JP4041390B2 - Image recognition device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a configuration of an image recognition device that can simultaneously image a three-dimensional object to be inspected such as fruits such as strawberries and vegetables placed on a transport tray from a plurality of directions.
[0002]
[Prior art]
Patent Document 1 describes that the size of a fruit, the degree of maturity, and the like are determined by processing imaging screen data obtained by imaging an object to be inspected such as a mandarin orange with an imaging device such as a color video camera. And 2 etc.
[0003]
[Patent Document 1]
JP-A-8-91550 [Patent Document 2]
Japanese Patent Laid-Open No. 8-225144
[Problems to be solved by the invention]
However, each of the prior arts can only image the object to be inspected from one direction at a time with one color video camera. For example, in addition to the image data of the upper surface of the object to be inspected, the image of the lower surface of the object to be inspected is used. In order to obtain the data, it is necessary to invert the object to be inspected 180 degrees with the reversing device and then image it again. Therefore, it takes time to determine one object to be inspected, and the work efficiency is poor. The apparatus is expensive because it requires an apparatus, and when the surface of a ripe object to be inspected is soft and delicate, such as a candy, the surface of the object to be inspected collapses by itself. There was also a problem that the quality deteriorated.
[0005]
The present invention has been made to solve these problems of the prior art, and can inspect an object to be inspected simultaneously from a plurality of directions while being placed on a transparent transport tray, thereby damaging the object to be inspected. It is an object of the present invention to provide an image recognition apparatus that can make a determination work quickly while avoiding the problem.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the image recognition apparatus according to the first aspect of the present invention includes a levitating unit for levitating a transparent transfer tray on which a three-dimensional object to be inspected such as fruit or vegetable is placed from a placement unit; Imaging means for imaging the object to be inspected from the lower surface direction and the upper surface direction from the transport tray in the floating state, and the transport tray is circular in plan view, and a cross-section of the outer peripheral portion is a downward umbrella shape The air reservoir is formed in a ring shape, and the levitation means includes a pair of cylindrical arms extending in a direction orthogonal to the transfer direction of the transport tray, a first actuator that widens and narrows the distance between the pair of arms, and the first actuator. A second actuator for raising and lowering the pair of arms together with one actuator, and each tip of the pair of arms is formed in a semicircular shape in plan view, the radius of which is a plan view of the air reservoir And a plurality of nozzles for injecting compressed air toward the air reservoir portion are formed at the tip portions of the pair of arms. It is comprised so that compressed air may be supplied so that a levitation | floating force may be provided with respect to a lower surface outer peripheral part.
[0007]
According to a second aspect of the present invention, in the image recognition apparatus according to the first aspect, the placement position of the transport tray is shifted in the center of the flat portion of the placement portion that is moved along the transfer line. A fitting portion is formed so as not to exist.
[0008]
According to a third aspect of the present invention, in the image recognition apparatus according to the first or second aspect, the imaging means includes a plurality of optical fibers each having a lens portion provided at a tip thereof, and each of the optical fibers. The support for supporting the sheet is configured to approach and separate from the object to be inspected and the transparent tray.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment embodying the present invention will be described. FIG. 1A is a schematic plan view of an image recognition apparatus according to the present invention, FIG. 1B is a plan view of a first embodiment of a levitation means, and FIGS. 2A and 2B are levitation means. FIG. 3 is a side sectional view of a first reference example of a levitation unit, FIG. 4 is a side view illustrating an embodiment of an imaging unit, FIG. 5 is a perspective view of a main part, and FIG. These are explanatory drawings seen from the side of the 2nd reference example of a levitating means.
[0010]
The cocoons 1 as an example of fruit are placed one by one on a small transport tray 2 made of a transparent material, for example, a transparent synthetic resin, and the transport tray 2 is a free pan made of an opaque material as a placement portion. 3 is moved along a transfer line 4 such as a transfer conveyor from a load receiving unit (not shown), and is transferred to a determination unit A provided with the image recognition device 5 of the present invention (FIG. 1 ( a)).
[0011]
Note that an ID chip (not shown) for recognizing each article to be conveyed is attached to the free pan 3 by embedding or the like. Further, a fitting portion 3 a such as a protrusion is formed at the approximate center of the flat portion of the free pan 3 so as to prevent the placement position of the transport tray 2 from shifting.
