JP2006162393A - Appearance selector and appearance selection method for vegetables or fruits - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an appearance selector for vegetables or fruits, and to provide a method of appearance selection for vegetables or fruits capable of selecting the appearance of vegetables or fruits look like deformed of irregular appearance as well as capable of stably recognizing correct appearance, without ruining the surfaces of vegetables or fruits, even for recognizing the floating peels of oranges etc., which are easily bruising, capable of correctly appearance measurement continuously, without being in contact with the vegetables or fruits. <P>SOLUTION: The appearance selector for selecting the appearance of the vegetables or fruits comprises an irradiation part for irradiating the fruits or vegetables with light for measurement; a light-receiving part for receiving the measurement light irradiated on the vegetables or fruits; and a calculation unit for determining the appearance by digitizing the reception light received by the receiving part, and determining the appearance, by comparing the digitized data with the normal appearance data of the vegetables or fruits prepared previously. Thereby, the appearance of the vegetables or fruits are determined accurately. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a fruit and fruit shape sorting apparatus and a fruit and vegetables shape sorting method for non-destructively discriminating the presence or absence of floating skin of fruits and vegetables and other fruits and vegetables, for example, the presence or absence of floating skin such as citrus fruits and vegetables.

  In the past, fruits and vegetables and other fruits and vegetables, for example, by measuring the degree of citrus floats such as tangerines, the quality of fruits and vegetables, such as the internal quality of fruits and vegetables and whether they can withstand storage and transportation Measuring is done.

  As a method for selecting the shape of such fruits and vegetables, conventionally, an inspector picks up the shape based on experience from the touch, softness, etc., picking up the fruits and vegetables visually or actually. To be done.

However, such a shape selection method by the inspector is based on the inspector's experience and visual observation, so that the accuracy of the selection is lacking and the reproducibility is not good.
For this reason, conventionally, Patent Document 1 discloses an irradiating means for irradiating measurement light to citrus, a light receiving means for receiving light after dispersing light transmitted through the citrus fruit, and a floating skin from the wavelength of light received by the light receiving means. There has been proposed a citrus floating skin discriminating device comprising a computing means for computing a value and a judging means for judging a floating skin by comparing a floating skin value computed by the computing means with a preset set value. .

  Also in Patent Document 2, irradiation light is irradiated from a light source to a measured fruit and vegetables having fruit and skin, and transmitted light transmitted through the measured fruit and vegetables is detected by a photodetector, An apparatus for determining the quality of the fruit and vegetable skin that determines the quality of the skin has been proposed.

  Further, Patent Document 3 discloses the presence or absence of floating skin by capturing a transmission image by irradiating fruits and vegetables with X-rays, thereby determining the degree of separation between the pulp part and the skin part. Has been done to identify. In other words, when a gap is formed at the boundary between the skin and the flesh and becomes a floating skin, the amount of X-ray transmission is larger than when the gap is in close contact, and a high detection output appears. Thereby, the detection pattern output from the X-ray light receiving unit is compared with the comparison pattern detected by normal fruits read from the storage device, and it is determined whether there is a high output. It comes to judge.

  Further, Patent Document 4 includes an air compressor that discharges compressed air, a rotating disk having a plurality of through holes formed at predetermined intervals in the circumferential direction, and a driving device that rotates the rotating disk at a predetermined rotation speed. The chopping air generator, the displacement sensor for detecting the minute displacement of the pericarp, and the arithmetic device for processing the detection signal from the displacement sensor and determining the presence or absence of the skin make up a floating skin determination device. Then, the presence or absence of floating skin is determined by spraying chopping air onto the skin of the citrus fruit and detecting the minute displacement of the resulting skin.

Conventionally, using a measuring device called a rheometer (for example, manufactured by Fudo Kogyo Co., Ltd.), a probe with a load cell is lowered from above and penetrated into the measured fruits and vegetables to identify the presence or absence of floating skin. Has been done.
Japanese Patent Application Laid-Open No. 11-304697 JP 2001-289784 A JP-A-10-170456 JP 2001-74705 A

  However, as in Patent Document 1 and Patent Document 2, in the method of detecting the transmitted light that has passed through the fruits and vegetables to be measured with a photodetector and determining the quality of the skin by the arithmetic processing unit, the transmitted light is spectrally separated. In the received light of multiple wavelengths, the thickness and density of citrus peels such as mandarin oranges, differences in cortex, diffuse reflection in the cavity between the skin and fruit (with air), the number and size of the cavities, etc. The accuracy was not good for practical use.

  Further, as disclosed in Patent Document 3, the method of identifying the presence or absence of floating skin by irradiating X-rays requires an expensive and complicated apparatus such as an X-ray irradiation apparatus, and specially handles X-rays. Therefore, it is necessary to manage the safety of the X-ray source, and it is necessary to replace it every time the X-ray source has reached the end of its life.

  Furthermore, as in Patent Document 4, chopping air for denting citrus peels such as mandarin oranges moving on a conveyor at a high speed is very high pressure, and the compressor becomes large and the apparatus is large and complicated. turn into.

  In addition, the method for identifying the presence or absence of floating skin using the above rheometer destroys the surface of fruits and vegetables, so in the field of fruits and vegetables, the fruits and vegetables whose surfaces were destroyed for measurement must be discarded. The loss is a great deal of damage if converted annually.

  In addition, the method of identifying the presence or absence of floating skin with a rheometer can only identify the presence or absence of floating skin by random extraction for each lot. It also becomes. Furthermore, it is impossible to continuously identify the presence or absence of floating skin for fruits and vegetables that are continuously conveyed on the conveyor.

  In addition, when inspecting the floating skin in the market, the normal fruits and vegetables 60 having no floating skin as shown in FIG. 22 (a), together with the fruits and vegetables 60 having the floating skin as shown in FIG. 22 (b2). As shown in FIG. 22 (b1), although not strictly a floating skin, but the distorted fruit and vegetables 60 and the fruit and vegetables 60 having distorted protrusions are also considered to be a floating skin. This is the current situation.

  In view of such a current situation, the present invention is capable of identifying a stable and accurate shape, and is easily damaged or damaged. For example, in the case of identifying the presence or absence of floating skin such as fruits and vegetables such as oranges, It is possible to measure the shape continuously without touching the fruits and vegetables without destroying the surface of the fruits, and also to select the fruits and vegetables that have a distorted appearance. An object is to provide a shape sorting apparatus and a shape sorting method for fruit and vegetables.

The present invention was invented in order to achieve the above-described problems and objects in the prior art.
A fruit and vegetable shape sorting device for identifying the shape of fruits and vegetables,
An irradiating unit for irradiating the measuring fruits and vegetables with measuring light;
A light receiving unit for receiving measurement light irradiated on the fruits and vegetables to be measured;
An arithmetic device for determining the shape by digitizing the measurement light received by the light receiving unit and comparing the shape data of normal fruits and vegetables prepared in advance;
It is characterized by providing.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
A method for selecting the shape of fruits and vegetables to identify the shape of fruits and vegetables,
Irradiate measurement light to the measured fruits and vegetables through the irradiation section,
Receiving light for measurement irradiated to the fruits and vegetables to be measured through a light receiving unit;
Quantify the measurement light received by the light receiving unit,
It is characterized in that the shape is determined by comparing with normal fruit and vegetable shape data prepared in advance via an arithmetic unit.

