JP5218729B2 - Pistachio grain sorting device with shell - Google Patents

Description

The present invention relates to an apparatus for sorting shelled pistachio grains, which can accurately discriminate between good and defective shelled pistachio grains and sort out defective products and foreign substances from good products.

2. Description of the Related Art Conventionally, as an optical sorting device using beans as sorting objects, a sorting device that can sort immature beans, worm-eaten beans, etc., which are defective beans, using reflected light from the surface of the beans (see Patent Document 1) ), And a sorting device (see Patent Document 2) that can sort out defective beans whose nuts have been altered by irradiation with light having a plurality of wavelengths but whose surface has not been altered.

However, in the known sorting apparatus, leguminous plants such as soybeans and peanuts are mainly sorted, and hard shelled pistachios (Pistachio tree seeds of Ursiaceae) are not so much sorted. There wasn't. That is, when pistachio matures, a pear is formed on one side of the shell and the pistachio has a unique shape in which the seed is slightly exposed. After roasting the ripe seeds together with the berries, the salted ones are edible as alcoholic snacks, snacks and the like. The seeds that are slightly exposed from the cleft are considered to be the darker ones. The unique shape of the pistachios with shells and the artificially defined grading criteria that the seeds exposed from the fissures are dark green are superior, making optical selection poor. . That is, there are problems in that imperfect grains in which the shells and shells are not torn are made non-defective, and in addition, the sorting accuracy is inferior, such that the dark green seeds are determined as molds as defective.
Japanese Patent Laid-Open No. 63-200878 Japanese Patent Publication No. 6-34974

In view of the above-mentioned problems, the present invention provides a shell-pistachio grain that can be accurately sorted even if it is an artificially defined standard such as the peculiar shape of the shelled pistachio and the color of the seed exposed from the crevice. It is a technical problem to provide a sorting device.

In order to solve the above-mentioned problems, the present invention is to observe illumination means for irradiating one or more shelled pistachio grains flowing continuously, and shelled pistachio grains irradiated with light by the illumination means. The light receiving means, the control means for judging the non-defective / defective product of the shelled pistachio grain based on the amount of light received detected by the light receiving means, and the judgment result of the good / defective product determined by the control means based on, and a removal means for removing the defective from the continuous shaped flow, said control means, after binarizing the pixel signal by using the first threshold value from said light receiving means A first arithmetic processing unit for calculating the size of the shell and shell of the pistachio grain by means of a comparator for comparing with the threshold TH1, and a pixel signal from the light receiving means, Binary using different second threshold After processing, the size of the tear portion occurring shells result in shelled pistachio particle by a comparator for comparing the threshold TH3, cleft portion of the shell with pistachio particle by a comparator for comparing a threshold TH4 includes a second arithmetic processing unit for calculating, respectively, and a good-defective judging circuit for outputting a removal signal to said removing means the color of seeds exposed from the shell by a comparator for comparing said threshold value TH1 When it is detected that the size of the outer shape of the fruit exceeds a predetermined range, and the presence of the tear portion is not detected by the comparator that compares with the threshold value TH3 , the non-defective product / defective product determination circuit Determining that the grain is immature and outputting a removal signal to the removal means, and detecting that the size of the outer shape of the berries exceeds a predetermined range by a comparator for comparison with the threshold TH1; Then said The presence of a fissure in the shelled pistachio grain is detected by a comparator that compares with the threshold TH3, and the color of the seed exposed from the fissure exceeds a predetermined range by the comparator that compares with the threshold TH4. In this case , a technical measure is taken in which the non-defective / defective product determining circuit determines that the pistachio grain is abnormally colored and outputs a removal signal to the removing device .

The first arithmetic processing unit further includes a comparator for comparing with a threshold value TH2 for calculating the color of the shell and fruit of the shelled pistachio grain, and a comparator for comparing with the threshold value TH1. When the size of the outer shape of the shell and shells exceeds a predetermined range, and then the color of the shell and shells exceeds the predetermined range by a comparator for comparison with the threshold value TH2, the good / defective product is determined. It is preferable that the circuit determines that the pistachio grains are abnormally colored and outputs a removal signal to the removal means.

