JP6043162B2 - Fruit and vegetable appearance inspection apparatus and appearance inspection method - Google Patents

Description

  The present invention relates to an appearance inspection apparatus and an appearance inspection method for inspecting the appearance of fruits and vegetables.

  Conventionally, as an appearance inspection method for fruits and vegetables such as mandarin oranges, apples, pears, peaches, tomatoes, and strawberries, the fruits and vegetables placed on the sorting transport device are imaged with an imaging camera, and based on the captured image data There was a method for inspecting the outer periphery of fruits and vegetables.

  For example, as shown in FIG. 4 (a), the inspection apparatus of Patent Document 1 includes a rotating unit 100 that reverses while conveying fruits and vegetables, and an imaging camera 101 that captures the fruits and vegetables before and after the inversion. Thereby, not only the upper peripheral surface of the fruit and vegetables but also the image data of the lower peripheral surface is acquired, and damage, decay, discoloration and the like of the entire outer peripheral surface of the fruit and vegetable are detected.

  As shown in FIG. 4B, the rotating means 100 of the present invention is formed by forming the support roller 102 into a shape (a drum shape) having a large diameter from the outer peripheral surface of the central portion toward the outer peripheral surface of both ends. The substantially spherical fruits and vegetables are inverted to the same position regardless of their size. However, according to the present invention, a spherical shape or an elliptical fruit or vegetable similar to this is the object of inspection, and other shapes of fruit and vegetables cannot be reversed to the same position, and the image data of the lower peripheral surface is obtained accurately. I couldn't.

JP 11-59875 A

  The present invention is an invention made by paying attention to the above-mentioned problems, and an appearance inspection apparatus and an appearance inspection that can accurately inspect the appearance of fruits and vegetables regardless of variations in the types of fruits and vegetables or the sphericity and size of the fruits and vegetables. It aims to provide a method.

(1) As means for solving the above problems, the fruit and vegetable appearance inspection apparatus of the present invention is a fruit and fruit appearance inspection apparatus that inverts and inspects the appearance while being conveyed,
A first imaging unit that images the fruits and vegetables before inversion from one direction and generates image data of the fruits and vegetables, and can communicate with the first imaging unit, and predicts the inversion time of the fruits and vegetables from the image data of the fruits and vegetables And analyzing means arranged downstream of the first imaging unit, capable of communicating with the analyzing means, and generating the image data of the fruits and vegetables by imaging the fruits and vegetables from one direction when the inversion time of the fruits and vegetables has elapsed. And a second imaging unit.

(2) In the appearance inspection apparatus according to (1), the first imaging unit or the second imaging unit includes an upper imaging camera installed above the conveyance path, and a plurality of directions of an imaging range of the upper imaging camera. And a side imaging camera provided on the camera.

(3) In addition, in the method for inspecting the appearance of fruits and vegetables of the present invention, a step of preparing fruits and vegetables, a step of conveying the fruits and vegetables, and an image of the fruits and vegetables before inversion from one direction are generated to generate image data of the fruits and vegetables. A step of predicting the inversion time of the fruits and vegetables from the image data of the fruits and vegetables, a step of inversion while conveying the fruits and vegetables, and image data of the fruits and vegetables by imaging the fruits and vegetables from one direction when the inversion time elapses And a step of generating.

  The analysis means predicts the inversion time for each fruit and vegetable from the image data generated by the first imaging unit. And a 2nd imaging part images fruit and vegetables at the time of this inversion time, and produces | generates the image data. For this reason, the appearance inspection apparatus according to the present invention can reliably detect not only the upper and lower surfaces of fruits and vegetables, but also the damage, decay and discoloration of the lower surfaces, regardless of the size and shape of the fruits and vegetables.

  Further, the present invention provided with the side imaging camera can image fruits and vegetables from a plurality of directions and can predict the inversion time based on each image data. For this reason, it is possible to accurately image the fruits and vegetables at the time of reversal regardless of variations in the types, sphericity, and sizes of the fruits and vegetables. Furthermore, since the appearance is inspected based on each image data, the detection rate of damage or the like can be increased.

It is a top view which shows the whole structure of the external appearance inspection apparatus of this invention. It is a side view which shows the test | inspection part of the external appearance inspection apparatus of this invention. It is a top view which shows the position of the fruit and vegetables after inversion. (a) It is a perspective view which shows the conventional test | inspection apparatus. (B) It is a front view of a support roller.

