JP2004198297A - Image recognizing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image recognizing apparatus constituted so as to pick up the images of one or more parts of a strawberry 1 being an object to be inspected at the same time inclusive of the undersurface side of a feed tray 2 on which the undersurface of the strawberry 1 is placed to judge the strawberry 1. <P>SOLUTION: Floating force is applied to the undersurface side of the outer peripheral part 2a of the transparent feed tray 2 on which the strawberry 1 is placed by a floating means 20 to float the feed tray 2 from a placing part and the images of one or more places including the undersurface of the strawberry 1 of the feed tray 2 held to the floated state are simultaneously picked up from one or more directions being the under and upper surface directions of the feed tray 2 by an image pickup means 9 equipped with a plurality of optical fibers 6 provided with lens parts 7. The image pickup screen data due to the respective optical fibers 6 are displayed on the single screen of the display device 11 at the same time to recognize one or more parts of the surface of the strawberry 1 at the same time to rapidly judge the strawberry 1. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a configuration of an image recognition device capable of simultaneously capturing a three-dimensional object to be inspected such as a strawberry or the like placed on a transport tray from a plurality of directions.
[0002]
[Prior art]
Japanese Patent Application Laid-Open No. H11-163873 discloses processing image screen data obtained by imaging an object to be inspected such as a tangerine fruit with an imaging device such as a color video camera to determine a grade such as a size and a maturity of the fruit. And 2 etc.
[0003]
[Patent Document 1]
JP-A-8-91550 [Patent Document 2]
JP-A-8-225144
[Problems to be solved by the invention]
However, in each prior art, since one color video camera can capture an image of an object to be inspected from only one direction at a time, for example, in addition to image data of the upper surface of the object to be inspected, In order to obtain data, it is necessary to invert the object to be inspected by 180 degrees using an inverting device and then to take an image again. Therefore, it takes time to determine one object to be inspected, and the work efficiency is poor. The equipment is expensive because it requires equipment, and when the surface of a ripe inspected object such as a strawberry is soft and delicate, the surface of the inspected object collapses by itself. For example, there is a problem that the quality is deteriorated.
[0005]
The present invention has been made in order to solve these problems of the related art, and it is possible to simultaneously image an inspected object from a plurality of directions while being placed on a transparent transport tray, thereby damaging the inspected object. It is an object of the present invention to provide an image recognition device that can eliminate the problem and can quickly perform a determination operation.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the image recognition apparatus according to the first aspect of the present invention includes a flotation unit configured to levitate a transparent transport tray on which a three-dimensional inspection object such as a fruit is mounted from a mounting unit; Imaging means for imaging the object to be inspected from a plurality of lower and upper directions from the transport tray in the state.
[0007]
According to a second aspect of the present invention, in the image recognition device according to the first aspect, the levitation means is configured to apply a levitation force to an outer peripheral portion of a lower surface of the transport tray.
[0008]
According to a third aspect of the present invention, in the image recognition device according to the first or second aspect, the imaging unit includes a plurality of optical fibers each having a lens unit at a tip thereof, and Is arranged so as to approach and separate from the inspection object and the transparent tray.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment embodying the present invention will be described. FIG. 1A is a schematic plan view of an image recognition device according to the present invention, FIG. 1B is a plan view of a first embodiment of a levitation unit, and FIGS. 2A and 2B are diagrams of a levitation unit. FIG. 3 is a side sectional view of a second embodiment of the levitation means, FIG. 4 is a side view showing an embodiment of the imaging means, FIG. 5 is a perspective view of a main part, and FIG. FIG. 8 is an explanatory view of a levitation means viewed from a side of a third embodiment.
[0010]
Strawberries 1 as an example of fruit are placed one by one on a small transport tray 2 made of a transparent material, for example, a transparent synthetic resin, and the transport tray 2 is placed on a free pan 3 of an opaque material. Is moved along a transfer line 4 such as a conveyor from a load receiving unit (not shown), and is conveyed to a discriminating unit A provided with an image recognition device 5 of the present invention (see FIG. 1A).
