JPS6155787A - Fruits recognition device - Google Patents

Abstract

PURPOSE:To decrease an influence of an outside light and reduce a quantity of irradiated light making a color temperature constant by providing a means for opening and closing light incident to a monitor camera and synchronizing an irradiation by an irradiating means with the opening and closing of light incident to the camera. CONSTITUTION:A monitor camera 1 using a color video camera incorporating a shutter 2 is provided with a stroboscope 3 as an irradiating means and a shutter controller 4 for controlling a shutter speed. By a trigger signal TG of the stroboscope 3, an opening and a closing of the shutter 2 by the shutter controller 4 are synchronized, and by opening and closing the shutter 2 simultaneously with the irradiation by the stroboscope 3, a fruit of an object to be taken a picture can be taken a picture with a constant brightness. A color image signal for one frame taken a picture by the monitor camera 1 is converted into a binary signal corresponding only to the fruit by a color identifying device 5 and stored in a frame memory 6. The result is displayed by a monitor television 7, and at the same time, a processing such as a fruit position detection is done to obtain a fruit recognition device capable of automatically separating and discriminating from other objects.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a fruit recognition device, more specifically, to a fruit recognition device, which separates a signal of a specific color corresponding to a fruit from an image signal obtained from a monitor camera and converts it into a co-value. 2m suitable for fruit only due to busy schedule
The present invention relates to a fruit recognition device configured to obtain a converted image signal.

[Conventional technology]

Conventionally, this type of fruit recognition device described above has been able to distinguish fruits from other objects based on the color of the captured image signal.
Since it is used for identification, there is a drawback that fruit recognition will be inaccurate if the color level of the image signal is not stable. It could not be used as a sensor for equipment used outdoors, such as the sensor for a cobot hand for fruit harvesting that Junto Motode had already proposed. ' Therefore, in order to eliminate the influence of the external light mentioned above, Mr. Kinide provided a means to illuminate the object with a constant amount of light, such as a strobe, to keep the brightness constant to a certain extent during imaging. has already been proposed (see Japanese Patent Application No. 5402).

[Problem that the invention seeks to solve]

However, even when the above-mentioned illumination means is provided,
It wasn't good enough and there was room for improvement.

In other words, since there is no need to take images continuously with a monitor camera, the illumination means can normally be anything that can emit a constant amount of light for a short period of time, such as a strobe. Due to its configuration, it takes approximately 0 seconds to output an image for a screen (/feedle).

Therefore, the above-mentioned illumination means illuminates for the 1740 seconds required for the camera to take an image of 7 fields, or it illuminates for a shorter period of time (e.g. / / 1000 seconds) but with a very large amount of light, and the aperture of the camera is It becomes necessary to use it with a large concentration.

As a result, the above-mentioned illumination means has to emit a greater amount of light than is necessary, resulting in an increase in the size of its power supply device, etc., which results in the inconvenience that the charging time for the second son's use becomes longer and the interval between lights emitted becomes longer. Ta.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to eliminate the influence of external light in a device that recognizes fruits based on the color of a captured image. It is an object of the present invention to provide a fruit recognition device equipped with a means for obtaining an image signal of a stable color level without using an illumination means with a large amount of light.

[Means for solving problems]

In order to solve the above problem, the fruit recognition device according to the present invention has the following features:
A means for illuminating the imaging direction by the monitor camera with a predetermined amount of light, and a means for opening and closing the light incident on the monitor camera are provided; The present invention is characterized in that it is provided with means for controlling so as to perform them synchronously, and its functions and effects are as follows.

[For production]

In other words, the illumination of the object to be imaged and the opening/closing of the light incident on the camera, that is, the exposure, are performed in synchronization.

〔Effect of the invention〕

Because of the above characteristics, the following excellent effects have been achieved.

That is, since the illumination of the object to be imaged and the exposure of the camera are performed in synchronization, the exposure can be performed only during the time of illumination. Therefore, since the aperture of the camera can be opened sufficiently in a state where the influence of external light, such as blooming, etc. is very small, the amount of illumination light for keeping the color temperature constant can also be reduced.

If the amount of illumination light is reduced, the illumination time by the illumination means can be shortened, and the illumination means can be significantly downsized.

Further, by shortening the illumination time, the time for opening and closing the incident light to the camera can also be shortened, so that, in combination with the miniaturization of the illumination means, the interval at which images can be taken can also be significantly shortened.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 1, a monitor camera (1) using a color video camera with a built-in shutter (2) as a means for opening and closing light incident on the camera is connected to a strobe light (as an illumination means).
3) and a shutter control (4) for controlling the opening and closing of the shutter (2), that is, the shutter speed.
), and the shutter (2) is activated by the shutter (4) by the trigger signal (TG) of the strobe (3).
), and by opening and closing the shutter (2) simultaneously with the illumination by the strobe (3), the fruit to be imaged can be imaged at a constant brightness.

