JP4589897B2 - Internal quality judgment device - Google Patents

Description

  The present invention is an internal quality determination device that measures components (such as sugar content) of harvested fruits and vegetables using infrared rays, and based on the gravity center position of the fruits and vegetables calculated by image processing, particularly, the start of infrared irradiation, The present invention also relates to a technique for controlling the end timing.

  Conventionally, a component analyzer using an internal quality sensor has been known as means for measuring the internal quality of fruits and vegetables. The internal quality sensor is a non-destructive quality determination device that determines the internal quality such as sugar content and acidity of fruits and vegetables without destroying the fruits and vegetables, and has an internal quality determination device that includes a conveying means. Are known.

  In the internal quality judging device, it is difficult to reliably irradiate the fruits and vegetables with infrared rays. In other words, depending on the disturbance of the transport pitch, the size of the fruits and vegetables placed directly on the transport tray or the transport conveyor, and the mounting posture, the irradiated infrared rays may be partially transmitted or not transmitted at all. It was happening. In addition, for the amount of infrared light emitted from the light projecting part of the internal quality sensor, select the average size from the group of fruits and vegetables to be judged, and adjust the light amount to match the average size. In order to judge all other fruits and vegetables, for example, when judging fruits and vegetables that are smaller than the average, leakage light may be generated or the amount of light may be too large to accurately measure the components of fruits and vegetables. .

  In order to solve these problems, a technique disclosed in “Patent Document 1” is disclosed. According to the “Patent Document 1”, a detection camera including a CCD camera or the like is provided upstream of the internal quality sensor, and before being put into the internal quality sensor, The “mounting posture” is subjected to image processing.

Here, the light emitting unit for infrared irradiation and the light receiving unit provided in the internal quality sensor have a structure that can be moved in the vertical and horizontal directions by an actuator or the like, and based on the image processing data of the fruits and vegetables. The light projecting unit and the light receiving unit are moved to appropriate positions with respect to the fruits and vegetables to emit infrared rays.
JP 2004-361347 A

  According to the technique disclosed in “Patent Document 1”, it is possible to irradiate infrared rays to fruits and vegetables having various shapes conveyed at a random conveyance pitch at an appropriate irradiation timing. However, in order to move the light receiving unit and the light projecting unit to appropriate positions using an actuator or the like, it is necessary to provide a large moving device on the outside, and each time the received fruits and vegetables are received. It is necessary to move the position of the part or the like, and it takes a long work time.

  Based on these improvements, in the present invention, the infrared irradiation timing and light quantity suitable for each of the fruits and vegetables being transported are selected and are not affected by the size, mounting posture, transport pitch, etc. It is an object to provide an internal quality determination apparatus that can accurately determine quality.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

In Claim 1, the conveyance means (2) which conveys the fruit and vegetables (6) which has an irregular outline, and the inside which is a quality determination means which irradiates infrared rays and determines the quality of this fruit and vegetables (6) nondestructively Internal quality determination provided with a quality sensor (4), a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6), and a detection means (14) for detecting the conveyance of the fruits and vegetables (6) In the apparatus (1), the conveying means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are placed on the endless belt (13) at a random conveying pitch. The detection camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance, and above the endless belt (13), the camera lens is arranged facing downward. The detection means (14) is installed upstream of the detection camera (16). When the fruits and vegetables (6) placed on the endless belt (13) at a random transport pitch are transported and detected by the detection means (14), the detection camera (16) is activated. The image data of the fruits and vegetables (6) is acquired and image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) is acquired and stored from the image data, and then the detection means The distance (L1) from (14) to the “gravity center position” of the fruits and vegetables (6), the conveying speed of the conveying means (2), and the light projecting part (4) of the internal quality sensor (4) from the detecting means (14) 24) and the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, After that, the gravity center position of the fruits and vegetables (6) is transferred to the light projecting part (24). When the position of the center of gravity of the fruits and vegetables (6) reaches the light projecting unit (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting unit (24). The amount of light emitted from the internal quality sensor (4) that matches the size of the fruits and vegetables (6) is calculated from the shape recognized by the detection camera (16) .

According to Claim 2, in the internal quality determination device according to Claim 1 , the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or exposure adjusting means. To do .

  As effects of the present invention, the following effects can be obtained.