  By configuring in this way, only by comparing the shape data of normal fruits and vegetables prepared in advance via the arithmetic unit, the measured fruits and vegetables do not touch and destroy the surface. It is possible to continuously determine an accurate shape, and it is possible to select fruits and vegetables having a distorted appearance even in appearance.

The fruit and vegetable shape sorting apparatus of the present invention is
A laser displacement meter comprising the irradiation unit and the light receiving unit;
The irradiation unit is configured to irradiate measurement light,
The light receiving unit is configured to receive measurement light emitted to the measured fruits and vegetables.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
A laser displacement meter comprising the irradiation unit and the light receiving unit;
The irradiation unit is configured to irradiate measurement light,
The light receiving unit is configured to receive measurement light emitted to the measured fruits and vegetables.

  By configuring in this way, the laser displacement meter can digitize the displacement of the distance per unit time of the measurement light irradiated to the fruits and vegetables to be measured and graph it through the arithmetic unit. It is possible to measure the fruits and vegetables to be measured three-dimensionally and determine the shape with high accuracy.

  Furthermore, since the laser displacement meter is integrated with the measurement light irradiating part and the light receiving part, the shape selection device can be simplified, can be installed in a narrow space, and the cost can be reduced.

The fruit and vegetable shape sorting apparatus of the present invention is
An arithmetic device for determining the shape,
The numerical value output from the laser displacement meter is
Convert to time-displacement meter output (distance) relationship graph,
By dividing the slope of the previous period graph at predetermined intervals and calculating it as the shape selection data value,
This is characterized in that the shape is determined by comparing this with the shape data of normal fruits and vegetables prepared in advance.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
An arithmetic device for determining the shape,
The numerical value output from the laser displacement meter is
Convert to time-displacement meter output (distance) relationship graph,
By dividing the slope of the previous period graph at predetermined intervals and calculating it as the shape selection data value,
This is characterized in that the shape is determined by comparing this with the shape data of normal fruits and vegetables prepared in advance.

  By configuring in this way, it is possible to compare the slope of each curve from the shape data graph of normal fruits and vegetables and the shape data of measured fruits and vegetables. The determination accuracy can be adjusted.

  At this time, if the irradiation interval of the measurement light emitted to the measured fruits and vegetables by the laser displacement meter is shortened, the number of measurement points increases and the output numerical value increases, so the shape of the measured fruits and vegetables, The irradiation interval of the measurement light, the moving speed of the laser displacement meter with respect to the measured fruit and vegetables, and the moving speed of the measured fruit and vegetables with respect to the laser displacement meter may be appropriately changed according to the size and the like.

The fruit and vegetable shape sorting apparatus of the present invention is
The laser displacement meter is
It is provided in one or more places with respect to the measured fruits and vegetables.

By comprising in this way, it is possible to raise the determination accuracy of the shape with respect to the fruits and vegetables to be measured.
At this time, as the number of laser displacement meters increases, the number of measurement points increases, and the measurement values at many measurement points of the measured fruits and vegetables can be compared with the measurement values of normal fruits and vegetables. Can be determined.

The fruit and vegetable shape sorting apparatus of the present invention is
The laser displacement meter is
One or more places are provided above the fruits and vegetables to be measured.

By configuring in this way, it is possible to intensively measure particularly above the fruits and vegetables to be measured, and it is possible to determine a highly reliable shape.
The fruit and vegetable shape sorting apparatus of the present invention is
The laser displacement meter is
It is provided so as to move around the fruits and vegetables to be measured.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The laser displacement meter is
It is provided so as to move around the fruits and vegetables to be measured.

By comprising in this way, measurement light can be irradiated with a laser displacement meter, without moving the fruits and vegetables to be measured.
At this time, the laser displacement meter may be configured to move linearly above the measured fruits and vegetables, or to move in an arc shape around the measured fruits and vegetables.

Furthermore, since these moving methods can be combined, it is preferable to select appropriately according to the fruits and vegetables to be measured.
The fruit and vegetable shape sorting apparatus of the present invention is
The measured fruits and vegetables are configured to be transported on a transport line.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The measured fruits and vegetables are configured to be transported on a transport line.
By configuring in this way, the fruits and vegetables to be measured are transported on the transport line, so that the laser displacement meter for irradiating the measurement light can be fixed without complicating the apparatus.

Furthermore, since the measured fruits and vegetables are moving, it is possible to measure many measured fruits and vegetables in a short time, and to determine the shape of the measured fruits and vegetables that are transported on the transportation line of the fruit and vegetable field. Is optimal.

The fruit and vegetable shape sorting apparatus of the present invention is
The irradiation unit is configured to irradiate linear light as measurement light,
The light receiving unit is configured by an imaging device for imaging linear light irradiated on the fruits and vegetables to be measured.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The irradiation unit is configured to irradiate linear light as measurement light,
The light receiving unit is configured by an imaging device for imaging linear light irradiated on the fruits and vegetables to be measured.

  Thus, the irradiation unit is configured to irradiate linear light as measurement light, and the light receiving unit is configured from an imaging device for imaging the linear light irradiated to the measured fruits and vegetables. Therefore, it is possible to determine the shape of fruits and vegetables to be measured continuously without touching and destroying the surface, and it is possible to select fruits and vegetables that have a distorted appearance. is there.

The fruit and vegetable shape sorting apparatus of the present invention is
An arithmetic device for determining the shape,
Of the images captured by the imaging device,
Extract only the linear light part irradiated to the fruits and vegetables to be measured,
A surface imaging line composed of linear light portions extracted from the image is divided at regular intervals,
While determining the inclination angle of each of the surface imaging lines,
For each of the inclination angles, the angle difference data of the inclination angle of the adjacent section is obtained, and the shape difference is determined by comparing the angle difference data of the shape data of normal fruits and vegetables.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
An arithmetic device for determining the shape,
Of the images captured by the imaging device,
Extract only the linear light part irradiated to the fruits and vegetables to be measured,
A surface imaging line composed of linear light portions extracted from the image is divided at regular intervals,
While determining the inclination angle of each of the surface imaging lines,
For each of the inclination angles, the angle difference data of the inclination angle of the adjacent section is obtained, and the shape difference is determined by comparing the angle difference data of the shape data of normal fruits and vegetables.

  With this configuration, the linear light emitted from the irradiation unit to the measured fruits and vegetables is expressed as a three-dimensional curve according to the shape of the measured fruits and vegetables. Compared to the two-dimensional method of taking the contours of the measured fruits and vegetables, the measured fruits and vegetables can be measured three-dimensionally, and the shape can be determined with high accuracy.

  Furthermore, if there are multiple pieces of linear light to irradiate the measured fruits and vegetables, it is possible to capture more surface imaging lines when imaging the measured fruits and vegetables with the imaging device. Therefore, the shape can be determined with high accuracy.

