JP2004167297A - Measuring instrument for object to be measured - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a measuring instrument for an object to be measured which measures predetermined items of the whole of the object to be measured accurately and certainly by one item measuring means. <P>SOLUTION: A container B, in which a predetermined number of the crops A are housed in an arranged state, is fed to the supply section (a) on a container feed device 20 and the crops A corresponding to one row housed in the container B are held by a first transfer device 50 to be transferred to a delivery device 30. The crops A corresponding to one row placed on the delivery device 30 are held by a second transfer device 60 to be moved to the transfer section (b) on a tray feed device 40 and, after the undersurfaces of the crops A are photographed by the image pickup camera 71 of the item measuring instrument 70, the image pickup camera 71 is altered in its posture to be opposed to the side surfaces of the crops A. Then, the crops A themselves are horizontally rotated by almost 270° to photograph the total peripheries of the side surfaces of the crops A by the image pickup camera 71. The predetermined items of the crops A are individually evaluated and judged by a judge controller 7 on the basis of the picked-up image data to transfer the crops A to the tray C fed to the transfer section (b). <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to predetermined items such as tangerines, apples, tomatoes, persimmons, persimmons, cucumbers, eggplants, ginseng, potatoes, leeks, and other agricultural products (including fruit and vegetables), seafood, ball balls, food, parts, and other predetermined items to be measured. The present invention relates to a device for measuring an object to be measured, which is used for measuring an object.
[0002]
[Prior art]
Conventionally, as an apparatus for measuring the crop of the above-described example, for example, the lower surface of the crop that is transferred from the upstream conveyor to the downstream conveyor is imaged from below with an imaging camera disposed below the transfer section, and An agricultural product sorting device according to Patent Document 1 in which an imaging camera arranged on one of the conveyor devices captures an image of the upper surface of the agricultural product, and both sides of the agricultural product reflected on the upper surface of the agricultural product placed on the saucer and a plurality of mirrors. There is an agricultural product sorting device of Patent Document 2 in which a surface is imaged from above with a single imaging camera.
[0003]
[Patent Document 1]
JP-A-2000-140770.
[0004]
[Patent Document 2]
JP-A-10-146570.
[0005]
[Problems to be solved by the invention]
However, the sorting apparatus of the above-mentioned Patent Document 1 captures the lower surface and the upper surface of the crop from above and below with an imaging camera. However, it is difficult to accurately capture the side surface of the crop, and the predetermined items of the entire crop can be accurately and reliably determined. Cannot measure. In addition, when moving agricultural products from the upstream conveyor to the downstream conveyor, foreign substances such as skin, oil, water droplets, juice, paper debris, dust, and dirt tend to adhere to the lens surface of the imaging camera. As the amount increases, the measurement capability and measurement accuracy of the imaging camera decrease, so that the measurement conditions cannot always be kept constant. In addition, it is necessary to periodically remove foreign matter adhering to the lens surface of the imaging camera, which requires time and effort for the removal operation, and also has a problem that the sorting ability of the sorting device is reduced. .
[0006]
Further, the agricultural product sorting device of Patent Document 2 captures both sides of the crop reflected by a plurality of mirrors with a single imaging camera, but cannot capture the front and rear surfaces of the crop, and cannot produce the crop. It is not possible to measure all predetermined items accurately and reliably. In addition, since the mirror body is arranged at a fixed position in opposition to the side surface of the crop that is moved into the imaging area of the imaging camera, the foreign matter as described above is mirror-like in a manner similar to the sorting device of Patent Document 1. It has a problem that it easily adheres to the body and the foreign matter must be removed periodically.
[0007]
Alternatively, there is a general method of imaging the side surface of a crop with a plurality of imaging cameras from a substantially horizontal direction. However, as the number of installed imaging cameras increases, the configuration of the entire apparatus becomes more complicated, and the installation work of the imaging cameras becomes difficult. Not only does it take time and effort, but also has the problem that the manufacturing cost of the entire apparatus is increased by the number of imaging cameras installed.
[0008]
In view of the above problems, the present invention changes the item measuring means to a posture suitable for measuring a predetermined item on the outer surface of the object to be measured, so that a predetermined item of the entire object to be measured can be accurately measured by one item measuring means. It is another object of the present invention to provide a device for measuring an object to be measured that can reliably measure.