In Claim 1, the conveyance means (2) which conveys the fruit and vegetables (6) which has an irregular outline, and the inside which is a quality determination means which irradiates infrared rays and determines the quality of this fruit and vegetables (6) nondestructively Internal quality determination provided with a quality sensor (4), a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6), and a detection means (14) for detecting the conveyance of the fruits and vegetables (6) In the apparatus (1), the conveying means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are placed on the endless belt (13) at a random conveying pitch. The detection camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance, and above the endless belt (13), the camera lens is arranged facing downward. The detection means (14) is installed upstream of the detection camera (16). When the fruits and vegetables (6) placed on the endless belt (13) at a random transport pitch are transported and detected by the detection means (14), the detection camera (16) is activated. The image data of the fruits and vegetables (6) is acquired and image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) is acquired and stored from the image data, and then the detection means The distance (L1) from (14) to the “gravity center position” of the fruits and vegetables (6), the conveying speed of the conveying means (2), and the light projecting part (4) of the internal quality sensor (4) from the detecting means (14) 24) and the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, After that, the gravity center position of the fruits and vegetables (6) is transferred to the light projecting part (24). When the position of the center of gravity of the fruits and vegetables (6) reaches the light projecting unit (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting unit (24). The amount of light emitted by the internal quality sensor (4) that matches the size of the fruits and vegetables (6) is calculated and irradiated from the shape recognized by the detection camera (16), so that the fruits and vegetables obtained by the image processing means The center of gravity position is calculated from the position and shape data, and the infrared irradiation timing of the quality judging means is determined based on the position of the center of gravity. And the accuracy of determination by the quality determination means can be improved.

In addition , the amount of irradiation light that matches the size of the fruits and vegetables is calculated from the shape recognized by the image processing means, and irradiation is performed, so that light leaks to the light receiving element even if the fruits and vegetables have an irregular shape. In other words, it is possible to accurately irradiate infrared rays, and it is possible to improve the determination accuracy by the quality determination means.

According to Claim 2, in the internal quality determination device according to Claim 1 , the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or exposure adjusting means. since, the amount of light the quality determining means is irradiated, exposure adjusting means, or, because it is adjusted by changing the number of light sources, the leakage light into a fresh produce be receiving element having a distorted contour occurrence Therefore, it is possible to accurately irradiate infrared rays, and it is possible to improve the determination accuracy by the quality determination means.

  Next, embodiments of the invention will be described.

  FIG. 1 is a schematic plan view of an internal quality judgment device according to an embodiment of the present invention. FIG. 2 is a schematic side view of the same. FIG. 3 is a flowchart showing a flow of an operation relating to the light quantity adjustment of the infrared irradiation of the internal quality sensor using the image processing calculation program according to the present invention.

[Internal quality judgment device 1]
First, the overall configuration of the internal quality determination device 1 in the present embodiment will be described with reference to FIGS. 1 and 2. In addition, let the direction represented by arrow A of FIG.1 and FIG.2 be the direction (conveyance direction A) in which the fruits and vegetables 6 are conveyed.

  As shown in FIG.1 and FIG.2, the internal quality determination apparatus 1 measures internal quality, such as sugar content (sweetness) and acidity (acidity), of fruits and vegetables 6 using infrared rays, a laser beam, etc., It is mainly composed of an internal quality sensor 4, a detection camera 16, a transport means 2, an encoder 7, a detection means 14, a control means 10, and the like. Here, the fruits and vegetables 6 measured by the internal quality judging device 1 are generic names of other fruits or vegetables such as strawberries, melons, potatoes and tomatoes, and there are many irregular shapes in this embodiment. The potato internal quality judgment will be described specifically. In addition, in a present Example, although the system structure mainly equipped with the internal quality sensor 4 is demonstrated as the internal quality determination apparatus 1, it is not limited to this, For example, the residual agricultural chemicals adhering to the fruit and vegetables surface The present invention can also be applied to a system equipped with a sensor for analyzing and measuring other types of components and quality, such as a pesticide residue measurement system for measuring the type / amount and the like.

The internal quality sensor 4 is disposed substantially in the middle of the transport process of the transport means 2, and when the fruits and vegetables 6 transported by the transport means 2 pass through the internal quality sensor 4 during transport, the sugar content ( Internal qualities such as sweetness and acidity (acidity) are measured optically (non-destructively using light). Thereafter, the fruits and vegetables 6 are transported to the end of the transport means 2 and are transported to the next process, for example, the line of the sorting process. Details of the internal quality sensor 4 will be described later.
[Conveying means 2]

  The conveying means 2 is composed of an endless belt 13 composed of a belt or the like as a conveying body. One end of the conveying means 2 on the one side in the conveying direction of the endless belt 13 is driven through a plurality of pulleys 11, 11, 11. 9, a drive motor 12 is connected to a drive shaft for fixing the drive wheel 9, and the endless belt 13 can be driven to rotate by operating the drive motor 12. In addition, an encoder 7 is provided in the vicinity of the drive motor 12 in order to detect the conveyance drive state of the conveyance means 2 and is configured to detect the rotation of the drive wheel 9 or the endless belt 13.

