JPH0957214A - Method for deciding quality of shiitake mushroom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically decide the quality of shiitake mushrooms (Lentinus edodes) while minimizing the errors by the stipes of the shiitake mushrooms by photographing the rear surfaces of the stipes of the shiitake mushrooms, respectively measuring the total area and brown area of the shiitake mushroom images within a prescribed window and deciding the quality of the shiitake mushrooms from the area ratio of both. SOLUTION: A camera 32 photographs the shiitake mushroom 1 from diagonal below when a transporting finger 12 holding the shiitake mushroom 1 comes to a first inspection position P2 and stops. In which direction the stipe of the shiitake mushroom 1 extends is decided from the image thereof. Next, the image of the rear surface of the shiitake mushroom is photographed by a camera 28 when the shiitake mushroom 1 moves to a second inspection position P3. Next, the background color is extracted from this screen and this part is removed, by which the area of the image indicating the entire part of the shiitake mushroom 1 is measured and the grade is decided. The straight lines extending radially in two directions from the center of the image of the shiitake mushroom 1 in a color image are determined as sides and the quality of the shiitake mushroom 1 is decided from the ratio of the front seat of the shiitake mushroom image within the window of the region held by these two straight lines to the brown area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining the quality of shiitake mushrooms, which is capable of automatically determining the quality of shiitake mushrooms.

[0002]

2. Description of the Related Art As shown in FIG. 14, a shiitake mushroom 1 has an umbrella 1a.
And has a handle 1b extending from the center of the back surface, and the umbrella 1a has a brown surface, and the brown portion extends to the back side, so that a ring-shaped portion (hereinafter referred to as a ring-shaped umbrella portion) is formed on the outer periphery. ) 1c is formed, and a white portion (hereinafter, referred to as an umbrella back surface portion) 1d having a large number of folds is present inside thereof. Generally, the quality of the shiitake mushroom 1 is the diameter D of the umbrella 1a,
It is evaluated based on the ratio of the area s of the ring-shaped umbrella portion 1c to the total area (projected area) S of a and the like, and it is considered that those values are preferably large. In addition, there are some shiitake mushrooms that are covered with a white mesh, and the ones that are covered with a white mesh are evaluated to have particularly good quality.

Conventionally, shiitake mushrooms have been manually selected.
That is, the operator visually judges the quality with the shiitake mushroom in his hand and sorts the quality according to each quality (grade). However, such visual judgment requires labor for selection, or there are individual differences in the selection criteria,
There were problems that stable selection could not be expected, and that selection could take a long time and a large amount could not be processed.

Therefore, Japanese Patent Publication No. 63-5157 and Japanese Examined Patent Publication No. 5-82273 propose automatic shiitake selection methods for automatically determining the quality of shiitake mushrooms. In the automatic selection methods disclosed in these publications, the back side of the shiitake mushroom is imaged and binarized by an imaging device, and the wound portion on the back side of the shiitake mushroom (FIG. 14).
(Corresponding to the ring-shaped umbrella portion 1c) and the fold portion (Fig.
(Corresponding to the umbrella back surface portion 1d in FIG. 2), and the winding is performed from the ratio of the total number of pixels belonging to the boundary between the rolled-in portion and the fold portion and the total number of pixels belonging to the outer peripheral edge of the rolled-up portion. The winding area ratio is obtained, and the winding area ratio is obtained from the ratio of the total of all the pixels belonging to the winding portion and the total of all the pixels belonging to both the winding portion and the fold portion. The quality of the shiitake mushroom is determined by comparing and determining the encircling length ratio and the entrainment area ratio and the classification standard setting value of the thickness of the shiitake mushroom. In addition,
Since there is a pattern on the back side of the shiitake mushroom, the pattern often projects to the outside of the contour in the two-dimensional image. In that case, the two points where the contour of the two-dimensional image changes rapidly are detected. The measured values are corrected in advance by tying and smoothing.

[0005]

However, in the automatic selection method disclosed in the above publication, the influence of the handle on the back side of the shiitake is corrected to obtain the winding circumference ratio and the winding area ratio. However, in reality, this correction is not easy and there is a possibility that a large error will occur due to the pattern. In particular, when trying to determine the quality of raw shiitake mushrooms, the handle has a color close to that of the shiitake mushrooms, making it difficult to distinguish the shiitake mushrooms from the involved areas.
It turned out that there was a problem that the pattern causes a large error.

Further, as described above, the high quality raw shiitake mushrooms are covered with white net-like ones, but the white net-like ones are extremely thin and difficult to detect. Since there is a white fold portion (back surface of the umbrella), it cannot be distinguished from this fold portion, and in the end there is a problem that the method proposed in the above publication cannot detect it and correct quality judgment cannot be performed. It should be noted that the above publication mainly describes dry shiitake mushrooms, and since white reticulated mushrooms do not adhere to dry shiitake mushrooms, it is considered that no white reticulated mushrooms are recognized.

The present invention has been made in view of the above circumstances, and provides a method for determining the quality of shiitake mushrooms which can automatically determine the quality of shiitake mushrooms while minimizing the error due to the pattern of shiitake mushrooms. With the goal. Further, the present invention is also intended to provide a method for determining the quality of shiitake capable of automatically determining the quality of a shiitake in consideration of the white reticulate matter attached to a living shiitake. To do.

[0008]

In order to achieve the above object, the invention of claim 1 of the present application provides a color image obtained by photographing the back surface of the shiitake mushroom umbrella with a color camera from a direction substantially perpendicular to the back surface. Is taken into an image processing device, the center of the shiitake mushroom image in the color image is obtained by the image processing device, and straight lines radially extending in two directions from the center are defined as sides, and the shiitake mushroom image of the region sandwiched by the two straight lines is obtained. One window having a size including the outer circumference is set as a quality judgment window, and the total area (b) and the brown area (a) of the shiitake mushroom image in the window are measured, respectively, and the area ratio (a / b) of both is measured. ) Is used to determine the quality of the shiitake mushroom.

