JPH09229634A - Selecting method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize the quality and enhance the processing rate. SOLUTION: A long stretching object 53 is photographed and turned into image data by an image processing means, and the inclining angle 8 of the long stretching object 53 to the reference line is determined from the image data given by the image processing means, followed by determination of the distance between a contact point (a) at one end of the object 53 contacting with an aux. line 91 and another contact point (b) at the other end. From the distance data obtained, the size (length T, diameter, curvature) of the object 53 is judged, and the object selection is conducted on the basis of the result from judgment. Further an ejection device is provided to enable selection in the condition that objects are aligned by exhausting the objects 53 in accordance with their facing directions which are sensed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sorting apparatus and a sorting method capable of automatically determining the size and orientation of a long agricultural product or the like conveyed by a conveyor.

[0002]

2. Description of the Related Art Today, when packing agricultural products in a pack or a box for shipping, the packing is performed in consideration of the length, thickness, bending degree and the like. This is because it is necessary to judge the grade of the product, and it is possible to pack the determined quantity easily and surely. Therefore, for example, when looking at the case of shipping harvested kidney beans, as a conventional sorting method, the harvested kidney beans are scattered and placed on a conveyor, and the worker is put in the flow on the conveyor. Was visually checked for size, such as length, thickness, bending, etc., as well as orientation, and sorting and sorting were performed.

[0003]

However, the conventional selection methods have the following problems (a) to (c). (A) Since the worker visually selects, the judgment criteria vary depending on the worker, and it is not possible to judge accurately by length and thickness. Therefore, the quality is not stable. (B) When there is a change in the size standard, it is difficult to deal with the change in the standard, and the accuracy deteriorates.
As with, the quality is not stable. (C) The processing speed is not stable due to the skill level of the operator and the speed is limited.

The present invention has been made in view of the above problems, and an object thereof is to provide a sorting apparatus and a sorting method capable of stabilizing the quality and improving the processing speed. Further, other objects will be clarified sequentially in the contents described below.

[0005]

The selection device and the selection method of the present invention take the technical means of claims 1 to 21 set forth in the claims to achieve the above object. To summarize these technical means, an image processing means (CCD sensor or the like) for performing image processing on a long product and a computing means for processing the image data obtained by the image processing means are provided, and the long image is obtained from the image data. The size of the article (length,
It is a structure provided with means for determining the thickness), the amount of bending, the direction, etc., and discharging and sorting the long-sized article to a predetermined position corresponding to it based on the determination result. In addition, it is a structure provided with a means capable of sorting the long articles by ejecting the long articles according to the detected orientations so that the orientations are aligned.

According to this structure, the image processing means (CCD
The shape of the long article is image-recognized by a sensor or the like) to measure the size of the long article in a non-contact manner, and the length, the thickness, the bending amount, etc. of the long article are determined. further,
From this judgment, it is possible to judge the grade of the long article within a predetermined standard and to judge out of the standard, and easily perform the selection based on these. Further, since it is possible to determine the orientation of the long article by measuring both ends of the long article and perform the selection based on the orientation, it is possible to perform stable processing in a short time. Furthermore, since the discharge positions can be aligned in addition to the orientation of the long articles, stable sorting and discharge processing can be performed.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 13 and 14 are overall schematic configuration layout diagrams of an automatic sorting apparatus shown as an example of the present invention, FIG. 13 is a top view thereof, and FIG. 14 is a side view thereof.
It should be noted that the automatic sorting device here is, for example, a case where kidney beans as a long product are sorted according to their size, bending degree, orientation, and the like.

In FIG. 13 and FIG. 14, the automatic sorting apparatus has a control panel 1a and a control plate 1b, and controls the operation of the entire sorting apparatus. Section 2, first separation supply section 3, distribution section 4, second separation supply section 5, vibrating section 6, measuring section 7, sorting section 8, measuring section 7 and sorting section 8 It is composed of an auxiliary control unit 9 and the like interposed between the central control unit 1 and the like.