[0012]
As shown in FIG. 1, the image recognition device 5 is connected through a plurality of optical fibers 6 each having a lens portion 7 at a distal end and a connection portion 6 a in which the base end portions of the plurality of optical fibers 6 are bundled. Imaging means 9 having a camera unit 8 such as a single color video camera, an image processing device 10 such as a computer for processing imaging screen data obtained by the imaging means 9, a color CRT display or TFT liquid crystal, EL A color display device 11 such as a liquid crystal display or a color liquid crystal display such as an FED liquid crystal display and a discrimination result output device 12 are provided.
[0013]
The determination unit A also includes a reading unit 15 for reading an identification signal from the ID chip of the free pan 3 temporarily stopped here, and for lifting the conveyance tray 2 from the upper surface of the transfer line 4 by an appropriate size. A levitation means 20 is arranged.
[0014]
The first embodiment of the levitation means 20 is based on air force as shown in FIGS. 1B, 2A, and 2B, and the transport tray 2 has a circular shape in plan view and its outer peripheral portion. Has an umbrella-shaped air reservoir 2a having a ring-like cross section. The machine frame 21 of the levitation means 20 has a first space for narrowing the distance between the pair of cylindrical arms 22, 22 extending in the direction orthogonal to the transfer direction of the free pan 3 in the plan view (interval in the transfer direction). An actuator 23 and a second actuator 27 that raises and lowers the pair of arms 22 and 22 are arranged together with the first actuator 23. Each of the first actuator 23 and the second actuator 27 may be an air cylinder or the like, or may be a step motor that can rotate forward and backward. The pair of arms 22, 22 have cylindrical end portions 22 a, 22 a that are formed in a substantially semicircular arc shape in plan view, and the radius thereof is substantially the same as the plan view shape of the air reservoir 2 a in the outer peripheral portion of the transport tray 2. Match.
[0015]
A large number of nozzles 24 for injecting compressed air toward the air reservoir 2a are formed on the upper surfaces of the distal end portions 22a and 22a at appropriate intervals, and compressed air is provided at the proximal ends of the arms 22 respectively. A hose 26 from a supply section (tank or the like) 25 is connected (see FIG. 1B). In addition, it cannot be overemphasized that the front-end | tip part (free end) of each front-end | tip part 22a and 22a is closed.
[0016]
With this configuration, the baskets 1 are placed one by one on the transport tray 2, and the transport tray 2 is placed on the free pan 3 and transferred by the transfer line 4. Until the free pan 3 is temporarily stopped at the determination unit A, the first actuator 23 is operated so that the interval between the pair of semicircular tip portions 22a and 22a is expanded to be wider than the outer periphery of the transport tray 2. Further, by the operation of the second actuator 27, the pair of tip portions 22 a and 22 a are held at positions above the bar 1 on the transport tray 2. As a result, the free pan 3, the transport tray 2, and the basket 1 that is the object to be inspected do not interfere with the arm 22 and the tip portions 22 a and 22 a.
[0017]
After the free pan 3 stops, the second actuator 27 is operated so that the pair of tip portions 22a and 22a are positioned in the vertical gap between the upper surface of the free pan 3 and the air reservoir portion 2a of the transport tray 2. After the lowering, the first actuator 23 is operated to narrow the distance between the pair of tip portions 22a and 22a, and the pair of tip portions 22a and 22a are positioned below the air reservoir 2a of the transport tray 2 . In this condition, the feed from the feed portion 25 of compressed air to a pair of tubular arms 22, 22, both tip 22a, when to inject compressed air from a nozzle 24 of 22a, the air in the air reservoir portion 2a The transport tray 2 on which the bag 1 is placed is levitated to a suitable height.
[0018]
The imaging means 9 is brought close to the upper surface and the lower surface of the transport tray 2 in the floating state, and a plurality of locations of the basket 1 placed on the transport tray 2 are imaged at the same time. The size and quality (grade) are judged.
[0019]
In this case, since each optical fiber 6 as an embodiment of the imaging means 9 has flexibility, at least from the tip part to the middle part of each optical fiber 6 is spirally formed by a wire-like support 13. Are arranged so as to be able to pick up images from, for example, left and right, front and rear, and diagonally up and down (or directly above and below) (see FIGS. 2 and 4). And FIG. 5).