  The fruit and vegetable appearance inspection apparatus and appearance inspection method of the present invention will be described below with reference to the drawings. In addition, in this specification, the same code | symbol shown over each figure shows the same or similar member and thing.

  A sorting device 2 shown in FIG. 1 sorts fruits and vegetables 3 brought from a producer for each grade. This sorting device 2 is arranged downstream of the inspection unit 7 for inspecting the size, surface damage, discoloration, etc. of the fruits and vegetables and assigning the grades, and the fruits and vegetables 3 are provided for each grade. The apparatus 4 includes a discharge unit 11 having discharge means 9 for discharging.

  The inspection unit 7 is provided following the collection unit 13 that collects the fruits and vegetables 3 brought from the producer. The inspection unit 7 inverts and conveys the fruits and vegetables 3 to inspect the appearance and gives the fruits and vegetables 3 a grade. . For example, as shown in FIGS. 1 and 2, as a means for inverting the fruit and vegetables 3 while being conveyed, a conveyance constituted by a plurality of pairs of wheels 15, a carrier 17, a rotation means 20, and a control means 19. Inversion means may be used.

  The pair of wheels 15 includes two truncated cones that are connected with their upper and bottom surfaces facing each other, and the pair of wheels 15 are connected endlessly. The conveyed fruits and vegetables 3 are supported in a valley between one pair of wheels 15 and another pair of wheels 15. Here, the diameter of the fruit and vegetables 3 is formed narrower between the valley and the two truncated cones so that the supported fruits and vegetables do not fall out of the valley or between the two truncated cones. The pair of wheels 15 moves along rails 16a extending in the transport direction. The outer peripheral surface of the wheel 15 may be covered with synthetic rubber in order to increase the contact resistance with the fruits and vegetables 3 to rotate the fruits and vegetables and not to damage the fruits and vegetables 3.

  The carrier 17 has a dish shape, and is provided in a space formed by being surrounded by one pair of wheels 15 and another pair of wheels 15. The carrier 17 moves along the rail 16b extending in the transport direction.

  The rotating means 20 rotates the pair of wheels 15 in a certain direction from the time when the fruits and vegetables 3 pass through the first imaging unit 21 to the time when they pass through the imaging range of the second imaging unit 23. As the rotating means 20, for example, a toothed belt that is driven to rotate can be used. The pair of wheels 15 can be rotated along the toothed belt to be rotated. As the other rotation means 20, a motor or the like that is built in each wheel 15 and rotates the wheel 15 can be employed.

  The control means 19 of the conveyance reversing means controls the driving means 14 that drives the sprocket 18 that rotates the pair of wheels 15 and the carrier 17 in a certain direction, and the rotating means 20. The control means 19 controls the rotational speeds of the pair of wheels 15 and the carrier 17 and controls the rotational speeds of the pair of wheels 15.

  The fruits and vegetables 3 received from the collection unit 13 are supported and conveyed in a valley between the pair of wheels 15 and the other pair of wheels 15. The fruits and vegetables 3 are inverted by the rotation of the pair of wheels 15. Here, the rail 16a is lowered in the first imaging unit 21. For this reason, the pair of wheels 15 descend and the carrier 17 supports the fruits and vegetables 3. Thereby, in the first imaging unit 21, part of the fruits and vegetables 3 is prevented from being hidden by the pair of wheels 15. The carrier 17 may be raised with respect to the wheel 15.

  In the inspection unit 7, the appearance inspection apparatus 1 and the appearance inspection method of the present invention are used as means for inspecting the size, surface damage, discoloration, and the like of the fruits and vegetables and assigning grades to the fruits and vegetables. As shown in FIG. 1, the appearance inspection apparatus 1 includes a first imaging unit 21 and a second imaging unit 23 that are arranged in the inspection unit 7 and images the fruits and vegetables 3, and the first imaging unit 21 and the second imaging unit 23. And an image processor 25 that acquires image data of fruits and vegetables 3.

  As shown in FIG. 2, the first imaging unit 21 includes an upper imaging camera 27 installed above the conveyance path for the fruits and vegetables 3. The upper imaging camera 27 images the fruits and vegetables 3 that have entered the imaging range, and generates image data thereof. Thereby, image data of one surface (upper surface in FIG. 2) of the fruits and vegetables 3 before inversion is generated. In order to accurately capture the outline and surface state of the fruits and vegetables 3, it is preferable that the upper imaging camera 27 captures images when the fruits and vegetables 3 come directly below the upper imaging camera 27. As the imaging camera, for example, a camera composed of a CCD image sensor, a CMOS image sensor, or the like is used. The upper imaging camera 27 is connected to the input / output interface 29 of the image processor 25.

