JPH11194020A - Measuring device for fruits and vegetables - Google Patents

Abstract

PROBLEM TO BE SOLVED: To evaluate a measuring device for fruits and vegetables that can appropriately evaluate an object to be measured without complexing the configuration for image processing. SOLUTION: A measuring device is provided with a CCD camera 42 for repeatedly picking up the image of an object to be measured which is placed on and conveyed by a conveyor 3 and for successively outputting image pick-up information for measurement and an image-processing means for evaluating the object by performing the image processing of the image pick-up information of the CCD camera 42. The imageprocessing means is configured so that it judges whether the conveyance downstream side edge part of the object has reached a specific position on the upstream side in the conveying direction within an image pick-up area according to the CCD camera 42 based on the image pick-up information of the CCD camera 42 and is configured so that it evaluates the object based on the image pick-up information of the object at that time after the object is conveyed toward the downstream side in the conveying direction by a set distance from a position when it is judged that the conveyance downstream side edge part of the object has reached a specific position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup means for repeatedly picking up an image of an object to be placed and conveyed on a conveyor, and sequentially outputting image pickup information for measurement, and image processing of the image pickup information of the image pickup means And an image processing means for evaluating the object to be measured.

[0002]

2. Description of the Related Art Conventionally, in a fruit and vegetable measuring apparatus, as described in, for example, Japanese Patent Application Laid-Open No. 58-214381, an image of an object to be measured is taken by an image pickup means every time a conveyor moves a set distance. There was one configured to perform.

[0003]

In the above-described conventional configuration, the transfer conveyor and the transfer conveyor are transported halfway between the time when the object to be measured is placed and supplied to the transfer conveyor and the time when the object arrives at a location to be imaged by the imaging means. When the relative position with respect to the measurement object is shifted and the imaging process is performed by the imaging unit,
The position of the object to be measured in the imaging area of the imaging means may not always be the same position. In addition, the fruits and vegetables to be measured have different shapes and sizes, and the objects to be measured based on the imaging information are caused by misalignment of the objects having different sizes. There is a disadvantage that the evaluation cannot be performed properly.

Therefore, in order to avoid the above-mentioned disadvantage, based on the image information repeatedly imaged by the image pickup means and sequentially outputted, the image pickup information is subjected to image processing using the image processing means. In this case, it is conceivable to determine whether or not the object to be measured conveyed by the conveyor is located at the imaging target location. In this case, the object to be measured is located within the imaging area of the imaging unit. A configuration is conceivable in which the determination process based on the image information is repeatedly executed until the determination target object leaves the imaging area after it is detected that the image has entered. But,
With such a configuration, for example, in a case where a subsequent object to be measured is successively conveyed, in order to prevent confusion between the object to be determined and the subsequent object to be measured, the determination is performed as described above. It is necessary to repeat the determination process until the object leaves the imaging area.

[0005] Therefore, in order to accurately perform the evaluation processing of the object to be measured, the discrimination processing based on the above-described image processing is performed.
The image processing must be repeatedly executed based on the imaging information sequentially output from the imaging means, which increases the processing load for image processing and complicates the configuration for image processing.

The present invention has been made in view of such a point, and an object of claims 1 to 4 is to appropriately evaluate an object to be measured without complicating a configuration for image processing. An object of the present invention is to provide a fruit and vegetable measuring device that can be used.

A fifth object of the present invention is to achieve the above object and to enable fruit and vegetables to be accurately sorted based on appropriate evaluation.

[0008]

According to a feature configuration of the present invention, the image processing means is configured such that a lower end of the object to be measured is picked up by the image pickup device based on image pickup information of the image pickup means. Means for judging whether or not a predetermined position on the upper side in the conveying direction in the imaging area by the means has been reached, and at the time of judging that the lower end of the object to be measured has reached the predetermined position. After the object to be measured is conveyed by a set distance to the lower side in the conveying direction from a position, the object to be measured is evaluated based on imaging information of the object to be measured at that time.

In other words, the image processing means is arranged such that the lower end of the object to be measured (ie, the leading end side in the conveyor conveyance direction) is located on the upper side in the conveyance direction in the imaging area by the imaging means (ie,
When it is determined whether or not the object to be measured has reached a predetermined position (a starting end side point where the object to be measured starts to enter the area) along with the conveyance, the object is conveyed by a set distance from the position at that time, The object to be measured is evaluated based on the imaging information of the object to be measured.