Further, as shown in detail in FIG. 12, the central control unit 1 is provided with a host computer 101 for calculating the size of the kidney beans 53, and this host computer 101 has a CCD camera as shown in FIG. 49 and a CPU (central processing unit) 102 for the ejector, an image processor 103 for image-processing the data from the CCD camera 49, and conveyor belts 14a to 14e.
A rotary encoder 57 and the like are connected to a CPU 104 that controls the hopper conveyor 58 and the like according to a predetermined procedure. It should be noted that the CCD camera 49 and the image processor 103 form image processing means for photographing the kidney beans 53 to obtain image data. Then, the host computer 101 calculates the size of the kidney beans 53 based on the image data image-processed by the image processor 103 taken by the CCD camera 49, and the initial shooting of the CCD camera 49 from the calculated numerical values of all sizes. The area of the predetermined range and the area of the predetermined range at the end of the photographing are calculated and compared to determine the head (neck) and the tail side of the kidney beans 53.

More specifically, as shown in FIGS. 9, 11, and 12, the measuring unit 7 uses a lamp 50 for irradiating the beans 53 passing through the measuring unit 7 with light.
And one CCD camera 49 as a CCD line sensor, through which the kidney beans 53 on each conveyor belt 14a-14b are photographed. In the measuring unit 7, the kidney beans 53 passing through the measuring unit 7 are provided on the guide wall 55 on the inner surface of each guide wall (partition plate) 55 that partitions the conveyor belts 14a to 14e. In order to prevent the image from being erroneously recognized in the image, for example, black coating or luster (the portion indicated by reference numeral 54 in FIG. 9) is applied to prevent its reflection.

Here, an example of a method for selecting the kidney beans 53 in this embodiment will be described with reference to FIGS. 1 to 8. First, FIG. 8 shows a single kidney bean 53. In this selection, the code T in FIG. 8 is the length of the kidney beans 53, the code D is the thickness of the kidney beans 53, and the code H is the curve. The length T, the thickness D, and the curve H are as follows. It is obtained by the processing methods described in (1) to (3). Process (1): In the case of determining the length T, this will be described with reference to FIG. 1. First, the rough inclination angle θ of the kidney beans 53 is first obtained, and then the kidney beans 53 contacting the auxiliary line 91. A on one end side and contact b on the other side
The distance between and is obtained, and this is taken as the length T. Then, from the lengths T obtained here, S (smaller than the standard by a predetermined range), M (standard length), L (longer than the standard by a predetermined range), 2S (about S Six types are determined: one having a length of about 2 times), 2L (having a length of about twice the length of L), and nonstandard (having a length other than SL). Process (2): When determining the thickness D, this will be described with reference to FIG. 2. Scanning lines 92 substantially perpendicular to the auxiliary line 91 used to obtain the length T at substantially equal intervals. It is drawn for a few minutes, the amount of overlap between the line 92 and the kidney beans 53 is read, and the read amount is defined as the thickness D. Then, the nonstandard value is determined from the amount obtained here. Process (3): When determining the bend H, this is performed as shown in FIG.
Using the line 92 drawn to determine the thickness D, the farthest distance from the auxiliary line 91 to the outer diameter (or inner diameter) c of the kidney beans 53, that is, the maximum distance. And turn to H.

Further, the determination of the head (null mouth) and tail side of the kidney beans 53 is carried out in the processes described in (4) to (8) below.
The most applicable treatment method is adopted. It should be noted that there is no problem even if two or more are applied to make a more accurate determination. Process (4): Explaining with reference to FIG. 4, kidney beans 53
The area from one end 53a to the distance X1 is compared with the area from the other end 53b to the distance X2 (X1 = X2 in this example), and the larger area (one end 53a in this example) is determined to be the head. Process (5): Explaining with reference to FIG. 5, kidney beans 53
Of the area from the one end 53a to the distance X1 and the amount of area change from the other end 53b to the distance X2 (X1 = X2 in this example) are compared. Then, one end 53a) is determined to be the head. Process (6): Explaining with reference to FIG. 6, kidney beans 53
Of the coordinates from the one end 53a to the distance X1 and the other from the other end 53b to the distance X2 (X1 = X2 in this example) are compared. Then, one end 53a) is determined to be the head. Process (7): Explaining with reference to FIG. 7, kidney beans 53
From the one end 53a to the distance X1 and the other end 53b to the distance X2 (X1 = X2 in this example), the smaller thin portion (one end 53a in this example) is determined to be the head.