[0020]
At least a part of the support 13 is moved by the actuating device 14 so that the lens portion 7 at the tip of each optical fiber 6 approaches the surface of the basket 1 as an object to be inspected from the upper and lower surfaces of the transport tray 2. For example, for example, at least a part of the support 13 is made of a Ti—Ni alloy or a Cu—Zn—Al alloy. The shape memory alloy is used. In that case, when the operating device 14 is operated so as to heat the memory alloy portion to a predetermined temperature with a heater (not shown) attached to the support, as shown by the two-dot chain line in FIG. When the distal end portion is separated from the flange 1 in the upper and lower portions, and when the cool air in the operating device 14 is blown onto the memory alloy portion and cooled, the distal end portion (lens portion 7) of each optical fiber 6 is shown as indicated by the solid line in FIG. ) Is displaced so that the plurality of portions of the heel 1 approach each other from each direction.
[0021]
The imaging screen data captured by the plurality of optical fibers 6 is configured to be displayed on the screen of one display device 11 at a time. In the illustrated embodiment, since six optical fibers are arranged, six screens are displayed once (simultaneously) on the display device 11.
[0022]
In order to determine the quality (grade) of the three-dimensional basket 1 as an object to be inspected, the size of the object to be inspected, the degree of ripe color (redness) of the surface, the size of the distribution area of the color, etc. In order to discriminate, it is determined from the six imaging screen data obtained by the six optical fibers 6, and by software (application program) for determination criteria installed in the image processing apparatus 10 in advance, Make a decision. Further, the determination may be performed by visual observation of an operator who observes the display device 11.
[0023]
When the imaging operation of the object to be inspected by the imaging means 9 is completed, the operating device 14 is operated to raise the optical fiber 6 after being separated from the lower surface side of the transport tray 2 and at the upper surface side of the transport tray 2 The optical fibers 6 that have approached the surface are also lifted away, and all the optical fibers 6 are held at positions that do not interfere with the movement of the transport tray 2 and the free pan 3. Thereafter, the jet of compressed air from the nozzle 24 is stopped, the lift of the transport tray 2 is released, and after the transport tray 2 is placed on the free pan 3, the first actuator 23 is operated, The distance between the pair of cylindrical arms 22 and 22 is increased, and both end portions 22 a and 22 a are positioned on the outer periphery from the air reservoir portion 2 a of the transport tray 2. Thereafter, the second actuator 27 is actuated to raise and hold the arms 22 and 22 so that both the tip portions 22a and 22a come above the ridge 1 on the transport tray 2. Thereafter, the transfer line 4 is operated to transfer the free pan 3.
[0024]
A series of sequences in which the operations of the arms 22 and 22, the injection of compressed air, the movement of the optical fiber 6, the imaging by the imaging means 9, etc. are synchronized with the movement and stop of the free pan 3 in the transfer line 4. It can be executed under control.
[0025]
The determination result is stored for each identification number of the ID chip of the free pan 3, and a signal is sent to the output device 12 to a sorting device (not shown) provided on the transport downstream side of the transport line. The chip can be read and sorted so that a predetermined free bread is conveyed to a sorting line according to classification.
[0026]
The first reference example of the levitation means 20 shown in FIG. 3 is mechanical, and the transport tray 2 is circular in plan view and its outer peripheral portion 2a 'is formed in a flat ring plate shape. The machine frame 21 in the levitation means 20 includes a first actuator 23 that widens the distance between a pair of arms 22 and 22 extending in a direction orthogonal to the transfer direction of the free pan 3 in plan view, and the first actuator 23. A second actuator 27 for raising and lowering the pair of arms 22 and 22 is disposed. Each of the first actuator 23 and the second actuator 27 may be an air cylinder or the like, or may be a step motor that can rotate forward and backward. The front end portions 22a, 22a of the pair of arms 22, 22 are formed in a substantially semicircular arc shape in plan view, and the radius thereof substantially coincides with the ring plate-like portion of the outer peripheral portion 2a ′ of the transport tray 2. The first reference example is different in that compressed air is not supplied to the tip portions 22a and 22a of the pair of arms 22 and 22, and both the tip portions 22a and 22a are placed on the lower surface of the outer peripheral portion 2a ′ of the transport tray 2. In this state, the second actuator 27 is operated to lift the transport tray 2, thereby bringing the transport tray 2 into a floating state with respect to the free pan 3. The other operation timings and the configuration and operation of the imaging means 9 are the same as those in the first embodiment, and thus the description thereof is omitted.
