KR101508257B1 - Apparatuses for measureing egg quality and methods thereof - Google Patents

Abstract

The present invention relates to an egg quality measuring apparatus and an egg quality measuring apparatus for analyzing an image of Haran generated by an upper camera and a side camera using an image processing technique and automatically measuring the quality of eggs by using an integrated weighing unit in the main body, ≪ / RTI >

Description

[0001] APPARATUS FOR MEASURING EGG QUALITY AND METHODS THEREOF [0002]

The present invention relates to an egg quality measuring apparatus, and more particularly, to an apparatus for automating egg quality measurement.

It is required to measure the quality of eggs for distribution of eggs. Currently, there is a method of measuring the quality of eggs without breaking the eggs and a method of measuring the quality of eggs by breaking eggs.

The Harlan test has a problem that it takes a long time because the user must visually judge the breakage of the egg by the naked eye. Also, there is a problem that the evaluation criteria are not the same because the evaluator uses the sense of the evaluator.

In the Harlan test, there is a mechanical inspection method using a measurement probe or the like, but there is a problem that the measurement accuracy is uneven and the unit price is high.

An object of the present invention is to automate and precisely perform the measurement of the characteristics of the Harlan.

According to an aspect of the present invention, there is provided an egg quality measuring apparatus comprising: a main body; A detector mounted on the main body and made of a light transmitting material; A light source positioned between the inspection plate and the main body and irradiating light transmitted through the inspection plate under the inspection plate; A camera unit mounted on an arm protruding from an upper portion of the main body to generate an image of a subject positioned on the search board; At least one weighing unit positioned at the lower end of the search plate; And a control unit for controlling at least one of the light source unit, the camera, and the weight measuring unit, and measures an image and a weight of a subject positioned on the search plate.

The weighing unit may be positioned at the lower edge of the corner of the inspection plate and may not interfere with the light emitted from the light source unit.

The control unit may measure the weight of the subject by averaging the weights measured at the at least one weighing unit.

The controller may use the position of the subject measured by the camera unit to correct the weight error caused by the position of the subject on the search plate.

According to another aspect of the present invention, there is provided an egg quality measuring method comprising the steps of: generating an image of a subject located on a top surface of a search board using a side camera positioned on a side of a search board or an upper camera positioned vertically above the search board; ; Judging whether or not there is an operating means for placing a halan on the search board in the image; Determining whether the image is present in the image; And measuring the characteristics of the hall only when the operating means does not exist in the image and the hall is present.

According to another aspect of the present invention, there is provided an egg quality measuring method comprising the steps of: generating an image of a subject located on a top surface of a search board using a side camera positioned on a side of a search board or an upper camera positioned vertically above the search board; ; And analyzing the image to measure the characteristics of the halan, wherein the image generating step and the measuring step are repeatedly performed to measure a change in the halan.

According to another aspect of the present invention, there is provided a method for specifying a region of a Harlan, including: converting an image generated by a camera unit into an HSV channel image; And setting an area of the halan using the difference of one of a saturation value, a lightness value, and a hue value in a saturation channel of the converted HSV channel image.

The image converting step may include converting the side image of the halan generated by the camera into an HSV channel image, and the step of setting the area of the halan may include calculating a difference between the saturation values in the saturation channel of the converted HSV channel image Setting an egg yolk region using the method; And setting an egg region using a difference in brightness value in a brightness channel of the HSV channel image.

The setting of the area of the harness may further include setting the egg white area by removing the egg yolk area from the egg area.

Wherein the image converting step is a step of converting an upper image of the halan generated by the camera into an HSV channel image, and the step of setting the area of the halan uses a difference in light and dark values in a dark and light channel of the converted HSV channel image Setting an egg yolk region; And setting an egg region using a difference in saturation value in a saturation channel of the HSV channel image; Or the like.

The step of specifying the area of the harness may further include setting the egg white area by removing the egg yolk area from the egg area.

The image generated by the camera unit has a region of interest, so that image processing for the image can be performed only in the region of interest.

The area setting step may further include removing a closed area smaller than a specific size included in the set area.