Next, a detailed structure will be described together with an explanation of the overall schematic operation. The selection of kidney beans 53 in the present embodiment is divided into 6 types of S, M, L, 2S, 2L and nonstandard, and the sorted ones are packed in respective boxes. First, the kidney beans 53 to be sorted are thrown into the throwing unit 2 by a worker or the like and thrown in. A belt conveyor 10 is arranged in the feeding section 2, and the fed beans 53 are fed to the belt conveyor 1.
0 to the first separating and feeding section 3. At this time, kidney beans 5 sent on the belt conveyor 10
The operator visually checks 3 and roughly selects and excludes those that have an extremely large bend and are not on the normal sales route, those that are damaged, and the like.

Further, the kidney beans 53 conveyed to the first separating and supplying section 3 by the belt conveyor 10 are released from the overlapping in the first separating and supplying section 3, and subsequently supplied to the distributing section 4 and further The five conveyor belts 51a, 51b, 51c, 51d, and 51e provided in the second separating and supplying unit 5 arranged below the distributing unit 4 are distributed on average. Conveyor belts 51a-5
The kidney beans 53 discharged to 1e are separated and supplied by the separating and supplying devices 52a, 52b, 5 arranged on the downstream side of the respective conveyor belts 51a to 51e in order to facilitate the recognition in the measuring section 7.
2c, 52d, 52e separates the beans 53 from the beans 53 one by one with a certain gap or more, and the beans 53 are conveyed to the sorting section 8 on the conveyor belts 14a, 14b, 14c. , 14d, 14e, respectively.

The transfer conveyor belts 14a to 14e
Are passed through the vibrating unit 6 and the measuring unit 7, respectively, and the kidney beans 53 supplied on the conveyor belts 14a to 14e are sent to the sorting unit 8 through the measuring unit 7. In addition, immediately before being sent into the measuring unit 7, the kidney beans 53 are transferred by the vibrating unit 6 to the conveyor belts 14a to 14a.
It is moved in the left-right direction (the direction perpendicular to the transport direction) on the sheet e and is brought close to the substantially central portion of the transport conveyor belts 14a to 14e. This is each of the conveyor belts 14a-14
If the kidney beans 53 are conveyed while leaning on the guide wall 55 that separates the space between e, the measuring unit 7 may have difficulty in recognizing the beans and may reduce the recognition accuracy, but prevent this. There is a purpose. Further, the kidney beans 53 sent into the measuring unit 7 are processed by the measuring unit 7 in the above processes (1) to (7).
The length T, the thickness D, the bend H, and the orientation (head and mouth) are determined in accordance with the above, and then, in the sorting unit 8 that is sent, based on the data in the measuring unit 7,
The six take-out portions 8A, 8B, 8C, 8D, 8 from which the beans 53 are taken out while the directions are aligned
It is distributed to E and 8F. Here, the take-out section 8A
Is the size of "S", the size of "M" in the take-out section 8B, the size of "L" in the take-out section 8C, the take-out section 8
The size of D is “2L”, and the size of the take-out section 8E is “2S”.
Take out kidney beans 53 of the size
Is set to take out “non-standard” kidney beans 53, and the kidney beans 53 taken out as non-standard are discharged into the box 94.

The sorting unit 8 is shown in detail in FIG. Note that FIG. 11 shows only the take-out portions 8A and 8F, and the other take-out portions 8B to 8E.
Is omitted. Therefore, the main configuration of the sorting unit 8 will be described with reference to FIG. Each conveyor belt (14a-1)
4e) has a rotary encoder 57 attached to the end thereof, and convey conveyor belts (14a to 14a).
e) The kidney beans 53 placed on the top are associated with the code obtained from the rotary encoder 57 when the measuring unit 7 recognizes them, and thereby, on the conveyor belts (14a to 14e) of the kidney beans 53. The position in is managed.