[0027]
FIG. 6 shows a second reference example of the levitation means 20, in which the outer peripheral portion 2a ′ of the transport tray 2 is formed in a ring plate shape, and the lower surface of the outer peripheral portion 2a ′ is formed in a ring shape and a flat plate shape. A magnet 29 is fixed. On the other hand, the machine casing 21 includes a first actuator 23 that widens the distance between a pair of arms 22 and 22 extending in a direction orthogonal to the transfer direction of the free pan 3 in plan view, and the first actuator 23. A second actuator 27 that raises and lowers the pair of arms 22 and 22 is disposed. Electromagnets 30 and 30 formed in a semicircular ring shape in a plan view are fixed to the distal ends of the pair of arms 22 and 22. The planar view shape when the electromagnets 30 and 30 are combined is substantially the same as the planar view shape of the permanent magnet 29. The electromagnets 30 and 30 are connected by a cord 32 to a power supply 31 that can be switched on and off.
[0028]
According to the second reference example , until the free pan 3 is temporarily stopped by the determination unit A, the first actuator 23 is operated so that the distance between the pair of semicircular arc-shaped electromagnets 30 and 30 is equal to that of the transport tray 2. The pair of electromagnets 30, 30 is held at a position above the bar 1 on the transport tray 2 by the operation of the second actuator 27, which is expanded to a wider interval than the outer periphery. After the free pan 3 is stopped, the second actuator 27 is operated so that the pair of electromagnets 30 and 30 are moved up and down between the upper surface of the free pan 3 and the permanent magnets 29 and 29 on the lower surface of the outer peripheral portion 2a ′ of the transport tray 2. After being lowered so as to be positioned in the gap, the first actuator 23 is actuated to narrow the distance between the pair of electromagnets 30, 30, and the pair of electromagnets 30, 30 with the permanent magnets 29, 29 in the transport tray 2. Make them confront. In this state, power is supplied from the power supply device 31 to magnetize the pair of electromagnets 30 and 30, and a repulsive force is applied between the permanent magnets 29 and 29, so that the transport tray 2 together with the basket 1 is lifted to an appropriate height. Let In this floating state, the imaging means 9 images the lower surface of the basket 1 on which the transparent transport tray 2 is placed to obtain imaging screen data, as in the above embodiments.
[0029]
When the imaging operation is completed, the operating device 14 is operated to raise the optical fiber 6 after being separated from the lower surface side of the transport tray 2, and the optical fiber that has approached the surface of the basket 1 on the upper surface side of the transport tray 2 6 is also lifted away, and all the optical fibers 6 are held at positions that do not interfere with the movement of the transport tray 2 and the free pan 3. Thereafter, the electric power to the electromagnets 30 and 30 is turned off, the lift of the transport tray 2 is released, and after the transport tray 2 is placed on the free pan 3, the first actuator 23 is operated to The distance between the cylindrical arms 22 and 22 is increased, and the electromagnets 30 and 30 are positioned on the outer periphery of the outer peripheral portion 2a ′ of the transport tray 2. Thereafter, the second actuator 27 is operated, and the arms 22 and 22 are raised and held so that the electromagnets 30 and 30 are positioned above the ridge 1 on the transport tray 2. Thereafter, the transfer line 4 is operated to transfer the free pan 3.
[0030]
In the embodiment and each reference example , the support device 13 is mechanically moved in the horizontal direction and the vertical direction by the operating device 14 so that the tip end portion of the optical fiber 6 approaches and separates from the flange 1 and the transport tray 2. You may comprise so that it may do.
[0031]
In the present invention, the test subject is not only strawberries, can also be applied to other fruits and vegetables.
[0032]
【The invention's effect】
As described above, according to the first aspect of the invention, the three-dimensional object to be inspected placed on the transparent transport tray can simultaneously image a plurality of locations including the lower surface and the upper surface. There is no need to invert the inspection object, and it is possible to quickly determine the size and grade of the inspection object without damaging the inspection object.
