JP2001139001A - Vegetable and fruit selecting and boxing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vegetable and fruit selecting and boxing system for operating the whole of the system by the optimum operation ratio to the variation of producers and seasons without making a device larger nor increasing the number of workers. SOLUTION: When a producer code production register 25 is read (S10), the distribution status of grades of tomatoes 3 at present is predicted based on the past actual result of producers corresponding to the production code by a control PC 17 (S20), and based on the distribution status of predicted grades, the handling conditions of which assortment robot 13, out of a plurality of assortment robots 13, 13..., should handle which grade of tomatoes 3, out of various grades of them, are allotted (S30).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fruit and vegetable sorting and boxing system.

[0002]

2. Description of the Related Art Conventionally, fruits and vegetables such as tomatoes are produced according to the quality, ripeness (grade), size and weight (grade) of the fruits and vegetables.
It is sorted and shipped in 30 to 60 types of equal classes. In addition, the ratio of selected classes often changes greatly depending on producers and seasons.

In such a situation, in the conventional fruit and vegetable sorting and boxing system, the sorting and boxing line is fixed for each class, and the apparatus is increased in size in order to cope with the variety and change of the class. In fact, those with a low class ratio are handled manually.

[0004]

Therefore, in the conventional fruit and vegetable sorting and boxing system, the size of the apparatus is increased, and
There is a problem that a sorting / boxing line with a low operation rate occurs depending on a producer or a season. In addition, there is a problem that the number of workers is increased due to the necessity of manual work.

Therefore, the present invention can operate the entire system at an optimum operation rate with respect to changes in producers and seasons without increasing the size of the apparatus, and does not increase the number of workers. It is an object to provide a fruit and vegetable sorting boxing system.

[0006]

A fruit and vegetable sorting and boxing system according to the present invention, which has been made to achieve the above object, is provided with a conveyor for transporting fruits and vegetables along a predetermined transport route, and provided in the middle of the transport route. Photographing means for photographing the fruits and vegetables conveyed by the conveyor, and class calculating means for executing image processing to determine the class of the individual fruits and vegetables based on the image data of the fruits and vegetables photographed by the photographing means; A plurality of sorting robots that are arranged at a position downstream of the position where the photographing means is provided in the route and take out fruits and vegetables from the conveyor and move them to at least a boxing position, and are arranged for each of the plurality of sorting robots. An empty box supply system for supplying empty boxes to each of the box packing positions, comprising: A fruit and vegetable handling condition allocating means for predicting the distribution of the grades of the fruits and vegetables to be inputted and for each of the plurality of sorting robots, assigning which sort of fruits and vegetables are handled by each sorting robot; According to the sorting by the condition assigning means and the grade of each fruit and vegetable determined by the rank calculating means, for the sorting robot that is to handle the individual fruit and vegetables,
And boxing control means for executing a boxing operation for taking out the fruits and vegetables conveyed by the conveyor from the conveyor and storing the fruits and vegetables in the empty box supplied by the empty box supply means.