The quality judgment window set here is, for example, as shown in FIG.
B, an image 1C of the ring-shaped umbrella portion and an image 1D of the back surface of the umbrella are obtained, and when the shiitake mushroom image 1A is obtained, straight lines 80a, 8 extending radially from the center O of the shiitake mushroom image 1A and in directions opposite to each other.
0b as one side, and a rectangular window 80 having a size including the outer circumference of the shiitake mushroom image 1A between the two straight lines 80a and 80b, as shown in FIG. 13 (b), from the center O of the shiitake mushroom image 1A. The straight lines 81a and 81b extending radially and at right angles to each other are one side, and the two straight lines 81a and 8b
1b, a square window 81 capable of including the outer circumference of the shiitake mushroom image 1A sandwiched between the areas 1b, as shown in FIG. 13 (c), is radially and at an appropriate angle from the center O of the shiitake mushroom image 1A. An example is a partially circular window 82 having a size including the extending straight lines 82a and 82b as sides and including the outer circumference of the shiitake mushroom image 1A in the region sandwiched by the two straight lines 82a and 82b.

Such quality judgment windows 80 to 8
2, the shiitake mushroom image 1A is taken out in an appropriate angular range in the circumferential direction with respect to the center thereof, so the ratio of the total area of the shiitake mushroom image 1A to the area of the ring-shaped umbrella portion image 1C within the window. Is approximately equal to the ratio in the entire shiitake mushroom image 1A, and therefore, the entire area of the shiitake mushroom image 1A and the image 1 of the ring-shaped umbrella portion in the window.
It is possible to correctly judge the quality of the shiitake mushroom from the ratio with the area of C. Moreover, the quality judgment window 80
Since -82 are set in a partial area around the center O, it is possible to set the positions to avoid the shiitake pattern image 1B as much as possible. Then, when a quality judgment window is set at such a position and the brown area (a) of the shiitake mushroom image in that window is measured, not only the image 1C of the ring-shaped umbrella portion is included in the brown area (a), The pattern image 1B is also included because it cannot be identified, but the area of the image 1B is extremely small. Therefore, by determining the area ratio (a / b) between the total area (b) and the brown area (a) of the shiitake mushroom image in the quality judgment window, and judging the quality of the shiitake mushroom from the ratio, the influence of the pattern (error ) Can be made extremely small, and the quality of shiitake can be determined well.

Here, if the angle formed by the two straight lines radially extending from the center O (hereinafter referred to as the central angle) to form the quality judgment window is too large, the error becomes large because the pattern image 1B is included in large numbers. On the contrary, if it is too small, the ratio of the total area of the shiitake mushroom image 1A and the area of the ring-shaped umbrella portion image 1C in the window is far from the ratio of the entire shiitake mushroom image 1A and the error becomes large. Considering these points, the central angle is preferably 90 to 180 °, and in particular, considering the fact that the window can be easily set, as shown in FIG. 13A, the central angle is 180 °.
The rectangular window 80 is suitable.

When adopting a rectangular quality judgment window having a central angle of 180 °, various methods are possible as a method of setting the quality judgment window at a position avoiding the pattern image 1B. . One method is the method according to claim 3, that is, after obtaining the center of the shiitake mushroom image in the color image, windows are formed on both sides of a first reference straight line passing through the center, and the center is further provided. And a window is formed on both sides of the second reference straight line which is orthogonal to the first reference straight line, the brown extraction is performed for each window, and the window having the smallest brown area is set as the quality determination window. Is. Since the image 1B of the pattern is brown in many cases and is indistinguishable from the image 1C of the ring-shaped umbrella portion, the brown area is large in the window where the pattern exists, and therefore the brown area By setting the smallest window as the quality judgment window, the influence of the pattern can be minimized. Note that this method is applicable not only to rectangular windows but also to windows of other shapes. That is, a plurality of windows having the same size are formed around the center O of the shiitake mushroom image 1A so as to be in contact with each other or partially overlap with each other, and brown extraction is performed for each window to obtain the window having the smallest brown area. Should be set as the quality judgment window.

Another method for setting the quality judgment window is the method as set forth in claim 4, that is, after the center of the shiitake mushroom image in the color image is obtained, both sides of the first reference straight line passing through the center are determined. Each of the windows is formed, and prior to this operation, the shiitake mushroom is photographed with a camera laterally or obliquely laterally and in a direction parallel to the first reference straight line in the color image, and the shiitake pattern is obtained from the obtained image. It is a method of determining in advance which direction the is extending with respect to the first reference straight line, and setting the window on the side opposite to the direction in which the shiitake handle extends as the quality determining window. In this method, the direction of the pattern is measured in advance, and the window on the side without the pattern is set as the quality judgment window. Therefore, it is possible to set the window without avoiding the pattern position, and the judgment accuracy is improved. As described above, in the case where a plurality of windows are formed, brown is poured out for each window, and the window with the smallest brown area is set as the quality judgment window, it is preferable if the pattern appears in brown. Although the result is obtained, the pattern may appear white or black depending on the shiitake mushroom, which is an extremely small number, and in that case, an error occurs. Such an error can be eliminated by adopting the method described in claim 4.