Therefore, when evaluating the object to be measured, the lower end of the object to be measured is located at a position shifted by a set distance from the predetermined position, and the shape and size of the object to be measured are determined. Since the position of an object is always constant, the evaluation process based on the imaging information at that time can be performed accurately and appropriately. By setting the set distance to a maximum value or a value close to the maximum value that can be considered as the width (length) of the measured object in the transport direction, appropriate evaluation can be performed for almost all measured objects. You can do it.

Further, the image processing means is based on the imaging information from the position at the time when the lower end of the object to be conveyed reaches the predetermined position until the object to be measured is conveyed by the set distance. Since there is no need to execute the determination process, the configuration for image processing can be simplified as compared to a configuration in which the above-described determination process is repeated until the object to be measured enters and exits the imaging area. Become. In addition, by performing another processing such as executing image processing for evaluation of the measured object before being conveyed by the set distance, the overall processing time can be shortened. It becomes possible.

According to a second aspect of the present invention, in the first aspect, there is provided a transfer control means for controlling an operation of the transfer conveyor, and the transfer control means is provided with a function of the measured object by the image processing means. After determining that the lower end of the transport of the object has reached a predetermined position on the upper side in the transport direction in the imaging area, after transporting the measured object to the lower side in the transport direction by the set distance, The image processing means is configured to temporarily stop the conveyance of the conveyance conveyor, and the image processing unit is configured to evaluate the object to be measured based on imaging information of the object to be measured in a state where the conveyance is stopped. I have.

Therefore, the object to be measured is evaluated based on the image captured by the imaging means at that time in a state where the transportation of the transportation conveyor is temporarily stopped, so that the evaluation is performed based on the imaging information in the moving state. In comparison with this, there is no error in the imaging information due to the movement of the imaging target during the imaging, and the evaluation based on the imaging information can be more appropriately and reliably performed.

According to a third aspect of the present invention, in the first or second aspect, the image processing unit differs in the imaging information output by the imaging unit in an area of the object to be measured and another area. A binarization processing means for performing a binarization process so as to obtain a value; a storage means for sequentially storing data binarized by the binarization processing means; And a data processing means for evaluating the object to be measured.

Therefore, since the imaging information output by the imaging means is binarized and sequentially stored, and the evaluation processing is performed based on the stored data, for example, the imaging information (analog output) output from the imaging means is obtained. Information) is converted from analog to digital at a set resolution, for example, and image information is sequentially stored as a digital signal. Then, a binarization process is performed so that the area of the object to be measured and the other areas have different values. It is also conceivable to use a configuration in which the data is stored and evaluated, but the storage capacity of the storage unit can be reduced as compared with such a configuration, and the processing procedure by the data processing unit is simplified. Can be simplified.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the transport mounting surface of the transport conveyor has a brightness different from that of the object to be measured. The imaging unit is configured to output the imaging information for measurement as brightness information.

Since the configuration is such that the imaging information for measurement is output as brightness information, for example, a so-called
Compared with a configuration for outputting a color image, the configuration of the imaging unit can be simplified, and the configuration can be simplified.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the object to be measured is taken out on a lower side in a transport direction than a location where the imaging means of the transport conveyor captures the image. And an unloading means for sorting and storing in a plurality of storage units based on the evaluation result by the image processing means.

That is, the object to be measured is taken out by the unloading means on the lower side in the transporting direction by the transporting conveyor than the imaging location by the imaging means, and sorted into a plurality of storage sections based on the evaluation result by the image processing means. Will be done. Therefore, the evaluation process based on the imaging information is appropriately performed, and the process of sorting the measured objects into the respective storage units based on the evaluation result is accurately and appropriately performed.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION The fruit and vegetable measuring apparatus according to the present invention will be described below in the case where it is applied to a cucumber sorting apparatus as an example of an object to be measured. FIG. 1 shows a cucumber sorting apparatus. This cucumber sorting apparatus takes out cucumber K one by one from a container 1 in which a large number of cucumbers K are loaded in a state where the longitudinal directions thereof are aligned in the same direction, and feeds the cucumber K one by one to a conveyor conveyor. When the cucumber K is located at a predetermined imaging location on the conveying path of the belt conveyor 3, the cucumber K is supplied to a supply location located on the upstream side of the belt conveyor 3.
A measuring unit 4 is provided for measuring the length, bending and the like of the cucumber K based on the imaging information of the cucumber K from above, and obtaining the grade and class of the cucumber K from the result. Then, cucumbers K are taken out one by one from a take-out location on the lower side in the transport direction from the imaging location, and based on the evaluation results of the measuring unit 4, the cucumbers K are set in the storage boxes 5 as a plurality of storage units in advance. An unloading device 6 is provided as unloading means for sorting and loading based on the sorting reference information.
Further, the supply device 2, the unloading device 6, and the belt conveyor 3
Is provided with a control device 7 as a transport control means for controlling the operation of the control device.