According to the first aspect of the invention, with the size of the outer shape of the shell results of shelled pistachio by a comparator for comparing the threshold TH1 of the first arithmetic processing unit is calculated, the second arithmetic processing unit Works A comparator that compares with the threshold TH3 calculates the size of the rift in the shell and shell in the shelled pistachio grain, and the non-defective / defective product detection circuit detects the presence or absence of the crack in the shelled pistachio grain. Therefore, if it is detected that there is no rift, it can be judged as a defective product as immature grains, and even if it is a pistachio-specific shape that has a rift in the shell and shell, it is possible to accurately select non-defective products and defective products Can do.

In addition , it is possible to calculate the color of the seed exposed from the crevice part of the shelled pistachio grain by a comparator that compares with the threshold value TH4 of the second processing unit. it detects the presence of the tear portion in the pistachio grains, and, when the color of the seeds exposed from the tear portion is exceeded the predetermined range, it is possible to determine the shelled pistachio grains colored abnormal. Thereby, even if it is a pistachio peculiar grade standard that the seed exposed from a crevice part is the one with deep green color, it can be selected with high accuracy. In addition, since the comparator comparing with the threshold value TH3 detects the presence of a tear portion, the comparator comparing with the threshold value TH4 detects the color of the tear portion, so that the green color is dark. The presence of the part is not mistakenly recognized as mold.

The best mode for carrying out the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic cross-sectional view according to the sorting apparatus of the present invention.

As shown in FIG. 1, the sorting device 1 includes a supply unit 6 including a supply hopper 3, a feeder 4, and a curved chute 5 in a machine frame 2, and an object to be sorted supplied from the supply unit 6 at a constant flow rate. In addition, an endless belt conveyor 7 that conveys at a constant speed, a conveyance unit 9 that includes a pressing roller 8 for pressing the object to be sorted to prevent the object to be rolled, and a discharge from the conveyance unit 9. The optical detection unit 10 provided across the parabola locus L of the object to be sorted, and the defective product is excluded from the parabola locus L based on the detection result of the defective product detected by the optical detection unit 10 or the mixed foreign matter. A removal unit 11 that performs recovery, a non-defective product collection basket 12 that collects non-defective products on the parabola locus L on the downstream side of the removal unit 11, and a lower part than the parabola locus L, and is removed from the parabola locus L by the removal unit 11. Excluded And a defective article collecting trough 13 for recovering non-defective or foreign. In addition, a non-defective belt conveyor 14 is provided below the non-defective product collecting basket 12 to convey the collected non-defective product to the next process.

The belt conveyor 7 of the conveying section 9 spans an endless belt between rollers 15 and 16 rotatably provided in the machine frame 2, and communicates the roller 15 with a motor by a V belt or the like (both not shown). ), Configured to rotate at a constant speed. A pressing roller 8 is rotatably attached to the upper surface (conveying surface) of the belt conveyor 7 so as to rotate as the belt 7 is transferred.

The lower end of the curved chute 5 that communicates with the flange end 4a of the feeder 4 faces the start end side of the belt conveyor 7, while the parabolic trajectory of the object to be sorted discharged from the end side of the belt conveyor 7 A downward flow path composed of L is formed. Then, the optical detection unit 10 is provided in the middle of the parabolic locus L. That is, the first detection unit 10A for observing the front side of the object to be selected and the second detection unit 10B for observing the back side of the object to be selected (the surface in contact with the belt conveyor 7 in the transport unit 9). Are arranged with a parabolic trajectory L in between.

