EP1022066B1 - Optical sorting of asparagus - Google Patents
Optical sorting of asparagus Download PDFInfo
- Publication number
- EP1022066B1 EP1022066B1 EP00200188A EP00200188A EP1022066B1 EP 1022066 B1 EP1022066 B1 EP 1022066B1 EP 00200188 A EP00200188 A EP 00200188A EP 00200188 A EP00200188 A EP 00200188A EP 1022066 B1 EP1022066 B1 EP 1022066B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- asparagus
- angle
- picture
- camera
- tip
- 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.)
- Expired - Lifetime
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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
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
-
- 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
Abstract
Description
- The invention relates to a device for sorting asparagus comprising transport facilities for the feeding of asparagus, a camera for taking a picture of an asparagus, electronic processing facilities in order to assign a qualification to the picture taken by the camera, and sorting facilities for sorting the asparagus depending on their qualification, the device further comprises a light source for illuminating an asparagus, whereby the electronic processing facilities are so organized as to analyze the image of the light projected on an asparagus in order to establish a degree of blooming of the tip of the asparagus.
- Such a device is known from the American patent US 4.271.967. In this known device the picture information is used to determine whether the asparagus is blooming or not. This is because blooming asparagus are not sold as vegetables. If asparagus are blooming they are usually used for other purposes, such as in soup. For an efficient sorting of asparagus it is therefore desirable that they be sorted according to whether they are blooming or not.
- An objective of the invention is to provide a device of the type described above in which asparagus can be easily sorted according to whether they are blooming or not. For this purpose the device according to the invention is characterized in that the light source illuminates the asparagus at an angle that differs from the angle at which the camera takes a picture of the asparagus, and in that the light source projects structured light on the tip of the asparagus and the electronic processing facilities analyze they degree of irregularity of the image of the light projected on the tip of an asparagus. If structured light is projected on a smooth surface the image of the projection will be smooth and regular. On projection on an uneven surface such as the open tip of a blooming asparagus the image will be uneven and irregular. The degree of irregularity forms the qualification for the extent of blooming of the tip of an asparagus. Here the concept of structured light should be understood to mean light that has a defined form and/or demonstrates a defined pattern, for example a straight line or a meshwork of straight lines. The degree of blooming can be derived from the shape of the image of the light projected on the asparagus.
- By illuminating the asparagus at an angle that differs from the angle at which the camera takes a picture of the asparagus, the irregularities of the asparagus are showed more clearly. Preferably the light source illuminates the asparagus at an angle that is almost a right angle to the longitudinal direction of the asparagus and the camera takes a picture of the asparagus at an angle with regard to the longitudinal direction of the asparagus.
- An asparagus only blooms on its tip. By only analyzing the image of the portion of the asparagus where blooming occurs, the sorting can be done more quickly than by analysis of an image over a larger portion of the asparagus.
- To facilitate the illumination of the proper portion of the asparagus another embodiment of the device is characterized in that the device comprises holders for the asparagus in which all the asparagus are oriented in the same direction. This makes it unnecessary to first determine the tip of the asparagus in order to be able to ascertain whether it is blooming or not.
- It is noticed that JP-A-03 278870 discloses a device where a number of straight lines are projected on the tip of an asparagus in order to compare the diameters at predetermined positions with average values. Further JP-A-63 078013 discloses a device to exactly detect a plane shape of an object to be selected by irradiating parallel rays of light in a shape of a ring extending over the whole area of the peripheral surface of the object. Document US-A-5.381.236 discloses a device to determine which parts of an image taken of an asparagus are in focus in order to measure the size of items of fruit. None of these documents show a device where the degree of irregularity of the image of structured light projected on the tip of the asparagus is analysed in order to derive the degree of blooming of the asparagus.
- It is further noticed that US-A-4.875.777 discloses a device which illuminates a target surface with a sheet of light which is evaluated to provide a characterization of the contour of the target surface. However, this device is not equipped to sort asparagus.