At this time, the number of linear lights may be appropriately selected depending on the size and shape of the measured fruits and vegetables, and the interval between the linear lights may be appropriately selected depending on the size and shape of the measured fruits and vegetables.
The linear light may be linear or circular, and may be a lattice.

In addition, the shape can be accurately determined according to the subdivision of the surface imaging line composed of the extracted linear light portion.
The fruit and vegetable shape sorting apparatus of the present invention is
An arithmetic device for determining the shape,
Compare the angle difference data obtained from the surface imaging line and the angle difference data of the shape data of normal fruits and vegetables prepared in advance,
The configuration is characterized in that the shape is determined when the difference deviates from a predetermined threshold value.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
An arithmetic device for determining the shape,
Compare the angle difference data obtained from the surface imaging line and the angle difference data of the shape data of normal fruits and vegetables prepared in advance,
The configuration is characterized in that the shape is determined when the difference deviates from a predetermined threshold value.

With this configuration, the shape determination level can be adjusted, so that the shape can be determined in accordance with the type and characteristics of the fruits and vegetables to be measured.
Although it is this determination level, for example, the appearance of a mandarin orange and the appearance of a watermelon are different in the required smoothness of the appearance in the market. The threshold value may be appropriately changed according to the shape, size, type, etc. of the fruits and vegetables to be measured.

The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It is provided in one or more places with respect to the measured fruits and vegetables.

By comprising in this way, it is possible to raise the determination accuracy of the shape with respect to the fruits and vegetables to be measured.
At this time, the surface imaging lines increase as the number of irradiation parts that irradiate linear light increases, and the angle difference data obtained from the surface imaging lines at many measurement locations of the measured fruits and vegetables and normal prepared in advance Since the angle difference data of the shape data of fruit and vegetables can be compared, it is possible to determine the shape with high reliability.

The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It is provided above the measured fruits and vegetables.

  By configuring in this way, it is possible to irradiate linear light intensively above the measured fruits and vegetables that are particularly susceptible to floating skin, so the angle at which the measured fruits and vegetables irradiated with linear light are imaged It is possible to determine the shape with higher reliability from the difference data.

The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It arrange | positions above the side part of the said to-be-measured fruits and vegetables located in a test | inspection position, It is characterized by the above-mentioned.

By comprising in this way, the shape of a side part can be determined with respect to the fruits and vegetables to be measured.
The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It arrange | positions upwards in the horizontal direction of the said to-be-measured fruits and vegetables located in a test | inspection position, It is characterized by the above-mentioned.

By comprising in this way, the shape of the side part of a horizontal direction can be determined with respect to the fruits and vegetables to be measured.
The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It is characterized by being arranged above both sides of the measured fruits and vegetables in the lateral direction of the measured fruits and vegetables located at the inspection position.

By comprising in this way, the shape of the both sides of a horizontal direction with respect to a to-be-measured fruit and vegetables can be determined.
The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It is arrange | positioned upward in the front-back direction of the said to-be-measured fruits and vegetables located in a test | inspection position, It is characterized by the above-mentioned.

By comprising in this way, the shape of the side part of the front-back direction with respect to the fruits and vegetables to be measured can be determined.
The fruit and vegetable shape sorting apparatus of the present invention is
An irradiation unit for irradiating the linear light,
It is arranged above both sides of the measured fruits and vegetables in the front-rear direction of the measured fruits and vegetables located at the inspection position.

By comprising in this way, the shape of the both sides of the front-back direction with respect to measured fruit and vegetables can be determined.
Furthermore, when imaging the fruits and vegetables to be measured, a plurality of surface imaging lines are imaged at a time, so that the shape can be accurately determined.

The fruit and vegetable shape sorting apparatus of the present invention is
A mirror is arranged around the fruits and vegetables to be measured,
The image pickup apparatus is configured to take an image of linear light irradiated to the measured fruits and vegetables through the mirror.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
A mirror is arranged around the fruits and vegetables to be measured,
The image pickup apparatus is configured to take an image of linear light irradiated to the measured fruits and vegetables through the mirror.

  By configuring in this way, it is possible to capture the surface imaging line, which is linear light irradiated to the measured fruits and vegetables, which is difficult to capture depending on the installation position, through the mirror, so that the shape can be accurately obtained. Judgment is possible.

The fruit and vegetable shape sorting apparatus of the present invention is
The imaging device is
It is configured to adjust the aperture amount or gain level of the lens using a calibration plate.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The imaging device is
It is configured to adjust the aperture amount or gain level of the lens using a calibration plate.

  With this configuration, not only can the shape be determined with stable accuracy at all times, but each shape selecting device can also determine the shape with the same accuracy even when multiple shape selecting devices are used simultaneously. Can do.

The adjustment of the image pickup apparatus using the calibration plate may be performed at a predetermined time, for example, or may be calibrated so as to be constantly adjusted.
The fruit and vegetable shape sorting apparatus of the present invention is
The measured fruits and vegetables are configured to be transported on a transport line.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The measured fruits and vegetables are configured to be transported on a transport line.
By configuring in this way, the measured fruits and vegetables are transported on the transport line, so that the irradiation unit for irradiating the linear light and the linear light irradiated to the measured fruits and vegetables are imaged. The imaging device can be fixed without complicating the device.

Moreover, even if the conveyance line is always operating, it may be configured to be temporarily stopped or decelerated when imaging is performed by the imaging apparatus.
Furthermore, since the measured fruits and vegetables are moving, it is possible to measure many measured fruits and vegetables in a short time, and to determine the shape of the measured fruits and vegetables that are transported on the transportation line of the fruit and vegetable field. Is optimal.

The fruit and vegetable shape sorting apparatus of the present invention is
Shape sorter
The present invention is characterized in that it is a floating skin sorting device for sorting the floating skin of the fruits and vegetables to be measured.

Moreover, the shape selection method of the fruits and vegetables of the present invention,
The shape selection method is
It is a float skin sorting method for sorting the float skin of the fruits and vegetables to be measured.

  Thus, if the shape selection apparatus is used specifically for the selection of the floats of the fruits and vegetables to be measured, the separation of the skins of the fruits and vegetables to be measured can be favorably performed.

  According to the present invention, it is possible to identify a stable and accurate shape, and easily break or damage, for example, when the presence or absence of floating skin such as fruits and vegetables such as oranges is identified, the surface of the fruits and vegetables is destroyed. Therefore, it is possible to continuously measure the presence or absence of an accurate shape without contacting the fruits and vegetables.

  Further, it is possible to provide a fruit and vegetable shape sorting device and a shape sorting method capable of sorting fruits and vegetables having a distorted appearance and appearance.

Hereinafter, embodiments (examples) of the present invention will be described in more detail with reference to the drawings.
FIG. 1 is a schematic view showing an embodiment of the fruit and vegetable shape sorting apparatus of the present invention, FIG. 2 is a schematic view showing the moving range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention, and FIG. FIG. 4 is a schematic diagram showing the movement range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 5 is a schematic diagram showing the movement range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of FIG. It is the schematic which shows the moving range of the laser displacement meter of the shape sorter | selector.