Yet another method is the method according to claim 5, that is, after determining the center of the shiitake mushroom image in the color image, windows are formed on both sides of a first reference straight line passing through the center, Further, windows are formed on both sides of a second reference straight line that passes through the center and is orthogonal to the first reference straight line. Taken with a camera from a direction parallel to the one reference line, it is determined from the obtained image in which direction the shiitake handle extends with respect to the first reference line, or in the center. When the handle extends in either direction with respect to the first reference straight line, the window on the opposite side to that direction is set as the quality judgment window, and when it extends to the center, the first and second handles are set. Performed brown extraction for each window, each of the reference straight line is formed on both sides, a method of setting the smallest window brown area as the quality determination window. In this method, when the pattern is in the center, no matter which side of the first reference straight line is selected, about half of the pattern is included in the window, which may increase the error. Is extracted and the window with the smallest value is adopted, the quality judgment window can be set more reliably at a position avoiding the pattern, and the quality judgment accuracy is further improved.

As the quality judgment window set in the present invention, as shown in FIG. 13 (d), straight lines 83a extending radially and at an appropriate angle from each other through the center O of the shiitake mushroom image 1A, 83b as the side, 2
The size including the outer circumference of the shiitake mushroom image 1A sandwiched between the straight lines 83a and 83b, and the inner and outer circumferences of the arcs 83c and 8
The window 83 may have a shape of 3d.
In this case, the center portion of the shiitake mushroom image 1A is made out of the window by the arc 83c, so that the image 1B of the pattern at the center is formed.
It is possible to avoid the influence due to, and it becomes possible to perform better quality judgment. However, in this case, as the total area (b) of the shiitake mushroom image, a value corrected by adding the total area of the shiitake mushroom image in the window 83 to the area of the fan-shaped portion located closer to the center than the arc 83c is adopted. Is preferred.

The present invention also provides a method for performing quality judgment in consideration of the white reticulate matter attached to the live shiitake mushroom. That is, according to the present invention of claim 6, the back surface of the shiitake umbrella is
In a state of illuminating 1200 to 2400 lux, a color camera is photographed from a direction substantially perpendicular to the back surface thereof, the obtained color image is taken into an image processing device, and the entire area (b) of the shiitake mushroom image is obtained by the image processing device. , Brown area (a),
A method for determining the quality of shiitake mushrooms, characterized in that the white area (a ') is measured and the quality of the shiitake mushroom is determined from the ratio [(a + a') / b] of the sum of the brown area and the white area to the total area. is there.

In this way, the lower surface of the shiitake mushroom is placed at 1200-240.
When illuminated at 0 lux, the amount of illumination light is small, so the light that illuminates the back surface 1d (see FIG. 13) of the shiitake mushroom is absorbed by the folds of that area, and if the color setting is done properly, the back surface 1d Is normally white, but is black in the image taken by the camera. For this reason, when an image is taken of a shiitake mushroom covered with a white mesh, only the white mesh is white in the image.Therefore, by detecting the area of the white part in the image, The size of the white mesh on the surface of the shiitake can be detected, the sum of the area of this white mesh and the brown color of the umbrella is calculated, and it is added to the quality evaluation standard to determine the presence or absence of the white mesh. It is possible to judge the quality in consideration of.

In carrying out this method as well, the method of claim 2
As shown in FIG. 5, it is preferable to set a quality judgment window, which enables accurate quality judgment while minimizing the influence of the pattern.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the method of the present invention will be described below. FIG. 1 is a schematic plan view of a shiitake sorting and packaging line equipped with a quality determination device capable of determining the quality of shiitake mushrooms by the method of the present invention, FIG. 2 is a schematic plan view of the quality determination device, and FIG. 3 is its quality. It is a schematic side view of a determination device. 1 to 3, 10 is a quality determination device for determining the quality of shiitake mushrooms, 12 is a carrying finger for holding and carrying the shiitake mushrooms 1 (details will be described later), and 13 is a large number of carrying fingers 12 that are fixed. Endless chains 14 and 14 held at a pitch are a pair of chain wheels on which the chain 13 is hung. A drive motor (not shown) for intermittently rotating and driving the chain wheel 14 is connected to the one chain wheel 14, and the transport finger 12 is intermittently moved by one pitch by intermittent rotation of the drive motor. Has become. During the movement of the transport fingers 12, a supply position P1 including the stop positions of the plurality of transport fingers 12, a first inspection position P2, a second inspection position P3, and a sorting discharge position including the stop positions of the plurality of transport fingers 12. P4 and the like are provided.

As shown in FIG. 4, the transport finger 12 includes a support plate 12a for attaching to the chain 13,
Two support pins 12b, 12b provided so as to extend horizontally from the upper end of the support plate 12a, and an auxiliary pin 12e.
have. The two support pins 12b, 12b are provided substantially horizontally and at a distance larger than the handle 1b of the shiitake mushroom 1 so as to be able to support the lower surface of the umbrella 1a of the shiitake mushroom 1. Therefore, the shiitake mushroom is provided. 1 handle 1b with 2 support pins 1
The lower surface of the umbrella 1a can be held stably and in a constant posture by passing it between 2b and 12b. The one support pin 12b is curved so that the distance between the one support pin 12b and the other support pin 12b is wide, but the space between the other support pin 12b is narrow at the portion where the handle 1b of the shiitake mushroom 1 is located. With the configuration, the operation of inserting the handle 1b of the shiitake mushroom 1 from the distal end side between the two support pins 12b, 12b is facilitated and the two support pins 12b, 12 are provided.
The rattling of the handle 1b inserted between b becomes small, and when the transfer finger 12 moves intermittently to transfer the shiitake mushroom 1, the shiitake mushroom 1 is moved from the transfer finger 12 due to an impact at the time of starting and stopping. It can be prevented from falling off. Further, the auxiliary pin 12e is provided in order to more reliably prevent the shiitake mushroom 1 from falling off the transport finger 12 due to an impact when the movement starts and when the movement is stopped. Generally, when the transfer finger 12 is intermittently moved using a servomotor, the impact is greater when the conveyance finger 12 is stopped than when the movement is started.
Therefore, the shiitake mushroom 1 held by the transport finger 12 has a strong tendency to jump over the front support pin 12b and jump forward when stopped. Therefore, the auxiliary pin 12e is placed in front of the support pin 1 in the moving direction of the transport finger 12.
It is provided further forward of 2b and supports the shiitake mushroom 1 so as not to pop out.