According to another aspect of the present invention, there is provided a method of measuring a halan, comprising the steps of: generating a measurement area, Measuring a number of pixels in the measurement area; And generating an actual value of the measurement area by multiplying the number of pixels of the measurement line by a correction coefficient.

The step of generating the measurement region may include generating an area of an egg yolk region and an egg white region in a side image of the halan generated by the camera unit; Generating a measurement line parallel to the Y axis at a portion having the highest Y coordinate value in the generated one region; And generating a portion of the measurement line belonging to one of the generated regions as a measurement region, wherein the correction coefficient is set to a value obtained by dividing the length of a subject represented by one pixel of the camera image sensor by a distance between the camera and the subject And the length of the measurement area is obtained.

Wherein the step of measuring the number of pixels includes: obtaining a center coordinate of the measurement area with an upper image generated by a camera unit; And correcting the number of pixels of the measurement region using the degree of the center coordinates of the measurement region being spaced apart from the reference coordinates on which the correction coefficient is generated.

The step of setting the measurement region may include generating at least one of an egg yolk region and an egg white region as a measurement region in an upper image of the halan created by the camera, And the area of the subject is a coefficient represented by the degree of separation between the camera and the subject, thereby obtaining the area of the measurement area.

Wherein the step of measuring the number of pixels corrects a change in the number of pixels of the measurement area caused by a distance between the center coordinates of the measurement area and the center coordinates of the upper image.

According to another aspect of the present invention, there is provided a method of measuring a Hall element comprising: measuring a weight of a Hall element; Measuring a position of the harness on the inspection board using an upper camera; Calculating a gravimetric error of Haran according to the position of the Harlan; And correcting the weight of the measured Harlan using the calculated gravimetric error.

The measurement method of the Hall element may further include the step of generating weight difference data by position generated when the same object is located at a different position from the search board on the search board, The step of calculating the weight measurement error may calculate the weight measurement error of the Harlan using the measurement weight difference data for each position.

According to another aspect of the present invention, there is provided a method of calculating a Haugh Unit comprising: measuring a weight of a harman using the gravimetric method or the weight measuring unit; Measuring the height of the egg white by the method described above; And calculating a storm unit using the measured weight of the harran and the height of the egg whites.

According to the egg quality measuring apparatus according to the above-described embodiments of the present invention, the image of the Harlan generated by the upper camera and the side camera is analyzed using an image processing technique, and the quality of the egg is measured Can be performed quickly and precisely.

Further, the weighing part can more accurately measure the weight of the haran by correcting the error of the weighing of the object according to the position of the inspection board.