In FIG. 1 to FIG. 22, reference numeral 10 denotes a fruit and vegetable shape sorting device (hereinafter simply referred to as “shape sorting device”) of the present invention.
The shape sorting apparatus 10 of the present invention is for non-contact sorting of whether or not the shape of fruits and vegetables is distorted, for example, the presence or absence of citrus floats such as tangerines.

As an embodiment of the present invention, as an example of selecting the shape, the floating skin of fruits and vegetables is selected.
Further, in the present invention, “floating skin” means a state in which a gap is formed between the skin and the flesh and the skin is floating, and the three-dimensional shape of the appearance of the fruits and vegetables is distorted, causing an irregular state and an This is a state having a large protrusion.

  As shown in FIG. 1, the shape selection device 10 includes a laser displacement meter 14 and an arithmetic device (not shown) that receives an output value output from the laser displacement meter 14 and performs an operation. The laser displacement meters 14 and 14 are composed of an irradiating unit 16 and a light receiving unit 18 that irradiate the measuring light 20, and irradiate the measuring light 20 on the surface of the fruit and vegetable 12 to be measured and receive the reflected light. Since the light is received by the unit 18, it is arranged so as to be positioned above the measured fruits and vegetables 12.

At this time, as the measurement light 20 irradiated from the laser displacement meter 14, intermittent light or continuous light can be used.
In addition, it is desirable that the laser displacement meter 14 is configured in advance so that the measurement light 20 passes through a place where the floating skin of the measured fruit or vegetable 12 is likely to occur or a surface where the surface is prone to be distorted. It may be arranged at any position around the fruits and vegetables 12 to be measured, such as not only above but also on the side and above the side.

  In the shape selection apparatus 10 of the present invention, the measured fruit and vegetables 12 are exemplified by citrus oranges, and in the oranges, the area around the upper spatula is the place where the floating skin is most likely to occur. The measurement light 20 of the laser displacement meter 14 is configured to pass through.

  If the measured fruit and vegetable 12 is placed at the inspection position, the laser displacement meter 14 may be configured to move 360 degrees around the measured fruit and vegetable 12 as shown in FIG. There is no worry of overlooking the floating skin of the fruits and vegetables 12 to be measured.

  Further, as shown in FIG. 3, when the measured fruit and vegetables 12 are centered on the measured fruit and vegetables 12, the upper half of the measured fruit and vegetables 12 is moved in an arc shape by 180 degrees. There is no worry of overlooking the floating skin around the upper spatula, which is prone to floating skin.

  Furthermore, as shown in FIG. 4, if the range in which the laser displacement meter 14 moves is limited, when the measured fruit and vegetable 12 is a mandarin orange, it is limited to the vicinity of the upper spatula where a floating skin is likely to occur. You can check for the presence of floating skin.

  Further, as shown in FIG. 5, the laser displacement meter 14 may be provided so as to move linearly above the measured fruit and vegetable 12, and in this case, from the end of the diameter of the measured fruit and vegetable 12. You may be comprised so that it may move to the edge as the movement range La1, and you may be comprised so that only the location La2 where the floating skin of the to-be-measured fruits and vegetables 12 tends to generate | occur | produce may be moved.

In addition, the moving direction of the laser displacement meter 14 in FIGS. 2 to 5 may be one direction or both the front and rear directions, and may be appropriately selected according to the installation situation.
Furthermore, as a position where irradiation is started in the laser displacement meter 14 having the movement range shown in FIGS. 2 to 5, when starting from the uppermost end of the measured fruits and vegetables 12, it moves back and forth with respect to the measured fruits and vegetables 12. Since it is necessary, it is preferable to set one end of the fruit or vegetable 12 to be measured as a start position and pass through the other end.

  In addition, as shown in FIG. 6, when the measured fruits and vegetables 12 are transported on the transport line 22, the measured fruits and vegetables 12 are placed on the transport line 22 and moved in the direction of the arrow. ing.

  At this time, the laser displacement meter 14 needs to be configured so that the measurement light 20 irradiated from the laser displacement meter 14 hits a portion where the floating skin of the measured fruits and vegetables 12 is likely to be generated. In the embodiment, since the measured fruits and vegetables 12 are mandarin oranges, the measuring light 20 is configured to be positioned above the measured fruits and vegetables 12 so that the measuring light 20 hits the peripheral portion of the skin that is likely to be peeled. It is advisable to install a laser displacement meter outside the mandarin orange passage so that it does not come into contact with the mandarin orange being conveyed.

  The number of laser displacement meters 14 may be determined as appropriate depending on the size of the fruit and vegetable 12 to be measured, the location where the floating skin is likely to be generated, etc. In the embodiment of the present invention, the fruit and vegetable 12 to be measured is Therefore, in consideration of realistic costs, it is preferable to provide them at two places as shown in FIG.

  As described above, the laser displacement meter 14 is configured to irradiate the measuring fruit 20 with the measurement light 20. However, the measurement light 20 is emitted from the irradiation unit 16 of the laser displacement meter 14 as shown in FIG. 7. The light that has been irradiated and reflected on the surface of the fruit or vegetable 12 to be measured is received by the light receiving unit 18.

  At this time, as shown in FIG. 7A, the laser displacement meter 14 starts from the point in time when the measurement light 20 irradiated from the irradiation unit 16 irradiates one end of the fruits and vegetables 12 to be measured. The distance L1 from the irradiation unit 16 to one end of the measured fruit or vegetable 12 is converted into data, and this data is sent to the arithmetic unit (not shown).

  Similarly, as the laser displacement meter 14 moves as shown in FIGS. 7A to 7E, the laser displacement meter 14 is changed from the laser displacement meter 14 in FIGS. 7B to 7D, respectively. The distances L2, L3, and L4 from the irradiation unit 16 to the surface of the measured fruit and vegetable 12 are converted into data and sent to the arithmetic unit, and as shown in FIG. Up to the data of the distance L5 at the time of irradiating the other end is sent to the arithmetic unit.

  The distance data from the irradiation unit 16 of the laser displacement meter 14 sent to the arithmetic device thus obtained to the position where the measurement light 20 on the surface of the fruit and vegetable 12 is irradiated is shown in FIG. As shown in (f), it is output as a graph of displacement meter output (distance) -time by the arithmetic unit, and is converted into a curve graph as shown in FIG.

  In addition, in the arithmetic device, measurement data of the distance from the irradiation unit 16 of the laser displacement meter 14 to the surface of the measured fruit and vegetables 12 with normal oranges as the measured fruit and vegetables 12 as reference data for shape selection in advance. Have been entered.

  The measurement data of normal mandarin oranges serving as reference data for shape selection is formed into a curve graph by the above-described method by an arithmetic unit as shown in FIG. 8 (a1). As the reference data, the diameter Lb1 is calculated in the arithmetic unit so that the diameter Lb1 becomes an arbitrary diameter Lc as shown in FIG. 8 (a2). The number is multiplied by the arithmetic processing in the arithmetic unit.