The first detection unit 10A includes a first illuminating unit including a plurality of long LED light sources 18 that illuminate the surface side of an object to be sorted, and a light source housing 19 that covers the plurality of LED light sources 18; The CCD line sensor 20A for observing the surface side of the selected object and the first background 21A provided in the second detection unit 10B are configured. On the other hand, the second detection unit 10B includes a plurality of long LED light sources 18 that illuminate the back side of the object to be sorted, and a second illumination unit that includes a light source housing 19 that covers the plurality of LED light sources 18. It comprises a CCD line sensor 20B for observing the back side of the object to be sorted, and a second background 21B provided in the first detector 10A. The LED light sources 18 are not limited to LEDs, and can be appropriately selected from fluorescent lamps, halogen lamps, laser light sources, and the like.

The first illumination means, the CCD line sensor 20A, and the second background 21B are housed in a substantially sealed optical box 17A, and the second illumination means, the CCD line sensor 20B, and the first background 21A are It is housed inside a substantially sealed optical box 17B. Transparent glass plates 22 and 22 are provided on the surfaces where the optical boxes 17A and 17B are opposed to each other, and the irradiation light from the LED light source 18 passes through the transparent glass plates 22 and 22 and is located in the inspection range K on the parabolic locus. The object to be selected is irradiated, and transmitted light or reflected light from the object to be selected is detected by the CCD line sensors 20A and 20B. Further, the optical detection box 17B is provided with a suction pipe 23 for sucking and removing dust and the like mixed in the box so as not to be adversely affected by dust and the like of the second detection unit 10B. The arrangement of the suction pipe 23 is not limited to the box 17B, but may be configured to suck and remove dust and the like mixed in the defective product removed by the removing unit 11 by being disposed in the defective product collecting basket 13. .

An ejector 11 that operates in accordance with the detection results of the CCD line sensors 20A and 20B is connected to the parabolic locus L downstream of the optical detection units 10A and 10B. The ejector 11 is connected to an air compressor (not shown), and the CCD line sensors 20A and 20B and corresponding ejectors are ejected so that high pressure air is ejected by electromagnetic valves (not shown) provided in the ejectors 11 respectively. 11 is electrically connected to the solenoid valve operating circuit (see FIG. 3). In addition, a defective product collecting rod 13 is provided below the ejector 11, that is, immediately below the removal position e where the extension line of the ejection port of the ejector 11 and the parabolic locus L intersect. On the other hand, a non-defective product collecting rod 12 is provided in the flow direction of the parabolic locus L.

The non-defective product collecting basket 12 is provided with an inclined front wall 12a, and the front wall 12a is provided with a handle portion 34 at an inclined upper portion and a long hinge 24 at an inclined lower end portion. The interior is exposed and the inside of the cage can be maintained. That is, the front wall 12a can be opened if the operator holds the handle portion 25 by hand and rotates the front hinge (position of the alternate long and short dash line shown in FIG. 1) about the long hinge 24. Reference numeral 25 denotes a defective product collection container installed below the defective product collection basket 13.

In addition to the belt conveyor type sorting device as described above, the sorting device 1 is inclined after the object to be sorted put into the supply hopper 3 is diffused in a loose shape by the vibration device 101 as shown in FIG. It is also possible to provide a chute-type sorting device that is supplied to the chute 102 and is freely dropped by gravity from the lower end of the chute 102 and passed through the optical detection unit 10.

FIG. 3 is a block diagram of a control circuit that performs signal processing of the CCD line sensor of the sorting device 1. The CCD line sensor 20 is a semiconductor element that includes 128 or 256, 512, 1024 pixels or the like in a row and obtains electric charge from each pixel. However, the present invention is not limited to this, and TDI (Time) is used to perform imaging in which line sensors are arranged in a plurality of rows and an object moving at a constant speed is combined with the moving direction / speed and the charge transfer direction / speed of the CCD. Delay Integration) camera may be used.

The current output terminal of the CCD line sensor 20 is connected to the amplifier circuit 27, and the amplifier circuit 27 has a shelled pistachio grain in the image processing circuit 39 in comparison with a preset voltage level. While calculating the size of the outer shape (the area of the whole shell), the first arithmetic processing unit 28 for calculating the color of the shell, and using a voltage level different from the voltage level, the shelled pistachio grain In addition to calculating the size (area) of the seed exposed from the crevice portion formed in the berries of the shell, it is branched and connected to a second arithmetic processing unit 29 for calculating the color of the seed.

