JP2019051461A - Sorting device of greengrocery - Google Patents

Abstract

To provide a sorting device of greengrocery capable of smoothly moving long greengrocery from a carrying conveyer to a sorting conveyer without requiring labor for placing it on a container.SOLUTION: A sorting device 10 is equipped with a carrying conveyer 12; sorting conveyers 14 to 18; an air jetting unit 20 which moves greengrocery from the carrying conveyer 12 to the sorting conveyers 14 to 18; a camera 32a which shoots the greengrocery carried by the carrying conveyer 12; and a control portion 34 which controls the jetting of the air jetting unit 20 on the basis of image data shot by the camera 32a. The air jetting unit 20 has a plurality of jetting nozzles 26a to 26e which jet air to the greengrocery carried by the carrying conveyer 12 to move the greengrocery to the sorting conveyers 14 to 18. The control portion 34 determines the length of the greengrocery on the basis of the image of the greengrocery shot by the camera 32a, and increases the number of the jetting nozzles jetting air in proportion to the length.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a fruit and vegetable sorting device, and more particularly, to a sorting device that sorts fruits and vegetables by moving the fruits and vegetables from a conveyor to a sorting conveyor.

  2. Description of the Related Art In recent years, a fruit and vegetable sorting apparatus that performs sorting work by determining fruits, for example, by classifying the fruits and vegetables with a camera or the like while conveying the fruits and vegetables with a conveyor and moving the fruits to a sorting conveyor corresponding to the classes. Has been developed.

  In Patent Document 1, a substantially spherical fruit or vegetable such as tomato is placed in a cylindrical container whose center is recessed from the surroundings, conveyed by a conveyor, and the tomato being conveyed is imaged by a camera. The class is determined, and when passing through the front of the sorting conveyor corresponding to the determined equal class, the tomato is moved together with the container toward the sorting conveyor by injecting air from the spray nozzle to the container on which the tomato is placed. A sorting apparatus is disclosed.

JP-A-10-297754

  In the sorting apparatus described in Patent Document 1, it is necessary to carry fruits and vegetables on a container. However, in the case of long fruits and vegetables such as cucumbers, there are not only straight shapes but also warped shapes. . For this reason, if it is going to prepare the container which mounts a cucumber, it will be necessary to manufacture the said container not only in a longitudinal direction but the dimension of a transversal direction largely, and the weight of a container will increase. If it does so, even if it is going to move the container which mounted fruit and vegetables toward the sorting conveyor by injecting air from an injection nozzle as mentioned above, there exists a problem that the weight of a container is heavy and it is difficult to move. In addition, there is a problem that it is necessary to perform the work of placing the fruits and vegetables on the transport conveyor in a state where they are placed in the container one by one, and the sorting work is troublesome.

  An object of this invention is to provide the fruit and vegetable sorting apparatus which can move a elongate fruit and vegetables smoothly from a conveyance conveyor to a sorting conveyor, without requiring the effort to mount in a container.

  The fruit and vegetable sorting apparatus according to the present invention is transported by a transport conveyor for transporting long fruits and vegetables, a sorting conveyor adjacent to the transport conveyor, an air injection unit for moving the fruits from the transport conveyor to the sorting conveyor, and a transport conveyor. A fruit and vegetable sorting apparatus comprising: an imaging unit that captures fruits and vegetables; and a control unit that controls ejection of the air ejection unit based on image data of the fruits and vegetables captured by the imaging unit. The air ejection unit is transported by a transport conveyor A plurality of spray nozzles are provided along the transport conveyor for injecting air onto the fruits and vegetables to move the fruits and vegetables to the sorting conveyor, and the control unit determines the length of the fruits and vegetables based on the image data of the fruits and vegetables imaged by the imaging unit. And the number of injection nozzles that inject air is increased as the length increases.

  In the fruit and vegetable sorting apparatus according to the present invention, the control unit determines the area of the fruit and vegetable included in the image data captured by the imaging unit, and the larger the area, the higher the injection speed of the air injected from the injection nozzle. Good.

  According to the fruit and vegetable sorting apparatus which concerns on this invention, the number of the injection nozzle which injects air can be increased, so that the length of the elongate fruit and vegetables conveyed by a conveyance conveyor is long. Thereby, long fruit and vegetables can be smoothly moved from a conveyance conveyor to a sorting conveyor, without requiring the effort to mount on a container.

It is a schematic diagram which shows the whole structure of the fruit and vegetable sorting apparatus which is 1st Embodiment of this invention. It is a flowchart which shows the flow of the injection control of each injection nozzle row by the control part shown in FIG. It is a schematic diagram which shows the whole structure of the fruit and vegetable sorting apparatus which is 2nd Embodiment of this invention.