Example: Lb1 = 50, Lc = 100
(Lc / Lb1) = (100/50) = 2
This double is applied to the output of the displacement meter.

  In the arithmetic device in the shape sorting apparatus 10 of the present invention, the arithmetic processing is performed with the arbitrary diameter of the measured fruit and vegetable 12 being 100 mm, but it is preferable to select this value appropriately depending on the size of the measured fruit and vegetable.

  On the other hand, with respect to the reference data for shape selection obtained in this way, the measured fruit and vegetable 12 as shown in FIG. 9 (b1) obtained in the same manner as in FIG. 7 is a mandarin orange having a floating skin. The curve graph is also subjected to calculation processing in the calculation device so that the diameter Lb2 becomes an arbitrary diameter Lc as shown in FIG. 9 (b2) in the same manner as when the measured fruit and vegetables 12 are normal oranges. .

  Further, as shown in FIG. 10, the curve graph of normal mandarin oranges 10 (a 2) subjected to the processing of FIGS. 8 and 9 by the arithmetic unit and the curve graph 10 (b 2) of mandarin oranges having floating skin are superimposed. And displayed in one table as shown in FIG.

The graph of FIG. 10C is as shown in FIG. 11A by the arithmetic processing in the arithmetic unit, and shows the position by calculating the coordinates of the X axis and the Y axis.
In addition, in an arithmetic unit not shown in FIG. 11, a curve graph of a normal orange and a mandarin orange having a floating skin is shown in FIG. 11 (b), which is a partially enlarged view of FIG. Each curve is divided like G1, G2, G3, and G4.

  Then, the inclination (inclination angle) for each section divided by a predetermined interval in each graph is obtained, and the difference in angle between adjacent sections (example: FIG. 11 (b) G1 and G2) is calculated to the end point of the graph. The obtained angle difference data is used.

In this case, the angle difference data indicates that the smaller the numerical value of the deviation of the angle difference, the smoother the curve of the graph.
Although the shape is determined in this way, the normal mandarin orange curve graph A as shown in FIG. 11A shows a smooth curve in the displacement meter output (distance) -time graph. Therefore, it can be seen that the outline of the mandarin orange is not distorted.

  Furthermore, since the curve graph B of the mandarin orange having a floating skin shows an irregular curve in the graph of displacement meter output (distance) -time, it can be seen that the outline of the mandarin orange is distorted.

  For this reason, the arithmetic unit determines that there is a floating skin when the deviation of the angular difference of the measured fruit and vegetables 12 deviates from a certain threshold with respect to the deviation of the normal orange difference as a shape determination method. Should be programmed to

  As the accuracy of determination, as the vector length is shortened, a fine angle difference deviation can be obtained and the shape can be determined with high accuracy. However, the capability of the arithmetic unit, processing time, number of processing, etc. If it considers, Preferably it is 1 mm-50 mm, More preferably, 5 mm-10 mm, More preferably, if it divides into 5 mm, a shape can be determined with sufficient precision.

FIG. 12 shows another embodiment of the shape selecting apparatus 10 according to the present invention. The irradiation unit 24 irradiates the linear fruit 28 to the measured fruit and vegetables 12, and the measured fruit and vegetables 12 are irradiated and projected onto the surface. An imaging device 26 for imaging the projected line 38 and an arithmetic device (not shown) that processes an image captured by the imaging device 26 and performs arithmetic processing.

  According to the shape selecting apparatus 10 shown in FIG. 12, the linear light 28 irradiated to the measured fruits and vegetables 12 from the irradiation unit 24 is projected along with the measured fruits and vegetables 12 by the imaging device 26. 38 is picked up, and the picked-up image is sent as image data to an arithmetic unit (not shown).

  The imaging device 26 may capture a still image using a camera or a video using a video camera. However, the shape selection device 10 of the present invention uses a video camera, and the imaging device 26 uses the video camera. The to-be-measured fruits and vegetables 12 and the projection line 38 to be imaged are configured to be sent from the imaging device 26 to the arithmetic device at a predetermined timing.

  In addition, as the position where the irradiation unit 24 is provided, the measured fruit and vegetables 12 of the present invention uses a mandarin orange as an example. It is desirable to provide the irradiation part 24 above the side part of the measured fruits and vegetables 12 so that can be irradiated.

  By the way, in the present invention, the number of the linear lights 28 irradiated by the irradiation unit 24 uses the irradiation unit 24 that simultaneously irradiates the four fruits 12 to be measured. However, the present invention is not limited to this. The number of the linear lights 28 may be appropriately selected depending on the size of the fruits and vegetables 12 to be measured.

  Further, the shape of the linear light 28 irradiated by the irradiation unit 24 is not limited to the linear light 28, and for example, even when the circular light 40 is irradiated as shown in FIG. Alternatively, the lattice-shaped light 42 may be irradiated as shown in FIG.

Furthermore, these can be used in combination, and any shape may be used as long as the irradiation unit 24 can irradiate.
In the present invention, the color of the light emitted from the irradiation unit 24 is red. However, since green and blue can be used in addition, it may be appropriately selected depending on the color of the fruits and vegetables 12 to be measured.

  As described above, the position of the imaging device 26 that images the projection line 38 projected together with the measured fruit and vegetable 12 irradiated with the linear light 28 irradiated from the irradiation unit 24 is mainly the measured fruit and vegetable 12. Since it is necessary to arrange so that the projected projection line 38 can be imaged, the shape selection device 10 of the present invention may be configured to be positioned in the vicinity of the irradiation unit 24.

However, the positions where the irradiation unit 24 and the imaging device 26 are provided may be appropriately selected according to the configuration and installation location of the shape sorting device 10 and the shape and size of the measured fruits and vegetables 12.
The shape sorting apparatus 10 shown in FIG. 12 configured as described above sends an image captured by the imaging apparatus 26 as image data to an arithmetic unit (not shown).

  Then, the image data is compared with the shape selection data of a normal mandarin orange and the shape selection data of a mandarin orange having a floating skin which is a measured fruit and vegetable 12 as in the shape selection device 10 using the laser displacement meter 14 in the arithmetic unit. Then, the shape is determined by performing a calculation process. In the calculation device, normal orange shape selection data serving as a reference is prepared in advance.

  This is a method for obtaining normal orange shape selection data as a reference. First, normal oranges imaged by the imaging device 26 are sent as image data to the arithmetic unit, as shown in FIG. 14 (a1). It is expressed as an image 34.

In this image 34, normal oranges that are the fruits and vegetables 12 to be measured and surface imaging lines 32 that are projection lines 38 projected onto the surface of the fruits and vegetables 12 to be measured are displayed.
Next, since the most important part in the image 34 is the surface imaging line 32, it is necessary to extract only the surface imaging line 32 from the image 34 by the arithmetic unit, and the surface imaging line 32 is irradiated from the irradiation unit 24. Since the color of light is red, it is also expressed in red in the image 34, and only the red color is extracted using a known RGB image processing method.