Further, each take-out section 8 in the sorting section 8
A, 8B, 8C, 8D, and 8E are provided with selectors 56 each including a pair of ejectors 15a and 15b corresponding to each conveyor belt (14a to 14e). The pair of ejectors 15a and 15b are arranged along the direction in which the kidney beans 53 flow, as shown in FIG. The rotary actuator 16 is rotated, and by the ejectors 15a and 15b which are rotated integrally with the rotary actuator 16, the corresponding conveyor belts (14a to 14b).
14e) the kidney beans 53 on the take-out section 8 arranged on the lower side of the conveyor belt (14A to 14e).
It is designed to be dropped onto the hopper conveyors 58 of A, 8B and 8C. Therefore, the host computer 1
01, sends a signal to the CPU 104 that manages each transfer line (on the transfer conveyor belt),
The kidney beans 53 sent in 04 in the same direction are operated by the same ejector 15a or the ejector 15b to be ejected, so that the kidney beans 53 dropped on the hopper conveyor 58 in each row (row a in FIG. 11). And column b) can be aligned in the same direction (head or neck). In this embodiment, the heads are positioned to face each other and the hopper conveyor 58
It is designed to be supplied on top.

Further, the hopper conveyor 58 on which the kidney beans 53 discharged by the dischargers 15a and 15b are mounted is arranged in a state of being extended in the left-right direction, and is arranged in the direction of an arrow 59 in FIG. This direction is called the front side). Further, on the hopper conveyor 58, partition plate portions 60 are attached to each of the rows (rows a and b) at substantially equal intervals, and the kidney beans 53 are provided in the gap before and after the partition plate portion 60 is formed. Is falling. In addition, in the vicinity of the hopper conveyor 58, a sensor 61 is provided fixed to the main body side, the position of the partition plate portion 60 is detected by this sensor 61, and each partition plate portion 60 is detected by the data from the sensor 61. The number of kidney beans 53 stored inside is managed by the host computer 101. In addition, between the partition plates 60 and between the rows (rows a and b) of the hopper conveyor 58, the rows (rows a and b) are separated from each other so that the pair of guide members 1
7a and 17b (see FIG. 10) are provided upright. When the kidney beans 53 are discharged onto the hopper conveyor 58, the head of the kidney beans 53 is guided by the guide member 17a,
17b is dropped so as to face it, but in this case, in the case of the kidney beans 53 in row a, about 4 of the total length from the tip end
When the ejector 15a is operated at the position of 0%, the kidney beans 53 are dropped and ejected onto the hopper conveyor 58 with the head of the kidney 53 directed toward the guide member 17a and in the vicinity of the guide member 17a. be able to. On the other hand, in the case of the kidney beans 53 in the row b, when the ejector 15b is operated at a position of about 20% of the entire length from the tip, the kidney beans 53 direct their heads to the guide member 17b and guide them. It can be dropped onto the hopper conveyor 58 in a state in which it is placed very close to the member 17b. However,
Since this ratio changes depending on the size of the kidney beans 53, it is set in advance for each of the takeout portions 8A to 8E.

A hopper 62 is disposed below the tip side of each hopper conveyor 58. The hopper 62 has a hopper body 63 in the shape of a triangular container with an open upper surface, and receives the kidney beans 53 falling from the hopper conveyor 58 on the inclined inner surface 63a of the hopper body 63 to adjust the orientation of the kidney beans 53. It is stored in a box 65 placed on the box holding table 64 in the state of being kept.

The box holder 64 on which the box 65 is placed
Has a built-in vibration generator capable of rotating and moving in the up-down direction and the front-rear direction, and imparting vibration for improving the jam when the kidney beans 53 are packed in the box 65. By moving the box holding table 64 in the front-rear direction, the kidney beans 53 can be stored in the front-rear direction of the box 65 on average, and can also be stored in the left-right direction by rotation.