  The first imaging unit 21 may include a plurality of imaging cameras 27 and 31. The plurality of imaging cameras 27 and 31 includes an upper imaging camera 27 and side imaging cameras 31 installed in a plurality of directions. For example, when four side imaging cameras 31 are used, the side imaging cameras 31 are arranged in four directions around the vertical line V passing through the upper imaging camera 27 and outside the imaging range of the upper imaging camera 27. . In FIG. 1, four side imaging cameras are provided on the left and right sides of the conveyance path at intervals of 90 degrees about the vertical line V. Each side image pickup camera 31 is directed to the center of the image pickup range of the upper image pickup camera 27, and generates image data of all sides before the fruits and vegetables 3 are inverted. The number of side imaging cameras 31 used is not limited to four, and may be increased or decreased according to the shape of the fruits and vegetables 3.

  The first imaging unit 21 further includes a light source (not shown) provided in each imaging camera 27, 31 to illuminate the imaging range of each imaging camera 27, 31, and each imaging camera 27, 31 and its light source inside. It is provided with a dark room 33 through which the transport path passes. The light source is connected to the input / output interface 29 of the image processor 25. As the light source, for example, a light emitting diode can be used. The first imaging unit 21 configured in this manner illuminates the fruits and vegetables 3 entering the dark room 33 with a light source and images them with the imaging cameras 27 and 31. Thereby, the outline and surface state of the fruits and vegetables 3 in the image data generated by the imaging cameras 27 and 31 become clearer.

  As shown in FIG. 2, the second imaging unit 23 is disposed downstream of the first imaging unit 21 and includes an upper imaging camera 35 disposed above the conveyance path. The upper imaging camera 35 receives an imaging instruction from an analysis unit 37 of the image processor 25 described later and images the fruits and vegetables 3. Thereby, the image data of the other surface (lower surface in FIG. 2) of the fruit 3 after the inversion is generated. Here, the conveyance position and the reversing time after the fruits and vegetables 3 are reversed differ depending on the size. Specifically, as shown in FIG. 3, the transport position of the inverted fruits and vegetables 3a and 3b is positioned closer to the first imaging unit 21 because the fruits and vegetables 3a having the smaller size are inverted earlier, and is inverted as the size increases. Because it takes time, it is located downstream (fruits and vegetables 3b). A broken line in the second imaging unit 23 indicates an imaging range of the upper imaging camera 35. The second imaging unit 23 further includes a light source (not shown) that illuminates the imaging range of the upper imaging camera 35, and a dark room 41 that is provided with the upper imaging camera 35 and the light source inside and through which the conveyance path passes.

  As illustrated in FIG. 1, the image processor 25 includes an analysis unit 37, a storage unit 43, and a control unit 39 that can communicate with each other. The analysis unit 37 communicates with the first imaging unit 21 and the second imaging unit 23 via the input / output interface 29. The analysis unit 37 predicts the inversion time of the fruits and vegetables 3 based on the image data acquired from the first imaging unit 21, and gives an imaging instruction to the second imaging unit 23 according to the prediction. Then, image data is acquired from the second imaging unit 23.

An image acquisition method for the fruits and vegetables 3 before and after inversion will be described.
(1) The analysis means 37 is installed in the first imaging unit 21, for example, and the fruits and vegetables 3 enter the imaging range of the first imaging unit 21 by an output signal from an infrared sensor (not shown) that detects the presence or absence of the fruits and vegetables 3. This is detected, and an imaging instruction is given to the imaging cameras 27 and 31 of the first imaging unit 21. Further, since each of the imaging cameras 27 and 31 is accompanied by a light source, a light emission instruction for each light source is given together with an imaging instruction. Here, in order to prevent unnecessary reflection of light, instructions of imaging and light emission at different timings are given to the imaging cameras 27 and 31 and the light sources. Then, the image data of the fruits and vegetables 3 before inversion is generated by the imaging cameras 27 and 31.
(2) The analysis unit 37 acquires image data from the imaging cameras 27 and 31 of the first imaging unit 21, and calculates the size of the fruits and vegetables 3 from the image data. This size includes information such as the area, maximum length, minimum length, aspect ratio, side height, and roundness of the fruits and vegetables 3 in the image data.
(3) The analysis means 37 predicts the inversion time of the fruit 3 based on the size of the fruit 3. As a prediction method, the relationship between the size of the fruits and vegetables 3 and the inversion time can be referred to by referring to a table that defines the rotation speeds of the pair of wheels 15. For example, referring to the table, the inversion time corresponding to the calculated area of fruits and vegetables can be predicted. This table is stored in the storage means 43 in advance.
(4) The analysis unit 37 gives an imaging instruction to the second imaging unit 23 based on the prediction result. In addition, since the upper imaging camera 35 is accompanied by a light source, a light emission instruction for the light source is given together with a photographing instruction. Thereby, the upper imaging camera 35 images the fruits and vegetables 3, and the image data of the fruits and vegetables 3 after being inverted is generated.
(5) The analysis unit 37 acquires image data from the upper imaging camera 35 of the second imaging unit 23.