As shown in FIG. 2, the supply device 2 sucks and holds the cucumber K one by one and takes it out of the container 1 by suction nozzles 8 provided so as to be able to move up and down and reciprocate in the horizontal direction. It is configured to be transferred onto the belt conveyor 3. That is, the support mechanism 10 is provided so as to be reciprocally movable with respect to the machine frame 9 in a horizontal direction (conveyor horizontal width direction) orthogonal to the conveying direction of the belt conveyor 3. 8 is supported so as to be able to move up and down.

More specifically, as shown in FIG. 5, the support mechanism 10 includes a pipe frame 11 extending in the lateral direction, a rectangular frame portion 12 connected to the pipe frame 11 and extending downward, and a pipe frame 11. A plurality of guide rollers 14 attached to both ends of the pipe frame 11 are provided along the machine frame 9. It is configured to be slidably engaged with and fixed to the left and right fixed rails 15, 15, and the entire support mechanism 10 is provided slidably in the horizontal direction. In addition, one for sucking and taking out cucumber K into the rectangular frame portion 12.
A support cylinder 16 provided with a plurality of suction nozzles 8 at the lower end is provided so as to be able to move up and down.

The support mechanism 10 is connected to a rubber belt 17 supported by the machine frame 9 while being rotatably wound along the fixed rails 15, 15, and is provided at one end of the machine frame 9. The rubber belt 17 is driven to rotate forward and backward by the first electric motor M1 so as to be reciprocated in the horizontal direction. A rubber belt 18 rotatably wound in the up-down direction is provided inside the rectangular frame portion 12 so as to be connected to the support cylinder 16.
The support cylinder 16, that is, the suction nozzle 8 is moved up and down by driving the rubber belt 18 to rotate forward and backward by a second electric motor M <b> 2 provided in the inside. An air suction passage 19 for performing a suction operation from the suction nozzle 8 by an air compressor (not shown) is formed inside the support cylinder 16. A laser type distance sensor 20 for detecting a target to be taken out of the plurality of cucumbers K loaded in the container 1 is provided on the lateral outer side of the rectangular frame portion 12.

After the harvest, the appearance of defects such as color unevenness and scratches is manually selected by an operator, and the defective appearance is discriminated and stored in another storage device, for example. In the container 1, non-defective cucumber K having no defective appearance is loaded and stored in a state where the cucumber K is aligned in the longitudinal direction. Further, the container 1 is placed so that the longitudinal direction of the loaded cucumbers K is the same as the transport direction of the belt conveyor 3.

As shown in FIG. 3 and FIG.
Is provided with a support mechanism 21 similar to the supply device 2,
One suction nozzle 22 for sucking and taking out cucumber K
Is configured to be movable up and down and movable in the horizontal direction. However, in the unloading device 6, the support mechanism 21 supporting the suction nozzles 22 is in the same direction as the conveyor conveyance direction and in a direction perpendicular to the conveyor conveyance direction ( (In the width direction of the conveyor).
Is provided so as to be rotatable around the vertical axis. The supply device 2 is provided inside the support cylinder 23.
An air suction passage 24 for suction operation from the suction nozzle 22 by an air compressor (not shown) is formed in the same manner as in the above. That is, as shown in FIG. 6, the support mechanism 21
5, a rectangular frame portion 26 connected to the pipe frame 25 and extending downward, a cover body 27 which is located above the pipe frame 25 and covers an electric motor and the like described later, and the like.
A plurality of guide rollers 28 attached to both ends of the pipe frame 25 are slidably engaged with fixed rails 30 on both left and right sides provided along a support rail portion 29. Support mechanism 21
The whole is slidably provided in the horizontal direction along the support rail portion 29. The support rail portion 29 is supported by the machine frame 31 so as to be reciprocally movable along the width direction of the conveyor, and a rubber belt 32 is rotatably wound along the longitudinal direction of the support rail portion 29. The support mechanism 21 is connected to the support mechanism 21, and the rubber belt 32 is driven forward and reverse by the third electric motor M3, so that the support mechanism 21 is configured to be reciprocated along the conveyor conveyance direction, as shown in FIG. A rubber belt 33, which is rotatably wound along the machine frame 31, is connected to the support rail portion 29, and the rubber belt 33 is driven forward and reverse by the fourth electric motor M4, so that the support rail portion 29 is conveyed horizontally. It is configured to be operated to reciprocate along the direction. Further, the support cylinder 23 is provided in the same manner as in the case of the supply device 2,
Rubber belt 34 that is rotatably wound along the vertical direction
And the rubber belt 3 is driven by the fifth electric motor M5.
4 is driven up and down in the up and down direction by rotating the head forward and backward.