[Encoder 7]
The encoder 7 is composed of a rotary encoder or the like, is connected to the control means 10 and detects the rotation speed and the rotation angle, and is connected to the end of the drive shaft. The encoder 7 outputs a pulse to the control means 10 and grasps the conveyance status. Then, image data is acquired by a detection camera 16 to be described later, the center of gravity is calculated, and the center of gravity stops at a position of the internal quality sensor 4 away from the detection camera 16 by a predetermined position and is irradiated with infrared rays. That is, the position of the fruits and vegetables 6 can be calculated from the input signal of the encoder 7.

[Detecting means 14]
The detection means 14 is provided at a position upstream of the detection camera 16 in the conveyance path of the conveyance means 2 and is composed of an optical sensor or the like, and detects that the fruits and vegetables 6 have passed through the detection means 14. Then, a signal indicating that it has passed is transmitted to the control means 10. As shown in FIG. 2, the height in the vertical direction of the detecting means 14 is provided at a position slightly higher than the upper surface of the frame of the conveying means 2, so that even if the small fruits and vegetables 6 are conveyed, they are reliably detected. It has become.

[Detection camera 16]
The detection camera 16 is an image processing means that is provided upstream of the internal quality sensor 4 and in the vicinity of the entrance, and detects the “shape” and “center of gravity” of the fruits and vegetables 6 placed on the transport surface of the transport means 2. is there. That is, the detection camera 16 is arranged above the transport means 2 with the camera lens facing downward, and is mainly composed of a CCD camera or the like having a sensor function, and will be described later via a communication cable 16a. 10b. However, the detection camera 16 may be configured to shoot from the side. Specifically, the “shape” (silhouette) of the fruits and vegetables 16 conveyed on the conveying means 2 by the detection camera 16 is recognized, and the size of the fruits and vegetables 16 is determined based on the information on the shapes and the like in the arithmetic storage unit 10b. Then, the position of the center of gravity in plan view is calculated, and the timing at which the position of the center of gravity of the fruits and vegetables 16 reaches the measurement position of the internal quality sensor 4 is calculated based on the transport speed of the transport means 2.

[Control means 10]
As shown in FIGS. 1 and 2, the control means 10 is connected to the detection means 14, the encoder 7, the internal quality sensor 4, the detection camera 16, the transport means 2, and the like, so that the internal quality sensor 4, the detection camera 16, and the encoder are connected. 7 is obtained, the “center of gravity” is calculated, the conveying means 2 is controlled, the internal quality is measured and determined, and a program for controlling these operations is stored.

The control means 10 includes a display unit 10a and a calculation storage unit 10b. The arithmetic storage unit 10b receives the image data from the detection camera 16 and the pulse signal from the encoder 7, and the amount (irradiation) of the detection light (infrared rays) of the internal quality sensor 4 by the arithmetic program stored in the arithmetic storage unit 10b. Light quantity) and irradiation timing, and classify the fruits and vegetables 6, 6... Based on the internal quality measured by the internal quality sensor 4, and classify by a sorting means (not shown) provided downstream of the transport means 2. Sort separately.
[Internal quality sensor 4]

  Next, the internal quality sensor 4 in the present embodiment will be described with reference to FIGS. The internal quality sensor 4 is a quality determination means for optically determining the internal quality of the fruits and vegetables 6 such as sugar content (sweetness) and acidity (acidity), etc. (non-destructively using light). It is provided at a substantially middle part of the means 2.

  The internal quality sensor 4 mainly includes a housing 23, a light projecting unit 24, a light receiving unit 25, and the like. The housing 23 is a structure for fixing other members of the internal quality sensor 4 and also serves as a covering means for preventing light from the outside from affecting the light projecting unit 24 and the light receiving unit 25. The housing 23 is a substantially rectangular parallelepiped box, and an opening 23a and an opening 23b are formed in opposite side surfaces of the housing 23, and the conveying means 2 passes through the opening 23a and the opening 23b. The fruits and vegetables 6 that have been transported on the transport means 2 enter the inside of the housing 23 from the opening 23a while being placed on the transport surface, and are discharged from the opening 23b to the outside of the housing 23.