  The surface imaging line 32 of the image 34 shown in FIG. 14 (a2) obtained in this way has different diameters of the measured fruits and vegetables 12 to be imaged by the imaging device 26, and therefore has a diameter Ld as reference data. As shown in FIG. 14 (a3), an arithmetic processing is performed in the arithmetic device so as to have a diameter Le which is an arbitrary diameter, and the processed image 34 is expressed.

  In the arithmetic unit in the shape selection apparatus 10 of the present invention, the calculation is performed with an arbitrary diameter of the fruit and vegetable 12 to be measured being 100 mm, but it is preferable that the value is appropriately selected depending on the size of the fruit and vegetable to be measured.

In this way, normal mandarin orange image data can be obtained.
On the other hand, the method for obtaining the shape selection data for oranges having a floating skin is the same as the method for obtaining the shape selection data for normal oranges described above, and a detailed description thereof will be omitted. However, as shown in FIG. The image 34 sent from the imaging device 26 to the arithmetic device is converted as shown in FIG. 15B2 in which only the image data of the surface imaging line 32 is extracted.

  Further, in the arithmetic unit, for comparison with the shape selection data of normal oranges, the diameter Lf of oranges having a floating skin shown in FIG. 15 (b2) is multiplied by an arbitrary coefficient, as shown in FIG. 15 (b3). An image 34 having a diameter Le is output.

In this way, image data of oranges having a floating skin can be obtained.
The image data that has been calculated by the arithmetic device is prepared in advance in the arithmetic device as reference data for normal mandarin oranges, and is compared with the shape selection data of mandarin oranges having a floating skin that is the fruit and vegetable 12 to be measured. .

  And as a comparison method, it is performed in the same manner as the shape selecting device 10 using the laser displacement meter 14, but as shown in FIG. 16, the shape of the normal mandarin orange obtained by the processing in the arithmetic device. The selection data is displayed as shown in FIG. 16 (a3), and the shape selection data of the mandarin orange with a floating skin is displayed as shown in FIG. 16 (b3). The X-axis and Y-axis of the displayed image are the pixel It shows the position.

  Further, as shown in FIG. 16 (a4) which is a partially enlarged view of FIG. 16 (a3) and FIG. 16 (b4) which is a partially enlarged view of FIG. 16 (b3), the displayed image is one pixel. When the vertical and horizontal width is 0.625 mm, each curve is divided into sections for every 10 pixels, and the inclination (inclination angle) for each section is obtained, and then the adjacent sections (example: FIG. 16 (a4)) The difference in angle between G5 and G6 and between G9 and G10 in FIG. 16 (b4) is obtained up to the end point of the graph, and the difference in angle difference between adjacent section inclination angles is taken as the deviation in angle difference. It is programmed to determine that floating skin is present when the angle difference deviation deviates from a certain threshold.

  Another embodiment of the shape selection apparatus 10 of the present invention shown in FIG. 17 includes an irradiation unit 24 that irradiates linear light 28 above the left and right sides of the measured fruit and vegetables 12, and the measured fruit and vegetables 12. The mirror 30 for projecting the projection line 38 projected on the left and right side portions of the image and the image pickup device 26 for taking an image of the mirror 30 together with the measured fruits and vegetables 12 from above the measured fruits and vegetables 12.

In the shape selection apparatus 10 of the present invention, the imaging device 26 uses all the projection lines when the linear light 28 irradiated to the measured fruits and vegetables 12 is projected onto the upper half of the measured fruits and vegetables 12. 38 can be imaged together with the fruits and vegetables 12 to be measured.

  However, when the linear light 28 irradiated to the measured fruits and vegetables 12 is projected onto the lower half of the measured fruits and vegetables 12 (when projected onto the position including the lower half), the lower half Since some of the projection lines 38 located at the position cannot be imaged, the projection line 38 projected onto the measured fruits and vegetables 12 can be completely captured by supplementing the visual field of the imaging device 26 with the mirror 30. It is configured.

  In addition, the image 34 thus captured using the mirror 30 is the measured fruit and vegetables 12 and the linear light 28 irradiated to the measured fruit and vegetables 12 as shown in FIG. The surface imaging line 32 and the mirror 30 are imaged together.

Further, as described above, only the surface imaging line 32 is extracted by the arithmetic device as described above, and the image 34 is output as the image 34 as shown in FIG.
Further, the extracted surface imaging line 32 is subjected to a process of moving a part of the surface imaging lines 32 dispersed by the arithmetic unit to a location where the surface imaging lines 32 are concentrated, as shown in FIG. The image 34 can be output.

As the subsequent processing, the shape is accurately determined by performing the same calculation as in the above-described embodiment in the calculation device.
Further, as shown in FIG. 19, the projection line 38 projected onto the measured fruits and vegetables 12 is reflected in the direction of the arrow Y1 and projected onto the mirror 30a together with the measured fruits and vegetables 12.

  Further, the measured fruits and vegetables 12 projected on the mirror 30a and the projection line 38 projected onto the measured fruits and vegetables 12 are reflected in the direction of the arrow Y2 and projected onto the mirror 30b, so that the imaging device 26 images the mirror 30b. Then, even if the mirror 30a is not included within the viewing angle θ1 of the image pickup device 26, the mirror image projected on the mirror 30a can be reflected and projected on the mirror 30b. The projected projection line 38 can be imaged by the imaging device 26, and the shape can be determined with high accuracy.

Further, as shown in FIG. 20, the measured fruits and vegetables 12 may be configured to be transported on the transport line 22.
Such a shape selection apparatus 10 includes a conveyance line 22 that conveys the measured fruits and vegetables 12 in the direction of the arrow, an irradiation unit 24 that irradiates the measured fruits and vegetables 12 with linear light 28, an irradiation unit 24, and an object to be measured. A diffractive optical element 29 for shaping the spot light into a linear light source through the linear light 28 between the measurement fruits and vegetables 12 and the projection light 38 projected on the measurement fruits and vegetables 12 are imaged together with the measurement fruits and vegetables 12. A photosensor irradiation unit 46 and multiple ends at one end in the width direction of the transport line 22 so that the linear light 44 can be irradiated from the width direction of the image pickup device 26 and the transport line 22 through which the measured fruit and vegetables 12 are transported. The photosensor light receiving unit 48 is provided in the unit.

  In such a shape selection apparatus 10 shown in FIG. 20, the measured fruit and vegetables conveyed on the conveyance line 22 by installing the photosensor irradiation unit 46 that irradiates the linear light 44 in the width direction of the conveyance line 22. When the class 12 comes into contact with the linear light 44 and blocks the light, and the photosensor light receiving unit 48 stops receiving the linear light 44, the arithmetic device is set to process the image data sent from the imaging device 26. Can do.

Furthermore, if a diffractive optical element 29 is provided between the fruit and vegetable 12 to be measured and the irradiation unit 24, the spot light can be shaped into a linear light source.
Further, the installation position of the imaging device 26 and the irradiation unit 24 must be provided at a position that does not come into contact with the measured fruits and vegetables 12 because the measured fruits and vegetables 12 are transported on the transport line 22. In FIG. The device 26 is preferably installed above the measured fruits and vegetables 12, and the irradiation unit 24 is preferably installed at the upper front in the transport direction of the transport line 22 of the measured fruits and vegetables 12.