According to the fruit and vegetable sorting boxing system,
The fruit and vegetables handling condition allocating means predicts the distribution of the grades of fruits and vegetables to be put into the conveyor, and first assigns to each of the plurality of sorting robots which sort of fruits and vegetables each sorting robot will handle. . Then, the fruits and vegetables brought in from the producer are loaded into the conveyor from the loading position and are transported along a predetermined transport path. In the course of this conveyance, a photographing means provided in the middle of the conveyance path photographs the fruits and vegetables conveyed by the conveyor. Then, the rank calculating means executes image processing based on the image data of the fruits and vegetables photographed by the photographing means to obtain the grade of each fruit and vegetable. Specifically, the color, gloss, shape, scratch, size, and the like are identified by image processing to determine the rank of each fruit and vegetable. In this way, the fruits and vegetables for which the rank is determined are transported by the conveyor to a handling position by a plurality of sorting robots disposed downstream of the position where the photographing means is provided in the transport path. In addition, empty boxes are supplied to empty positions provided for each sorting robot by empty box supply means. Then, when the fruits and vegetables are conveyed to the handling position of the sorting robot by the conveyor in this way, the box packing control means performs the assignment by the fruit and vegetable handling condition allocating means and the grade of the individual fruits and vegetables determined by the equivalent rank calculating means. Then, the sorting robot, which is to handle the individual fruits and vegetables, executes a boxing operation of taking out the fruits and vegetables transported by the conveyor from the conveyor and storing the fruits and vegetables in the empty boxes supplied by the empty box supply means. As described above, according to the fruit and vegetable sorting and boxing system of the present invention, the plurality of sorting robots arranged in the transport path are not fixed in advance as those each handling fruit and vegetables of a specific grade, and the fruit and vegetable handling is not performed. Since the condition allocating means predicts the distribution of the grades of the fruits and vegetables to be inputted this time and allocates to each of the plurality of sorting robots which sort of fruits and vegetables each sorting robot will handle, The sorting robot functions flexibly as a sorter corresponding to the distribution of grades of fruits and vegetables according to producers and seasons, and can respond to changes in producers and seasons without increasing the overall system configuration of the system. The entire system can be operated at an optimal operation rate, and there is no increase in the number of workers.

In this fruit and vegetable sorting and boxing system, when there are a plurality of sorting robots for handling the same grade of fruits and vegetables assigned by the fruit and vegetable handling condition allocating means, the plurality of sorting robots are provided. It may be configured as means for determining which sorting robot among the sorting robots should handle which fruits and vegetables.

This is because, by allocating a plurality of sorting robots for handling fruits and vegetables having a large distribution, fruits and vegetables can be appropriately handled while the conveyor speed is as high as possible. In this case, by performing the above-described control while considering at what timing the individual fruits and vegetables photographed by the photographing unit are conveyed to the position of the sorting robot, the fruits and vegetables can be appropriately processed. Can be handled.

[0010] In these fruit and vegetable sorting and boxing systems, the fruit and vegetable handling condition allocating means is configured as means for allocating a larger number of sorting robots for handling fruits and vegetables as the grade is more distributed based on the distribution of the grade of fruits and vegetables. It is good to keep.

This is because the sorting robot takes out the fruits and vegetables from the conveyor, packs them in a box, and performs the same operation of taking out the next fruits and vegetables. This is because fruits and vegetables having a large distribution of classes can be taken out of the conveyor by a large number of sorting robots, and the leftovers can be minimized.

In the above-mentioned respective fruit and vegetable sorting and boxing system, the fruit and vegetable handling condition allocating means is a means for executing the assignment so as to handle fruits and vegetables of two or more classes to each sorting robot. It is good to configure.

By employing such a configuration, the operating rate of each sorting robot can be improved, and the number of sorting robots required as a whole system can be reduced, thereby contributing to the miniaturization of the system. Because.

Further, in the above-mentioned respective fruit and vegetable sorting and boxing system, a temporary stocker is arranged in the vicinity of each of the sorting robots, and the fruit and vegetable handling condition allocating means is provided to each of the sorting robots in a predetermined manner. In addition to the operation of handling the fruits and vegetables of the same grade to the boxed position, configured as means for executing the allocation so as to perform an operation of temporarily placing other specific fruits and vegetables of the same grade on the temporary stocker, The boxing control means,
The fruits and vegetables transported by the conveyor to the sorting robot that handles the individual fruits and vegetables in accordance with the allocation by the fruits and vegetables handling condition allocating means and the rank of the individual fruits and vegetables determined by the rank calculating means. May be taken out of the conveyor and stored in an empty box supplied by the empty box supply means, and an operation of temporarily placing the container on the temporary storage stocker.