- The invention also relates to a working method for sorting asparagus in which asparagus are transported to a camera, after which a picture of an asparagus is taken by the camera and using electronic processing equipment a qualification is established from the picture of the asparagus which is then sorted depending on the qualification of the asparagus, whereby light is projected on the asparagus to be sorted and the qualification takes place on the basis of the image of the light projected on the asparagus, at which time the degree of blooming of the tip of the asparagus is established.
- As far as the working method is concerned the invention is characterized in that the asparagus is illuminated at an angle that differs from the angle at which the camera takes a picture of the asparagus, and in that structured light is projected on the tip of the asparagus and the degree of irregularity of the image of the light projected on the tip of the asparagus is analyzed.
- In order to better visualize irregularities and thus blooming of the asparagus, the asparagus is illuminated at an angle that differs from the angle at which the camera takes a picture of the asparagus. Preferably the asparagus is illuminated at an angle that is almost a right angle in terms of the longitudinal direction of the asparagus and the camera takes a picture of the asparagus at an angle with regard to the longitudinal direction of the asparagus.
- In order to accelerate the analysis structured light is projected on the tip of the asparagus and only the image of the light projected on the tip of an asparagus is analyzed.
- In order to facilitate the illumination and viewing of the proper portion of the asparagus another embodiment of the working method is characterized in that the asparagus to be sorted are oriented in the same direction.
- The invention will be elucidated more fully below on the basis of drawings in which an embodiment of the device according to the invention is shown. In these drawings:
- Figure 1 shows a schematic image of the device for the sorting of asparagus;
- Figure 2 shows an asparagus with a closed, not blooming tip with the image of a projected line on it; and
- Figure 3 shows an asparagus with an open blooming tip with the image of a projected line on it.
- Figure 1 shows a schematic image of an embodiment of the device for sorting asparagus according to the invention. The
device 1 comprises transport facilities for the feeding ofasparagus 3. The transport facilities comprise a belt 5, schematically illustrated by broken lines, on which holders 7 for asparagus can be seen. In the holders 7 theasparagus 3 are oriented lengthwise with the tip 9 extending on one side. The holders 7 can rotate around anaxis 11. The rotation is driven bysorting facilities 13 that can activatemovable arms 15 that are located across fromreceptacles 17. Depending on a qualification code of anasparagus 3 present in a holder 7, thesorting facilities 13 will tilt the asparagus into thereceptacle 17 belonging to the qualification. - The qualification originates in
electronic processing facilities 19 that use the picture taken by acamera 21 to establish a qualification of the asparagus with regard to the blooming of the tip of the asparagus. Thiscamera 21 is at an angle with regard to thelongitudinal direction 23 of theasparagus 3 and takes a picture of the light that is projected by alight source 25 on the tip 9 of the asparagus. Thislight source 25 is at a right angle to thelongitudinal direction 23 of theasparagus 3 and projects structured light in the form of a straight line diagonal to the asparagus, which is shown in more detail in the following figures. - Figure 2 shows a portion of an
asparagus 27 with a closed tip (this is an asparagus that is not blooming) with theimage 29 of a projected line on it in a view at an angle to the longitudinal direction of the asparagus. The projected straight line is perceived as a curved line, such that the shape of the asparagus is better visualized. This can better illustrate irregularities and thus blooming of the asparagus, as figure 3 shows. In this figure anasparagus 31 with an open tip (this is a blooming asparagus) is shown at the same angle. Thisasparagus 31 demonstrates blooming 33 on the tip such that theimage 35 of the light is irregular, which represents a degree of blooming. - Although in the above the invention is explained on the basis of the drawings, it should be established that the invention is in no way limited to the embodiment shown in the drawings. The invention also extends to all embodiments deviating from the embodiment shown in the drawings within the context defined by the claims. For example instead of a straight line a curved line or a grille or other structured light whose shape is known can also be projected on the asparagus. In addition, cameras and light sources can be set up on both sides of the holders so that it does not matter on which side the tip of the asparagus extends, such that the feeding of the asparagus is made easier.