1 is a perspective view of an egg quality measuring apparatus according to an embodiment of the present invention.
2 is a perspective view illustrating a lower end portion of an egg quality measuring apparatus according to an embodiment of the present invention.
3 is a plan view showing a lower end portion of an egg quality measuring apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating an automatic measurement mode operation in an egg quality measuring apparatus according to an embodiment of the present invention.
FIG. 5 is an operation flowchart of a spread measurement mode in an egg quality measuring apparatus according to an embodiment of the present invention.
FIG. 6 is an operational flowchart of a method of measuring an egg characteristic using an image generated by a side camera according to an embodiment of the present invention.
7 is an operational flowchart of a method of measuring an egg characteristic using an image generated by an upper camera in an egg quality measuring apparatus according to an embodiment of the present invention.
8A to 8C are views showing an original image generated by a side camera and an image of a region of interest in the original image, which are cut out by an egg quality measuring apparatus according to an embodiment of the present invention.
9A to 9C are images obtained by converting an image generated by a side camera into an HSV region in an egg quality measuring apparatus according to an embodiment of the present invention.
FIGS. 10A to 10C are views illustrating a process of processing images in an egg quality measuring apparatus according to an exemplary embodiment of the present invention, in which an egg region is specified by an image generated by a side camera.
11A to 11E are diagrams illustrating a process of processing an image in the process of specifying an egg yolk region using an image generated by a side camera of an egg quality measuring apparatus according to an embodiment of the present invention.
12A to 12D are views illustrating a process of processing an image in the process of specifying an egg white region using an image generated by a side camera of an egg quality measuring apparatus according to an embodiment of the present invention.
13A and 13B are views illustrating a process of processing an image in a process of measuring the height of a harbor by an image generated by a side camera in an egg quality measuring apparatus according to an embodiment of the present invention.
FIGS. 14A to 14D are views showing an original image generated by an upper camera and an original image converted into an HSV region according to an embodiment of the present invention.
FIGS. 15A to 15E are views illustrating a process of processing an image in the process of specifying an egg yolk region by an image generated by an upper camera in an egg quality measuring apparatus according to an embodiment of the present invention.
16A to 16J are views illustrating a process of processing an image in the process of specifying an egg white region by an image generated by an upper camera in an egg quality measuring apparatus according to an embodiment of the present invention.
17 is a view showing an image processed in the process of measuring the width of a hull by an image generated by an upper camera in an egg quality measuring apparatus according to an embodiment of the present invention.
18 shows a load cell used in an egg quality measuring apparatus according to an embodiment of the present invention.
Fig. 19 shows the specifications of the load cell shown in Fig.
20 shows an arrangement of a 24-bit analog-to-digital converter (ADC) and a module (JMOD-128) for processing the weight data of the load cell shown in FIG.
Fig. 21 shows details of the module JMOD-128 shown in Fig.
22 shows an interface for setting a reference value of weight by transmitting a weight correction command in the PC.
23 is a flowchart showing the operation of the weight correction mode of the egg quality measuring apparatus according to an embodiment of the present invention
24 shows the reference weight measured with a balance having an accuracy of + -0.01.
Fig. 25 shows the measured weights of the objects measured by different positions according to the positions of the objects located in the inspected object.
FIG. 26 shows a result of verifying the accuracy of the weight measurement mode of the egg quality measuring apparatus according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

The structure of the egg quality measuring apparatus 100 according to an embodiment of the present invention

1 is a conceptual diagram of an egg quality measuring apparatus 100 according to an embodiment of the present invention. An egg quality measuring apparatus 100 according to an embodiment of the present invention includes a main body 111 and 112, an upper camera 121 as a first camera, a side camera 122 as a second camera, a background board 123, A commercially available plate 130, a light source 140, a weight measuring unit 150, and a control unit (not shown).

The main body includes a lower end 112 capable of receiving the search board 130, the light source 140 and the weight measuring unit 150, an upper end 111 capable of receiving the upper camera 121 and the side camera 122, .

2 and 3 are a perspective view and a plan view showing a lower end portion 112 of the egg quality measuring apparatus 100 according to an embodiment of the present invention. The lower end portion 112 has a flat and wide shape so that the search board 130 can be supported without shaking. In addition, the lower end portion 112 may include a horizontal adjustment device so that the search board 130 may be leveled.

The inspection board (130) is located at the lower end (112) of the main body, and accommodates a harbor to be inspected. Harlan is located on the top of the search board (130). The inspection board 130 is formed of a material that transmits light so that the light irradiated by the light source unit 140 is transmitted through the harbor accommodated in the inspection board 130.

The upper camera 121 is coupled to the upper end 111 of the main body so as to be positioned vertically above the search board 130 to generate an upper image for the harbor placed on the search board 130.

The side camera 122 is coupled to the upper end 111 of the main body so as to generate a side image of the harbor placed on the search board 130. The side camera 122 may be coupled to the lower end 112 of the body. The background board 123 is positioned at a position opposite to the side camera 122 on the basis of the search board 130 so that the image of the hall placed on the search board 130 by the side camera 122 is displayed on the background of the background board 123 .

The light source unit 140 is positioned at the lower end of the search plate 130 and transmits the light through the search plate 130 toward the harbor. The light source unit 140 can reduce the influence of the image of the halan generated by the upper camera 121 on the brightness around the search board 130 by irradiating the search board 130 with light that is brighter than the brightness around the search board 130 .