The first arithmetic processing unit 28 and the second arithmetic processing unit 29 are respectively provided with memories 31a and 31b for storing image data for scanning lines input from the CCD line sensor 20, and the first arithmetic processing unit. The unit 28 includes a comparator 32 for comparing the brightness of the shell of the shelled pistachio grain with the threshold value TH1 and a comparator 33 for comparing with the threshold value TH2. On the other hand, the second arithmetic processing unit 29 includes a comparator 34 for comparing the brightness of the seed exposed from the crevice portion with a threshold value TH3 and a comparator 35 for comparing with the threshold value TH4. If the output values from the comparators 32 and 34 are added, the size of the outer shape of the shelled pistachio grain and the size (area) of the seed exposed from the split portion of the shell can be calculated.

Further, if the output values of the comparator 33 and the comparator 35 are processed using a threshold value such as an RGB color space, the shell color and seed color can be calculated.

The current output terminals from the comparators 32, 33, 34, and 35 are connected to a non-defective product / defective product determination circuit 36, while the non-defective product / defective product determination circuit 36 connects the ejector 11 via a delay circuit 37. It is connected to the valve drive circuit 38 to be controlled.

Hereinafter, the operation of the present embodiment in the above configuration will be described. When shelled pistachio grains as raw materials are put into the supply hopper 3 and the feeder 4 and the belt conveyor 7 are driven, the shelled pistachio grains are supplied onto the belt conveyor 7 by an appropriate amount via the feeder 4 and the curved chute 5. The The shelled pistachio grains supplied onto the belt conveyor are leveled by the pressing roller 8 and conveyed to the end of the belt conveyor 7 in a thin layer state. The belt conveyor 7 is driven at about 2.8 m / s, and the pistachio particles with shells emitted from the conveyance end portion draw a parabolic locus as indicated by L in FIG. 1, and a pair of optical detection units 10A and 10B. Pass through. At this time, a defective portion of the shelled pistachio grain being passed by the plurality of LED light sources 18 that illuminate the front side and the back side of the shelled pistachio grain, the plurality of CCD line sensors 20A and 20B, and the backgrounds 21A and 21B. And detection of the presence or absence of foreign matter mixed in the shelled pistachio grains.

As shown in FIG. 4, from the right side of the drawing, a defective product with a discolored shell, an immature defective product with no tear on one side of the shell, a mature good product with the seed exposed from the crack of the shell, and a seed from the crack of the shell Assuming that four defective defectives that are exposed but discolored pass through the detection position K, the voltage level changes as the amount of light received changes due to the passage of each grain ((a in FIG. 4). ) Signal).

Here, when the threshold value TH1 is set for the scanning of the CCD line sensor 20 at time t1, binarization processing is performed when the signal (a) is larger than the threshold value TH1. The signal is detected as the length in the width direction of the shelled fruit K of the pistachio shell (rectangular signal in FIG. 4B). Similarly, at time t2, the length in the width direction of the shell and shell K is detected, but since the grain is flowing down, a pointed point of the grain is detected. At this time, when scanning is performed so that an overlap occurs in the grain flow direction, and this signal is added, an image of the size of the outer shape of the shelled pistachio grain (the whole shell area) can be acquired. .

Further, regarding the scanning of the CCD line sensor 20, when the threshold value TH3 is set, the binarization process is performed when the signal (a) is larger than the threshold value TH3, and this signal is converted into the width direction of the seed S. (The rectangular signal in FIG. 4C), and performing the same calculation process as described above, an image of the size (area) of the seed S can be acquired.