  The light projecting unit 24 irradiates the fruits and vegetables 6 with light (infrared rays, laser light, etc.) for measuring the internal quality such as sugar content or acidity of the fruits and vegetables 6, and is connected to the control means 10 by a cable 24a. Specifically, the light projecting unit 24 includes a lamp, an LED, or the like. Moreover, the light projection part 24 is comprised so that exposure can be changed. That is, the light quantity can be changed, and the light quantity is adjusted by the control means. The change in the amount of light can be adjusted by changing the number of light sources, for example, the number of LED lighting, changing the voltage applied to the lamp, or changing the lighting time (exposure time) in a pulsed manner to the LED. . It is also possible to change the exposure by providing a diaphragm at the light exit and changing the diaphragm with an actuator such as a motor.

  The light receiving unit 25 receives the transmitted light that has been irradiated by the light projecting unit 24 and passed through the fruits and vegetables 6, and is connected to the control means 10 by a cable 25a. Specifically, the light receiving unit 25 includes a photodiode, a phototransistor, a CCD, or the like.

  The light received by the light receiving unit 25 (transmitted light from the fruits and vegetables 6) has a reduced specific wavelength component as compared with the light irradiated by the light projecting unit 24. This is due to the fact that components related to sugar content, components related to acidity, and the like contained in the fruits and vegetables 6 absorb specific wavelength components. Therefore, the amount of absorption is measured (the specific wavelength component when the light receiving unit 25 receives light with the fruits and vegetables 6 not blocking the light path, and the light receiving unit 25 receiving light with the fruits and vegetables 6 blocking the light path. The amount of the component related to the sugar content of the fruits and vegetables 6 and the component related to the acidity (more precisely, the component molecule related to the sugar content) And the number of component molecules related to acidity) can be measured.

  In the present embodiment, the light projecting unit 24 and the light receiving unit 25 are disposed inside the housing 23 so as to face both the left and right sides with the transport unit 2 interposed therebetween. That is, in FIG. 2, the light projecting unit 24 and the light receiving unit 25 are disposed slightly above the upper end of the frame of the transport unit 2, so Even if it is slightly deviated in this direction and placed on the transport surface, the light emitted from the light projecting unit 24 can surely pass through the fruits and vegetables 6.

  In addition, about the position of the light projection part 24 and the light-receiving part 25, it is not limited about the relationship (the angle and positional relationship which are formed) of the direction of an optical path, and the conveyance direction A, for example, the light projection part 24 carries It is good also as a structure by which the light-receiving part 25 is arrange | positioned under the conveyance surface of the means 2 and the said conveyance surface. In this case, the endless belt 13 constituting the transport means 2 is divided and provided on both the left and right sides with respect to the transport direction A, and the fruits and vegetables 6 do not fall into the space of the divided endless belt center. It is necessary to set it as the structure which conveys by providing a conveyance tray and making it mount on this conveyance tray. In order to transport fruits and vegetables using such a transport tray, a structure that does not block the light emitted from the light projecting section 24 is required by, for example, drilling a hole in the center of the transport tray. It goes without saying that.

  That is, the internal quality sensor 4 of the present invention includes a light projecting unit 24 (and a light receiving unit 25) that irradiates infrared rays in a direction orthogonal to the conveyance direction A of the fruits and vegetables 6, and a direction orthogonal to the conveyance direction and the irradiation direction of the infrared rays. And a detection camera 16 capable of recognizing the “position” and “shape” (silhouette) of the fruits and vegetables 6 when viewed from the direction in which the fruits and vegetables are viewed. Specifically, when the internal quality sensor 4 is disposed in the left-right direction as in the present embodiment, the detection camera 16 recognizes the “position” and “shape” (silhouette) in plan view of the fruits and vegetables, When the internal quality sensor 4 is arranged in the vertical direction, the detection camera 16 preferably recognizes the “position” and “shape” (silhouette) in a side view.

[Infrared irradiation light intensity control method]
Next, a control method relating to the amount of infrared irradiation of the internal quality sensor 4 and the infrared irradiation timing of the internal quality sensor 4 using the image processing means of the present invention will be described with reference to FIG. First, when the fruits and vegetables 6 are transported by the transport means 2 and the fruits and vegetables 6 are detected by the detection means 14 (step S101), the detection camera 16 is operated to capture and acquire image data of the fruits and vegetables 6 (step S102). ). The obtained image data is subjected to image processing relating to the “center of gravity” and “shape” (planar silhouette) of the fruits and vegetables 6.

  Here, the calculation storage unit 10b includes a storage unit that temporarily stores image data detected by the detection camera 16, and an image processing program that calculates the infrared irradiation timing by the internal quality sensor 4 based on the image data. Based on the image data, the “gravity position” and “irradiation light amount” of the fruits and vegetables 6 are calculated together with the data related to the outer shape of the fruits and vegetables 6 through the image processing program. It is stored again in the storage unit (step S103).