The weight measuring unit 150 is located at the lower end 112 of the main body and measures the weight of the harness placed on the search board 130. In the egg quality measuring apparatus 100 according to an embodiment of the present invention, the weighing unit 150 measures at least one height of the harness by mounting at least one load cell below the search board 130, Can be measured. In one embodiment of the invention, the load cell may be four. The four load cells may be arranged at the bottom of the search board 130 in the same arrangement as the corner of the rectangle. A measuring plate for receiving the inspection plate 130 is positioned between the inspection plate 130 and the load cell so that the measuring plate is positioned on the load cell and the inspection plate 130 is placed on the measuring plate 130. [ May be accepted.

The operation mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention

The egg quality measuring apparatus 100 according to an embodiment of the present invention has a manual measurement mode, an automatic measurement mode, and a spread measurement mode in an operation mode.

In the manual measurement mode, the user manually starts measuring the quality of the eggs by pressing the manual measurement button.

4 is a flowchart of an automatic measurement mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention. In the automatic measurement mode, the presence or absence of the hand and the presence of the egg are judged, and the user automatically measures the quality without advancing the operation of the apparatus. In the automatic measurement mode, when the operating means for placing the halber on the image (S410) obtained by the camera is displayed, the image of the halan may not be generated completely, (S420). The operating means includes a user's hand. Further, even if the harness is not positioned on the upper surface of the search board 130, the apparatus stays in the standby state (S430). That is, in the automatic measurement mode, the quality of a hall can be measured only when there is only a hall between the upper camera 121 and the search board 130. However, this can be performed selectively. The user can set the egg quality measuring apparatus 100 according to the embodiment of the present invention to selectively perform the step of discriminating the operation means or the step of determining whether or not there is a harness.

When the egg quality measurement is performed in the manual measurement mode and the automatic measurement mode, the egg quality measuring apparatus 100 performs an image processing step (S440), a weight measuring step (S450) and a data calculating step (S460).

5 is a flowchart of a spread measurement mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention. The spread measurement mode collects characteristic data in which the harbor accommodated in the search board 130 is deformed by gravity according to time, in real time. Due to the gravitational deformation of Halan, the Halan is spreading around by gravity, and the height of Halan is slightly lowered. The data collected may be the height and area of egg yolk and egg white of Harlan. In the spread measurement mode, in order to measure the characteristics of the Harlan in real time, the characteristic data of the Harlan is repeatedly collected for a predetermined time according to a predetermined value (S470). The egg quality measuring system according to an embodiment of the present invention can acquire an image repeatedly at intervals of 1 second for 20 seconds to measure the height and area of the halan and display it to the user . The spread measurement mode can be operated in the manual measurement mode or the automatic measurement mode.

The operation of the egg quality measuring apparatus 100 according to the embodiment of the present invention

4 and 5, the operation of the egg quality measuring apparatus 100 according to an embodiment of the present invention will be described. The egg quality measuring apparatus 100 according to an embodiment of the present invention includes an image processing step S440, a weight measuring step S450, and a data calculating step S460.

First, the egg quality measuring apparatus according to an embodiment of the present invention starts to acquire an image with the upper camera 121 and the side camera 122 (S410).

Next, image processing is started with the acquired image (S440). The image processing step S440 is a step of generating and analyzing an image with the upper camera 121 and the side camera 122. [ In the image processing step (S440), the height and area of the haran are measured. The method of measuring the height and area of the Harlan will be described later. In addition, this step may also determine the color of Harlan.

The egg quality measuring apparatus 100 according to an embodiment of the present invention determines the egg yolk color of the Harlan using the upper camera 121. Using the Yolk Color Fan model from Switzerland, you can determine the yellow color. The egg quality measuring apparatus 100 according to an embodiment of the present invention photographs the yolk color image of the Yolk Color Fan model, converts RGB colors of the photographed image into LAB image values, The value is converted into a database by the Yolk Color Fan model grade. Then, the data of each grade of the measured yolk color and the database of the Yolk color fan model are compared to calculate the yolk yellow color according to the yolk color fan model in the yolk yellow color. In the same way, the color of egg white can be determined.