[0033]
According to the first aspect of the present invention, the transport tray has a circular shape in plan view, and a cross section of an outer peripheral portion thereof has a downward umbrella-shaped air reservoir portion formed in a ring shape. A pair of cylindrical arms extending in a direction orthogonal to the transfer direction of the transport tray, a first actuator for widening and narrowing the distance between the pair of arms, and a second actuator for raising and lowering the pair of arms together with the first actuator; Each tip of the pair of arms is formed in a semicircular arc shape in plan view, the radius thereof matches the plan view shape of the air reservoir, each tip of the pair of arms, A number of nozzles for injecting compressed air toward the air reservoir are formed, and the levitation means supplies the compressed air to impart a levitation force to the outer peripheral portion of the lower surface of the transport tray. Since those are configured urchin, when the state of being levitated conveyance tray Without being obstructed buoyant means relative to said outer peripheral portion, the inspection object placed on the substantially central portion of the carrier tray The image pickup means for picking up the lower surface of the object can be brought close to each other, so that the object to be inspected can be reliably identified.
[0034]
According to a third aspect of the present invention, in the image recognition apparatus according to the first or second aspect, the imaging means includes a plurality of optical fibers each having a lens portion provided at a tip thereof, and each of the optical fibers. The support for supporting the sheet is configured to approach and separate from the object to be inspected and the transparent tray.
[0035]
Accordingly, when imaging the object to be inspected on the transport tray from a plurality of directions, for example, the front end portion (lens part) of the optical fiber brought close to the object to be inspected from the downstream side of the transport is subjected to the transport tray and the object to be inspected after the imaging operation. It can be moved by the support to a location that does not interfere with the conveyance of the body. In other words, since the optical fiber can be moved so as to approach the object to be inspected only at the time of imaging, even if the object to be inspected is small, the lens portion can be arranged so as to be close to the surface of the object to be inspected, and is clear and large. Imaging screen data can be obtained, and there is an effect that image recognition and determination can be performed accurately.
[Brief description of the drawings]
FIG. 1A is a schematic plan view of an image recognition apparatus according to the present invention, and FIG. 1B is a plan view of a first embodiment of a levitation unit.
FIG. 2A is a side sectional view showing a floating state and an imaging state of a transport tray in the first embodiment, and FIG. 2B is a side sectional view showing a state before and after lifting.
FIG. 3 is a side sectional view showing a first reference example of a levitation unit.
FIG. 4 is a schematic block diagram of an image recognition apparatus of the present invention.
FIG. 5 is a perspective view showing an arrangement example of optical fibers for simultaneously imaging a plurality of locations on an upper surface and a lower surface of a bag as an object to be inspected placed on a transport tray.
FIG. 6 is a side sectional view showing a second reference example of the levitating means.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 苺 as a to-be-inspected object 2 conveyance tray 2a, 2a 'outer peripheral part 3 free pan as mounting part 4 transfer line 5 image recognition apparatus 6 optical fiber 7 lens part 8 camera part 9 imaging means 10 image processing apparatus 11 display apparatus DESCRIPTION OF SYMBOLS 12 Output device 13 Support body 14 Actuating device 15 Reading part 20 Floating means 22, 22 Arm 22a, 22a Tip part 23 1st actuator 24 Nozzle 25 Supply part of compressed air 27 2nd actuator 29 Permanent magnet 30 Electromagnet 31 Power supply device

Claims (3)

A levitating means for levitating a transparent transport tray on which a three-dimensional object to be inspected, such as fruits and vegetables , is placed, from the placing portion;
Imaging means for imaging the object to be inspected from a plurality of directions in a lower surface direction and an upper surface direction from the transport tray in the floating state,
The transport tray has a circular shape in plan view, and a cross-section of an outer peripheral portion thereof is formed in a ring shape with an umbrella-shaped air reservoir facing downward,
The levitation means includes a pair of cylindrical arms extending in a direction orthogonal to the transfer direction of the transport tray, a first actuator for widening and narrowing the distance between the pair of arms, and raising and lowering the pair of arms together with the first actuator. A second actuator,
Each tip of the pair of arms is formed in a semicircular arc shape in plan view, and its radius matches the plan view shape of the air reservoir,
A large number of nozzles for injecting compressed air toward the air reservoir portion are formed at the distal ends of the pair of arms,
The image recognizing apparatus, wherein the levitation means is configured to supply compressed air so as to apply a levitation force to a lower surface outer peripheral portion of the transport tray. The flat surface portion center of the placement section which is moved along the transfer line, according to claim 1, wherein a fitting portion that so that no displacement mounting position of the carrier tray is formed Image recognition device.   The imaging means includes a plurality of optical fibers each provided with a lens portion at a tip, and is configured to approach and separate a support body that supports each optical fiber from the inspection object and the transparent tray. The image recognition apparatus according to claim 1, wherein:

Images