[0009]
[Means for Solving the Problems]
According to the present invention, there is provided an object transfer means for transferring the object to an object unloading unit for unloading the object from an object loading unit for unloading the object to be measured. Item measurement means for measuring a predetermined item on the outer surface of the DUT to be transferred during the transfer of the DUT loading / unloading section and the DUT carrying-out section, and the measurement direction of the item measuring means to a predetermined value on the outer surface of the DUT. A direction change unit that changes the posture to a position suitable for measuring an item; and a determination unit that individually evaluates and determines a predetermined item of the DUT based on measurement information output from the item measurement unit. In addition, the device is a device for measuring an object to be measured.
[0010]
Examples of the object to be measured include agricultural products (including fruits and vegetables) such as tangerines, apples, tomatoes, persimmons, pears, peaches, cucumbers, eggplants, carrots, potatoes, and green onions, seafood, ball balls, foods, parts, and the like. Can be configured. In addition, the object-to-be-measured carrying-in section includes, for example, a container transporting device and a transport conveyor that transport containers (containers, cardboard boxes, and the like) containing a predetermined number of crops, and a predetermined number (for one row = 6 or 6 or less) (The above number) of crops, a transfer device and a conveyor, and a first transfer device that transfers the crops stored in the container to the delivery device. Further, the measured object unloading section can be composed of, for example, a tray transport device, a transport conveyor, and the like. In addition, the object transfer means is, for example, a tray transfer device for transferring agricultural products placed in a container and placed on a delivery device to a tray transferred by the device, an adsorber for holding the agricultural products. And a holding unit such as an arm and a chuck, a transfer unit for moving the holding unit, a movable frame, an endless belt, a motor, an air cylinder, a gear, a screw shaft, and the like. Further, the device for rotating the device under test can be constituted by: The item measuring means can be constituted by an optical measuring means such as a monochrome or color imaging camera, video camera, digital camera, image element, or the like. Further, the determination means can be constituted by, for example, a personal computer or a determination control device including a CPU, a ROM, and a RAM.
[0011]
That is, when one or more DUTs are transferred from the DUT loading section to the DUT carrying-out section by the DUT transfer means, the outer surface of the DUT being measured during the transfer is measured by the item measuring means. In addition, the item measuring means sets the posture suitable for measuring a predetermined item on the outer surface of the measured object (for example, the lower surface and the side surface), for example, the lower surface measuring posture for measuring the lower surface of the measured object and the side measurement for measuring the side surface of the measured object. The posture is changed by the direction changing means. In addition, based on the measurement information output from the item measuring means, a predetermined item of the measured object is individually evaluated and determined by the determining means.
[0012]
As an embodiment, the posture of the item measuring means changed by the direction changing means can be set to a lower surface measuring posture for measuring the lower surface of the object to be measured and a side surface measuring posture for measuring the side surface of the object to be measured. Further, when measuring the side surface of the object by the item measuring means, the object to be changed by the object changing means is rotated (for example, approximately 270 degrees and horizontally rotated by an angle of about 270 degrees or more or less). A measuring object rotating means (for example, a gear or rack for rotating the holding means for holding the crop, a cam mechanism, a crank mechanism and a motor, an air cylinder, a solenoid, etc. for driving the mechanism) can be provided. Further, a fluid discharge means (for example, a discharge nozzle or a discharge hole) for discharging a gas (for example, air or gas) toward the measurement surface of the item measurement means can be provided.
[0013]
[Action and effect]
According to the present invention, the direction of the item measuring means is changed to a posture suitable for measuring a predetermined item on the outer surface of the object to be measured. Thus, the work of sorting and sorting the objects to be measured by item can be performed accurately, and the sorting accuracy can be improved. In addition, the number of arrangements of the item measuring means is small, the installation work of the apparatus can be performed easily and easily, and the configuration of the entire apparatus is simplified, so that one apparatus can be manufactured at low cost.
[0014]
Also, when measuring the side surface of the object to be measured, the item measuring means is changed to the side surface measurement posture facing the side surface of the object to be measured, and the measurement operation is performed in a state of being retracted from the lower portion of the object to be measured. Foreign substances such as oil, water drops, juice, paper debris, dust, and dirt are unlikely to adhere to the item measuring means, and the amount of such foreign substances is reduced, so that the measuring ability and measuring accuracy of the item measuring means are not impaired, and the measuring conditions are always constant. It can be kept constant, and the work of measuring a predetermined item of the object to be measured can be performed stably.