Next, the weight of the Harlan is measured (S450). In the egg quality measuring apparatus 100 according to the embodiment of the present invention, the weight of the haran is measured by measuring the height of the haran by mounting a plurality of load cells under the search board 130 in which the haran is accommodated, can do. In one embodiment of the invention, the load cell may be four. The four load cells may be arranged at the bottom of the search board 130 in the same arrangement as the corner of the rectangle. A measuring plate for receiving the inspection plate 130 is positioned between the inspection plate 130 and the load cell so that the measuring plate is positioned on the load cell and the inspection plate 130 is placed on the measuring plate 130. [ May be accepted.

In one embodiment of the present invention, the weight measuring unit 150 may include a control unit and a load cell, and the control unit may measure the weight by using the load cell. The weighing of the haran can be performed by the control unit averaging the weight data calculated and measured in the load cell for a certain period of time. When measuring the weight of the Harlan in this way, the control unit can process the image processing step and the weight measuring step in parallel to obtain the image of the Harlan even at the moment of measuring the weight. Alternatively, instead of controlling the load cell by the control unit, the weight measuring unit 150 may independently measure the weight and transmit the measured weight to the control unit.

In general, the precision scale measures the pressure that pushes the load cell by the weight of the object. If the weighing plate in which the object is contained is large, the pressure applied to each load cell varies as the object is moved away from the center of the weighing plate, resulting in an error. Therefore, in the case of precision scales, the size of the weighing plate is generally small in order to reduce the error.

However, in the egg quality measuring apparatus 100 according to the present invention, the search board 130 in which the eggs are housed is larger than the measuring plate of the precision scale. In order to correct the size of the checkerboard 130 relative to the size of the metering plate, the position of the object, which is spaced from the center of the upper camera 121, is measured using the upper camera 121, It is possible to correct the weight data measured by the error compared with the weight error data base according to the distance from the center of the upper camera 121 measured with a specific object which knows the object. By modifying the measured weight data, the error rate of the weight of the haran and the measured weight can be reduced by about 20%.

Finally, data related to the characteristics of the Hall element are calculated (S460). The data calculating step may use the generated Harlan's data to calculate data relating to the quality of eggs, and the data to be calculated may be a storm unit. Here, the storm unit is calculated as HU = 100 log10 (h - 1.7w0.37 + 7.6). h is the height of the thick egg white (mm), and w is the weight of the egg (g).

Hereinafter, a method of performing image processing by the egg quality measuring apparatus 100 according to an embodiment of the present invention will be described with reference to FIGS. 6 and 7. FIG. Image processing of the egg quality measuring system according to an embodiment of the present invention can be performed using the Halcon image library of MVTec and the OpenCV image library of Intel Corporation.

Hereinafter, a method of measuring the egg white and egg yolk height using the side camera 122 in the image processing step S440 will be described with reference to the egg quality measuring apparatus 100 according to an embodiment of the present invention.

6 is a flowchart of a method of measuring the characteristics of eggs using an image generated by the side camera 122 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

FIG. 7 is a flowchart of a method of measuring an egg characteristic using an image generated by the upper camera 121 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

8A to 8C are views showing an original image generated by the side camera 122 and an image of a region of interest in the original image, which are cut out by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

9A to 9C are images obtained by converting the image generated by the side camera 122 into the HSV region by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

FIGS. 10A to 10C illustrate a process in which an image is processed in the process of specifying an egg region by an image generated by the side camera 122 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

11A to 11E illustrate a process in which an image is processed in the process of specifying an egg yolk region by an image generated by the side camera 122 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

12A to 12D illustrate a process in which an image is processed in the process of specifying an egg white region by an image generated by the side camera 122 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

13A and 13B illustrate a process in which an image is processed in the process of measuring the height of a harness by an image generated by the side camera 122 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

6 and 8A to 13B, a method for performing the image processing step S440 using the side camera 122 will be described with reference to the egg quality measuring apparatus 100 according to an embodiment of the present invention. First, the controller acquires the side image of the egg using the side camera 122 (S510). FIG. 8A shows a non-corrected video image having an image size of 2592 x 1944 size. The control unit proceeds to the step of preprocessing the non-corrected image (S520). The control unit preprocesses the uncorrected image and sets an area in which the image processing to be performed is to be performed by setting a region of interest. Also, the non-corrected image is converted into the HSV area and converted into the image to be processed.