According to the fruit / vegetable sorting / boxing system adopting such a configuration, the fruit / vegetable handling condition allocating means includes:
For each sorting robot, in addition to the operation of handling fruits and vegetables of the specified grade to the boxing position, the assignment is performed so as to perform the operation of temporarily placing other fruits and vegetables of the specified grade on the temporary stocker. I do. Then, the boxing control means is conveyed by a conveyor to a sorting robot that handles these fruits and vegetables according to the assignment by the fruit and vegetables handling condition allocating means and the grade of each fruit and vegetable determined by the grade calculation means. Boxing operation of taking out the fruits and vegetables that have come out of the conveyor and storing them in empty boxes supplied by empty box supply means,
And temporarily placing the robot on a temporary stocker arranged near each sorting robot. By performing this temporary storage operation, fruits and vegetables with less distribution are temporarily stored temporarily in a temporary storage stocker,
This is because the number of fruits and vegetables that pass by without being sorted can be reduced.

Here, in the fruit and vegetable sorting and boxing system, the boxing control means controls the sorting robot on which the temporary stocker is placed when a predetermined number of fruits and vegetables are temporarily placed on the temporary stocker. In a period during which the operation of storing the fruits and vegetables in the empty box from the conveyor is not performed, it may be configured as means for performing an operation of transferring the fruits and vegetables temporarily placed on the temporary stocker to the empty box. .

By adopting such a configuration, the box packing control means, when a predetermined number of fruits and vegetables are temporarily placed on the temporary storage stocker, the sorting robot on which the temporary storage stocker is arranged, and the sorting robot on the conveyor. During the period in which the operation of storing the fruits and vegetables in the empty box is not executed, the operation of transferring the fruits and vegetables temporarily placed on the temporary stocker to the empty box is executed. As a result, fruits and vegetables with a small distribution that have been temporarily stored in the temporary stocker can be packed in a box without human intervention.

In each of the above-described fruit and vegetable sorting and boxing systems, as a result of the control processing by the boxing control means, a fruit or vegetable that could not be handled by any of the sorting robots is returned to the feeding position of the conveyor. It is good to have it.

By adopting such a configuration, fruits and vegetables that cannot be handled by the sorting robot due to bad timing are returned to the loading position again by the return path and transported again along the transport system path. Become. As a result, it is possible to eliminate missing data and to minimize the manual processing.

In each of the above-mentioned fruit and vegetable sorting and boxing systems, the fruit and vegetable handling condition allocating means may be
It may be configured as a means for executing the assignment based on past actual distribution results of the same class of fruits and vegetables.

By adopting such a configuration, the handling conditions of the sorting robot can be appropriately assigned in consideration of the skill of the producer and the distribution of fruits and vegetables according to the season.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A system for sorting and packing tomatoes as fruits and vegetables as an embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the tomato sorting and boxing system 1 includes a conveyor 5 for transporting the tomatoes 3 along a predetermined transport route, and a tomato provided in the middle of the transport route for the tomatoes 3 and transported by the conveyor 5. 3 cameras 7, 7, 7 for photographing 3 and a class calculating means for performing image processing to obtain the class of each tomato based on the image data of the tomato taken by the cameras 7, 7, 7 An inspection data processing device 9 as
A plurality of sorting robots 13, 13, which are arranged at a position downstream of the position where the camera 7 is provided in the transport path of the tomato 3, and take out the tomato 3 from the conveyor 5 and move it to at least the boxing position 11, 11,. , And a case setting machine 15 as empty box supply means for supplying empty boxes to each of the packing positions 11, 11,... Arranged for each of the plurality of sorting robots 13, and are put into the conveyor 5. Tomato handling that predicts the distribution of the grades of the tomatoes 3 and assigns each of the sorting robots 13, 13,. A control personal computer (control PC) 17 as condition assigning means. And this control PC1
7 handles these individual tomatoes 3 in accordance with the assignment performed by itself as tomato handling condition assignment means and the rank of each tomato 3 obtained by the inspection data processing device 9 as rank calculation means. , The tomatoes 3 conveyed by the conveyor 5 are taken out of the conveyor 5 and stored in empty boxes supplied by empty box supply means. It is configured to function also as a boxing control means.