[0015]
【Example】
An embodiment of the present invention will be described below in detail with reference to the drawings.
[0016]
The drawings show an object-to-be-measured device used when measuring a predetermined item of the whole agricultural crop, which is an example of the object to be measured. In FIGS. (E.g., 24) crops A ... are arranged and accommodated in a container B (e.g., a container or a cardboard box) and are taken out of the container B by a container transport device 20 that transports the container B to a supply section a set on a transport path. A plurality of rows of the crops A... Are transferred and transferred to the transfer section b set on the transport path by the transfer device 30 in which the rows of the crops A... A tray transfer device 40, a first transfer device 50 for transferring the crops A ... stored in the container B to the delivery device 30 row by row, and a row of crops A ... transferred to the delivery device 30 To the trays C that have been transported to the transfer section b The second transfer device 60 to be changed and the substantially entire outer surface (the lower surface and the entire side surface) of the agricultural products A to be moved from the upper side of the transfer device 30 to the upper side of the tray transport device 40 are imaged, and the agricultural products A are And an item measuring device 70 for individually evaluating and determining the predetermined items.
[0017]
As shown in FIG. 10, the above-described container transport device 20 individually stores a predetermined number of agricultural products A at predetermined intervals in recesses Bb... Of buffer members Ba laid inside the container B. A transport conveyor 21 for transporting to a supply section a set on the transport path, and container mounting tables 23, 23 for individually placing the containers B in which the crops A are arranged and stored are provided side by side, and transported to the supply section a. Transfer device 22 for transferring the transported container B from the transport conveyor 21 to the container mounting tables 23, 23, and return for transporting the container B from which the agricultural products A have been removed by the first transfer device 50 to be described later to a collection process. The conveyor 24 is disposed below the transport path. Further, the agricultural products A may be directly conveyed by conveying means such as a belt conveyor or a roller conveyor.
[0018]
In addition, the transfer device 22 pushes the pusher 22 a protruding above the transport conveyor 21 to a standby position where the pusher 22 a is abutted against the side surface of the container B transported to the supply section a, and the container B is placed on the container mounting table 23. It is rotated to a transfer position to be transferred by a rotation device 22b such as an air cylinder or a solenoid. That is, the container B transported to the supply section a is horizontally moved in a direction (width direction) substantially perpendicular to the transport direction, and the transfer operation is performed in a shorter time than when the container B is transported in the transport direction (vertical direction). To reduce the time required for transfer.
[0019]
In addition, the container mounting table 23 is moved, for example, by air to a raised position where it is substantially horizontal with respect to the transfer surface of the upper transfer conveyor 21 and a descent position which is lowered below the transfer surface of the lower collection conveyor 24. It is moved up and down by an elevating device 23a such as a cylinder or a chain mechanism. Further, the pair of support plates 23b disposed opposite to the front and rear ends of the container B placed on the container mounting table 23 are moved to a closed position where the front and rear ends of the container B are supported substantially horizontally, Is moved back and forth to the open position where is released by, for example, an advance / retreat device 23c such as an air cylinder or a solenoid.
[0020]
As shown in FIGS. 3 and 4, the delivery device 30 transports a pair of mounting plates 31 on which a row of crops A... It is arranged at a substantially intermediate portion between the device 20 and the tray transport device 40 and is erected at a height that is substantially horizontal with the container B mounted on the container mounting table 23 described above. In addition, the mounting plates 31, 31 are set to a closing angle at which the crop A is mounted and an opening angle at which the crop A is discharged substantially downward, for example, an opening / closing device 32 such as an air cylinder, a solenoid, or a motor. Rotate in conjunction with.
[0021]
In addition, when one or two crops A are left on the mounting plates 31, 31 due to, for example, an adsorption error of the adsorber 62 a to be described later or dropping off from the adsorber 62 a, from the mounting plates 31, 31. A receiving plate 33 for receiving the released agricultural products A is disposed below the loading plates 31, 31 on the release side, and the untransferred agricultural products A are transported by a transport conveyor 43 which will be described later. A return conveyer 34 that conveys to the transfer failure replenishment process for transferring to C is disposed below the receiving plate 33 on the discharge side.