Referring to FIG. 8, setting of a region of interest in an image will be described in more detail. FIG. 8B shows a state in which a region of interest (ROI) is set in a non-corrected image. High-performance processing is required if all of the high resolution areas of 2592 x 1944 without compensation are imaged. However, since the area where Harlan is located is always constant, ROI can be processed by designating a region of interest (ROI). In one embodiment of the invention, the reduce_domain (a, b, c) function can be used to set the ROI. Here, a is a parameter indicating an image to be cut, and b is a parameter indicating an area for performing ROI. And c is a parameter in which the cut image is to be stored.

8C shows a state in which the original image is cut into the ROI region. In the embodiment of the present invention, when the original image is cut into the ROI rectangular area by the reduce_domain function, the number of pixels to be processed is reduced by 55% from 5038848 to 2272000, and the image processing speed increases by about 55% in theory.

Referring to FIG. 9, the control unit converts the image into the HSV area. The image generated by the side camera 122 is composed of data in the RGB area. The controller converts the color of the RGB area into a hue saturation value (HSV) area for later image processing. HSV is a color model separated by hue, saturation, and contrast. An example of an image converted into an HSV area is shown in Fig. FIG. 9A is an image represented by tone data (area H). Likewise, FIG. 9B is an image represented by saturation data (S region), and FIG. 9C is an image represented by contrast data (V region).

Saturation represents the degree of color clarity. The higher the saturation value, the higher the degree of saturation of light is, the brighter the image. Therefore, the egg yolk region and the egg white region can be distinguished by using the saturation value. Brightness indicates the lightness and darkness of the color. The light irradiated from the light source 140 causes the egg yolk region and the egg white region to have a higher contrast value than the surrounding region. Thus, the brightness value can be used to detect the entire area of the field.

Next, the control unit specifies an area of the egg in the image (S530). Will be described with reference to Figs. 10A to 10C. The controller selects only pixels having a specific range of brightness using a boundary point in which a value rapidly changes in the V region of the HSV in order to separate the background and the egg region. An example in which pixels are selected is shown in FIG. 10A. In one embodiment of the present invention, the process of selecting a pixel may be performed using a threshold function. The threshold function uses thresholds to select only pixels in the egg region. The threshold value can be selected experimentally. The threshold value can be changed according to the brightness of the camera lens. You can also use the opening_circle function to smooth out the boundaries by removing regions smaller than a circular structure of a certain size. Here you can use the circular pyrox 3.3 as a circular structure. The result of smoothing the boundary is shown in FIG. 10B.

Then, the pixels bound in one area are grouped and separated into adjacent area pixels. This labeling can separate the entire area of the egg from the non-area. In one embodiment of the invention, this may be implemented using a connection function. The labeled results are shown in FIG. 10C.

After labeling, the egg area is selected from the areas separated by each label. Fig. 10D shows the result that only the egg region is selected and displayed. In one embodiment of the invention, this may be implemented using the select_shape function. The parameters of the select_shape function are area, row1 and row2. Area is the total number of pixels in the region, row1 is the y-axis value at which the region starts, and row2 is the center y-axis value of the region. The select_shape function can select an area belonging to a specific condition by using the above-described parameters.

Next, the control unit specifies the egg yolk region (S540). Specification of the egg yolk region uses the saturation value in the HSV region. In one embodiment of the present invention, the control section separates only the S region data from the HSV transformed image using the reduce_Domain function to separate the yolk and egg white regions. The separated image of only the S area data is shown in FIG. 11A.