  Hereinafter, the fruit and vegetable sorting apparatus which is 1st Embodiment of this invention is demonstrated, referring drawings. As shown in FIG. 1, the sorting apparatus 10 includes a transport conveyor 12 that transports long fruits and vegetables such as cucumbers 11 a, 11 b, and 11 c, and a sorting conveyor 14, 16, and 18 that is disposed adjacent to the transport conveyor 12. And the air injection unit 20 which moves fruit and vegetables from the conveyance conveyor 12 to each sorting conveyor 14-18 is provided. Each conveyor 12-18 is comprised by the belt conveyor as an example. Moreover, each sorting conveyor 14-18 is arrange | positioned so as to make a right angle with the conveyance conveyor 12 in top view. The sorting conveyor 14 compares S-sized fruits and vegetables with a relatively small area when imaged by a camera, which will be described later, the sorting conveyor 16 compares M-sized fruits and vegetables with the above-mentioned area, and the sorting conveyor 18 compares the above-mentioned areas. Each large L-sized fruit and vegetable is conveyed.

  Further, as shown in FIG. 1, the air injection unit 20 includes three injection nozzle rows 22, 24, and 26 that face the sorting conveyors 14 to 18 with the transport conveyor 12 interposed therebetween, as viewed from above. The Since the configuration of each of the injection nozzle rows 22 to 26 is substantially the same, in the following description, only the injection nozzle row 26 will be mainly described, and the description of the injection nozzle rows 22 and 24 will be omitted as appropriate.

  As shown in FIG. 1, the injection nozzle row 26 includes five injection nozzles 26 a, 26 b, 26 c, 26 d, and 26 e arranged along the transport conveyor 12. Each of the injection nozzles 26a to 26e is connected to an air tank (not shown) through opening / closing means such as a solenoid valve (not shown). A compressor is connected to the air tank and has a role of storing air compressed by the compressor. Moreover, each injection nozzle 26a-26e has a function which injects air toward the fruit and vegetables mounted on the conveyance conveyor 12. FIG. The interval between the jet nozzles 26a and 26e at both ends in the jet nozzle row 26 may be set to a length based on the average value of the total length of fruits and vegetables having a size corresponding to the L size. The other three injection nozzles 26b, 26c, and 26d are arranged at equal intervals between the injection nozzles 26a and 26e at both ends. A passage detection sensor 28c is installed immediately upstream of the injection nozzle row 26 in order to detect fruits and vegetables conveyed by the conveyor 12. Similarly, the passage detection sensors 28a and 28b are installed on the upstream side of the injection nozzle rows 22 and 24, respectively.

  As shown in FIG. 1, the sorting apparatus 10 includes a gate 32 installed so as to straddle the conveyor 12 at a position upstream of the air injection unit 20. The gate 32 is provided with a camera 32a that captures images of fruits and vegetables conveyed by the conveyor 12 from directly above. In addition, a detection sensor 32 b that detects the passage of fruits and vegetables is attached to the gate 32 so as to face the widthwise end of the conveyor 12.

  As shown in FIG. 1, the sorting apparatus 10 controls the jetting of the air jet unit 20 using an image captured by the camera 32 a provided in the gate 32 and moves the fruits and vegetables from the transport conveyor 12 to the sorting conveyors 14 to 18. A control unit 34 is provided. Specifically, the control unit 34 causes the camera 32a to image the fruits and vegetables being conveyed by the conveyor 12 at the timing when the detection sensor 32b detects the passage of the fruits and vegetables, and based on the area of the fruits and vegetables included in the captured image data. Determine the size of the fruits and vegetables.

  Next, the control unit 34 detects that the fruits and vegetables pass through the upstream side of the sorting conveyor of the size corresponding to the fruits and vegetables by the passage detection sensors 28a to 28c. And the control part 34 is the 1st-3rd mentioned later to the injection nozzle row | line | column which opposes the sorting conveyor of the said size among the injection nozzle row | line | columns 22-26 in top view after predetermined time passes after detecting passage of fruit and vegetables. The air is injected in one of the injection modes. Thereby, the fruits and vegetables can be moved from the conveyor 12 to the sorting conveyors 14 to 18 having the size corresponding to the fruits and vegetables.

  Here, as shown in FIG. 1, for example, when the corresponding size of fruits and vegetables is L size, the predetermined time is the detection position of the passage detection sensor 28c and the injection immediately downstream of the passage detection sensor 28c. What is necessary is just to set to the time required for the fruits and vegetables to be conveyed by the conveyance conveyor 12 only by the distance D1 between the opposing positions of the injection nozzles 26e arranged on the most downstream side in the nozzle row 26. Thereby, air can be injected with respect to fruits and vegetables at the timing which the front-end | tip of fruit and vegetables arrives at the position where the injection nozzle 26e of the most downstream side in the injection nozzle row | line 26 injects air. Even when the size of the fruits and vegetables determined by the control unit 34 is the S size or the M size, the predetermined time may be set as in the case of the L size described above.