[0011]
Note that an ID chip (not shown) for recognizing an individual article to be conveyed is embedded in the free pan 3 by embedding or the like. A fitting portion 3a such as a projection for preventing the mounting position of the transport tray 2 from being shifted is formed substantially at the center of the plane portion of the free pan 3.
[0012]
As shown in FIG. 1, the image recognition device 5 is connected to a plurality of optical fibers 6 having a lens portion 7 at the distal end and a connecting portion 6 a in which the base ends of the plurality of optical fibers 6 are bundled. An imaging unit 9 having a camera unit 8 such as a single color video camera; an image processing device 10 such as a computer for processing image screen data obtained by the imaging unit 9; a color CRT display or TFT liquid crystal; A color display device 11 such as a color liquid crystal display such as a liquid crystal display or an FED liquid crystal display, and an output device 12 for determining results are provided.
[0013]
The determination unit A includes a reading unit 15 for reading an identification signal from the ID chip of the free pan 3 once stopped, and a reading unit 15 for lifting the transport tray 2 from the upper surface of the transfer line 4 by an appropriate size. The levitation means 20 is arranged.
[0014]
The first embodiment of the flotation means 20 is based on air force as shown in FIGS. 1 (b), 2 (a) and 2 (b), and the transport tray 2 has a circular shape in plan view and an outer peripheral portion thereof. The umbrella-shaped air reservoir 2a having a downward section is formed in a ring shape. The machine frame 21 of the flotation means 20 has a first space for widening and narrowing a gap (a gap in the transfer direction) between a pair of cylindrical arms 22 extending in a direction orthogonal to the transfer direction of the free pan 3 in a plan view. An actuator 23 and a second actuator 27 for raising and lowering the pair of arms 22 are arranged for each of the first actuators 23. Each of the first actuator 23 and the second actuator 27 may be an air cylinder or the like, or may be a step motor capable of rotating forward and backward. The pair of arms 22 have a cylindrical distal end portion 22a formed in a substantially semicircular arc shape in plan view, and the radius thereof is substantially the same as the planar shape of the air reservoir 2a at the outer peripheral portion of the transport tray 2. Match.
[0015]
Numerous nozzles 24 for injecting compressed air toward the air reservoir 2a are formed at appropriate intervals on the upper surfaces of the distal ends 22a, 22a. A hose 26 from a supply unit (tank or the like) 25 is connected (see FIG. 1B). Needless to say, the distal ends (free ends) of the distal ends 22a, 22a are closed.
[0016]
With this configuration, the strawberries 1 are placed one by one on the transport tray 2, and the transport tray 2 is placed on the free pan 3 and transported by the transport line 4. Until the free pan 3 is once stopped by the determination unit A, the first actuator 23 is operated to expand the interval between the pair of semicircular tips 22a, 22a to a wider interval than the outer periphery of the transport tray 2. In addition, by the operation of the second actuator 27, the pair of tips 22a, 22a is held at a position above the strawberry 1 on the transport tray 2. Thereby, the free pan 3, the transport tray 2, and the strawberry 1 to be inspected do not interfere with the arm 22 and the tip portions 22a, 22a.
[0017]
After the free pan 3 is stopped, the second actuator 27 is operated so that the pair of tip portions 22a, 22a is positioned in the vertical gap between the upper surface of the free pan 3 and the air reservoir 2a of the transport tray 2. After the lowering, the first actuator 23 is operated to reduce the interval between the pair of tips 22a, 22a, and to position the pair of tips 22a, 22a below the air reservoir 2a of the transport tray 2. In this state, when the compressed air is sent from the supply unit 25 to the pair of cylindrical arms 22 and 22 and the compressed air is ejected from the nozzles 24 at both ends 22a and 22a, the air is received by the air reservoir 2a. Then, the transport tray 2 on which the strawberries 1 are placed floats to an appropriate height.
[0018]
The imaging means 9 approaches the upper surface and the lower surface of the transport tray 2 in the floating state, and simultaneously captures images of a plurality of portions of the strawberry 1 placed on the transport tray 2 so that the strawberry, which is the inspection object, is obtained. It determines the size and quality (grade).