Further, below the hopper conveyor 58, there is provided an empty box transfer conveyor 66 to which a box 65 for packing the kidney beans 53 is transferred, and an empty box with a box holding base 64 sandwiched therebetween. On the opposite side of the transport conveyor 66, a discharge conveyor 67 is provided for transporting the box 65 in which the beans 53 have been packed.
In addition, the discharge conveyor 67 is provided with a space 68 for escaping the box holding base 64. Then, the box 6 on the box holding stand 64 in which the packing of the kidney beans 53 is completed
5 is discharged to the discharging conveyor 67, the box holding table 64 is reached to a position where the box 65 does not collide with the discharging conveyor 67.
Is moved up to the inside of the space 68 in this state, and when it is lowered, the box 6 on the box holding stand 64 is moved.
5 can be placed on the driven discharge conveyor 67 and discharged to the next step. Further, the box holding table 64 that has delivered the box 65 to the discharge conveyor 67 side returns to the initial position, and the next empty box 65 is placed on it to complete one cycle, which is repeated.

In the above embodiment, the CCD sensor uses the CCD camera 49 for image processing.
For example, a laser displacement sensor or the like may be used without using the camera 49. Further, the case of selecting the kidney beans 53 has been described, but it is not limited to the selection of the kidney beans 53, and it is needless to say that it can be applied as a means for selecting a general long product such as selection of various industrial products having a long shape. That is.

[0023]

As described above, according to the present invention,
The shape of a long article can be image-recognized to measure the size of the long article in a non-contact manner, and the length, thickness, and bend of the long article can be determined. Since it is possible to easily determine the grade of an article within a predetermined standard and to determine whether the grade is out of the standard, it is possible to expect a dramatic improvement in production efficiency. Also,
The orientation of long articles can be determined by measuring both ends of the long articles, and sorting can be performed based on the orientation, so stable processing can be performed in a short time, and production efficiency is dramatically improved. The effect of can be expected. Furthermore, since the discharge positions can be aligned in addition to the orientation of the long articles, stable processing can be further performed, and the production efficiency can be further increased.

[Brief description of drawings]

FIG. 1 is a diagram for explaining a sorting method of the present invention.

FIG. 2 is a diagram for explaining a sorting method of the present invention.

FIG. 3 is a diagram for explaining a sorting method of the present invention.

FIG. 4 is a diagram for explaining a sorting method of the present invention.

FIG. 5 is a diagram for explaining a sorting method of the present invention.

FIG. 6 is a diagram for explaining a sorting method of the present invention.

FIG. 7 is a diagram for explaining a sorting method of the present invention.

FIG. 8 is a side view of kidney beans shown as an example of a long product to be sorted according to the present invention.

FIG. 9 is a perspective view showing a main part configuration of a measuring unit in the device of the present invention.

FIG. 10 is a perspective view showing a main configuration of a sorting section in the device of the present invention.

FIG. 11 is a perspective view showing the main configuration of the device of the present invention.

FIG. 12 is a schematic circuit block diagram of the device of the present invention.

FIG. 13 is a top view showing the overall schematic configuration of the device of the present invention.

FIG. 14 is a side view showing the overall schematic configuration of the device of the present invention.

[Explanation of symbols]

 1 Central Control Unit 7 Measuring Unit 8 Sorting Unit 14a to 14e Conveyor Belts (Conveyor Conveyors) 15a, 15b Discharger (Discharge Means) 49 CCD Camera (Image Processing Means) 53 Kidney Beans (Long Goods) 91 Auxiliary Lines 92 Vertical Lines 101 host computer 103 image processor (image processing means) θ angle D thickness T length H bend

Claims (21)