  In the present embodiment, the control unit 34 determines the size of the fruits and vegetables based on the area of the fruits and vegetables included in the image data. However, the size of the fruits and vegetables may be determined in consideration of the weight of the fruits and vegetables. In this case, a weight sensor may be separately provided on the fruit and vegetable transport path.

  Subsequently, the first to third injection modes described above will be described. In the following description, it is assumed that the first predetermined value α> the second predetermined value β. When the total length of the fruits and vegetables included in the image data is equal to or greater than the first predetermined value α, the control unit 34 causes all five injection nozzles 26a to 26e constituting the injection nozzle row 26 to inject air (first 1 injection mode).

  In addition, when the total length of the fruits and vegetables is shorter than the first predetermined value α and longer than the second predetermined value β, the control unit 34 performs the remaining four except for the most upstream one in the injection nozzle row 26. Air is jetted to the jet nozzles 26b to 26e (second jet mode).

  Further, when the total length of the fruits and vegetables is equal to or less than the second predetermined value β, the control unit 34 causes the three injection nozzles 26c to 26e on the downstream side of the injection nozzle row 26 to inject air (third Injection mode). Thus, the number of the injection nozzles 26a to 26e to be used can be increased or decreased according to the total length of the fruits and vegetables to be moved from the transport conveyor 12 to the sorting conveyors 14 to 18.

  Moreover, the control part 34 may make the injection speed of the air in the case of injecting air in the 2nd injection mode faster than the case of injecting air in the 1st injection mode. Similarly, in the third injection mode, the air injection speed may be higher than that in the second injection mode. In this way, by increasing the speed of the air sprayed from the spray nozzles 26a to 26e as the number of spray nozzles 26a to 26e for spraying air decreases, even when the total length of the fruits and vegetables is short, the fruits and vegetables are greatly pushed. Pressure can be applied. Thereby, fruits and vegetables can be reliably pushed out and moved to the sorting conveyors 14-18.

  FIG. 2 is a flowchart showing a flow of injection control of the injection nozzle row 26 by the control unit 34. As shown in FIG. 2, when the detection unit 32b detects that the fruits and vegetables conveyed by the conveyor 12 pass through the gate 32, the control unit 34 causes the camera 32a to image the fruits and vegetables (steps S1 and S2). .

  And the control part 34 determines the full length (length of a longitudinal direction) and the magnitude | size of an area of the said fruit and vegetables based on the image data of the imaged fruit and vegetables, and the said fruit and vegetables based on the magnitude | size of the area of the determined fruit and vegetables The corresponding size is determined (step S3). Further, the control unit 34 determines which one of the first to third injection modes to inject air based on the determined total length of the fruits and vegetables (step S4).

  For example, if the corresponding size of the fruit or vegetable is L size, the control unit 34 uses the injection mode determined in step S4 in the injection nozzle row 26 after a predetermined time has elapsed since the passage detection sensor 28c detected the passage of the fruit and vegetable. Air is injected (steps S5 and S6). Thereby, the fruits and vegetables conveyed by the conveyance conveyor 12 can be moved to the sorting conveyor 18 corresponding to the fruits and vegetables of the size.

  According to the sorting apparatus 10 of 1st Embodiment, the number of the injection nozzle which injects air when passing in front of the sorting conveyors 14-18 increases, so that the full length of the elongate fruit and vegetables conveyed by the conveyance conveyor 12 is long. Can be made. Thereby, a fruit and vegetables can be smoothly moved and sorted from the conveyance conveyor 12 to the sorting conveyors 14-18, without requiring the effort to put a long fruit and vegetables on a container.

  In step S6 of the first embodiment, the control unit 34 increases the injection speed of the air injected from any of the injection nozzle rows 22 to 26 as the size of the fruit and vegetable area determined in step S3 increases. Also good. Thereby, even when the area of fruit and vegetables is large and heavy, fruit and vegetables can be reliably extruded to the sorting conveyors 14-18.

  In the first embodiment, the gate 32 is provided with the camera 32a only directly above the conveyor 12. However, a separate camera for picking up the fruits and vegetables from the side is provided, and the images of the fruits and vegetables taken from two directions respectively. You may make it determine the full length and size of fruit and vegetables based on data. Thereby, the full length and size of fruit and vegetables can be determined more correctly.