Claims (6)
- Device (1) for sorting asparagus (3) comprising transport facilities (5) for the feeding of asparagus, a camera (21) for taking a picture of an asparagus, electronic processing facilities (19) in order to assign a qualification to the picture taken by the camera, and sorting facilities (13) for sorting the asparagus depending on their qualification, the device further comprises a light source (25) for illuminating an asparagus, whereby the electronic processing facilities are so organized as to analyze the image of the light projected on an asparagus in order to establish a degree of blooming of the tip of the asparagus, characterized in that the light source (25) illuminates the asparagus at an angle that differs from the angle at which the camera (21) takes a picture of the asparagus, and in that the light source (25) projects structured light on the tip (9) of the asparagus and the electronic processing facilities (19) analyze the degree of irregularity of the image (29) of the light projected on the tip of an asparagus.
- Device (1) according to claim, characterized in that the light source (25) illuminates the asparagus at an angle that is at least almost a right angle to the longitudinal direction (23) of the asparagus and the camera (21) takes a picture of the asparagus at an angle to the longitudinal direction of the asparagus.
- Device (1) according to claim 1, or 2, characterized in that the device comprises holders (7) for asparagus in which all the asparagus are oriented in the same direction.
- Working method for sorting asparagus in which asparagus are transported to a camera, after which a picture of an asparagus is taken by the camera and electronic processing facilities use the picture of the asparagus to establish a qualification for it and then, depending on its qualification, the asparagus is sorted, whereby light is projected on the asparagus to be sorted and the qualification takes place on the basis of the image of the light projected on the asparagus, at which time the degree of blooming of the tip of the asparagus is established, characterized in that the asparagus is illuminated at an angle that differs from the angle at which the camera takes a picture of the asparagus, and in that structured light is projected on the tip of the asparagus and the degree of irregularity of the image of the light projected on the tip of the asparagus is analyzed.
- Working method according to claim 4, characterized in that the asparagus is illuminated at an angle that is almost at a right angle to the longitudinal direction of the asparagus and the camera takes a picture of the asparagus at an angle with regard to the longitudinal direction of the asparagus.
- Working method according to claim 4 or 5, characterized in that the asparagus to be sorted are all oriented in the same direction.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1011080 | 1999-01-20 | ||
NL1011080A NL1011080C2 (en) | 1999-01-20 | 1999-01-20 | Apparatus and method for sorting asparagus. |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1022066A1 EP1022066A1 (en) | 2000-07-26 |
EP1022066B1 true EP1022066B1 (en) | 2006-07-12 |
Family
ID=19768509
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00200188A Expired - Lifetime EP1022066B1 (en) | 1999-01-20 | 2000-01-19 | Optical sorting of asparagus |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1022066B1 (en) |
AT (1) | ATE332766T1 (en) |
DE (1) | DE60029265T2 (en) |
NL (1) | NL1011080C2 (en) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH071167B2 (en) * | 1986-09-19 | 1995-01-11 | 井関農機株式会社 | Shape identification device for agricultural products |
US4875777A (en) * | 1987-09-30 | 1989-10-24 | Industrial Technology Institute | Off-axis high accuracy structured light profiler |
JPH03278870A (en) * | 1990-03-27 | 1991-12-10 | Toshiba Eng Co Ltd | Method for sorting green asparagus |
GB9102903D0 (en) * | 1991-02-12 | 1991-03-27 | Oxford Sensor Tech | An optical sensor |
FR2763871B1 (en) * | 1997-05-30 | 1999-08-27 | Eric Besnard | SYSTEM FOR AUTOMATIC CALIBRATION OF ASPARAGUS INCLUDING AN OPTICAL RECOGNITION DEVICE |
-
1999
- 1999-01-20 NL NL1011080A patent/NL1011080C2/en not_active IP Right Cessation
-
2000
- 2000-01-19 EP EP00200188A patent/EP1022066B1/en not_active Expired - Lifetime
- 2000-01-19 DE DE60029265T patent/DE60029265T2/en not_active Expired - Fee Related
- 2000-01-19 AT AT00200188T patent/ATE332766T1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
DE60029265T2 (en) | 2007-08-30 |
NL1011080C2 (en) | 2000-07-21 |
EP1022066A1 (en) | 2000-07-26 |
ATE332766T1 (en) | 2006-08-15 |
DE60029265D1 (en) | 2006-08-24 |
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