Then, the cuff image signal for each frame captured by the monitor camera (1) having the above configuration is converted into an a value signal corresponding only to the fruit by the color identification device +51K having the configuration described later, and is stored in the frame memory +61K. Fruits that can be automatically distinguished from other objects by being memorized and displaying the results on a monitor television (7) while performing processes such as fruit position detection using a control device (8). This constitutes a recognition device.

As shown in FIG. 2, the color identification device (5) includes a luminance signal fYI Fi, which is image information output from the monitor camera (1), and a DC regeneration circuit (to be described later).
8) to a multiplier circuit 0α constituted by two multipliers 19) and +91, respectively potentiometers (R>) - (Rt') and (Rm) + (R
/) set by the multiplication ratio (Kl), (Kt')
, (Km), (Km') and compare U5J
A comparison rate (KIY) for converting the red color signal (R1 and the blue color signal fBl to 2M) is input to the path Qll and αV,
(K1'Y)-(KmY)-(Ks'Y).

The red and blue color signals fR1 and TBI output from the monitor camera (1) along with the BP luminance signal (■) are configured into a window comparator by two comparators (Al) 1. (Am) and an inversion buffer (G,). The upper limit values (KIY), (KsY) and lower limit value (Kl') of the comparison standards are input to the comparison circuits a and αD, respectively.
Y).

A signal with a level between (K/Y) is extracted and binarized, and the logical product of the color signals (R') and (B') is calculated by the AND circuit and the potentiometer is output. (
R1), (Rs'), (Rm), (R8 Binarize only the specific color corresponding to the fruit within the range set by 9 and store the 9 specific color signal (Fl) in the frame memory (6
).

Said DC regeneration B t8>... is the monitor camera (1)
Since the luminance signal (■, red and blue color signals (R1, TBI) output from
As shown in Fig. 8, the horizontal synchronizing signal (HD) is inputted via a horizontal amplifier (Ao), which is designed to control the level, that is, the black level, to be constant.
A sample hold circuit (AS) samples and holds the input signal (vt) in synchronization with the rising edge of A,) to convert the input signal (Vi) to the absolute GND
It is configured to convert the level to a DC component signal (V,).

In this example, the green color signal (Gl is not used is because a green signal corresponding to the leaves of a fruit tree is unnecessary), the red and blue color signals (3), ( The reason for performing the logical operation B) is to remove the background sky color from the image tn information.

In addition, the luminance signal (color signal (R1, fB
It is used as a comparison standard to remove the influence of the surrounding brightness, and to improve the accuracy of identifying colors to be extracted by the synergistic effect with the illumination effect of the strobe (3). When using the luminance signal (Yl) as a comparison standard, the color detection accuracy is equivalent to that of automatic aperture for changes in brightness of about ±2 stops from the aperture value that normally provides proper exposure. can get.

[Brief explanation of the drawing]

The drawings show an embodiment of the fruit recognition installation according to the present invention, and the first
Is the diagram the whole? FIG. 2 is a block diagram showing the configuration of the color identification device, and FIG. 8 is an explanatory diagram of the operation of the DC regeneration circuit. (1)...Monitor camera, (2)...
Incident light opening/closing means, (3)... illumination means. Agent Patent Attorney Osamu Kitamura 1st Edition 3 B Procedure Amendment 1. Indication of case 1982 Matsui acid No. 177888 2, name of invention Fruit recognition device 3, person making amendment Relationship to case Patent Applicant address Masatsuzuka/Chome-Bara V2, Chi-ku, Osaka-shi, Ogo prefecture Name (105) Kuureta Iron Works Co., Ltd. Kitamura? ,? fr building 7, W positive content description RA bud's 1th negative /DA line ~ /I line, "Toward, ...... deroru." is deleted.

Claims (1)

[Claims] A fruit recognition device configured to obtain a binarized image signal corresponding only to fruit by separating and binarizing a signal of a specific color corresponding to fruit from an image signal obtained from a monitor camera (1). means (3) for illuminating the imaging direction by the monitor camera (1) with a predetermined amount of light; and means (2) for opening and closing the light incident on the monitor camera (1); A fruit recognition device characterized in that it is provided with means for controlling the illumination by the means (3) and the opening/closing of the incident light to the camera (1) by the opening/closing means (2) in synchronization.