  In step S4 of the first embodiment, the control unit 34 determines the number of injection nozzles that inject air based on the length component of the fruits and vegetables in the direction parallel to the conveyance direction in the conveyor 12 instead of the total length of the fruits and vegetables. It may be determined. Thereby, the number of spray nozzles to be used can be determined in consideration of the inclination of the fruits and vegetables placed on the transport conveyor 12 with respect to the transport direction.

  Then, the structure of the fruit and vegetable sorting apparatus of 2nd Embodiment is demonstrated using FIG. FIG. 3 is a diagram illustrating an overall configuration of the fruit and vegetable sorting apparatus 40 according to the second embodiment. In the following description, in the sorting apparatus 40, parts different in configuration from the sorting apparatus 10 of the first embodiment will be mainly described, and parts having common configurations are denoted by the same reference numerals as the sorting apparatus 10. The description is omitted as appropriate.

  As shown in FIG. 3, the sorting apparatus 40 includes an encoder 42 at the upstream end portion of the conveyor 12, and uses the encoder 42 to control the injection timing of the air injection unit 20. Different from the sorting apparatus 10. The encoder 42 has a function of transmitting a pulse signal in synchronization with the moving distance of the belt 12 a on the conveyor 12, and is attached to a drive unit of the conveyor 12. The sorting device 40 includes a start sensor 44 on the downstream side of the gate 32 instead of the passage detection sensors 28b and 28c. The start sensor 44 has a function of detecting fruits and vegetables that have passed through the gate 32.

  As shown in FIG. 3, the control unit 34 stores a reference count number N of a pulse signal transmitted by the encoder 42 corresponding to a distance D2 from the detection position of the start sensor 44 to the detection position of the passage detection sensor 28a. . Further, the control unit 34 stores count numbers P1, P2, and P3 of the pulse signals corresponding to the distances from the detection position of the start sensor 44 to the sorting conveyors 14, 16, and 18, respectively. Then, the control unit 34 obtains a difference ΔN between the reference count number N and the pulse signal count number N1 from when the start sensor 44 detects until the passage detection sensor 28a detects fruits and vegetables. Thereby, when conveyed with the conveyance conveyor 12, the distance by which the fruits and vegetables rolled or slipped on the belt 12a can be calculated | required.

  The control unit 34 calculates the correction count number by adding the difference ΔN to the count number of any of the sorting conveyors 14 to 18 corresponding to the size corresponding to the fruits and vegetables among the count numbers P1 to P3. And the control part 34 is either the injection nozzle row | line | columns 22 and 24 corresponding to the applicable size of fruit and vegetables at the timing when the count number of the pulse signal from the detection of the fruit and vegetables by the start sensor 44 mentioned above reached the correction count number. , 26 are injected. Thus, after correcting the moving distance of the fruits and vegetables that have become shorter than the belt 12a by slipping with respect to the belt 12a during the conveyance by the conveyance conveyor 12, the air is discharged from any of the spray nozzle rows 22, 24, and 26. The fruits and vegetables can be moved to the sorting conveyor by spraying. As a result, also in the sorting apparatus 40, the same effect as the sorting apparatus 10 in the first embodiment can be obtained.

  The present invention can be implemented in a mode in which various improvements, modifications, or variations are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. Moreover, you may implement with the form which substituted any invention specific matter to the other technique within the range which the same effect | action or effect produces.

DESCRIPTION OF SYMBOLS 10, 40 Sorting device 12 Conveyor 14-14 Sorting conveyor 20 Air injection unit 22-26 Injection nozzle row 26a-26e Injection nozzle 28a-28c Passing detection sensor 32 Gate 32a Camera 32b Detection sensor 34 Control part S1-S6 Step

Claims (2)

A conveyor for conveying long fruits and vegetables, a sorting conveyor adjacent to the conveyor, an air jet unit for moving the fruits from the conveyor to the sorting conveyor, and an image of the fruits conveyed by the conveyor A fruit and vegetable sorting apparatus comprising: an imaging unit that controls and a control unit that controls ejection of the air ejection unit based on image data of the fruit and vegetable imaged by the imaging unit;
The air jet unit has a plurality of jet nozzles along the transport conveyor for spraying air to the fruits and vegetables transported by the transport conveyor and moving the fruits and vegetables to the sorting conveyor,
The control unit determines the length of the fruits and vegetables based on the image data of the fruits and vegetables imaged by the imaging unit, and increases the number of the ejection nozzles that eject air as the length is longer. To
Fruit and vegetable sorting equipment. The control unit determines an area of the fruits and vegetables included in the image data captured by the imaging unit, and increases an ejection speed of air ejected from the ejection nozzle as the area is larger.
The fruit and vegetable sorting apparatus according to claim 1.

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