Then, when the size (area) of the seed S occupying the size of the outer shape of the shelled pistachio grain (the area of the shell of the whole grain) is calculated, for example, a matured non-defective product in which the seed is exposed from the cleft of the berries (Fig. 4 from the right of the drawing 4) and an immature defective product (second from the right of the drawing in FIG. 4) having no tears on one side of the shell and shell can be identified and separated. The method is not limited to such a method of comparing the sizes, and immature grains and non-defective products can be identified and separated by logical operation processing of output values from the comparator 32 and the comparator 34.

Next, regarding the scanning of the CCD line sensor 20, if the threshold value TH2 is set in the comparator 33, the color information of the shell fruit K of the shelled pistachio can be detected in the good / bad determination circuit 36 ( (C) (rectangular signal in FIG. 4). That is, when the signal (a) is detected within the range from the threshold value TH1 to the threshold value TH2, it is recognized that the color of the fruit and shell K is normal (first from the left in FIG. 4, second and third 3 drops), if the range of from the threshold TH1 to the threshold TH2 signal ultra forte (a) is detected, it is recognized that the color of Karahate K is defective (For example, the first from the right in FIG. 4).

Further, regarding the scanning of the CCD line sensor 20, when the threshold value TH4 is set in the comparator 35, the color information of the seed S can be detected by the good / bad determination circuit 36 (see (e) of FIG. 4). Rectangular signal). That is, when the signal (a) is detected within the range from the threshold TH3 to the threshold TH4, it is recognized that the color of the seed S is normal (second from the left in FIG. 4), If the range of from the threshold TH3 to the threshold TH4 signal ultra forte (a) is detected, the color of the seed S is recognized to be defective (e.g., first from the drawing left of FIG. 4 ).

As described above, the non-defective product / defective product determination circuit 36 is set based on the size and color of the nuts and shells K peculiar to the shelled pistachio grains, and the size of the seed S and the green shade of the seed S portion. . In addition, when the good / bad determination circuit 36 includes a display device (not shown) or the like, an image can be provided to the workers.

FIG. 5 is a flowchart of the non-defective / defective product determination. In the non-defective product / defective product determination (S1), first, the size of one whole shell K is compared with a predetermined value (for example, whether it is larger or smaller than the width of the rectangle in FIG. 4B). .), Whether the object to be sorted is a shelled pistachio grain or a foreign substance such as a small stone or not, and if it is a shelled pistachio grain, whether or not there is an external appearance abnormality as a whole Alternatively, it is detected whether there is an abnormality such as a dent on the surface (S2). If there is a foreign object or external abnormality, it is determined as a defective product.

Next, it is determined whether or not there is a poorly colored portion for the whole grain of the shell K (S3). When there is a coloring defect portion, it is determined as a defective product.

Furthermore, the size of the tear part (seed S) generated in the shell is calculated (S4). When the size of the seed S is not detected, the shelled pistachio grain is determined as an immature grain and treated as a defective product.

When the presence of the seed S is detected, the color of the seed S is calculated using the threshold TH4 related to the color. That is, it is compared whether or not the color of the seed S is within the range of TH3 to TH4, and the shade of green is determined (S5). If the color of the seed S has exceeded a predetermined range, is the color of the seed S is abnormal coloration determines the shelled pistachio particle coloring abnormality, the defective article treatment.

By performing the above determination process, the seeds exposed from the crevice portion can be accurately selected even if the pistachio-specific grade criteria such that the dark green ones are superior. In addition, since the procedure of detecting the size of the shells K and seeds S, confirming the presence of the seeds S, and detecting the color of the seeds S is taken, the presence of dark green parts is mistaken as molds. There is no recognition.

When the condition of the defective product (or foreign matter) to be sorted is satisfied, the non-defective product / defective product determination circuit 36 specifies the position of the defective product (or foreign matter) in the width direction of the belt conveyor 7 and A removal signal is output to the valve drive circuit 38 which operates the ejector 11 corresponding to this. The shelled pistachio grains that become defective products are blown off from the continuous flow by the wind pressure of the ejector 11 and are collected in the defective product collecting basket 13.