In the unloading device 6, the support cylinder 23 is placed in the sixth electric motor M
6 is provided so as to be rotatable around the vertical axis X1 by the drive of 6, so that the rotation posture can be corrected while the cucumber K is being sucked. That is, a drive shaft 35 having a hexagonal cross section is disposed inside the rectangular frame portion 26 in a state parallel to the support cylinder 23 so as to be able to be driven and operated by the sixth electric motor M6 so as to cover almost the entire vertical direction. A drive gear 36 is externally fitted so as to be rotatable integrally with the shaft 35 and slidable in the vertical direction, and is integrally formed with the support cylinder 23 in a state where the driven gear 37 provided on the support cylinder 23 meshes with the drive gear 36. It is provided so that it can be moved up and down,
The support cylinder 23 is configured to be rotatable regardless of the elevating operation.

As shown in FIG. 3, the belt conveyor 3 is driven to rotate by a seventh electric motor M7, and is controlled so as to intermittently repeat a transfer operation and a stop operation as described later. It is configured to be.

Each of the electric motors M1 to M7 as described above
Are constituted by pulse motors, respectively, and as shown in FIG. 8, the operation state is controlled by a control device 7 as control means. The control device 7 includes a microcomputer, and is configured to control the operation of each electric motor according to a control procedure preset by a control program stored in a storage means (ROM).

As shown in FIG. 4, the plurality of storage boxes 5 are distributed and arranged on both sides in the width direction of the belt conveyor.
The cucumber receiving surface of the storage box 5 is set in a horizontal posture. still,
A plurality of cucumbers K for storing cucumber K, which is supplied through a chute 39b from a passage hole 39a formed between the belt conveyor 3 and the storage box 5, is provided below the mounting table 38 on which the storage box 5 is mounted. A collection unit 40 is provided.

As shown in FIG. 7, the measuring section 4 is provided with a box-shaped light-shielding cover 41 forming a shielding space for photographing, and a cucumber K ( CCD as an imaging means for photographing an object to be measured
The camera 42 is installed in a fixed position. The opening in the light-shielding cover 41 that allows the passage of the cucumber K is shielded so that external light does not enter the shielded space, and is cut at appropriate intervals so as to allow the cucumber K to pass through. A droop 43 is provided.

The CCD camera 42 has a CCD image pickup device (charge-coupled device) 42a as an image forming portion having a two-dimensional resolution, and an image pickup range for the cucumber K located in front of the CCD image pickup device 42a. Image sensor 42a
The image of cucumber K in a state where it is wider than the light receiving area of
And a lens mechanism 42b as an optical unit for forming an image on the D image pickup device 42a.
Is configured to sequentially output the imaging information of the imaging location in each set cycle, and is configured to output the imaging information as brightness (luminance) information, so-called monochrome image information. In addition, a light source (incandescent lamp) 44 for irradiating from above is provided in the light-shielding cover 41 so as to make the amount of irradiation of the cucumber K, which is the subject, uniform over substantially the entire surface.
Reflecting mirrors 45 are provided on both sides in the width direction of the belt conveyor 3 so as to irradiate the cucumber K from the lateral direction. C
The CD image pickup device 42a has a size of 256 × 2
A device having a resolution of 56 pixels is used, and the region to be imaged is a square region with a side of about 30 cm.

Further, an image processing means 100 is provided for performing image processing on the image pickup information output by the CCD camera 42 to evaluate the cucumber K. This image processing means 100
Specifically, as the evaluation processing of the cucumber K, specifically, the length, bending, thickness, etc. of the cucumber K are measured, and based on the measurement result and the sorting reference information set and stored in advance, It is configured to determine the class / grade for sorting the cucumbers K.

As shown in FIG. 8, the image processing means 10
Numeral 0 denotes an analog / digital conversion process for converting analog image information output from the CCD camera 42 into digital information, and at the same time, a binarization process for distinguishing the image of the cucumber K from other areas. A / D converter 46 as value processing means, image memory 47 as storage means for sequentially storing output data of A / D converter 46
And a data processing section 48 as data processing means for determining the class / grade for sorting the cucumbers K based on the data stored in the image memory 47. The A / D converter 46 converts information output from the CCD camera 42 into binary information in real time and processes it, so that the processing is performed at high speed. The data processing section 48 is constituted by a microcomputer, reads the image data stored in the image memory 47 every set time (1/30 second), and sets and stores the control data stored in the storage means (ROM). The program is configured to execute image processing according to a processing procedure described later. The transfer mounting surface of the belt conveyor 3 is colored black so as to have a different brightness (lower) than that of the cucumber K, and is configured to have a low light reflectance. In the obtained captured image, the area of the cucumber K is configured to be surely a brighter image than the other area (the background, that is, the conveyor mounting surface). Thus, the image of the cucumber K can be extracted as accurately as possible.