  However, the installation positions of the imaging device 26 and the irradiation unit 24 are not limited to this, and may be installed on the rear upper part in the conveyance line direction with respect to the measured fruits and vegetables 12 conveyed on the conveyance line 22. Moreover, it may be installed above the side in the width direction of the transfer line, and may also be installed in both the transfer line direction and the width direction of the transfer line. Selection and combination can be performed as appropriate according to the size and characteristics of the fruits and vegetables 12.

  The basic configuration of the shape selection device 10 of the present invention shown in FIG. 21A is the same as that of the other embodiments, and thus detailed description thereof is omitted. The calibration plate 50 is installed so that the calibration plate 50 is also displayed when the imaging device 26 images the projection line 38 projected together with the measured fruits and vegetables 12.

Further, the calibration plate 50 is colored red 51, green 52 and blue 53 from the upper right on the plate as shown in FIG. 21B, and further white 54, gray 55 and black 56 from the upper left.
In the shape selecting apparatus 10 shown in FIG. 21A, the imaging device 26 images the calibration plate 50 together with the projection line 38 projected onto the measured fruits and vegetables 12 and the measured fruits and vegetables 12, and image data. Although not shown in figure, it is sent to the arithmetic unit.

  Further, the image data is subjected to color tone adjustment processing by an arithmetic unit, and the gain level, the aperture amount of the lens of the image pickup device 26, and the black level can be adjusted. Thus, the shape can be determined.

Moreover, when the shape selection apparatus 10 is installed and used on the some conveyance line 22, the state of the some shape selection apparatus 10 can be maintained constant.
The preferred embodiment of the present invention has been described above. However, the present invention is not limited to this. For example, in the above-described embodiment, the present invention is applied to a case where a mandarin orange peel is selected as a measured fruit and vegetable. However, various modifications can be made without departing from the object of the present invention, such as determination of floating skin of other fruits and vegetables and selection of distorted fruits and vegetables.

  In addition, the shape sorting apparatus 10 of the present invention includes, for example, a method for measuring the hardness of the fruit and vegetable 12 to be measured using a hardness sensor, and sorting the float using the obtained value as a float value. And the method of irradiating near-infrared rays on the fruits and vegetables 12 to be measured and performing spectroscopic analysis to select the floating skin. If the shapes are selected using a plurality of shape selection methods at once, higher accuracy can be obtained. The shape can be determined.

FIG. 1 is a schematic view showing an embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 2 is a schematic view showing the moving range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 3 is a schematic view showing the moving range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 4 is a schematic view showing the moving range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 5 is a schematic view showing the moving range of the laser displacement meter of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 6 is a perspective view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 7 is a schematic view showing a measuring method of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 8 is a diagram showing a normal fruit and vegetable image of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 9 is a diagram showing an image of fruits and vegetables having a floating skin of the fruit and vegetable shape sorting device of the present invention. FIG. 10 is a diagram showing images of normal fruits and vegetables and fruits and vegetables having a floating skin of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 11 is a diagram showing an image of normal fruits and vegetables and fruits and vegetables having a floating skin of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 12 is a schematic view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 13 is a schematic view showing circular light and grid light emitted from the irradiation unit of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 14 is a diagram showing a normal fruit and vegetable image of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 15 is a diagram showing an image of fruits and vegetables having a floating skin of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 16 is a diagram showing images of normal fruits and vegetables and fruits and vegetables having floating skins in the fruit and vegetable shape sorting apparatus of the present invention. FIG. 17 is a schematic view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 18 is a view showing an image of fruits and vegetables having a floating skin of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 19 is a schematic view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 20 is a schematic view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 21 is a schematic view showing another embodiment of the fruit and vegetable shape sorting apparatus of the present invention. FIG. 22 is a comparison diagram between normal fruits and vegetables and fruits and vegetables having floating skins, which are selected by the fruit and vegetable shape sorting apparatus of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Shape sorter 12 Measurement fruit and vegetables 14 Laser displacement meter 16 Irradiation part 18 Light reception part 20 Measurement light 22 Carrying line 24 Irradiation part 26 Imaging device 28 Linear light 30 Mirror 30a Mirror 30b Mirror 32 Surface imaging line 34 Image 36 Calculation Device 38 Projection line 40 Circular light 42 Grid light 44 Linear light 46 Photosensor irradiation unit 48 Photosensor light receiving unit 50 Calibration plate 51 Red 52 Green 53 Blue 54 White 55 Gray 56 Black 60 Fruits and vegetables A Curve graph B Curve graph La1 Movement range La2 Movement range L1 Distance L2 Distance L3 Distance L4 Distance L5 Distance Lb1 Diameter Lb2 Diameter Lc Diameter Ld Diameter Le Diameter Lf Diameter G1 Pixel G2 Pixel G3 Pixel G4 Pixel G5 Pixel G6 Pixel G7 Pixel G10 Pixel G9 Pixel G9 Pixel G9 Pixel G12 Pixel Y1 Arrow Y2 Arrow θ1 Viewing angle θ2 Viewing angle

Claims (42)