As will be described later, support pins 12b, 12b
Also, the lower surface of the umbrella 1a of the shiitake mushroom 1 held by the auxiliary pin 12e is photographed from below by a camera, and the image is processed for quality determination. At that time, the support pin 12b and the auxiliary pin 1 are used.
It is desirable that the thickness is as small as possible so that 2e does not have an adverse effect. Usually, the thickness is selected to be about 1 to 5 mm, preferably the support pin 12b is set to about 2 mm, and the auxiliary pin 12e is set to about 1 mm. The two support pins 12b, 12b
The shape of is not limited to that shown in the figure, and may be appropriately changed as long as it can support the lower surface of the umbrella 1a of the shiitake mushroom 1, and the auxiliary pin 12e may be omitted if not necessary,
It may be provided on the opposite side if necessary.

A roller 12c is rotatably held at the lower end of the support plate 12a of the transport finger 12 so as to travel on a rail 16 provided below the transport finger 12 along the traveling position. ing. A guide roller 17 that holds the upper end of the transport finger 12 is arranged at the inspection position. As a result, the position of the transport finger 12 is accurately regulated.

1 to 3, at the supply position P1,
A shiitake supplying device 18 is provided so as to be located in front of the transport finger 12. The shiitake supplying device 18 includes a plurality of sets of support pins 19 arranged so as to correspond to the support pins 12b of the plurality of transport fingers 12 stopped at the supply position P1 and to support the shiitake 1.
And the plurality of shiitake mushrooms 1 held by the plurality of sets of support pins 19 at the same time, the support pins 1 of the corresponding transport fingers 12.
Pusher plate 20 pushed out on 2b and pusher plate 2
An air cylinder 21 for reciprocating 0 is provided. Therefore, the operator manually puts the shiitake mushroom 1 on the support pins 19 of each set.
When the empty transfer finger 12 is stopped before the load is placed, the air cylinder 21 is operated so that the pusher plate 20 simultaneously transfers the plurality of shiitake mushrooms 1 on the plurality of sets of the support pins 19 to the corresponding carrier. Support pin 12b of finger 12
It can be extruded and fed to a predetermined position above. In this way, the shiitake mushroom 1 is once supported by the support pin 1 on the side of the shiitake supplying device 18.
9 and then the support pin 1 of the transport finger 12
If it is configured to be transferred onto the support pin 2b, the work is extremely easy as compared with the case where it is directly placed on the support pin 12b of the transfer finger 12 that moves intermittently, and furthermore, the shiitake mushroom 1 can be placed at a rough position on the support pin 19. Also, it can be sent to an accurate position with respect to the transport finger 12, and there is an advantage that the burden on the operator is extremely reduced.

Above the endless chain 13, there is provided a roller conveyor 24 for carrying the cardboard box 3 containing the shiitake mushrooms 1 to be selected. This roller conveyor 2
4 is formed to have a downward slope toward the supply position P1, and if the cardboard box 3 is placed at an appropriate position on the roller conveyor 24, the cardboard box 3 will automatically move to a position corresponding to the supply position P1. It will move. Further, at this position, there is provided a tilting plate (not shown) and a drive mechanism for tilting the cardboard box 3 so that the shiitake supplying device 18 side of the cardboard box 3 can be lowered. Therefore, the operator can easily take out the shiitake mushroom 1 from the cardboard box 3 and place it on the support pin 19.

At the second inspection position P3, as shown in FIG. 5, an illuminating device 26 for illuminating the shiitake mushroom 1 held by the transport finger 12 from below and a first camera 28 for photographing the shiitake mushroom 1 from directly below. And a light-shielding plate 30 for erasing the background of the shiitake mushroom 1 is provided above. Lighting device 26
Is arbitrary as long as it can illuminate the lower surface of the shiitake mushroom 1, but in the present embodiment, a lamp box 26a having a halogen lamp and a ring-shaped light emitting portion 26c connected to the lamp box 26a via an optical fiber 26b are provided. I am using Here, the halogen lamp is adopted because the light amount can be easily adjusted. In addition, the ring-shaped light emitting portion 26c
This is because the influence of the shadow of the support pin 12b that supports the shiitake mushroom 1 is minimized, and the ring-shaped light emitting portion 26c is located under the shiitake mushroom 1 held by the support pin 12b. It is arranged so as to surround. The camera 28 may be a camera for capturing a color image, may be a camera having a two-dimensional image pickup device or a camera having a two-dimensional image pickup tube, and may be a one-plate type (1CCD system).
Any of three plates (3CCD system) may be used. The light-shielding plate 30 is only required to be a background of a color different from that of the shiitake mushroom 1 when the shiitake mushroom 1 is photographed by the camera 28. A light-absorbing film is attached to the surface, or a reflective film is attached to the light-shielding plate 30. It is possible to use a paint applied to a color different from that of the shiitake mushroom.

As described above, since the camera 28 is arranged directly below the transport finger 12, the shiitake mushroom 1 whose lower surface of the umbrella 1a is supported by the horizontal support pins 12b and 12b,
An image of the lower surface of the shiitake mushroom 1 can be accurately captured because the image can be taken from a direction perpendicular to the back surface of the umbrella 1a. FIG. 9 is an image at that time, and is a shiitake image consisting of an image 1B corresponding to the handle 1b of the shiitake mushroom 1, an image 1C corresponding to the ring-shaped umbrella portion 1c on the lower surface, and an image 1D corresponding to the umbrella back surface portion 1d on the inside thereof. 1A is obtained. In the obtained color image, the image 1B and the image 1C are almost the same brown in many cases. Here, the vertical direction in the image of FIG. 9 is set so as to coincide with the traveling direction of the transport finger 12, that is, the direction perpendicular to the support pin 12b of the transport finger 12. Further, in the present embodiment, the first reference straight line 4 when setting the window
6 is set in the vertical direction in the image 9.