[0019]
In this case, since each of the optical fibers 6 as an embodiment of the imaging means 9 has flexibility, at least a portion from the distal end to the middle of each optical fiber 6 is spirally formed by the wire-like support 13. And is arranged so that a plurality of locations on the surface of the strawberry 1 to be inspected can be imaged, for example, from right and left, front and rear, obliquely up and down (or directly above and below) (FIGS. 2 and 4). And FIG. 5).
[0020]
By moving at least a part of the support 13 by the operating device 14, the lens 7 at the tip of each optical fiber 6 approaches the surface of the strawberry 1 to be inspected from the upper and lower sides of the transport tray 2. And a position distant from the surface of the strawberry 1. For example, at least a part of the support 13 is made of a Ti—Ni alloy or a Cu—Zn—Al alloy. And the like. In this case, when the actuator 14 is operated so as to heat the memory alloy portion to a predetermined temperature by a heater (not shown) attached to the support, as shown by a two-dot chain line in FIG. When the distal end is separated from the strawberry 1 upward and downward, etc., and the cool air in the actuator 14 is blown onto the memory alloy portion to cool it, the distal end (the lens portion 7) of each optical fiber 6 as shown by the solid line in FIG. ) Is displaced so that the support 13 approaches the plurality of portions of the strawberry 1 from each direction.
[0021]
The imaging screen data captured by the plurality of optical fibers 6 is displayed on the screen of one display device 11 at a time. In the illustrated embodiment, since six optical fibers are arranged, six screens are displayed on the display device 11 at one time (simultaneously).
[0022]
In order to determine the quality (grade) of the three-dimensional strawberry 1 as the test object, the size of the test object, the degree of the ripe color (reddish) on the surface, and the size of the distribution area of the color are determined. In order to make the determination, the determination is made from the six pieces of imaging screen data obtained by the six optical fibers 6, and the software (application program) for the determination criterion pre-installed in the image processing apparatus 10 is used. Make a decision. Further, the determination may be performed by a worker who observes the display device 11 visually.
[0023]
When the imaging operation of the object to be inspected by the imaging means 9 is completed, the operating device 14 is operated to move the optical fiber 6 away from the lower surface side of the transport tray 2 and then to raise the optical fiber 6. The optical fibers 6 approaching the surface of the optical disc 6 are also lifted away, so that all the optical fibers 6 are held at a position where they do not hinder the movement of the transport tray 2 and the free pan 3. Thereafter, the injection of the compressed air from the nozzle 24 is stopped, the floating of the transport tray 2 is released, and after the transport tray 2 is placed on the free pan 3, the first actuator 23 is operated, The interval between the pair of cylindrical arms 22 is widened, and both end portions 22 a are located on the outer periphery of the air reservoir 2 a of the transport tray 2. Thereafter, the second actuator 27 is actuated to raise and hold the arms 22 and 22 so that the tip portions 22a and 22a come above the strawberry 1 on the transport tray 2. Thereafter, the transfer line 4 is operated to transfer the free pan 3.
[0024]
These operations, such as the operation of the arms 22 and 22, the injection of compressed air, the movement of the optical fiber 6, and the imaging by the imaging unit 9, are synchronized with the movement and stop of the free pan 3 on the transfer line 4 to form a series of sequences. It can be executed by control.
[0025]
The determination result is stored for each identification number of the ID chip of the free pan 3, and a signal is sent to the output device 12 to a sorting device (not shown) provided on the downstream side of the transport line, and the sorting device outputs the ID of the free pan. The chips can be read out and sorted so that a predetermined free pan is conveyed to a sorting line according to grade.