A fruit and vegetable shape sorting device for identifying the shape of fruits and vegetables,
An irradiating unit for irradiating the measuring fruits and vegetables with measuring light;
A light receiving unit for receiving measurement light irradiated on the fruits and vegetables to be measured;
An arithmetic device for determining the shape by digitizing the measurement light received by the light receiving unit and comparing the shape data of normal fruits and vegetables prepared in advance;
A fruit and vegetable shape sorting apparatus comprising: A laser displacement meter comprising the irradiation unit and the light receiving unit;
The irradiation unit is configured to irradiate measurement light,
The shape selecting device according to claim 1, wherein the light receiving unit is configured to receive measurement light emitted to the measured fruits and vegetables. An arithmetic device for determining the shape,
The numerical value output from the laser displacement meter is
Convert to time-displacement meter output (distance) relationship graph,
By dividing the slope of the previous period graph at predetermined intervals and calculating it as the shape selection data value,
3. The shape selection apparatus according to claim 2, wherein the shape selection apparatus is configured to determine the shape by comparing the shape data of normal fruits and vegetables prepared in advance. The laser displacement meter is
The shape selection apparatus according to any one of claims 2 to 3, wherein the shape selection apparatus is provided at one or more places with respect to the fruits and vegetables to be measured. The laser displacement meter is
The shape selection apparatus according to claim 4, wherein one or more places are provided above the fruits and vegetables to be measured. The laser displacement meter is
6. The shape selecting apparatus according to claim 2, wherein the shape selecting apparatus is provided so as to move around the fruits and vegetables to be measured.   6. The shape sorting apparatus according to claim 2, wherein the measured fruits and vegetables are transported on a transport line. The irradiation unit is configured to irradiate linear light as measurement light,
The shape selecting device according to claim 1, wherein the light receiving unit is configured by an image pickup device for picking up an image of linear light irradiated on the fruits and vegetables to be measured. An arithmetic device for determining the shape,
Of the images captured by the imaging device,
Extract only the linear light part irradiated to the fruits and vegetables to be measured,
A surface imaging line composed of linear light portions extracted from the image is divided at regular intervals,
While determining the inclination angle of each of the surface imaging lines,
The angle difference data of the inclination angle of the adjacent section is obtained for each inclination angle, and the shape is determined by comparing with the angle difference data of the shape data of normal fruits and vegetables. The shape sorter described in 1. An arithmetic device for determining the shape,
Compare the angle difference data obtained from the surface imaging line and the angle difference data of the shape data of normal fruits and vegetables prepared in advance,
The shape selecting device according to claim 9, wherein the shape is determined when the difference deviates from a predetermined threshold value. An irradiation unit for irradiating the linear light,
The shape selection apparatus according to claim 8, wherein the shape selection apparatus is provided at one or more locations with respect to the fruits and vegetables to be measured. An irradiation unit for irradiating the linear light,
The shape selection device according to claim 11, wherein the shape selection device is provided above the fruits and vegetables to be measured. An irradiation unit for irradiating the linear light,
The shape selection apparatus according to claim 11, wherein the shape selection apparatus is disposed above a side portion of the measured fruits and vegetables located at an inspection position. An irradiation unit for irradiating the linear light,
The shape selection device according to claim 11, wherein the shape selection device is disposed above in a lateral direction of the measured fruits and vegetables located at an inspection position. An irradiation unit for irradiating the linear light,
14. The shape selecting device according to claim 11, wherein the shape selecting device is disposed above both sides of the measured fruit and vegetables in the lateral direction of the measured fruit and vegetables located at the inspection position. An irradiation unit for irradiating the linear light,
The shape selection device according to claim 11, wherein the shape selection device is disposed above in the front-rear direction of the measured fruits and vegetables at the inspection position. An irradiation unit for irradiating the linear light,
17. The shape selecting device according to claim 11, wherein the shape selecting device is disposed above both sides of the measured fruit and vegetables in the front-rear direction of the measured fruit and vegetables located at the inspection position. A mirror is arranged around the fruits and vegetables to be measured,
The shape selection device according to claim 11, wherein the image pickup device is configured to pick up an image of linear light emitted to the measured fruits and vegetables through the mirror. The imaging device is
19. The shape selection device according to claim 8, wherein the shape selection device is configured to adjust the aperture amount or gain level of the lens using a calibration plate.   The shape sorting apparatus according to claim 8, wherein the fruits and vegetables to be measured are configured to be transported on a transport line. The shape selection device according to claim 1 to 20,
A shape sorting device characterized by being a float skin sorting device for sorting the float skin of the fruits and vegetables to be measured. A method for selecting the shape of fruits and vegetables to identify the shape of fruits and vegetables,
Irradiate measurement light to the measured fruits and vegetables through the irradiation section,
Receiving light for measurement irradiated to the fruits and vegetables to be measured through a light receiving unit;
Quantify the measurement light received by the light receiving unit,
A shape selection method for fruits and vegetables characterized in that the shape is determined by comparing with shape data of normal fruits and vegetables prepared in advance via an arithmetic unit. A laser displacement meter comprising the irradiation unit and the light receiving unit;
The irradiation unit is configured to irradiate measurement light,
23. The shape selection method according to claim 22, wherein the light receiving unit is configured to receive measurement light irradiated on the fruits and vegetables to be measured. An arithmetic device for determining the shape,
The numerical value output from the laser displacement meter is
Convert to time-displacement meter output (distance) relationship graph,
By dividing the slope of the previous period graph at predetermined intervals and calculating it as the shape selection data value,
The shape selecting method according to claim 23, wherein the shape is determined by comparing the shape data of normal fruits and vegetables prepared in advance. The laser displacement meter is
The shape selection method according to any one of claims 23 to 24, wherein the shape selection method is provided at one or more locations for the fruits and vegetables to be measured. The laser displacement meter is
26. The shape selection method according to claim 25, wherein one or more places are provided above the fruits and vegetables to be measured. The laser displacement meter is
27. The shape selecting method according to claim 23, wherein the shape selecting method is provided so as to move around the fruits and vegetables to be measured.   27. The shape selecting method according to claim 23, wherein the measured fruits and vegetables are configured to be transported on a transport line. The irradiation unit is configured to irradiate linear light as measurement light,
23. The shape selection method according to claim 22, wherein the light receiving unit is configured by an imaging device for imaging linear light irradiated on the measured fruits and vegetables. An arithmetic device for determining the shape,
Of the images captured by the imaging device,
Extract only the linear light portion irradiated to the measured fruits and vegetables,
A surface imaging line composed of linear light portions extracted from the image is divided at regular intervals,
While determining the inclination angle of each of the surface imaging lines,
The angle difference data of the inclination angle of the adjacent section is obtained for each inclination angle, and the shape is determined by comparing with the angle difference data of normal fruit and vegetable shape data. The shape selection method described in 1. An arithmetic device for determining the shape,
Compare the angle difference data obtained from the surface imaging line and the angle difference data of the shape data of normal fruits and vegetables prepared in advance,
The shape selecting method according to claim 30, wherein the shape is determined when the difference deviates from a predetermined threshold value. An irradiation unit for irradiating the linear light,
30. The shape selection method according to claim 29, wherein the shape selection method is provided at one or more places for the measured fruits and vegetables. An irradiation unit for irradiating the linear light,
The shape selection method according to claim 32, wherein the shape selection method is provided above the fruits and vegetables to be measured. An irradiation unit for irradiating the linear light,
The shape selection method according to claim 32, wherein the shape selection method is arranged above a side part of the measured fruit and vegetables located at an inspection position. An irradiation unit for irradiating the linear light,
35. The shape selection method according to claim 32, wherein the shape and vegetables to be measured located at the inspection position are arranged upward in the lateral direction. An irradiation unit for irradiating the linear light,
35. The shape selection method according to claim 32, wherein the shape selection method is arranged above both sides of the measured fruits and vegetables in the lateral direction of the measured fruits and vegetables located at the inspection position. An irradiation unit for irradiating the linear light,
37. The shape selection method according to claim 32, wherein the shape selection method is arranged upward in the front-rear direction of the measured fruits and vegetables at the inspection position. An irradiation unit for irradiating the linear light,
38. The shape selection method according to claim 32, wherein the shape selection method is arranged above both sides of the measured fruit and vegetables in the front-rear direction of the measured fruit and vegetables located at the inspection position. A mirror is arranged around the fruits and vegetables to be measured,
The shape selection method according to any one of claims 32 to 38, wherein the imaging device is configured to take an image of linear light irradiated to the measured fruits and vegetables through the mirror. The imaging device is
40. The shape selection method according to claim 29, wherein the shape selection method is configured to adjust the aperture amount or gain level of the lens using a calibration plate.   41. The shape selection method according to claim 29, wherein the measured fruits and vegetables are configured to be conveyed on a conveyance line. The shape selection method according to claim 22 to 41,
A shape sorting method characterized by being a float skin sorting method for sorting the float skin of the fruits and vegetables to be measured.

Images