On the other hand, the shelled pistachio grains determined to be non-defective are transferred to the non-defective product collecting basket 12 as they are along the parabolic locus L as they are.

As described above, according to the present embodiment, it is possible to accurately sort even the artificially defined grade criteria such as the unique shape of the shelled pistachio grain and the color of the seed exposed from the crevice. There are effects.

It is a schematic longitudinal cross-sectional view concerning the selection apparatus of this invention. It is a schematic longitudinal cross-sectional view concerning a chute type | mold sorting apparatus. It is a block diagram of a control circuit. It is a schematic diagram of the scanning process of a CCD line sensor. It is a flowchart of a non-defective product / defective product determination process.

DESCRIPTION OF SYMBOLS 1 Sorting device 2 Machine frame 3 Supply hopper 4 Feeder 5 Curved chute 6 Supply part 7 Belt conveyor 8 Pressing roller 9 Conveying part 10 Optical detection part 11 Removal part 12 Good product collection bag 13 Defective product collection bag 14 Good product belt conveyor 15 Roller 16 Roller 17 Optical box 18 LED light source 19 Light source housing 20 CCD line sensor 21 First background 22 Transparent glass plate 23 Suction pipe 24 Long hinge 25 Handle portion 26 Defective product collection container 27 Amplifying circuit 28 First arithmetic processing unit 29 Second arithmetic operation Processing unit 31 Memory 32 Comparator 33 Comparator 34 Comparator 35 Image composition processing circuit 36 Non-defective / defective product determination circuit 37 Delay circuit 38 Valve drive circuit 39 Image processing circuit 101 Vibrating device 102 Chute

Claims (2)

Illumination means for irradiating light to one or more shelled pistachio grains flowing continuously;
A light receiving means for observing the shelled pistachio grains irradiated with light by the illumination means;
Control means for determining whether the shelled pistachio grains are non-defective or defective based on the amount of light received detected by the light receiving means;
Removing means for removing defective products from the continuous flow based on the determination result of non-defective / defective products determined by the control means ;
The control means binarizes the pixel signal from the light receiving means using the first threshold value, and then compares the outer shape of the shelled pistachio grains with a comparator that compares the threshold signal with the threshold value TH1 . A first arithmetic processing unit for calculating a size;
The pixel signal from the light receiving means is binarized using a second threshold value different from the first threshold value, and then the inside of the shelled pistachio grains is compared by a comparator that compares with the threshold value TH3 . A second arithmetic processing unit that calculates the color of the seed exposed from the crevice part of the shelled pistachio grain by means of a comparator that compares the size of the crevice part produced in the berries of the shell with a threshold TH4 ;
A non-defective product / defective product judgment circuit for outputting a removal signal to the removing means;
The comparator comparing with the threshold value TH1 detects that the size of the shell and shell shape exceeds a predetermined range, and the comparator comparing with the threshold value TH3 does not detect the presence of the tear portion. When the non-defective product / defective product judgment circuit judges that the pistachio grain is immature grain and outputs a removal signal to the removing means, the comparator compares the threshold value TH1 with the size of the outer shape of the shell. Is detected, and then a comparator for comparing with the threshold value TH3 is used to detect the presence of a tear in the shelled pistachio grains, and further for comparison with the threshold value TH4. When the color of the seed exposed from the crevice by the vessel exceeds a predetermined range, the non-defective product / defective product judging circuit judges that the pistachio grain is abnormally colored and outputs a removal signal to the removing means. Shell Pistachio grain sorting device. The first arithmetic processing unit further includes a comparator for comparing with a threshold TH2 for calculating the color of the shell and shell of the shelled pistachio grain,
The comparator comparing with the threshold TH1 detects that the size of the outer shape of the shell exceeds a predetermined range, and the comparator comparing with the threshold TH2 determines the color of the shell The shelled pistachio grain sorting apparatus according to claim 1, wherein the non-defective product / defective product judgment circuit judges that the pistachio grain is abnormal in coloration and outputs a removal signal to the removing means.

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