[0022]
In addition, the receiving plate 33 rotates downward at a speed lower than the falling speed of the crop A discharged from the receiving plates 31, 31 by braking means such as an oil damper or a speed reducer, and is released from the receiving plates 31, 31. Is rotated to a receiving angle at which the crop A is received and a substantially vertical and substantially obliquely downward discharge angle at which the crop A is discharged to the return conveyor 34, and is transferred from the receiving plates 31, 31 to the return conveyor 34. The falling speed of the crop A is attenuated to reduce the impact given when falling.
[0023]
The above-described tray transport device 40 includes a transport conveyor 41 that transports a free tray C on which the agricultural products A sucked and held by the second transfer device 60 described later are placed to a transfer section b set on a transport path, and A transfer conveyor 43 for transferring the tray C on which the A is placed to the next step (for example, a sorting step) is provided, and the tray C on which the crop A is placed is transferred from the transfer conveyor 41 to the transfer conveyor 43. The loading device 42 is disposed on the side of the transport path. In addition, the trays C from which the crops A that have been returned and transported from the sorting step (not shown) are removed, and the transport conveyors 41 substantially correspond to the transfer operation of the transfer device 42 and the transfer operation of the second transfer device 60. , 43.
[0024]
In the transfer section b on the conveyor 41, the number of agricultural products A... Adsorbed and held by the adsorbents 62a of the transfer unit 62 constituting the second transfer device 60 described later (for example, 12). Extra trays C are arranged in a predetermined number (for example, one and two).
[0025]
In addition, the stoppers 44 and 45 disposed between the opposing edges of the conveyors 41 and 43 and the stoppers 46 and 47 disposed before and after the transfer section b of the conveyors 41 and 43 are transferred by the transfer device 42. In response to the transfer operation of the second transfer device 60, the tray C on which the agricultural products A are placed is moved from the transfer conveyor 41 to the transfer conveyor by moving the tray C on and off the transfer surface by means of, for example, an air cylinder or a solenoid. The operation of transferring the unloaded tray C to the transfer section 43 set on the transfer path of the transfer conveyor 41 is performed.
[0026]
Further, the transfer device 42 pushes the pusher 42a disposed on the side of the transport conveyor 41 to a standby position where the pushers 42a which are transported to the transfer section b are abutted against the side surfaces, and all the trays C Are moved back and forth to a transfer position where they are collectively transferred to the conveyor 43 by an advance / retreat device 42a such as an air cylinder or a solenoid. That is, all the trays C conveyed to the transfer section b are horizontally moved in a direction (width direction) substantially orthogonal to the conveyance direction, and one row of trays C are conveyed in the conveyance direction (vertical direction). Also, the transfer operation is performed in a short time, and the time required for the transfer is reduced.
[0027]
5 and 6, the first transfer device 50 moves the movable frame 51 horizontally above the container mounting table 23 of the container transport device 20 and above the mounting plates 31, 31 of the transfer device 30. A pair of transfer units 52 are mounted so as to be vertically movable with respect to the lower surface side of the movable frame 51, and are disposed corresponding to the containers B, B conveyed to the supply section a. In addition, the loop-shaped endless belt 53 connected to the movable frame 51 is rotated forward and reverse by a motor with a speed reducer (not shown) to move the transfer unit 52 above the container mounting table 23 and above the pair of mounting plates 31. Reciprocate.
[0028]
In addition, the transfer unit 52 rotates the elevating cylinder 54 erected on the upper part of the movable frame 51 in forward and reverse directions by rotating the screw shaft 55 by a motor 56 with a reducer and gears 56a, 56b. The agricultural product A housed in B is pressed against the upper surface of the agricultural product A, and the agricultural product A sucked and held by the adsorbent 52a vertically descends to the height at which the agricultural product A is mounted on the mounting plates 31, 31. Further, when moving above the container mounting table 23 and the mounting plates 31, 31, the container B itself and the crop A stored in the container B, and the crop A mounted on the mounting plates 31, 31 And rises vertically to a height that can be avoided.
[0029]
In addition, a plurality of adsorbers 52a of the transfer unit 52 are vertically suspended (for example, six) so as to be vertically movable substantially corresponding to one row of the crops A accommodated in the container B. When the agricultural product A was brought into close contact with the upper surface of the agricultural product A, the agricultural product A was sucked and held by the negative pressure generated by the negative pressure generator, and the agricultural product A sucked and held by the adsorbent 52a was transferred to the mounting plates 31, 31. When the suction is released.