The conveyor 5 has tomato holders arranged at equal intervals. At the end of the conveyor 5, there is provided a discharge section 31 for off-grade products and a return path 33 for returning the tomatoes 3 not picked up by the sorting robot 13 to the inlet.

Further, as shown in the figure, the camera 7 is configured to take images of the tomato 3 at the photographing position from three directions from obliquely above and below. Also,
Image data captured by the camera 7 is input to a camera controller 19 and can be confirmed on a monitor 21. Note that the camera controller 19 controls the shooting timing of the camera 7 and the like.

Further, each of the sorting robots 13, 13,...
Is provided so as to be movable in a direction along the transport path and in a direction crossing the transport path, and is provided with an air suction port which is raised and lowered by an air cylinder.

In addition, sorting robots 13, 13,...
Are disposed in the vicinity of. These temporary stockers 23, 23,... Are for temporarily stocking tomatoes 3 of a specific grade that have been taken out of the conveyor 5 by the sorting robots 13, 13,.

Further, a new tomato 3 is added to the conveyor 5.
At the time of inputting, the producer code is registered by the producer code consignment register 25, which is input to the data totaling / management slip issuing device 27 and the inspection data processing device 9 via the LAN line 29. And control PC 17
It is configured to be input to.

Next, the contents of the processing for allocating tomato handling conditions executed in the control PC 17 will be described with reference to the flowchart of FIG. Control PC
17 reads the producer code registered by the producer code consignment register 25 (S10), and based on the past performance of the producer corresponding to the producer code, determines the distribution status of the current class of the tomato 3 this time. Prediction (S20), and based on the predicted distribution status of the class, the sorting robot 1
The handling conditions of which sorting robot 13 to handle the tomatoes 3 of the same class among 3, 13,... Are assigned (S30). At this time, the number of sorting robots 13 that handle the tomatoes 3 is assigned to a larger number of classes in the class distribution. In addition, it is assumed that two sorts of grades are handled for regular packing for one sorting robot 13, and some sorts of grades other than these two sorts of grades are used. As the tomatoes 3 temporarily placed in the temporary stocker 23,
The handling conditions are assigned so that a total of three or more kinds of tomatoes 3 of the same rank are handled for each of 13,. As described above, each sorting robot 13,
13, ... to which grade 3 tomatoes 3
Out of the storage box 23 and execute the normal boxing operation or temporarily store the temporary stocker 23 temporarily.

As an example, it is assumed that a grade distribution state as shown in FIG. 3A is predicted, and further, in this tomato sorting and boxing system 1, R1 is used as a sorting robot 13 as a sorting robot 13.
R15 are provided in total and six stockers are prepared for each sorting robot as the temporary stocker 23. As shown in FIG. Handling conditions for R1 to R15 are assigned. As can be understood from FIG. 3B, three sorting robots R1 to R3 are set as sorting robots for handling the most frequently occurring tomatoes 3 of the class 2B for regular packing. It can also be seen that the handling conditions are assigned to the four sorting robots R4 to R7 assuming that the tomatoes 3 of the same rank 2B are temporarily placed in the temporary stocker 23. Then, for those having a low occurrence frequency, for example, those having a class of 0B, three sorting robots whose handling conditions are R1 to R3 are set so that they are not placed in a regular boxing position but placed temporarily in a temporary storage stocker 23. It can be seen that is set for.

Next, the contents of the box packing control process executed in the tomato sorting box packing system 1 will be described with reference to the flowcharts of FIGS. When the tomato 3 is brought in from the producer to the collection place where the tomato sorting and boxing system 1 is installed, a producer code is first input (S110). The producer code input here is read out in the above-described processing of S10, and predicts the grade distribution of the tomatoes 3 by the producer and determines which kind of each of the sorting robots 13, 13,. It is used to determine the assignment of how to handle class tomatoes 3.