Next, the processing procedure of the evaluation processing for the cucumber in the image processing means 100 will be described with reference to the control flowchart shown in FIG. First, an image is fetched from the image memory, and the image is stored in the A /
Binarization processing is performed by real-time processing using the D converter 46 (step 1). That is, binarization is performed by setting an area having a luminance equal to or higher than the set threshold to “1” and setting the other area to “0”. Next, while searching for the contour of the image area, a noise removal process for removing a minute area is performed (step 3). More specifically, the image data is sequentially scanned in the horizontal direction from the upper left to search for a pixel of data “1”. When the pixel of the data "1" is found, the scanning of the image data is interrupted, and from that point, the contour point of the image of the data "1" is searched, and the peripheral length of the contour point is simultaneously measured. . If the perimeter is less than a preset value, it is ignored as a noise component, and if it is more than the set value, the image area is a cucumber image area.

The outline 4 of the image area thus obtained
Using the information of No. 9, a moment feature value (center of gravity position, main axis) is calculated (step 4). More specifically, the moment M _0,0 , around the origin defined by the following [Equation 1]
M _1,0 and M _0,1 are obtained.

[0036]

(Equation 1)

Here, f (x, y) is a pixel value at coordinates (x, y) on the binary image. Then, the center of gravity position (x ₀ , y ₀ ) of the image of the cucumber is obtained from the following [Equation 2].

[0038]

X ₀ = M _1,0 / M _0,0 , y ₀ = M _0,1 / M _0,0

Next, the secondary moments M _1,1 , M _2,0 , M _0,2 around the position of the center of gravity on the image of the cucumber are obtained from the following [ _Equation 3], and based on [Equation 4], the cucumber is obtained. An angle θ between the direction in which the image is extended (principal axis direction) and the x-axis is determined, and a line 50 passing through the center of gravity G at an angle θ with the x-axis becomes the principal axis. Note that the main axis may be parallel to the x-axis in the image (θ = 0 °).

[0040]

(Equation 3)

[0041]

[Equation 4] θ = 1/2 · tan ⁻¹ ｛2M _1,1 / (M _2,0 −
M _0,2 )｝

Next, the length L of the cucumber is measured based on the outline 49 (step 5). That is, as shown in FIG. 12, each point sequence on the contour 49 is projected on the main axis 50 in a direction orthogonal to the main axis 50, and the distance between the two points where the distance is the largest among the projected points is determined. Let the length of the cucumbers be L.

The bending of the cucumber is measured based on the contour 49 (step 6). More specifically, as shown in FIG. 12, each point P1,
The distance (the distance in the direction perpendicular to the main axis) between the outline 49 and the main axis 50 is determined in order from each of the P2 to the set range toward the center in the length direction, and the distance on the outline 49 corresponding to the largest one is obtained. The reference points P3 and P4 are obtained. Next, the distance between the straight line 51 connecting each reference point and the contour data between each of the reference points P3 and P4 is sequentially determined, and the maximum distance between the two points is defined as the cucumber curve Q.

An appropriate position Hi for suction (holding) by the suction nozzle 22 in the unloading device 6 is determined (step 7). That is, two points where a straight line passing through the center of gravity position G and perpendicular to the main axis 50 intersects the 49 contours are obtained, and the center position between these two points is determined as the proper position Hi.

The thickness F of the cucumber is measured based on the outline 49.
(Step 8). More specifically, as shown in FIG.
Along the length direction of the cucumbers (the direction along the main axis)
Width on the contour 49 so that it is equally divided into N (for example, 12 equally)
Each point a along one side of _1,a_Two... a_nIs specified.
In addition, the end of the cucumber in the longitudinal direction has "heap" etc.
The image is removed from the small area set at both ends.
I have. Then, the outline 49 opposing each point in the width direction.
Each point b above_1,b_Two... b_nTo its longitudinal setting
Find distances at multiple points up to contour 49 over a fixed range
Therefore, the minimum value is used as the measurement value at that location. That
Such a measurement is performed at each of the above points, and the
The average value is defined as the thickness F of the cucumbers.