  The analysis means 37 detects determination elements such as the size of the fruits and vegetables 3, the damage of the surface, discoloration, and corrosion from the image data of the first imaging unit 21 and the second imaging unit 23, and the fruits and vegetables 3 depending on the degree of each determination element Determine the grade of It is also possible to provide a saccharimeter and determine the grade in combination with the size and the like. Then, the analysis unit 37 stores the grade information in the storage unit 43.

  The control unit 39 of the image processor communicates with the discharge unit 9 of the discharge unit 11 via the input / output interface 45. The control means 39 acquires the grade information of the fruits and vegetables 3 from the storage means 43, and gives an instruction to discharge the fruits and vegetables 3 to the discharge means 9 corresponding to the grade. Thereby, the fruits and vegetables 3 are discharged to a predetermined position.

  The image processor 25 may include a display unit that displays the image data of the fruit 3, the size, the determination element, the statistical information for each grade, the rotation speed of the conveyance reversing unit, and the rotation speed of the pair of wheels 15.

  The analysis means 37 of the present invention predicts the inversion time for each fruit and vegetable 3 from the image data generated by the first imaging unit 21. Then, the second imaging unit 23 captures the fruits and vegetables 3 when the inversion time has elapsed and generates image data thereof. Therefore, the appearance inspection apparatus 1 of the present invention can reliably detect not only the upper surface of the fruits and vegetables 3, but also the damage, decay and discoloration of the lower surfaces, regardless of the size and shape of the fruits and vegetables.

  Further, the side imaging camera 31 of the present invention can image the fruits and vegetables 3 from a plurality of directions and combine the image data with the image data of the upper imaging camera 27 to predict the inversion time. Therefore, the fruits and vegetables 3 at the time of inversion can be accurately imaged regardless of variations in the sphericity and size of the fruits and vegetables 3. Further, since the appearance is inspected based on the image data, the detection rate of damage or the like can be increased.

  Further, when the side imaging camera 31 is provided in the first imaging unit 21, the analysis unit 37 can predict the inversion time from the image data generated by the side imaging camera 31 together with the image data of the upper imaging camera 27. It is possible to accurately inspect the appearance of the fruits and vegetables 3 by reliably predicting the inversion time of the fruits and vegetables 3 whose shape is distorted.

  As another aspect of the appearance inspection apparatus and the appearance inspection method of the present invention, as shown by a two-dot chain line in FIG. 1, the control means 39 of the image processor is connected to the control means 19 of the conveyance reversing means via the input / output interface 45. And the rotation speed of the pair of wheels 15 and the carrier 17 and the rotation speed of the pair of wheels may be adjustable. For example, in the above-described image acquisition process, the analysis unit 37 notifies the control unit 39 of the image processor of the result of predicting the inversion time. The control means 39 calculates whether or not the fruits and vegetables 3 are within the imaging range of the second imaging unit 23 when the inversion time elapses based on the rotation speed and the rotation speed. As a result of the calculation, the control means 39 determines that the fruits and vegetables 3 are not within the imaging range of the second imaging unit 23. An instruction to accelerate or decelerate the rotation speed and / or rotation speed is given to the control means 19 of the transport reversing means. Since the control means 39 of the image processor can adjust the rotation speed and the rotation speed in this way, it is possible to reliably invert the fruits and vegetables 3 within the imaging range of the second imaging unit 23 regardless of the size variations of the fruits and vegetables 3. it can.

