ES2445245B1 - Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado - Google Patents

Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado Download PDF

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Publication number
ES2445245B1
ES2445245B1 ES201200859A ES201200859A ES2445245B1 ES 2445245 B1 ES2445245 B1 ES 2445245B1 ES 201200859 A ES201200859 A ES 201200859A ES 201200859 A ES201200859 A ES 201200859A ES 2445245 B1 ES2445245 B1 ES 2445245B1
Authority
ES
Spain
Prior art keywords
cell
fruit
quality control
packaging
vision system
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 - Fee Related
Application number
ES201200859A
Other languages
English (en)
Other versions
ES2445245A2 (es
ES2445245R1 (es
Inventor
Carlos Javier GARCÍA ORELLANA
Horacio Manuel GONZÁLEZ VELASCO
Miguel MACÍAS MACÍAS
Ramón GALLARDO CABALLERO
Antonio GARCÍA MANSO
José Manuel MANGAS RODRÍGUEZ
Rafael Leal Paniagua
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.)
COVELESS INGENIERIA S L
Coveless Ingenieria Sl
Universidad de Extremadura
Original Assignee
COVELESS INGENIERIA S L
Coveless Ingenieria Sl
Universidad de Extremadura
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by COVELESS INGENIERIA S L, Coveless Ingenieria Sl, Universidad de Extremadura filed Critical COVELESS INGENIERIA S L
Priority to ES201200859A priority Critical patent/ES2445245B1/es
Publication of ES2445245A2 publication Critical patent/ES2445245A2/es
Publication of ES2445245R1 publication Critical patent/ES2445245R1/es
Application granted granted Critical
Publication of ES2445245B1 publication Critical patent/ES2445245B1/es
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
    • G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
    • G01N21/64—Fluorescence; Phosphorescence

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Agronomy & Crop Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Sorting Of Articles (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Image Processing (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y brazo robotizado.#La celda robotizada consiste en un brazo robotizado (1), una cinta para la alimentación de la fruta (5) y varias cintas de salida con los distintos tipos de embalaje (3 y 4), un sistema de iluminación (6) y un armario de control (2). La celda se encuentra rodeada perimetralmente de una valla protectora (7).#La celda realiza procesamientos sobre frutos que entran en la cadena de producción: selección por calibre del fruto, detección de defectos y envasado definitivo, todo en una sola etapa.#La celda es además un bloque constructivo-adaptable dentro de la cadena de producción.#Un sistema de visión multiespectral inteligente guía al brazo robotizado para coger cada fruto y depositarlo en el embalaje correcto o descartarlo, utilizando técnicas de segmentación basadas visión artificial y técnicas avanzadas de clasificación.

Description

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Claims (1)

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    imagen2
ES201200859A 2012-08-28 2012-08-28 Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado Expired - Fee Related ES2445245B1 (es)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES201200859A ES2445245B1 (es) 2012-08-28 2012-08-28 Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201200859A ES2445245B1 (es) 2012-08-28 2012-08-28 Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado

Publications (3)

Publication Number Publication Date
ES2445245A2 ES2445245A2 (es) 2014-02-28
ES2445245R1 ES2445245R1 (es) 2014-03-06
ES2445245B1 true ES2445245B1 (es) 2014-12-11

Family

ID=50156991

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201200859A Expired - Fee Related ES2445245B1 (es) 2012-08-28 2012-08-28 Celda para el control de calidad de fruta mediante un sistema de visión multiespectral inteligente y sistema robotizado

Country Status (1)

Country Link
ES (1) ES2445245B1 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110813796A (zh) * 2019-11-19 2020-02-21 龙口市汇源果蔬有限公司 苹果清洗分选系统及工艺

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2933045A1 (es) 2021-07-23 2023-01-31 Diseno Y Construccion De Maqu Automatizada S L Sistema de clasificacion automatizada de lomos de pescado y procedimiento asociado

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD293748A5 (de) * 1990-04-23 1991-09-12 Martin.Luther-Universitaet Halle-Wittenberg,De Verfahren und vorrichtung zum sortieren von tomaten nach ihrem reifegrad
NL1009556C2 (nl) * 1998-07-03 2000-01-07 Cpro Dlo Werkwijze voor het bepalen van de kwaliteit van fruit en bessen en inrichting voor het scheiden van fruit en bessen.
GB0322043D0 (en) * 2003-09-20 2003-10-22 Qinetiq Ltd Apparatus for,and method of,classifying objects in waste stream
ITBO20060454A1 (it) * 2006-06-13 2007-12-14 M M O S P A Sa Metodo e apparecchiatura per confezionare prodotti ortofrutticoli
CA2685158C (en) * 2007-04-25 2017-09-26 The United States Of America, As Represented By The Secretary Of Agricture Simultaneous acquisition of fluorescence and reflectance imaging techniques with a single imaging device
ES1074788Y (es) * 2010-11-16 2011-09-16 Iberfluid Instr S A Maquina encajadora de productos hortofruticolas
MY164318A (en) * 2010-11-30 2017-12-15 Univ Putra Malaysia A system for fruit grading and quality determination

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110813796A (zh) * 2019-11-19 2020-02-21 龙口市汇源果蔬有限公司 苹果清洗分选系统及工艺

Also Published As

Publication number Publication date
ES2445245A2 (es) 2014-02-28
ES2445245R1 (es) 2014-03-06

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