  When the “center of gravity position” of the fruits and vegetables 6 is calculated, the infrared irradiation timing of the internal quality sensor 4 is calculated based on the data of the “center of gravity position”. That is, in the arithmetic storage unit 10b, the "center of gravity position" is calculated from the distance from the detecting means 14 to the "center of gravity position" of the fruits and vegetables 6, the transport speed of the transport means 2, and the distance from the detecting means 14 to the internal quality sensor 4. "Is reached at the light projecting unit 24 of the internal quality sensor 4 (step S104). Thereafter, it is always determined whether or not the transport gravity center position of the fruit 6 has reached the light projecting unit 24 (step S105). . Specifically, when the distance from the detection means 14 to the light projecting unit 24 is L, the carrier pulse signal obtained by the encoder for this distance L is obtained as Pa. Further, when the center of gravity position is obtained by photographing with the detection camera 16, the distance L1 from the detecting means 14 to the center of gravity position is known, and the distance is converted into a pulse signal to be P0. Accordingly, when the center of gravity position is detected and the transport distance L2 of the center of gravity position is Pn in the integrated pulse, the distance (L-L1) that the integrated pulse Pn reaches the light projecting unit 24, that is, (Pa-P0). What is necessary is just to calculate whether it became (L2 = L-L1, Pn = Pa-P0). Thus, when the fruits and vegetables 6 are conveyed and the center of gravity reaches the light projecting unit 24, a command for irradiating the fruits and vegetables 6 with infrared rays is transmitted from the light projecting unit 24.

  Here, as described above, in the arithmetic storage unit 10 b, the infrared transmission distance of the internal quality sensor 4 that passes through the “centroid position” from the “centroid position” of the fruits and vegetables 6 and the size of the fruits and vegetables by the image data from the detection camera 16. And an appropriate infrared irradiation output (voltage) is calculated based on the length of the transmission distance to calculate an appropriate “irradiation light amount” (step S103). Then, the fruits and vegetables 6 that have reached the light projecting unit 24 are irradiated with infrared rays having an appropriate output by the calculated “irradiation light quantity” (step S106). As a result, the “posture” and “ The fruits and vegetables 6 are appropriately irradiated with infrared rays without being affected by the “size”, “shape”, random transport pitch, and the like.

The plane schematic diagram of the internal quality determination apparatus which concerns on one Example of this invention. The side schematic diagram. The flowchart which shows the flow of the operation | movement regarding the light quantity adjustment of the infrared irradiation of an internal quality sensor using the image processing calculation program which concerns on this invention is shown.

DESCRIPTION OF SYMBOLS 1 Internal quality determination apparatus 2 Conveyance means 4 Internal quality sensor 5 Conveyance tray 5d Groove 6 Fruits and vegetables 7 Encoder 9 Drive wheel 10 Control means 10a Display part 10b Calculation storage part 11 Tension pulley 12 Drive motor 13 Endless belt 14 Detection means 16 Detection camera 16a Communication cable 23 Case 23a Opening 23b Opening 24 Light projecting unit 25 Light receiving unit

Claims (2)

A conveying means (2) for conveying the fruit and vegetables (6) having an irregular shape, and an internal quality sensor (4) which is a quality judging means for irradiating infrared rays and judging the quality of the fruits and vegetables (6) in a non-destructive manner. An internal quality judging device (1) comprising a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6) and a detection means (14) for detecting the conveyance of the fruits and vegetables (6). The transport means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are transported on the endless belt (13) with a random transport pitch, and the detection is performed. The camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance. The camera (16) is disposed above the endless belt (13) so that the camera lens faces downward. The detection means (14) is arranged upstream of (16), and the endless belt ( 3) When the fruits and vegetables (6) placed on the random transport pitch are transported and detected by the detection means (14), the detection camera (16) is actuated and photographed, and the fruits and vegetables (6 ), And image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) are obtained and stored from the image data, and then the fruits and vegetables (6 ) To the “center of gravity” (L1), the conveyance speed of the conveyance means (2), and the distance (L) from the detection means (14) to the light projecting portion (24) of the internal quality sensor (4). ) And the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, and then the fruits and vegetables (6) Whether or not the center of gravity of the transport has reached the light projecting part (24) When the barycentric position of the fruits and vegetables (6) reaches the light projecting portion (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting portion (24), and the detection camera (16 The internal quality determination device is characterized in that the amount of light emitted by the internal quality sensor (4) in accordance with the size of the fruits and vegetables (6) is calculated and irradiated from the shape recognized by (1) . 2. The internal quality determination device according to claim 1, wherein the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or the number of light sources. Internal quality judgment device.

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