[0026]
The second embodiment of the flotation means 20 shown in FIG. 3 is mechanical, and the transport tray 2 has a circular shape in plan view, and its outer peripheral portion 2a 'is formed in a flat ring plate shape. The machine frame 21 of the levitation means 20 includes a first actuator 23 that expands and contracts a distance between a pair of arms 22, 22 extending in a direction orthogonal to the transfer direction of the free pan 3 in a plan view. And a second actuator 27 for raising and lowering the pair of arms 22. Each of the first actuator 23 and the second actuator 27 may be an air cylinder or the like, or may be a step motor capable of rotating forward and backward. The tips 22a, 22a of the pair of arms 22, 22 are formed in a substantially semi-circular shape in plan view, and the radius thereof substantially matches the ring-shaped portion of the outer peripheral portion 2a 'of the transport tray 2. The second embodiment is different from the first embodiment in that compressed air is not supplied to the distal ends 22a, 22a of the pair of arms 22, 22, and the distal ends 22a, 22a are attached to the lower surface of the outer peripheral portion 2a 'of the transport tray 2. By raising the transport tray 2 by operating the second actuator 27 in the contact state, the transport tray 2 is floated with respect to the free pan 3. The other operation timings and the configuration and operation of the imaging unit 9 are the same as those in the first embodiment, and thus description thereof is omitted.
[0027]
FIG. 6 shows a third embodiment of the flotation means 20, wherein an outer peripheral portion 2a 'of the transport tray 2 is formed in a ring plate shape, and a lower surface of the outer peripheral portion 2a' is formed in a ring-shaped and flat plate-like shape. The magnet 29 is fixed. On the other hand, the machine casing 21 includes a first actuator 23 that expands and contracts the interval between a pair of arms 22 extending in a direction perpendicular to the transfer direction of the free pan 3 in a plan view, and the first actuator 23 together with the first actuator 23. A second actuator 27 for raising and lowering the pair of arms 22, 22 is disposed. Electromagnets 30, 30 formed in a semicircular ring shape in plan view are fixed to the distal ends of the pair of arms 22, 22, respectively. The shape in a plan view when the electromagnets 3030 are combined substantially matches the shape in a plan view of the permanent magnet 29. The electromagnets 30 are connected by a cord 32 to a power supply device 31 that can be switched on and off.
[0028]
According to the third embodiment, the interval between the pair of semicircular electromagnets 30 is adjusted by operating the first actuator 23 until the free pan 3 temporarily stops at the determination unit A. The pair of electromagnets 30, 30 is held at a position higher than the strawberry 1 on the transport tray 2 by the operation of the second actuator 27. After the free pan 3 stops, the second actuator 27 is operated to move the pair of electromagnets 30 up and down between the upper surface of the free pan 3 and the permanent magnets 29 on the lower surface of the outer peripheral portion 2a 'of the transport tray 2. After being lowered so as to be located in the gap, the first actuator 23 is operated to reduce the interval between the pair of electromagnets 30 and 30 so that the pair of electromagnets 30 and 30 are connected to the permanent magnets 29 and 29 in the transport tray 2. Confront each other. In this state, power is supplied from the power supply device 31 to magnetize the pair of electromagnets 30 and 30 to give a repulsive force between the permanent magnets 29 and 29 to lift the transport tray 2 together with the strawberry 1 to an appropriate height. Let it. In this floating state, the lower surface of the strawberry 1 on which the transparent transport tray 2 is placed is imaged by the imaging means 9 to obtain image screen data as in the above embodiments.
[0029]
When the imaging operation is completed, the operating device 14 is operated to raise the optical fiber 6 after leaving the lower surface of the transport tray 2 and to raise the optical fiber close to the surface of the strawberry 1 on the upper surface of the transport tray 2. The optical fiber 6 is also lifted away so that all the optical fibers 6 are held at a position where they do not hinder the movement of the transport tray 2 and the free pan 3. Thereafter, the power to the electromagnets 30 and 30 is turned off to release the floating of the transport tray 2, and after the transport tray 2 is placed on the free pan 3, the first actuator 23 is operated to operate the paired pair. The distance between the cylindrical arms 22, 22 is increased, and both electromagnets 30, 30 are positioned on the outer periphery of the outer peripheral portion 2a 'of the transport tray 2. After that, the second actuator 27 is operated to raise and hold the arms 22 and 22 so that the electromagnets 30 and 30 come above the strawberry 1 on the transport tray 2. Thereafter, the transfer line 4 is operated to transfer the free pan 3.