As can be seen from FIG. 9, a pattern image 1B exists in the shiitake mushroom image 1A. Image 1B of this pattern
Vertical first reference straight line 46 passing through the center O of the shiitake mushroom image 1A
In order to determine which direction (right or left) it is facing, the direction of the handle is detected at the first inspection position P2 located upstream of the second inspection position P3, as shown in FIG. A second camera 32 for illumination and a lighting device 33 for illuminating the shiitake mushroom 1 are arranged. The camera 32 is a monochrome camera, and the shiitake mushroom 1 at the detection position P2 is transferred to the transport finger 12
Is arranged so as to photograph from an oblique side in a plane parallel to the traveling direction of the vehicle. Thus, this camera 32 has 1 shiitake mushroom
Is photographed from an oblique side in a direction parallel to the first reference straight line 46 in the image photographed by the first camera 28 (shown in FIG. 9), and as shown in FIG. The shiitake mushroom image 1A 'is obtained in a state in which' ′ extends outward from the image 1C ′ of the ring-shaped umbrella portion. Here, FIG.
The vertical reference straight line 46 at is also represented as a vertical straight line 46a in FIG. In addition, 1 shiitake mushroom with camera 32
The direction of capturing is not limited to the oblique side, and may be from the side as long as it does not interfere with the movement of the shiitake mushroom. Lighting device 3
3 may simply illuminate the shiitake mushroom 1 so that it can be photographed by the camera 32. In this embodiment, the lamp box 33a is used.
And an optical fiber 33b.

FIG. 6 is a block diagram showing the overall construction of a quality judgment system for judging the quality of the shiitake mushroom 1. The camera 28 arranged at the second inspection position P3 includes a camera amplifier 35,
Image processing device 3 via color eye (color extraction device) 36
8 is connected. Further, the camera 32 arranged at the first inspection position P2 is connected to the image processing device 38 via the camera amplifier 39. A color monitor 41 and a monochrome monitor 42 are also provided to display the images of the cameras 28 and 32, respectively.

Next, the shiitake mushroom quality determination device 10 having the above-described configuration.
The shiitake mushroom quality judgment operation will be described with reference to the process chart shown in FIG. This quality determination device can perform both quality determination that considers the white mesh attached to the surface of the shiitake mushroom 1 and quality determination that does not consider it. First, the case where it is not considered will be described.

When the transport finger 12 holding the shiitake mushroom 1 comes to the first inspection position P2 and stops, it is stopped by the camera 32.
Captures an image from diagonally below and captures an image of the shiitake mushroom 1 viewed from diagonally below into the image processing device 38. The image at this time is shown in FIG.
The shiitake mushroom image 1A 'has a pattern image 1B' extending downward from the ring-shaped umbrella portion image 1C '. The image processing device 38 first sets a window 90 horizontally above the pattern image 1B 'of the shiitake mushroom image 1A', detects contour points 90a and 90b, obtains the midpoint 90c thereof, and then determines the pattern image 1B. A window 91 is set horizontally below the ‘′, contour points 91a and 91b are detected, a midpoint 91c thereof is obtained, and thereafter, an inclination angle θ of a straight line connecting the midpoints 90c and 91c with respect to the vertical direction is obtained. It is determined from the angle θ whether the image 1B ′ of the pattern extends to the right, the left, or the center. That is, when the pattern image 1B 'extends to the lower left or lower right and the inclination angle θ is equal to or larger than a preset limit value, it is determined to be "left" or "right", and when it is within the limit value, " The center "is determined. For example, in the case shown in FIG. 8, it is determined as “left”.

Next, when the shiitake mushroom 1 moves to the second inspection position P3 where it is further conveyed and stops, the camera 28 photographs it while illuminating it with the light from the ring-shaped light emitting portion 26c, An image of the lower surface of the shiitake mushroom is captured by the image processing device 38. At this time, since the lower surface of the shiitake mushroom 1a is supported by the pair of parallel and horizontal support pins 12b, the posture is always stable, and the image of the lower surface of the shiitake mushroom 1 can be accurately captured. FIG. 9 shows an image at this time,
Shiitake mushroom image 1A is captured in color. Although the support pin that supports the shiitake mushroom is also actually shown, this effect is small and is not shown. The amount of light that illuminates the shiitake mushroom 1 when the shiitake mushroom 1 is photographed is not particularly limited, and among the shiitake mushroom images 1A shown in FIG. 9, an image 1C corresponding to the ring-shaped umbrella portion 1c on the lower surface of the shiitake mushroom 1 and its It is sufficient that the light amount is such that the image 1D corresponding to the inner umbrella back surface portion 1d has a color that can be identified. Normally, in image 1A shown in FIG. 9, image 1 corresponding to ring-shaped umbrella portion 1c and handle 1b
Both C and 1B (areas indicated by hatching) are brown and difficult to identify, but the image 1D corresponding to the umbrella back surface 1d is white and easy to identify.