The tomatoes 3 thus transported to the collection site are placed one by one on the conveyor 5, and the conveyor 5 is driven (S120). Also, the case setting machine 15 is driven to supply empty boxes to the packing positions 11, 11,... Of the sorting robots 13, 13,.
Then, it is determined whether or not the first tomato 3 placed on the conveyor 5 has reached the photographing position by the camera 7 (S1).
40), when it is determined that it has reached (S140: YE)
S), the camera controller 19 operates to execute the photographing of the tomato 3 by the camera 7 (S150). Hereafter, the camera controller 19 will operate the camera 7 at predetermined time intervals.
Command of shooting by. This is because the tomatoes 3 are placed and transported on the conveyor 5 at equal intervals. Then, the image data captured by the camera 7 is input to the inspection data processing device 9 (S160). Then, in the inspection data processing device 9, the color, gloss, shape, scratch, size, and the like of the tomato 3 are analyzed by image processing, and the rank of the tomato 3 is determined (S170).

When the grade of the tomatoes 3 put into the conveyor 5 is determined in this way, the control PC 17 determines which sorting robot 13 will handle the tomatoes 3 of the grade (S180). At this time, a plurality of sorting robots 13, 13,.
Is assigned to handle the tomatoes 3, the most appropriate one of the sorting robots 13, 13,... Is determined as the sorting robot that handles the tomato 3 transported this time. I do. In making this decision, the sorting robot 1
In consideration of the time required for taking out the tomato 3 from the conveyor 5 by the third, third,... And executing the boxing operation, etc., which sorting robot 13 is assigned to handle the tomato 3 of the same grade. 13,
Consider whether it is efficient to execute the handling of the tomato 3 by. Also, among the sorting robots 13, 13,... Assigned to handle the tomatoes 3 of this class, the sorting robots assigned to perform regular packing as illustrated in FIG. 3B. Is preferentially adopted.

Then, the class is determined in this way,
In addition, it is determined whether the tomato 3 for which the sorting robot 13 to be handled has been determined has reached the handling position of the sorting robot 13 (S190). If it has been determined that it has reached (S190: YES),
It is determined whether the handling by the sorting robot 13 is assigned as a regular box or for temporary storage in the temporary stocker 23 (S200). If it is assigned for regular boxing (S200: regular), the sorting robot 13 is driven to adsorb the tomatoes 3 on the conveyor 5 by air and take out the tomatoes 3 from the conveyor 5, and the case setting machine is used. Then, a box packing operation for storing the empty box supplied in the box 15 is performed (S21).
0). Then, it is determined whether or not a predetermined number of tomatoes 3 have been stored in the empty box (S220). When it is determined that the predetermined number of tomatoes 3 has been stored in the empty box (S22
0: YES), the box that has been packed (hereinafter, referred to as “actual box”) is sent out onto the actual box transport line 35 (S230), and the actual box is transported on the actual box transport line 35 for printing. Predetermined characters and symbols are printed on the actual box transported to the position of the sealing machine 37, and the actual box is sealed (S240).

On the other hand, in the judgment of S200, if the handling by the sorting robot 13 is assigned for temporary placement on the temporary stocker 23 (S200: temporary placement), the sorting robot 13 is driven, The tomatoes 3 on the conveyor 5 are adsorbed by air and taken out of the conveyor 5, and the temporary stocker 23
Then, an operation of temporarily placing the file is executed (S250). Then, it is determined whether or not one box of tomatoes 3 of the same rank has been temporarily placed in the temporary stocker 23 (S
260). If it is determined in this determination that one box of tomatoes 3 has been temporarily placed in the temporary stocker 23 (S260: YES), the sorting robot 13 further executes the tomato 3 handling operation. It is determined whether or not the suspension period has not been performed (S270). If it is determined that the suspension period is during which the handling operation of the tomato 3 by the sorting robot 13 is not executed (S270: YE
S), one empty box is put in the boxed position (S28).
0), an operation of packing one box of tomatoes 3 temporarily placed in the temporary stocker 23 in this empty box is executed (S29).
0). When the boxing from the temporary storage stocker 23 is completed (S300: YES), the process proceeds to S230, where the box packed in S290 is sent out onto the box transfer line 35 (S230), and the box is actually removed. The actual boxes conveyed on the box conveying line 35 and conveyed to the position of the printing and sealing machine 37 are printed with predetermined characters and symbols, and the actual boxes are sealed (S240).