Of the plurality of regions in which the length of the cucumber is equally divided into N for the thickness measurement, the outermost regions 53R and 53L located at both ends in the longitudinal direction are located adjacent to the center side. For each of the set setting areas 54R and 54L and the intermediate area 55 positioned in the middle in the longitudinal direction, the area of each area is determined by counting the number of pixels in the image (step 9).

Next, as shown in FIG. 14, rectangular data 56 whose long side direction is parallel to the main axis 50 and circumscribes the image of the cucumber is obtained, and the distance between the long side of the rectangular data 56 and the contour 49 is determined. The contour data is created by determining the distance at each set interval (step 10). This contour data is used at the time of carrying out operation.

Finally, the class of the cucumber is determined based on the measurement information (step 11). That is, basically, based on the measured value of the length L and the preset class reference information (for example, a plurality of classes such as SS, S, M, L, and LL), the length of the cucumbers is determined. Is determined, and based on the measured value of the bend Q and predetermined grade reference information (for example, a plurality of grades such as A, B, and C), the bend of the cucumber is determined. Determine which grade it corresponds to. Then, according to the combination of the class and the class, the class rank (for example, AM, ALL, BS)
) Is determined, and it is determined which of the equal ranks set in advance for each storage box 5 corresponds.

The ratio between the length L and the thickness F of the cucumbers is obtained,
Based on a comparison between the ratio and a preset ratio, it is determined whether the cucumbers are thick or fine.
Then, when it is determined that the person is extremely thick, the class determined based on the length is changed to one rank higher.
If it is determined that the class is extra fine, the class determined based on the length is changed to one rank lower.

Further, based on the area information measured in the step 9, it is determined whether or not the body is thick or narrow and whether or not the central part is constricted. That is, FIG.
As shown in the figure, the area comparison between the end region 53R (53L) and the setting region 54R (54L) adjacent thereto, that is,
Depending on whether the ratio between the area of 53R and the area of 54R, and the ratio of the area of 53L and the area of 54L is larger than the judgment value for thick tail or smaller than the judgment value for thin tail, the thick and thin tail is determined. Is determined, and the intermediate region 55 is determined.
And the area of the setting region 54R (54L),
It is determined whether or not it is in a constricted state. When such a thick or narrow tail or constriction is determined, processing such as changing the rank based on a preset reference value, or determining that the product is out of the grade is performed.

Next, the control operation of the control device 7 will be described with reference to a control flowchart shown in FIG. When the operation is started, the first supply operation by the supply device 2 is executed (step 21). That is, the supply device 2
With the suction nozzle 8 raised,
The distance to the upper surface of the cucumber K is measured by the distance sensor 20 while reciprocating in the horizontal direction over the entire range of the container 1, and the entire width of the container 1 is divided into five zones. The position of the cucumber K at the highest position (the position where the distance is the smallest) is detected, and the cucumber K at the highest position among the highest positions of the respective zones is adsorbed on the belt conveyor 3. It is placed and supplied to the supply position. In the supply operation from the next time, the cucumber K is taken out from the zone where the cucumber is at the highest position at that time. When the extraction of cucumber is completed for all five zones, the distance sensor 20 is moved again to detect the height, and the cucumber K is extracted in the same order.

Next, conveyance of the belt conveyor 3 is started,
Based on the image information in the image processing means 100, when it is determined that the lower end of the cucumber K in the transport direction has reached the predetermined area U on the upper side in the transport direction in the imaging area of the CCD camera 42, from that point in time After the conveyance by the set distance, the conveyance of the belt conveyor 3 is stopped (steps 22 to 2).
5). The set distance is set to a value close to the maximum value expected as the length of the cucumber K (for example, about 25 cm) (see FIG. 15).

In a state where the conveyance of the belt conveyor 3 is stopped, the evaluation processing of the cucumber K by the image processing means 100 is executed based on the image of the cucumber K taken by the CCD camera 42, and at the same time, this conveyance is performed. In the stopped state,
The supply operation of the cucumber K by the supply device 2 and the sorting and unloading operation by the unloading device 6 are executed (steps 26 and 2).
7, 28). Therefore, the image processing means 100 determines that the lower end of the cucumber has reached the predetermined position on the lower side in the conveyance direction in the imaging area (the position moved by the setting process from the position corresponding to the predetermined area U on the image). Is determined, the cucumber is evaluated based on the imaging information of the cucumber at that time. Then, when the supply operation and the unloading operation are completed, the conveyance by the belt conveyor 3 is restarted, and the process returns to step 23, and the above-described evaluation processing is repeated until the processing for all the cucumbers K in the container 1 is completed. (Steps 29, 30, 31).