[0030]
The adsorbents 52a are pressed against the upper surface of one row (for example, six) of the agricultural products A stored in the container B and the tray conveyed to the transfer section b on the conveyor 41. When the crops A are individually placed with respect to C, the expansion and contraction operation is performed via an expansion and contraction device 52b such as an air cylinder, a solenoid, and a screw shaft, and a pantograph-type link mechanism 52c.
[0031]
7 and 8, the second transfer device 60 can move the movable frame 61 horizontally above the mounting plates 31, 31 of the transfer device 30 and above the transport conveyor 41 of the tray transport device 40. And the transfer unit 62 is vertically movably attached to the lower surface side of the movable frame 61. In addition, the loop-shaped endless belt 63 connected to the movable frame 61 is rotated forward and reverse by a motor with a speed reducer (not shown), and the transfer unit 62 is reciprocated above the placement plates 31 and 31 and above the transport conveyor 41. Moving.
[0032]
In addition, the transfer unit 62 moves up and down the elevating cylinder 64 erected above the movable frame 61, and rotates the screw shaft 65 forward and reverse with the motor 66 with the reducer and the gears 66a and 66b, so that the adsorber 62a described later is moved. The agricultural product A placed on the mounting plates 31, 31 is pressed against the upper surface thereof, and the agricultural product A sucked and held by the adsorbent 62a vertically descends to the height at which it is mounted on the tray C. Further, when moving above the mounting plates 31 and 31 and above the transport conveyor 41, they move horizontally and vertically while maintaining a distance to avoid contact with an imaging camera 71 and an illumination device 72 of an item measuring device 70 described later. .
[0033]
.. Of the transfer unit 62 are individually pressed against the upper surfaces of the crops A mounted on the mounting plates 31, 31 and conveyed to the transfer section b on the conveyor 41. A plurality of crops A are vertically suspended (for example, twelve) at intervals at which the crops A are placed one by one with respect to C ... and the adsorbent 62a is placed on the placement plates 31, 31. When the crop A comes into close contact with the upper surface of the crop A, the crop A is sucked and held by the negative pressure generated by the negative pressure generator, and when the crop A sucked and held by the adsorber 62a is transferred to the tray C, the suction is released.
[0034]
Further, when the adsorber 62a moves above the tray C conveyed to the transfer section b on the conveyor 41, the adsorber 62a is moved through the gears 62c, 62e and the rack 62d by a rotating device 62b such as a motor, an air cylinder, or a solenoid. To rotate horizontally (for example, approximately 270 degrees). Further, the rotation angle of the adsorber 62a may be changed to, for example, approximately 270 degrees or more and the following angle.
[0035]
The adsorbers 52a and 62a are connected to a negative pressure generating device (not shown) such as an intake blower or a vacuum pump, and have a substantially annular regulating frame as viewed from a plane attached to the outer periphery of the adsorbers 52a and 62a. 57 and 67 regulate the adsorbents 52a and 62a, on which the agricultural products A are adsorbed and held, in a substantially vertical posture, thereby preventing horizontal swing.
[0036]
In addition, the number of the adsorbents 52a and 62a may be changed depending on the arrangement number of the crops A. For example, the crops A may be transferred one by one or a plurality of rows (for example, two rows before and after). The crops A can be collectively transferred to the trays C. When the five crops A are transferred, one of the adsorbents 52a and 62a is retracted or stopped.
[0037]
As shown in FIGS. 1, 3, and 4, the item measuring device 70 includes an imaging camera 71 that images the outer surface of the crop A that is sucked and held by the above-described adsorbers 62a. An illuminating device 72 for irradiating light suitable for detecting a predetermined item is mounted on the mounting plates 31, 31 and the conveyor 41 at intervals substantially opposite to the crops A sucked and held by the suckers 62 a. It is arranged substantially below the middle part.
[0038]
In addition, the imaging camera 71 is attached to a substantially upper center portion of the movable frame 73, and the illuminating device 72 is attached to both ends of the movable frame 73 in opposition to the outer surface of the crop A to be moved to the imaging range of the imaging camera 71. The movable frame 73 is attached to a support shaft 74 which is suspended substantially below the intermediate portions of the mounting plates 31 and 31 and the conveyor 41.