Next, the image processing device 38 measures the area of the image 1A showing the entire shiitake mushroom 1 by extracting the background color from the obtained image shown in FIG. 9 and removing that portion. Then, a grade relating to the diameter of the umbrella is determined from this area value according to a predetermined selection standard table. Table 1 shows an example of the selection standard table. In Table 1, the diameter of the umbrella is calculated on the assumption that the shiitake mushroom 1 has a perfect circular shape. In the present embodiment, the grade is not determined from the diameter of the umbrella, but the grade is determined from the measured area, because the shape of the shiitake mushroom 1 is often considerably deformed, and in the diameter measurement, a large error may occur depending on the measurement position. Because there is. Judging by the area in this way, stable evaluation is possible even with deformed shiitake mushrooms.

[0033]

[Table 1]

Next, quality judgment based on the area ratio of the ring-shaped umbrella portion 1c to the total area of the umbrella 1a is performed in the following procedure. That is, first, the center O of the shiitake mushroom image 1A is set. This center setting can be appropriately performed using a known method. For example, as shown in FIG. 12, the distance between the contour points 93a and 93b is the contour point 9 at the top and bottom of the shiitake mushroom image 1A.
Window 9 to be equal to the distance between 4a and 94b
3, 94 are set, and the midpoint 93 between the contour points 93a and 93b is set.
c and the midpoint 94c between the contour points 94a and 94b,
Furthermore, the midpoint of these two midpoints 93c and 94c can be obtained and that point can be set as the center O of the shiitake mushroom image 1A. In addition, the top, bottom, left and right vertices of the shiitake mushroom image 1A are detected, and the intersection point of the horizontal line located in the middle of the horizontal line passing through the top and bottom vertices and the vertical line located in the middle of the vertical line passing through the left and right vertices is obtained. The point may be set as the center O of the shiitake mushroom image 1A.

Next, as shown in FIG. 10B, both sides of the vertical straight line (first reference straight line) 46 passing through the center O of the set shiitake mushroom image 1A, that is, left and right, respectively, the shiitake mushroom image located in that region. Left window 46A including the outer circumference of 1A,
As shown in FIG. 10 (a), which forms the right window 46B, both sides of the horizontal straight line (second reference straight line) 45 passing through the center O, that is, the upper and lower sides, respectively, up to the outer circumference of the shiitake mushroom image 1A located in that region. The included upper window 45A and lower window 45B are formed.

Next, the shiitake mushroom image 1A (see FIG. 9) is subjected to brown extraction, and the areas of the image 1B of the handle 1b and the image 1C of the ring-shaped umbrella portion 1c (both areas indicated by hatching) are obtained. Originally, it is only necessary to detect the area of the image 1C of the ring-shaped umbrella portion, but the image 1B of the pattern also has the same color, so it is also detected together. This brown extract is R,
For each of the G and B images, a slice level corresponding to brown may be set, and the slice level may be used for extraction. When setting the slice level, the measured data and the visual judgment may be compared with each other and set so as to approach the visual result as much as possible. As an example of the slice level, R: 69 (+27, -27), G: 63 (+25,
-25) and B: 55 (+25, -24).

Next, of the upper and lower windows and the left and right windows formed earlier, the window with the smallest pattern image 1B is set as the quality judgment window. This setting is performed as follows. That is, as described above with reference to FIG. 8, it is determined whether the image 1B ′ of the handle of the shiitake mushroom 1 extends to the left, right, or center. Therefore, when the determination result is “left”, Sets the right window 46B on the right side of the first reference straight line 46 in FIG. 10B, and sets the left window 46A as the quality judgment window in the case of "right". As a result, the window on the side opposite to the direction in which the pattern image 1B extends (in the illustrated embodiment, the right window 4
6B) can be selected. When the determination result is "center", the upper and lower windows 45A, 45B, 4
The brown areas of 6A and 46B are measured, and the one having the smallest brown area is selected. As described above, the brown area portion in the shiitake mushroom image 1A includes not only the ring-shaped umbrella portion 1c of the shiitake mushroom 1 but also the handle 1b. Therefore, in the window with the smallest brown area, the image corresponding to the handle 1b. 1
Since B is the smallest, the error due to the handle can be minimized. In the present embodiment, since the orientation of the handle 1b is determined to be "left" first, the right window 46B is set as the quality determination window as shown in FIG.

Next, the total area b of the image 1A in the window 46B [area of the area shown by hatching in FIG. 11 (b)]
Was measured, and the brown area a in the window 46B [Fig.
The area ratio to the area of the hatched area in (a)] is obtained. This area ratio (a / b) is related to the opening degree of the umbrella, and thus to the quality of the shiitake mushroom. Therefore,
From the calculated area ratio, the grade regarding the opening degree of the umbrella is determined according to a predetermined selection standard table. Table 2 shows an example of the selection standard table. The L size, the M size, and the S size in Table 2 are the L size in Table 1,
It corresponds to M and S.

[0039]

[Table 2]

The image processing device 38 processes the image 1A captured from the camera 28 as described above, obtains the total area and the area ratio (a / b), and compares the values with Tables 1 and 2. , The quality of Shiitake mushroom 1, for example, L size,
As in the case of the A class, the judgment is made, and the result is outputted to the sorting and discharging device 50 (see FIG. 1) arranged downstream to be controlled.

Next, a case where a white net-like thing is attached to the surface of the shiitake mushroom (it is a high-quality product as a shiitake mushroom) and the presence or absence thereof is taken into consideration in the quality judgment will be described. Camera 2
In the shiitake mushroom image 1A obtained by photographing the lower surface of the shiitake mushroom 1 in 8 (see FIG. 9), if there is a white mesh on the surface of the shiitake mushroom, the part corresponding to it is a white area on the screen. appear. Therefore, it is considered that the area of the white region in the image 1A should be measured. However, since the image 1D corresponding to the umbrella back surface (fold portion) 1d of the shiitake mushroom 1 is also a white area, it is not possible to distinguish between the two simply by measuring the area of the white area. Cannot be detected.