[Claims] 1. An image processing means for photographing a long article to obtain image data, and an image data obtained by the image processing means, wherein the long article is roughly inclined with respect to a reference line. In addition to obtaining the angle θ, the distance between the contact point a at one end and the contact point b at the other end of the long article in contact with the auxiliary line is obtained, and the length of the long article is determined from this distance data. And a discharging unit that discharges the long article to a predetermined position based on the result determined by the calculating unit. 2. An image processing means for photographing a long article to obtain image data, and a contact point a at one end and a contact point b at the other end of the long article based on the image data obtained by the image processing means. Scan substantially perpendicular to the auxiliary line connecting between and, and at substantially equal intervals, the number of scans that overlap with the long article when scanned is read, and from the read amount, the length of the long article is read. A sorting apparatus comprising: a calculating unit that obtains a thickness; and a discharging unit that discharges the long article to a predetermined position based on a result determined by the calculating unit. 3. An image processing means for photographing a long article to obtain image data, and a contact point a at one end and a contact point b at the other end of the long article based on the image data obtained by the image processing means. Scan substantially perpendicular to the auxiliary line connecting between and, at a substantially equal interval, among the scan lines that overlap the long article when scanned, from the auxiliary line to the position of the long article And a discharging means for discharging the long article to a predetermined position on the basis of the result determined by the calculating means. A sorting device characterized by that. 4. An image processing means for photographing a long article to obtain image data, and an image data obtained by the image processing means, wherein the long article is roughly inclined with respect to a reference line. In addition to obtaining the angle θ, the distance between the contact point a at one end and the contact point b at the other end of the long article in contact with the auxiliary line is obtained, and the length of the long article is determined from this distance data. From the calculation means and the image data obtained by the image processing means, scanning is performed substantially perpendicularly to the auxiliary line at substantially equal intervals, and the number of scans that overlap with the long article when scanned is determined. Reading, calculating means for obtaining the thickness of the long article from the read amount, of the scan line that overlaps the long article, the farthest distance from the auxiliary line to the position of the long article Long item Bend amount and determining arithmetic means of the discharge means for discharging the long article in a predetermined position relative to the result determined by the calculating means, sorting apparatus comprising the city. 5. An image processing means for photographing a long article to obtain image data, and a distance X1 from one end of the long article from the image data.
And an area from the other end to the distance X2 to calculate the orientation of the long article from the difference between the two areas, and the long article based on the result determined by the operation means. And a discharging means for discharging to a predetermined position. 6. An image processing means for photographing a long product to obtain image data, and a distance X1 from one end of the long product from the image data.
To the distance X2 from the other end by comparing the area change amount of the part up to the area, and calculating the orientation of the long article from the difference in the area change amount; A discharging device that discharges the long product to a predetermined position on the basis of the determined result, and a sorting device. 7. An image processing means for photographing a long article to obtain image data, and a distance X1 from one end of the long article from the image data.
A calculation means for comparing the amount of change in the coordinates of the part up to and the amount of change in the coordinates of the part for reaching the distance X2 from the other end, and calculating the orientation of the long article from the difference in the amount of change in the coordinates; And a discharging unit configured to discharge the long article to a predetermined position based on the result determined by the calculating unit. 8. An image processing means for photographing a long article to obtain image data, and a distance X1 from one end of the long article from the image data.
To the distance X2 from the other end,
And a discharging means for discharging the long article to a predetermined position on the basis of the result determined by the calculating means. Sorter. 9. A long article conveyed by a conveyer is photographed to obtain image data, and from the image data,
Sorting means having a calculating means for determining the orientation of the long article, and arranged to be arranged along the transport direction of the conveyor, for discharging the long article on the conveyor outside the conveyor. Of the pair of ejectors, and the arithmetic control unit for controlling the ejector, based on the data determined by the arithmetic unit, the long article in the same direction among the pair of ejectors A sorting device, characterized in that the ejected long articles are ejected by a corresponding ejector and the ejected long articles are aligned in the same direction. 10. As means for determining the orientation of the long article, from the image data, an area change amount of a portion from one end of the long article to a distance X1 and a distance from the other end to a distance X2. 10. The sorting apparatus according to claim 9, further comprising a computing unit that compares the area change amount of every part and obtains the orientation of the long article from the difference in the area change amount. 11. As a means for determining the orientation of the long article, from the image data, the amount of change in coordinates of a portion from one end of the long article to the distance X1 and from the other end to the distance X2. Compare the amount of change in the coordinates of