[0039]
That is, when the agricultural product A sucked and held by the adsorber 62a is moved from above the mounting plates 31, 31 to above the transport conveyor 41, the support shaft 74 is vertically rotated by a rotating device 75 such as an air cylinder, a solenoid, or a motor. (E.g., rotated by approximately 90 degrees), and the imaging camera 71 causes the lower surface measurement posture in a substantially upward state in which the lower surface of the crop A held by the adsorber 62a is imaged and the side measurement in a substantially horizontal state in which the side surface of the crop A is imaged. Rotate to posture. Further, since the imaging camera 71 is retracted from immediately below the crop A and the lens surface is changed in a substantially vertical direction, for example, foreign substances such as skin, oil, juice or paper dust, dust, and dust of the crop are prevented from adhering to the lens surface. And less.
[0040]
The image processing device 76 connected to the imaging camera 71 converts the image information output from the imaging camera 71 into an information form suitable for evaluating and determining a predetermined item of the crop A (for example, binarization). Processing), and outputs the result to the determination control device 77.
[0041]
In addition, the determination control device 77 (for example, a personal computer) connected to the image processing device 76 compares and calculates the image information output from the image processing device 76 with reference information stored in advance, and calculates the entire crop A. Predetermined items (such as hue, damage, maturity, size, shape, height, width, volume, flatness, rotting, floating skin, non-standard grades, etc.) are individually comprehensively determined, and the determination results (For example, class, grade, sugar acidity, etc.) are recorded in the RAM in the measurement order and updated as needed.
[0042]
Further, a discharge nozzle 79 connected to an air supply source such as an air supply blower or a compressor is attached to the movable frame 73 so as to face the lens surface of the imaging camera 71, and the gas discharged from the discharge nozzle 79 (for example, air) Or a gas, a volatile liquid, or the like) is sprayed on the lens surface of the imaging camera 71 to remove foreign substances attached to the lens surface. In addition, the number, angle, and position of the discharge nozzles 79 may be changed to a number, angle, and position suitable for removing extraneous matter adhering to the lens surface.
[0043]
On the other hand, FIG. 10 shows a control circuit block diagram of the device for measuring an object to be measured 10, and the CPU incorporated in the determination control device 77 (for example, a personal computer) executes a program stored in a ROM (or PROM) according to a program stored in the ROM (or PROM). Controls driving and stopping of the container transport device 20, the transfer device 30, the tray transport device 40, the transfer devices 50 and 60, the imaging camera 71, the rotating device 75, the image processing device 76, and the information communication device 78. Then, the sorting information and the nonconformity information determined based on a predetermined determination criterion are recorded in the RAM in the measurement order or the address order.
[0044]
In the above-mentioned RAM, the image information of the crop A captured by the imaging camera 71 is stored in advance with the identification information for each of the adsorbents 62a and the trays C to be transported to the transfer section b on the transport conveyor 41. Is stored in association with the identification information. In addition, a determination result determined based on image information output from the imaging camera 71 is stored in association with identification information (or unique information) of the tray C read by the information communication device 78 described later.
[0045]
Further, the information communication device 78 disposed below the transport conveyor 41 is opposed to the recording medium Ca of the tray C transported to the transfer section b, and outputs the determination result (sorting information) by the determination control device 77 described above. Ca is recorded in a readable and writable manner, and information recorded on the recording medium Ca is erased or new information is written to reset to an initial state. Further, instead of the above-described recording medium Ca, for example, barcode information attached to the tray C may be read, or a time lag until the tray C is transported to a sorting section corresponding to the determination may be timed.
[0046]
The illustrated embodiment is configured as described above, and a method of measuring predetermined items of the entire crop A by the measured object measuring device 1 will be described below.
[0047]
First, as shown in FIGS. 1 and 2, containers B, B, in which a predetermined number of crops A are aligned and accommodated, are transported to a supply section a set on a transport conveyor 21 of a container transport device 20 and stopped. Thereafter, the containers B, B conveyed to the supply section a are collectively horizontally moved by a pusher 22 a of the transfer device 22 in a direction substantially orthogonal to the conveyance direction, and the container mounting tables 23, 23 on the side of the conveyor 21. Transfer to
[0048]
Next, as shown in FIGS. 5 and 6, the crops A in the first row (for example, six) stored in the containers B are adsorbed by the transfer unit 52 constituting the first transfer device 50. The child 52a... Sucks and lifts. Further, when moving from above the container mounting table 23 to above the mounting plates 31, 31, the agricultural products A sucked and held by the suckers 52 a are transferred to the trays C which are transported to the transfer section b on the transport conveyor 41. On the other hand, the sheet is transferred to the placement plates 31 of the delivery device 30 at intervals corresponding to the individual placement.