Thereafter, the tomato sorting boxing system 1
It is determined whether or not all the boxes of the tomatoes 3 put in are finished (S310). If it is determined that all the processes have been completed (S310: YES), a slip is issued by the data totaling / management slip issuing device 27 (S320), and the process ends. The sorting robots 13, 13,...
Are returned to the tomato input position via the return path 33, and are again transported and sorted by the conveyor 5 and handled by the robots 13, 13,... In the same manner as the newly input tomato 3. Is executed. Also, the tomatoes 3 of the same grade, for which the handling is not assigned to any of the sorting robots 13, 13,... By the control PC 17, are discharged from the conveyor 5 by the non-grade product discharging unit 31 as non-grade products. This off-grade tomato 3 will be processed manually.

As described above, according to the tomato sorting and boxing system 1 of this embodiment, the distribution of the class of the tomatoes 3, 3,... To be processed is predicted in consideration of the skills of the tomato producer. Based on this prediction, among the sorting robots 13, 13,..., Which sorting robot handles which grade of tomato is assigned, so that sorting is performed by the number corresponding to all ranks. It is not necessary to provide a robot, and a sorting robot with an extremely low operation rate does not occur. Further, manual work by a human can be minimized, and compact and efficient processing is performed as a whole system. It has a unique function and effect that it can

Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and may be embodied in various other forms without departing from the gist thereof. it can.

For example, when predicting the distribution of the tomato class by the producer code, the seasonal factor may be further considered. Alternatively, the distribution status of the class may be predicted in consideration of only the season. Furthermore, not only tomatoes but also various fruits and vegetables such as apples can employ a system having the same configuration as that of the above-described embodiment.

[0039]

As described above, according to the present invention, the entire system can be operated at an optimal operation rate with respect to producers and seasonal changes without increasing the size of the apparatus.
It is possible to provide a fruit and vegetable sorting and boxing system that does not increase the number of workers.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a tomato sorting and boxing system as an embodiment.

FIG. 2 is a flowchart showing details of a tomato handling condition assignment process executed in the embodiment.

FIG. 3 is an explanatory diagram showing an equal rank distribution of tomatoes shown as an example in the embodiment and an allocation state of handling conditions corresponding thereto.

FIG. 4 is a flowchart showing the contents of a tomato box packing control process executed in the embodiment.

FIG. 5 is a flowchart showing the contents of a tomato boxing control process executed in the embodiment.

[Explanation of symbols]

1 ... tomato sorting box packing system, 3 ... tomato,
5 ... Conveyor, 7 ... Camera, 9 ... Inspection data processing device, 11 ... Packing position, 13 ... Sorting robot, 15 ... Case setting machine, 17 ... Control personal Computer (control PC), 19 ...
Camera controller, 21 monitor, 23 temporary stocker, 25 producer code consignment register,
27 ... Data tabulation / management slip issuing device, 29 ...
LAN line, 31 ... Discharge part of non-grade goods, 33 ...
Return path, 35 ... Real box transfer line, 37 ...
Printing and sealing machine.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3E003 AA01 AB02 BA03 BB01 BC01 BD04 CA01 CA02 CA04 CA05 CB02 CB05 CB06 DA02 DA03 DA07 3E054 AA05 CA08 DC03 DC11 EA02 FA05 FE04 GA01 GA07 GB02 GB03 GC02 HA04 HA07 3F079 AC21 CA23 CA32 CA42 CB30 CC01 DA18 DA28 EA08

Claims (8)