Therefore, in this embodiment, the amount of light emitted by the illumination device 26 for illuminating the lower surface of the shiitake mushroom 1 is made extremely small, for example, 1200 to 2400 lux, preferably 1600.
Approximately 2000 lux, and an image captured at that illuminance is taken into the image processing device 38 and processed. When illuminated with such a low illuminance, light is absorbed by the large number of folds present in the back surface portion 1d of the center of the lower surface of the shiitake mushroom 1, and it can be obtained by accurately setting the color. In the image 1A, it was found that the central area 1D became black instead of white. Therefore, using this image, the determination step shown in FIG. 7 is performed, and white extraction is performed subsequent to brown extraction. By this white extraction, it is possible to detect the area of the shiitake mushroom that has a white net-like shape.

After the white extraction, the quality judgment window is set by the above procedure, the sum of the brown area a and the white area a '(= a + a') in the window is calculated, and the total area b From the area ratio [= (a + a ') / b] to
Determine the grade of quality. As a result, the quality judgment is performed in consideration of the white net-like object that is on the surface of the shiitake mushroom.
When this white extraction is performed, it is preferable to intentionally shift the focus of the camera 28 to form an unclear image because a white mesh is thin and difficult to detect. By doing so, the area of white becomes large and detection becomes easy.

In FIG. 1, downstream of the inspection position P3,
A sorting and discharging position P4, which is a stop position of the plurality of transport fingers 12, is provided, and a sorting and discharging device 50 is provided at that position. The sorting and discharging device 50 discharges shiitake mushrooms of a predetermined grade to a predetermined position according to the determination result by the image processing device 38 described above, and sorts the shiitake mushrooms. It should be noted that, after the sorting and discharging device 50, there is provided a series of devices for putting a predetermined number of sorted shiitake mushrooms in a container, packaging and discharging the shiitake mushrooms, but description thereof is omitted because it is not directly related to the present invention. .

In the above embodiment, the orientation of the handle is determined from the shiitake mushroom image 1A 'shown in FIG. 8 to either the left or right or the center. However, the handle 1b of the shiitake mushroom 1 is used as the support pin 12b of the carrier finger 12. , 12b are inserted from the front, the handle 1b is rarely oriented toward the center (in a direction perpendicular to the support pin 12b). Therefore, it may be configured such that the direction of the handle is determined to be either left or right. In this case, the operation of setting the upper and lower windows and selecting the one having the smallest brown area in the upper, lower, left and right windows becomes unnecessary. Furthermore,
In order to detect the orientation of the handle 1b of the shiitake mushroom 1 held by the transport finger 12, an image of the shiitake mushroom is taken by the second camera 32 and the image is processed to determine the orientation of the handle. The orientation of the handle 1b may be determined by a method. For example, an appropriate sensor may be arranged on the traveling path of the transport finger 12 to determine the orientation of the handle 1b. Further, the quality determination window may be set only by the operation of omitting the step of determining the pattern orientation at the first inspection position P2 and selecting the one having the smallest brown area in the window in the vertical and horizontal directions. Good.

Further, in the above embodiment, when the shiitake mushroom 1 is photographed by the camera 28 to obtain a color image, the shiitake mushroom 1 is stopped, but the shiitake mushroom 1 is not necessarily stopped.
The configuration may be such that the shiitake mushroom 1 is continuously moved and the image is taken at the moment when the shiitake mushroom 1 comes directly above the camera 28. Further, instead of obtaining the shiitake mushroom image 1A by the color camera 28 having a two-dimensional image sensor or an image pickup tube, a color camera having a one-dimensional image sensor or an image pickup tube is used to scan the entire shiitake mushroom to generate a two-dimensional shiitake mushroom. You may make it obtain an image.

Further, in the above embodiment, the transport finger 1
2 Hold the shiitake mushroom 1 downward, and from below, hold the camera 2
Although the back surface of the shiitake umbrella is photographed in 8, the holding means of the shiitake mushroom 1 is not limited to the transport finger 12, and a mesh or a conveyor having a configuration in which a plurality of wire rods are arranged may be used. It may be configured such that the sheet is conveyed upward and the image is captured from above. Further, in the above-mentioned embodiment, in order to detect the white reticulate attached to the shiitake mushroom, weak light (mixed light) is used to illuminate the back surface of the shiitake mushroom and photographed with a color camera. The part was copied in black, and only the white mesh was copied in white for identification, but instead of this,
By selecting and irradiating the frequency band of light in which only the white mesh is emphasized, it is also possible to emphasize the white mesh and shoot the image. It is also possible to process the image and judge the quality. it can. In this case, if necessary, in order to distinguish between the ring-shaped umbrella portion on the back surface of the shiitake mushroom and the fold portion on the inner side of the shiitake mushroom, it may be configured to irradiate light in a different frequency band, perform image capturing, and perform image processing.

[0048]

As described above, according to the present invention, the quality judgment window is set in the color image obtained by photographing the back surface of the shiitake umbrella to minimize the influence of the pattern. , The total area (b) and the brown area (a) of the shiitake mushroom image in that window were measured, respectively, and the area ratio (a
/ B), the quality of the shiitake mushroom is determined, so that there is an effect that the error due to the handle can be reduced and the quality of the shiitake mushroom can be correctly determined.

Further, according to the present invention, the back surface of the shiitake umbrella is
The total area (b), the brown area (a), and the white area (a ') of the shiitake image were measured from the color image obtained by illuminating at 00 to 2400 lux, and the brown area was measured. Ratio of sum of area and white area [(a + a ') /
By configuring to determine the quality of shiitake from b),
The quality of the shiitake can be determined by taking into consideration the size of the white mesh on the surface of the shiitake, and the quality of the shiitake can be determined more accurately.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a shiitake sorting and packaging line equipped with a quality judging device capable of judging the quality of shiitake mushrooms by the method of the present invention.