[0049]
The agricultural products A placed on the placement plates 31, 31 are adsorbed by the adsorbers 62a of the transfer unit 62 constituting the second transfer device 60, as shown in FIGS. The tray C transported to the transfer section b on the conveyor 41 is moved upward by suction and holding. In the same manner as described above, the transfer unit 52 is reciprocated above the container mounting table 23 and above the mounting plates 31, 31, and the second to fourth rows of the crops A ... stored in the container B are delivered. It is mounted on the mounting plates 31, 31 of the device 30.
[0050]
When the crops A in the last row stored in the container B are sucked and held by the adsorbers 52a of the transfer unit 52 and lifted, the support by the support plates 23b, 23b is released, and the container mounting tables 23, 23 , The containers B, B from which all the agricultural products A have been removed are transferred to the collection conveyor 24 and conveyed to the collection process.
[0051]
In addition, when one or two crops A are left on the mounting plates 31, 31 due to an adsorption error of the adsorber 62a or falling off from the adsorber 62a, the mounting plates 31, 31 are opened. The crop A is discharged to the return conveyor 34 and slowly descends downward while being received by the receiving plate 33 to reduce the impact given when the crop A is transferred to the return conveyor 34. Thereafter, the receiving plate 33 is rotated and returned at the standby time.
[0052]
On the other hand, the crop A conveyed by the return conveyor 34 is conveyed to the defective transfer replenishment step, and replenished and transferred to the unmounted tray C conveyed by the conveyor 43 by manual or mechanical work. Predetermined items on the lower surface and the side peripheral surface of the crop A are independently measured by an item measuring device (not shown).
[0053]
Next, the unmounted trays C are transported to the transfer section b set on the transport conveyor 41 of the tray transport device 40, and a predetermined number (for example, 12 ) Are adsorbed and held by the adsorbents 62a of the transfer unit 62 constituting the second transfer device 60 and lifted.
[0054]
In addition, when the agricultural products A, which are sucked and held by the adsorbents 62a, are moving from above the mounting plates 31, 31 to above the transport conveyor 41, and when passing (or stopping) above the imaging cameras 71 in the lower surface measurement posture, As shown in FIGS. 3 and 4, the lower surface of the crops A... Is imaged by the imaging camera 71 of the item measuring device 70 from substantially directly below and substantially diagonally below, and the image information of the lower surface of the crops A. The information is output to and stored in the determination control device 77 in association with the preset identification information of each of the attraction elements 62a.
[0055]
Next, the agricultural products A sucked and held by the adsorbers 62a are moved upward to the trays C transported to the transfer section b on the transport conveyor 41, and the imaging camera 71 is rotated by approximately 90 degrees by the rotating device 75. Then, the agricultural products A that have been sucked and held by the adsorbers 62a are temporarily stopped at a height facing the imaging cameras 71 in the side measurement posture.
[0056]
At substantially the same time, the side surface of the crop A ... sucked and held by the adsorbent 62a is imaged by the imaging camera 71, and the adsorbent 62a is horizontally rotated by about 270 degrees by the rotating device 62b, and the entire periphery of the side surface of the crop A (for example, (The front, rear, left and right sides) are continuously and intermittently imaged by the imaging cameras 71..., And the captured image of the entire circumference of the side of the crop A. The corresponding information is output and stored in the determination control device 77.
[0057]
On the other hand, based on the image information of the crops A output from the imaging cameras 71, the predetermined items of the crops A are individually and comprehensively determined by the determination control device 77, and the information communication device 78 faces the recording medium Ca on the tray C. Then, the determination result (sorting information) by the determination control device 77 is recorded on the recording medium Ca.
[0058]
Further, the crops A ... and trays C ... conveyed by the conveyor 43 are sorted by item based on the sorting information recorded on the recording medium Ca, and the crops A ... sorted by the item are processed mechanically and manually. The trays C, from which the crops A returned from the sorting step are removed from the sorting process, are sorted and supplied to the conveyors 41 and 43. In the same manner, the operation of transferring the crop A from the container B to the tray C and the operation of imaging the substantially entire outer surface (the lower surface and the entire side surface) of the crop A are continuously performed. Separately sorting.
