von den verschiedenen Beleuchtungsmitteln gesendeten Lichtstrahlen zu mischen.
  11. Analysevorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass die optischen Mittel für jedes Beleuchtungsmittel (4, 8, 12) aus einer Lamelle (16-18) zur selektiven optischen Ablenkung der gegebenen Wellenlängen bestehen.
EP96200852A 1995-04-06 1996-03-28 Analysevorrichtung zur automatischen Sortierung von Produkten, insbesondere von Früchten oder Gemüsen Expired - Lifetime EP0736339B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9504361A FR2732626B1 (fr) 1995-04-06 1995-04-06 Dispositif d'analyse en vue du tri automatique de produits, notamment de fruits ou legumes
FR9504361 1995-04-06

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EP0736339A1 EP0736339A1 (de) 1996-10-09
EP0736339B1 true EP0736339B1 (de) 2001-07-04

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US (1) US5673113A (de)
EP (1) EP0736339B1 (de)
CA (1) CA2173062C (de)
DE (1) DE69613616T2 (de)
ES (1) ES2160205T3 (de)
FR (1) FR2732626B1 (de)

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ES2159244B1 (es) * 1999-07-30 2002-04-01 Miguel Antonio Ortiz Maquina para clasificacion por calibre de frutos.
EP1698888A3 (de) * 2000-03-20 2009-12-02 Titech Visionsort As Materialüberprüfung
US20020079469A1 (en) * 2000-12-21 2002-06-27 Kennedy Hamish Alexander Nigel Product tracking during grading
DE10147617B4 (de) * 2001-09-27 2016-05-25 Weber Maschinenbau Gmbh & Co. Kg Aufschneidevorrichtung
CL2004001298A1 (es) * 2003-05-27 2005-06-03 Food Processing Systems Dispositivo para obtener imagenes de productos transportados sobre una linea o pista transportadora, tales como frutas o huevos.
ES2395062T3 (es) * 2006-08-01 2013-02-07 Photonic Detection Systems Pty Ltd Sistema y método de detección óptica para discriminación de plantas
DE102006042311B4 (de) * 2006-09-06 2013-12-05 3D-Shape Gmbh Dreidimensionale Vermessung von Objekten in einem erweiterten Winkelbereich
DE102006055431B4 (de) * 2006-11-22 2008-10-30 Dr. August Oetker Nahrungsmittel Kg Verfahren und Vorrichtung zur Bestimmung der Masse von Stückgut auf einer Fördereinrichtung
TWI386631B (zh) * 2009-06-25 2013-02-21 Tung Fang Inst Of Technology Wearable commodity color detection device
IT1396699B1 (it) 2009-11-19 2012-12-14 Unitec Spa Impianto perfezionato per la pulizia di contenitori per prodotti vegetali.
CN105855187B (zh) * 2015-12-08 2018-05-08 徐浩军 一种色选机

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US4281933A (en) * 1980-01-21 1981-08-04 Fmc Corporation Apparatus for sorting fruit according to color
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US4886975A (en) * 1986-02-14 1989-12-12 Canon Kabushiki Kaisha Surface examining apparatus for detecting the presence of foreign particles on two or more surfaces
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FR2703932B1 (fr) * 1993-04-16 1995-07-07 Materiel Arboriculture Procede et dispositif de tri automatique de produits, notamment de fruits et legumes.

Also Published As

Publication number Publication date
FR2732626B1 (fr) 1997-07-04
EP0736339A1 (de) 1996-10-09
CA2173062C (fr) 2006-10-03
FR2732626A1 (fr) 1996-10-11
US5673113A (en) 1997-09-30
DE69613616D1 (de) 2001-08-09
ES2160205T3 (es) 2001-11-01
CA2173062A1 (fr) 1996-10-07
DE69613616T2 (de) 2002-05-29

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