  The fruit and vegetable appearance inspection apparatus and the appearance inspection method of the present invention have been described above, but the present invention is carried out in various modifications, modifications, and modifications based on the knowledge of those skilled in the art without departing from the spirit of the present invention. All of these embodiments are within the scope of the present invention.

  For example, the side imaging camera 31 is provided in the first imaging unit 21, but the present invention is not limited thereto, and the side imaging camera may be provided in the second imaging unit 23. Further, a side imaging camera may be installed on both the first imaging unit 21 and the second imaging unit 23.

  Moreover, in the said embodiment, although the fruits and vegetables 3 are reversed about the horizontal axis orthogonal to a conveyance direction, it is not restricted to this. For example, the fruits and vegetables 3 may be reversed around a vertical axis orthogonal to the transport direction. In this case, in the first imaging unit 21 and the second imaging unit 23, a side imaging camera is provided on one side of the transport path. Thereby, based on the image data output from the side imaging camera of the first imaging unit 21, the inversion time of the fruits and vegetables 3 is predicted, and when the inversion time has elapsed, the side imaging cameras of the second imaging unit 23 use the side imaging cameras 3 Can be obtained, and the image data of the fruits and vegetables 3 before and after inversion can be acquired.

  Further, the analysis unit 37 detects the ingress of the fruits and vegetables 3 by the output signal of the infrared sensor in the first imaging unit 21, but the method for detecting the fruits and vegetables 3 is not limited to this. For example, the upper imaging camera 27 may capture the imaging range at predetermined time intervals, and the analysis unit 37 may analyze the imaging data and monitor the presence or absence of the fruits and vegetables 3 each time imaging is performed.

  Further, although the inversion time of the fruits and vegetables 3 is predicted by referring to the table according to the size of the fruits and vegetables 3, the present invention is not limited to this. For example, the outer diameter of the fruits and vegetables 3 may be calculated from the image data of the first imaging unit 21, and the inversion time may be calculated from the outer diameter, the outer diameter of the pair of wheels 15, and the rotation speed thereof.

  Further, the conveyance reversing means is not limited to the above embodiment. For example, although the rotating means 20 rotates the pair of wheels 15 from the first imaging unit 21 to the second imaging unit 23, the pair of wheels 15 may be rotated over the entire inspection unit 7. The rail 16a is lowered at the first imaging unit 21, but is not limited thereto, and may not be lowered. Further, instead of the pair of wheels 15 and the carrier 17, a circular roller that is driven to rotate and rotationally driven may be used.

1 ... Appearance inspection device
2 ... Sorting device
3 ... Fruits and vegetables
7 ... Inspection department
9 ... Discharge means
11 ... Discharge section
13 ... collection department
15 ... wheel
16a / 16b ... Rail
17 ... career
19 ... Control means for transport reversing means
20 ... Rotating means
21 ... First imaging unit
23 ... Second imaging unit
25 ... Image processor
27 ・ 35 ... Upper imaging camera
29 ・ 45 ... I / O interface
31 ... Side imaging camera
33 ・ 41 ... dark room
37 ... Analysis method
39 ... Control means of image processor
43 ... Memorization means

Claims (3)

A Appearance inspection device you inspecting the appearance of the fruits or vegetables being conveyed Ru is reversed,
A first imaging unit that images the fruits and vegetables before inversion from one direction and generates image data of the fruits and vegetables;
Analyzing means that is communicable with the first imaging unit and predicts the inversion time of the fruits and vegetables from the image data of the fruits and vegetables,
A second imaging unit disposed downstream of the first imaging unit, communicable with the analyzing unit, and imaging the fruits and vegetables from one direction when the predicted inversion time has elapsed to generate image data of the fruits and vegetables And
Appearance inspection device equipped with. The first imaging unit or the second imaging unit is
An upper imaging camera installed above the transport route of the fruits and vegetables ;
A side imaging camera provided in a plurality of directions around a vertical line passing through the upper imaging camera;
Appearance inspection apparatus according to claim 1 comprising a. An appearance inspection method for inspecting the appearance of fruits and vegetables that are reversed while being conveyed,
And generating image data of該青fruit the fruit or vegetable by capturing from one direction before reversing,
Predicting the inversion time of the fruits and vegetables from the generated image data of fruits and vegetables;
Imaging the fruits and vegetables from one direction when the predicted inversion time has elapsed, and generating image data of the fruits and vegetables;
Appearance inspection method with.

Images