[0030]
In each of the above embodiments, the support device 13 is mechanically moved in the horizontal and vertical directions by the operating device 14 so that the tip of the optical fiber 6 approaches and separates from the strawberry 1 and the transport tray 2. You may comprise.
[0031]
In the present invention, it goes without saying that the test object can be applied not only to strawberries but also to other fruits and vegetables.
[0032]
【The invention's effect】
As described above, according to the first aspect of the present invention, the three-dimensional inspection object placed on the transparent transport tray can simultaneously image a plurality of locations including the lower surface and the upper surface thereof. It is not necessary to reverse the test object, and it is possible to quickly determine the size and grade of the test object without damaging the test object.
[0033]
According to the second aspect of the present invention, the levitation means is configured to apply a levitation force to an outer peripheral portion of the lower surface of the transport tray. The imaging means for imaging the lower surface of the test object placed substantially at the center of the transport tray can be approached without being disturbed by the floating means for the outer peripheral portion. Can be reliably determined.
[0034]
According to a third aspect of the present invention, in the image recognition device according to the first or second aspect, the imaging unit includes a plurality of optical fibers each having a lens unit at a tip thereof, and Is arranged so as to approach and separate from the inspection object and the transparent tray.
[0035]
Therefore, for example, when the object to be inspected on the transport tray is imaged from a plurality of directions, the tip (lens portion) of the optical fiber that is brought close to the object to be inspected from the downstream side of the transport is transported to the transport tray and the inspected object after the imaging operation. It can be moved by the support to a location that does not interfere with the transport of the body. In other words, since the optical fiber can be moved so as to approach the test object only at the time of imaging, even if the test object is small, the lens unit can be arranged close to the surface of the test object, and it is clear and large. It is possible to obtain imaging screen data, and it is possible to obtain an effect that an image can be accurately recognized and determined.
[Brief description of the drawings]
FIG. 1A is a schematic plan view of an image recognition device of the present invention, and FIG. 1B is a plan view of a first embodiment of a levitation means.
2A is a side cross-sectional view showing a floating state and an imaging state of a transport tray in the first embodiment, and FIG. 2B is a side cross-sectional view showing a state before and after lifting.
FIG. 3 is a side sectional view showing a second embodiment of the levitation means.
FIG. 4 is a schematic block diagram of an image recognition device of the present invention.
FIG. 5 is a perspective view showing an arrangement example of optical fibers that simultaneously image a plurality of locations on an upper surface and a lower surface of a strawberry as an inspection object placed on a transport tray.
FIG. 6 is a side sectional view showing a third embodiment of the levitation means.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Strawberry as a test object 2 Transport tray 2a, 2a 'Outer peripheral part 3 Free pan 4 Transfer line 5 Image recognition device 6 Optical fiber 7 Lens part 8 Camera part 9 Imaging means 10 Image processing device 11 Display device 12 Output device 13 Support Body 14 Actuator 15 Reading unit 20 Floating means 22, 22 Arm 22a, 22a Tip 23 First actuator 24 Nozzle 25 Compressed air supply unit 27 Second actuator 29 Permanent magnet 30 Electromagnet 31 Power supply device

Claims (3)

Floating means for floating a transparent transport tray on which a three-dimensional test object such as a fruit is mounted from the mounting portion;
An image recognizing device comprising: an image pickup means for picking up an image of an object to be inspected from a plurality of lower and upper directions of the transport tray in the floating state. The image recognition apparatus according to claim 1, wherein the levitation means applies a levitation force to an outer peripheral portion of a lower surface of the transport tray. The imaging means is provided with a plurality of optical fibers each having a lens portion at the tip, and configured so that a support for supporting each of the optical fibers approaches and separates from the test object and the transparent tray. The image recognition device according to claim 1 or 2, wherein:

Images