The unloading operation will be described. At the start of control (when power is turned on), the suction nozzle 22 is located at a preset origin (reference position) (see FIG. 9). This origin is a position where the cucumber K to be carried out is expected to be present when the conveyance of the belt conveyor 3 is stopped in a plan view, and as shown in FIG.
The position is set to a position corresponding to twice the distance α between the supply position and the imaging position by the CCD camera 42. FIG.
As shown in FIG. 7, in the unloading operation, the image processing means 1
The suction position (holding position) Hp is determined as coordinate data in plan view from the information on the appropriate position Hi for suction of the cucumber K determined in 00 and the information on the transport distance by the belt conveyor 3 (step 40). . In addition, the conveyance distance of the belt conveyor 3 can be determined from the count value of the pulse applied to the seventh electric motor M7 (pulse motor). The storage box 5 to be sorted is determined based on the evaluation result by the image processing means 100, and the target carry-in position for the storage box 5 is determined (step 41). More specifically, as shown in FIG. 16, cucumbers have already been carried into the storage box 5,
If the previous carry-in position is stored, a position where the rectangular data 56 of the cucumber K at the previous carry-in position and the rectangular data 56 of the cucumber to be carried in this time are closely arranged as a temporary position (target reference position). Initial settings (Fig. 1
6 (a)), the target carry-in position is determined based on the contour data determined by the image processing means 100 such that the gap between the cucumbers is reduced. That is, as shown in FIG. 16 (b), the minimum value of the sum of the gaps between the previous contour 49 of the cucumbers and the contour 49 of the present cucumbers (the distance between the contour 49 and the rectangle at a plurality of locations) is calculated. In other words, the carry-in target position is obtained by shifting the position from the tentative position to the lower side of the inclination so that each cucumber comes close to the extent of contact with each other. If the previous carry-in position is not stored, the carry-in target position is set so as to approach the inner edge at one end of the storage box.

By moving the suction nozzle 22 to the suction position,
The suction nozzle 22 is lowered to the location where the cucumber K is present, and the suction operation is performed by sucking air (step 42). It is determined whether or not suction has succeeded by checking if the pressure in the air suction passage has become negative by a negative pressure sensor. If suction is successful, the cucumber K slightly rises while sucking Then, the proper posture for storage, that is, the rectangular data of the cucumber K at the previous loading position and the cucumber K to be loaded this time
When the cucumber K is bent, the rotation phase of the cucumber K is corrected by the rotation operation of the support tube 23 so that when the cucumber K is bent, the posture is such that both ends are located on the lower side. (Steps 43, 44, 4
5). In other words, the cucumber K is conveyed to the target carry-in position while being sucked, and is carried into the storage box 5 (step 46). When the loading operation is completed, the loading position with respect to the storage box 5 is stored, and the suction nozzle 22 is returned to the origin position (steps 47 and 48). When the cucumber K is loaded from one end side to the other end side of one storage box 5, the descending amount of the suction nozzle 12 is reduced by a set amount, and the cucumber K in the lower row of the previously loaded lower row is reduced. It will be loaded sequentially on top. In step 43, if the suction operation has not been properly performed even after the set number of times (about three times), the unloading operation is terminated to prepare for the subsequent cucumbers K. (Steps 49 and 50).

The cucumber K whose suction operation by the unloading device 6 could not be properly performed, or the cucumber K other than the rank set for each storage box 5 is disposed on the lower side in the transport direction of the belt conveyor 3. It is collected by the collection unit 57 and is processed manually.

[Another Embodiment] (1) In the above embodiment, it is determined that the lower end of the object to be measured has reached a predetermined position on the upper side in the conveying direction in the imaging area. After transporting the measured object to the lower side in the transport direction by the set distance, the transport of the transport conveyor was stopped, but without stopping the transport,
The measured object may be evaluated.

(2) In the above embodiment, the CCD image pickup device is provided as the image pickup means.
Other imaging means such as a MOS type imaging device or an imaging tube such as a vidicon may be used.

(3) In the above embodiment, the supply device 2 and the unloading device 6 suck and hold the object to be measured (cucumber K) with the suction nozzle, and convey it. For example, a configuration may be adopted in which the object to be measured is held and transported by a pair of holding members made of a soft material.

(4) In the above-described embodiment, the configuration is such that the object to be measured is placed and transported in a posture in which the longitudinal direction is along the conveyor transport direction. It may be one that is transported.