FIG. 2 is a schematic plan view of the quality determination device.

FIG. 3 is a schematic side view of the quality determination device.

4A and 4B show a transfer finger used in the above-described quality determination device, in which FIG. 4A is a schematic bottom view thereof, FIG. 4B is a schematic side view thereof, and FIG. 4C is a schematic cross section of a portion holding a shiitake mushroom. Figure

FIG. 5 is a schematic cross-sectional view of first and second inspection positions in the quality determination device.

FIG. 6 is a block diagram showing an overall configuration of a quality determination system of the quality determination device.

FIG. 7 is a block diagram showing a determination operation by the quality determination system.

FIG. 8 is a diagram showing an image taken by a camera 32.

FIG. 9 is a diagram showing an image taken by a camera 28.

10A and 10B are explanatory views showing a state in which a window is formed on the image shown in FIG. 9, respectively.

11A is a diagram for explaining a state in which a quality judgment window is set in the image shown in FIG. 9 and the area of a brown portion therein is measured. FIG. 11B is a quality judgment window for the image shown in FIG. Figure that explains how to set the window and measure the area of the shiitake mushroom in it.

FIG. 12 is a diagram illustrating a method of obtaining the center of a shiitake mushroom image.

13 (a), (b), (c) and (d) are diagrams showing examples of quality judgment windows for processing shiitake mushroom images.

FIG. 14A is a bottom view of a normal shiitake mushroom, and FIG. 14B is a cross-sectional view of the shiitake mushroom.

[Explanation of symbols]

 1 Shiitake mushroom 1a Umbrella 1b Pattern 1c Ring-shaped umbrella portion 1d Umbrella back surface 1A, 1A 'Shiitake image 1B, 1B' Pattern image 1C, 1C 'Ring-shaped umbrella image 1D Umbrella backside image 10 Quality judgment device 12 Conveyance Finger 12a Support plate 12b Support pin 12e Auxiliary pin 13 Chain 18 Shiitake supplying device 26 Illuminating device 26c Ring-shaped light emitting part 28 Camera 30 Shading plate 32 Camera 33 Illuminating device 38 Image processing device 50 Sorting discharging device P1 Supplying position P2 First inspection Position P3 Second inspection position P4 Sorting and discharging position

Claims (6)

[Claims] 1. A shiitake mushroom image in the color image is captured by a color camera of a back surface of a shiitake umbrella from a direction substantially perpendicular to the back surface, and the obtained color image is captured by an image processing device. Seeking the center of the
A straight line extending radially in the direction is taken as a side, and one window having a size including the outer circumference of the shiitake mushroom image in the area sandwiched by the two straight lines is set as a quality judgment window, and the entire area of the shiitake mushroom image within the window ( b) and the brown area (a) are respectively measured, and the quality of the shiitake is judged from the area ratio (a / b) of both, and the quality determination method of the shiitake. 2. The back surface of the shiitake umbrella is 1200-2400
In the state of illuminating the lux, photographed with a color camera from a direction substantially perpendicular to the back surface thereof, the obtained color image is taken into an image processing device, and by the image processing device, the center of the shiitake image in the color image is obtained, A straight line extending radially from the center in two directions is defined as a side, and one window having a size including the outer circumference of the shiitake mushroom image in the region sandwiched by the two straight lines is set as a quality judgment window, and the shiitake mushroom image in the window is set. Area (b) and brown area (a)
And the white area (a ') are respectively measured, and the quality of the shiitake is judged from the ratio [(a + a') / b] of the sum of the brown area and the white area to the total area. Method. 3. After obtaining the center of the shiitake mushroom image in the color image, windows are formed on both sides of a first reference straight line passing through the center, and the windows are further passed through the center and the first reference straight line. 3. A window is formed on both sides of a second reference straight line that is orthogonal to, and brown extraction is performed for each window, and the window with the smallest brown area is set as the quality determination window. The method for determining the quality of shiitake mushroom described in. 4. After obtaining the center of the shiitake mushroom image in the color image, windows are formed on both sides of a first reference straight line passing through the center, and prior to this operation, the shiitake mushroom is laterally or It is photographed with a camera obliquely from the side and parallel to the first reference line in the color image, and from the obtained image it is determined in which direction the shiitake handle extends with respect to the first reference line. The method for determining the quality of shiitake according to claim 1 or 2, wherein a window on the side opposite to the direction in which the handle of the shiitake extends is set as the quality determination window. 5. After obtaining the center of the shiitake mushroom image in the color image, windows are formed on both sides of a first reference straight line passing through the center, and the windows are further passed through the center and the first reference straight line. Windows are also formed on both sides of the second reference straight line orthogonal to, and prior to this operation, images are taken with a camera from the side or diagonal side and from the direction parallel to the first reference straight line in the color image. From the obtained image, it is determined in which direction the shiitake handle extends with respect to the first reference line, or whether it extends to the center,
When the handle of the shiitake mushroom extends in either direction with respect to the first reference line, the window on the opposite side to that direction is set as the quality judgment window, and when it extends to the center, the first and second The method for judging quality of shiitake mushrooms according to claim 1 or 2, wherein brown extraction is performed on each window formed on both sides of each of the two reference straight lines, and the window having the smallest brown area is set as the quality judging window. . 6. The back surface of the shiitake umbrella is 1200-2400.
In the state of illuminating the lux, the color image was taken by a color camera from a direction substantially perpendicular to the back surface of the lux, and the obtained color image was taken into the image processing device. By the image processing device, the entire area (b) of the shiitake image and the brown area (A) and white area (a ') are respectively measured, and the quality of the shiitake mushroom is determined from the ratio [(a + a') / b] of the sum of the brown area and the white area to the total area. Quality judgment method.