[0059]
In addition, since the imaging camera 71 cannot image the upper surface of the agricultural product A against which the adsorbent 62a is pressed, the imaging camera (the upper surface and the interior of the agricultural product A placed on the tray C is disposed at the subsequent stage of the transfer section b). (Not shown), and stores the captured image information of the upper surface and the inside of the crop A in the determination control device 77 in association with the previously captured image information and the identification information of the tray C. Items are judged individually and comprehensively.
[0060]
As described above, the imaging camera 71 is changed to the posture facing the lower surface and the side surface of the crop A to be transferred by the second transfer device 60, so that the entire crop A (substantially the outer surface) excluding the portion where the adsorbent 62a is pressed. The entire predetermined item can be accurately and reliably imaged by one imaging camera 71, and the operation of sorting and sorting the crops A by item can be accurately performed based on the image information thus picked up. Improvement can be achieved. In addition, the number of arrangements of the imaging cameras 71 can be reduced, the installation work of the apparatus can be performed easily and easily, and the configuration of the entire apparatus is simplified, so that one apparatus can be manufactured at low cost.
[0061]
In addition, when the side peripheral surface of the crop A is imaged by the imaging camera 71, the imaging camera 71 is changed to the side measurement posture facing the side peripheral surface of the crop A, and the lens surface is changed to a substantially vertical direction. Since the imaging operation is performed in a state of being retracted from the lower part of the crop A, foreign substances such as skin, oil, water droplets, juice, paper dust, dust, and dirt are less likely to adhere to the lens surface of the imaging camera 71, and the amount of the foreign substances Therefore, the imaging capability and measurement accuracy of the imaging camera 71 are not impaired, the measurement conditions of the imaging camera 71 can be kept constant at all times, and the work of measuring a predetermined item of the crop A can be stably performed. Further, a transparent plate (not shown) having a light-transmitting property can be provided on the front surface of the imaging camera 71 to prevent foreign matter from adhering to the lens surface of the imaging camera 71.
[Brief description of the drawings]
FIG. 1 is a side view showing a method of measuring a crop by a device for measuring a measured object.
FIG. 2 is a plan view showing a transport route of crops, containers, and trays.
FIG. 3 is a side view showing an operation of measuring the lower surface of the crop by the item measuring device.
FIG. 4 is a side view showing an operation of measuring the side surface of a crop by the item measuring device.
FIG. 5 is a front view showing an operation of expanding and reducing the crop by the first transfer device.
FIG. 6 is a side view showing a state where the adsorber is attached so as to be able to expand and contract.
FIG. 7 is a front view showing an operation of enlarging or reducing the crop by the second transfer device.
FIG. 8 is a side view showing a state in which the adsorber is rotatably mounted.
FIG. 9 is a perspective view showing a container in which agricultural products are aligned and stored.
FIG. 10 is a control circuit block diagram of the device under test.
[Explanation of symbols]
A: Crops
B: Container
C ... Tray
10 Measurement device for measuring object
20 Container transfer device
30 ... Delivery device
40 ... Tray transport device
50: First transfer device
60 second transfer device
52, 62 ... Transfer unit
52a, 62a ... adsorber
62b ... Rotating device
62c, 62e ...
62d ... Rack
70… Item measurement device
71 ... Imaging camera
75 ... Rotating device
77 ... Judgment control device
79 ... Discharge nozzle

Claims (4)

DUT transfer means for transferring the DUT to a DUT carrying-out unit that carries out the DUT from a DUT loading unit that loads the DUT,
Item measurement means for measuring a predetermined item on the outer surface of the DUT to be transferred by the DUT transfer means during the transfer of the DUT carry-in unit and the DUT carry-out unit,
A direction changing unit that changes the measurement direction of the item measuring unit to a posture suitable for measuring a predetermined item on the outer surface of the measured object,
An object-to-be-measured measuring device comprising: judgment means for individually evaluating and judging predetermined items of the object to be measured based on measurement information outputted from the item measuring means. 2. The object measurement according to claim 1, wherein the posture of the item measurement means changed by the direction changing means is set to a lower surface measurement posture for measuring the lower surface of the object to be measured and a side surface measurement posture for measuring the side surface of the object to be measured. apparatus. 2. The device for measuring an object to be measured according to claim 1, further comprising: a device for rotating the device to be measured which is changed by the device for moving the object to be measured when the side surface of the object to be measured is measured by the item measuring device. 2. The device for measuring an object to be measured according to claim 1, further comprising a fluid discharging means for discharging gas toward a measurement surface of the item measuring means.

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