(5) In the above embodiment, the supply device 2 for automatically supplying the object to be measured (cucumber K) onto the belt conveyor 3
And an unloading device 6 for automatically taking out an object to be measured (cucumber K) from the belt conveyor 3 and storing it in the storage box 5, respectively. Instead of such a configuration, the following configuration is used. The present invention may be implemented in any of the configurations a, b, and c. a. A configuration in which the supply and unload operations of the measured object are manually performed manually. b. A configuration in which the unloading device 6 is provided, the unloading operation is performed automatically, and the supply operation of the measured object is performed manually. c. A configuration in which the supply device 2 is provided, the supply operation is performed automatically, and the operation of unloading the measured object is performed manually. In addition, a. And c. In the configuration described above, the evaluation result of the object to be measured by the image processing means may be displayed on the display means so that the worker can recognize it.

(6) In the above embodiment, the case where cucumber K is used as an object to be measured is exemplified. However, the present invention is not limited to cucumber K, but can be applied to various fruits and vegetables such as eggplant, tomato, and persimmon.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a cucumber sorting device.

FIG. 2 is a front view of a cucumber sorting device.

FIG. 3 is a side view of a cucumber sorting device.

FIG. 4 is a front view of the unloading device.

FIG. 5 is a sectional view of a supply device.

FIG. 6 is a sectional view of an unloading device.

FIG. 7 is a sectional view of a measuring unit.

FIG. 8 is a control block diagram.

FIG. 9 is a plan view of an unloading device.

FIG. 10 is a control flowchart of an evaluation process.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is an explanatory diagram of an operation of an evaluation process.

FIG. 13 is an explanatory diagram of the operation of the evaluation processing.

FIG. 14 is an explanatory diagram of the operation of the evaluation processing.

FIG. 15 is a plan view showing an operation state at an imaging location.

FIG. 16 is an explanatory diagram of an operation for obtaining a carry-in target position.

FIG. 17 is a control flowchart of an unloading operation.

[Explanation of symbols]

 Reference Signs List 3 transport conveyor 5 storage section 6 unloading means 7 transport control means 42 imaging means 46 binarization processing means 47 storage means 48 data processing means 100 image processing means

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Atsushi Kitamachi 64 Ishizukitamachi Sakai City, Osaka Prefecture Inside Kubota Sakai Factory (72) Inventor Masahiro Kiyokawa 64 Ishizukitamachi Sakai City Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. (72) Inventor Kazuichiro Tsujita 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (5)

[Claims] An image pickup means for repeatedly taking an image of an object placed and conveyed on a conveyor, and sequentially outputting image pickup information for measurement, and processing the image information of the image pickup means to perform image processing on the object to be measured. And an image processing means for evaluating the fruit and vegetables, wherein the image processing means captures the lower end of the object to be measured based on imaging information of the imaging means. Means for judging whether or not a predetermined position on the upper side in the conveyance direction in the imaging area by the means has been reached, and at the time of judging that the lower end of the object to be measured has reached the predetermined position. A measuring device for fruit and vegetables configured to evaluate the object based on imaging information of the object at that time after the object to be measured is conveyed by a set distance to the lower side in the conveyance direction from a position. . 2. The image forming apparatus according to claim 1, further comprising: a transport control unit configured to control an operation of the transport conveyor, wherein the transport control unit controls the image processing unit to move a lower end of the measured object in a transport direction in the imaging area. After determining that it has reached the predetermined position on the upper side, after transporting the measured object to the lower side in the transport direction by the set distance, the transport is stopped, and the image processing unit is configured to transport The fruit and vegetable measuring device according to claim 1, wherein the measuring device is configured to evaluate the object to be measured based on imaging information of the object that is imaged in a state in which the object is stopped. 3. The image processing unit includes: a binarization processing unit that binarizes imaging information output by the imaging unit so that the imaging information has a different value between an area of the measured object and another area; A storage unit configured to sequentially store the data binarized by the binarization processing unit; and a data processing unit configured to evaluate the object under test based on the data stored in the storage unit. Claim 1
Or the measuring device for fruit and vegetables according to 2. 4. The transfer mounting surface of the transfer conveyor is configured to have a brightness different from that of the object to be measured, and the imaging unit converts the imaging information for measurement into brightness information. The fruit and vegetable measuring device according to any one of claims 1 to 3, wherein the device is configured to output as. 5. An object to be measured is taken out on a lower side in a conveying direction than an image pickup position of the image pickup unit of the transfer conveyor, and based on an evaluation result by the image processing unit,
The fruit and vegetable measuring device according to any one of claims 1 to 4, further comprising a carry-out unit that sorts and stores the fruits and vegetables in a plurality of storage units.