The sorting apparatus according to claim 9, further comprising a calculation unit that obtains the orientation of the long article from the difference in the amount of change in coordinates. 12. As a means for determining the orientation of the long article, a portion from the one end of the long article to the distance X1 and a portion from the other end to the distance X2 are compared from the image data. The sorting device according to claim 9, further comprising a calculation unit that determines a direction with a smaller thin portion as a specific direction. 13. An approximate angle θ at which the long article is image-processed to incline the long article with respect to a reference line.
And the distance between the contact point a and the contact point b at both ends of the long article with respect to the auxiliary line, the length of the long article is determined from this distance data, and the length is determined based on this determination result. A sorting method characterized in that a scaled article is sorted. 14. A long article is image-processed to obtain image data, which is scanned perpendicularly to an auxiliary line connecting both ends of the long article, and a scan which overlaps with the long article when scanned. A sorting method, wherein a number is read, a thickness of the long object is determined from the read amount, and the long article is selected based on a result of the determination. 15. A long product is image-processed to obtain image data, which is scanned perpendicularly to an auxiliary line connecting both ends of the long product, and a scan line which overlaps with the long product when scanned. Among them, the longest distance is determined from the auxiliary line to the position of the long object to determine the bending amount of the long object, and the long object is selected based on the result of this determination. Characterizing sorting method. 16. A long object is photographed to obtain image data,
From the image data, an approximate angle θ at which the long article is inclined with respect to a reference line is obtained, and a contact point a on one end side of the long article in contact with an auxiliary line is obtained.
And a contact point b on the other end side, and determining the length of the long article from the distance data; and from the image data, perpendicular to an auxiliary line connecting both ends of the long article. And scanning the number of scans that overlap with the long article when this is scanned, determining the thickness of the long article from the read amount, and among the scan lines that overlap the long article. , A step of determining the longest distance from the auxiliary line to the position of the long object to determine the bending amount of the long object, and the long object on the basis of the result determined by each of the computing means. And a step of discharging to a predetermined position. 17. A long product is image-processed to obtain image data, and from this image data, the area from one end to the distance X1 of the long product and the area from the other end to the distance X2 are compared. The sorting method is characterized in that the orientation of the long article is determined from the difference between the two areas by using a computing means, and the long article is discharged to a predetermined position based on the result of the determination. . 18. A long object is photographed to obtain image data,
From this image data, the area change amount of the portion from one end to the distance X1 of the long article is compared with the area change amount of the portion from the other end to the distance X2, and the long length is determined from the difference in the area change amount. A sorting method characterized in that the orientation of an article is determined by using a computing means, and the long article is discharged to a predetermined position based on the result of the determination. 19. A long object is photographed to obtain image data,
From this image data, the amount of change in the coordinates of the portion from one end of the long article to the distance X1 and the amount of change in the coordinates of the portion from the other end to the distance X2 are compared, and the difference in the amount of change in the coordinates is compared. From the above, the direction of the long article is determined by using a calculation means, and the long article is discharged to a predetermined position based on the result of the determination. 20. Image data is obtained by photographing a long article,
From this image data, a portion from one end to the distance X1 of the long article is compared with a portion from the other end to the distance X2, and the arithmetic means is used if the smaller thin portion has a specific orientation. The method for sorting is characterized in that the long product is discharged to a predetermined position on the basis of the result of the determination. 21. Image data is obtained by photographing a long article,
From the image data, an approximate angle θ at which the long article is inclined with respect to a reference line is obtained, and a contact point a on one end side of the long article in contact with an auxiliary line is obtained.
And a contact point b on the other end side, and determining the length of the long article from the distance data; scanning substantially perpendicular to the auxiliary line, and scanning at substantially equal intervals; A step of reading the number of scans that overlap the long article when scanned, and determining the thickness of the long article from the read amount; and the auxiliary line among the scan lines that overlap the long article. From the step of determining the furthest distance in the distance from the long article to the position of the long article, and determining the bending amount of the long article, the long article at a predetermined position on the basis of the results determined by the computing means. A sorting method comprising: a discharging step; and a step of determining the orientation of the long-sized article from the image data by using a computing means.