[Claims] 1. A conveyor for transporting fruits and vegetables along a predetermined transport path, photographing means provided in the middle of the transport path for photographing fruits and vegetables transported by the conveyor, and fruits and vegetables photographed by the photographing means Based on the image data, based on the image data, to perform the image processing to obtain the class of the individual fruits and vegetables, and rank calculating means, disposed in the transport path at a position downstream of the position of the photographing means, the fruits and vegetables Fruit and vegetable sorting comprising: a plurality of sorting robots that are taken out of the conveyor and moved to at least a boxing position; and empty box supply means that supplies empty boxes to each of the boxing positions arranged for each of the plurality of sorting robots. A box packing system, wherein the distribution of the class of fruits and vegetables to be put into the conveyor is predicted, and the distribution is performed for each of the plurality of sorting robots. Fruit and vegetable handling condition allocating means for allocating which grade of fruits and vegetables each sorting robot handles, and assignment according to the fruit and vegetable handling condition allocating means and the individual fruit and vegetable grade obtained by the grade calculating means. A box packing for taking out the fruits and vegetables conveyed by the conveyor from the conveyor and storing the fruits and vegetables in the empty box supplied by the empty box supply means for the sorting robot that is to handle the individual fruits and vegetables. And a boxing control means for executing the operation. 2. The fruit and vegetable sorting and boxing system according to claim 1, wherein the boxing control means includes a plurality of sorting robots for handling fruits and vegetables of the same grade assigned by the fruit and vegetable handling condition allocating means. A fruit and vegetable sorting and boxing system characterized in that it is configured as means for determining which of the sorting robots to handle which fruits and vegetables among the plurality of sorting robots. 3. The fruit and vegetable sorting and boxing system according to claim 1, wherein the fruit and vegetable handling condition allocating means is a sorting robot which handles fruits and vegetables as the grade is more distributed based on the distribution of the grade of fruits and vegetables. A fruit and vegetable sorting boxing system characterized by being configured as a means for assigning a large number. 4. The fruit and vegetable sorting and boxing system according to claim 1, wherein the fruit and vegetable handling condition allocating means is configured to handle two or more equal grade fruits and vegetables to each sorting robot. A fruit and vegetable sorting boxing system, which is configured as a means for executing the allocation. 5. The fruit and vegetable sorting and boxing system according to claim 1, wherein a temporary stocker is arranged in the vicinity of each of the sorting robots, and wherein the fruit and vegetable handling condition allocating means comprises: For the sorting robot, in addition to the operation of handling fruits and vegetables of a predetermined grade to the boxing position, the assignment is performed so as to perform an operation of temporarily placing other fruits and vegetables of a specific grade on the temporary stocker. Executing the boxing control means, the sorting for handling the individual fruits and vegetables in accordance with the assignment of the fruits and vegetables handling condition assignment means and the grade of the individual fruits and vegetables determined by the equal rank calculation means. With respect to the robot, fruits and vegetables transported by the conveyor are taken out of the conveyor, and A fruit / vegetable sorting / boxing system, characterized in that it is configured as a means for executing a boxing operation of storing in an empty box supplied by a box supply unit and an operation of temporarily placing it on the temporary stocker. 6. The fruit and vegetable sorting and boxing system according to claim 5, wherein the boxing control means is arranged to sort the temporary stocker when a predetermined number of fruits and vegetables are temporarily placed on the temporary stocker. In a period in which the robot does not execute the operation of storing fruits and vegetables in the empty box from the conveyor, the robot is configured to execute an operation of transferring the fruits and vegetables temporarily placed on the temporary stocker to the empty box. A fruit and vegetable sorting boxing system characterized by putting. 7. The fruit and vegetable sorting and boxing system according to claim 1, wherein as a result of the control processing by the boxing control means, fruits and vegetables that cannot be handled by any sorting robot are conveyed. A fruit / vegetable sorting / boxing system comprising a return transport path for returning to a loading position. 8. The fruit and vegetable sorting and boxing system according to claim 1, wherein the fruit and vegetable handling condition assigning means executes the assignment based on past actual distribution results of the same class of fruits and vegetables. A fruit and vegetable sorting boxing system characterized by being configured as a means.