Then, the controller selects pixels in the egg yolk region using the threshold value of saturation. The threshold value is experimentally obtained as described above. In an embodiment of the present invention, as shown in FIG. 11B, the controller can select an area through the threshold command in an egg yolk area having a higher saturation than the egg white in the s area. You can also use the opening_circle function to smooth out the boundaries by removing regions smaller than a circular structure of a certain size. Here you can use the circular pyrox 3.3 as a circular structure. The result of smoothing the boundary is shown in FIG. Then, the control unit generates the result image as shown in FIG. 11D through the labeling process as described above, and selects the egg yolk region among the plurality of separated labeled regions to specify the yolk region as shown in FIG. 11E. In the embodiment of the present invention, the parameter input of the select_shape function used for selecting the egg yolk region is "select_shape (ConnectedRegions, YolkRegionSelect, ['area', 'row1', 'row2' 320,600], [120000,800, 800]). As described above, the values of area, row1, and row2 are experimentally obtained.

Next, the control unit specifies the egg white area (S550). The egg white area can be created by removing the egg yolk area from the entire area of the egg. In one embodiment of the present invention, the control unit may remove the egg yolk region in the entire region using a difference function. The results of removing the egg yolk region from the egg region are shown in FIG. 12A. As described above, by using the opening_circle function, noise can be removed by removing a region smaller than a circular structure of a specific size. Here you can use the circular pyrox 3.3 as a circular structure. The result of smoothing the boundary is shown in FIG. 12B.

Then, the controller generates the result image as shown in FIG. 12C through the labeling process as described above, and selects the egg white region from among at least one region that is labeled and separated to specify the egg white region as shown in FIG. 12D. The specification of the egg white area can be performed by selecting an area having the largest number of pixels using the select_shape among at least one of the labeled areas. In the embodiment of the present invention, the parameter input of the select_shape function used for selecting the egg white area is "select_shape (TotalConnectedRegions, TotalRegionSelect, ['area', 'row1', 'row2' 320, 320], [600000, 730, 800]). As with the egg yolk region specification, ['area', 'row1', 'row2'] is the number of pixels in the labeled area and the middle of the Y coordinate of the Y coordinate of the labeled area. These numerical values should be set again when the position of the camera lens and the camera are changed. As described above, the values of area, row1, and row2 are experimentally obtained.

Next, the control unit calculates data (S560). The data to be calculated is the height of the egg yolk region and the egg white region. The control unit can calculate the height data by measuring the height using the areas of egg yolk and egg white produced in the above step.

Will be described in more detail with reference to Figs. 13A and 13B. A state in which a vertical line is drawn at the highest point of the egg yolk region and at a point where the height of the egg white region becomes gentle is shown in FIG. 13A. And a vertical line contained within the egg yolk and egg white region is shown in Figure 13B. The height measurement according to an embodiment of the present invention creates a vertical line in the egg yolk region and the egg white region. Then, the control unit obtains the number of pixels included in the vertical line accommodated in the egg yolk region and the egg white region, multiplies the length per pixel of the actual image sensor of the camera, and converts the length into an actual length. Since the number of pixels of the same length varies depending on the position of the egg during the conversion of the length, the center coordinates of the yolk and egg white are obtained through image processing through the camera on the upper surface, and the pixel value according to the distance is corrected.

In an embodiment of the present invention, an intersection function can be used to specify a vertical line accommodated in the egg yolk region and the egg white region, and the number of pixels included in the specified vertical line can be measured using the area_center function. The area_center function takes the form of area_center (YolkRegion, Area, Row, Col), stores the number of pixels of the area referenced by yolkRegion in the Area variable, and stores the coordinates of the center point of the area in the Row and Col variables.

Hereinafter, a method of measuring the actual length of a subject using an image will be described. First, the number of pixels of the subject should be corrected according to the distance between the camera and the subject. In order to perform the distance correction through the upper camera 121, a change value with respect to the number of pixels for expressing the subject is required according to the distance between the camera and the subject. In order to achieve this, in an embodiment of the present invention, a 3 cm square model is used, and when the model is located at the center of the upper camera 121 and measured by the side camera 122, Then, the hexagonal model is placed at another position, and the number of pixels of the corresponding line represented by the position is measured. In this way, the degree of separation of the subject from the center of the upper camera 121 is obtained from the second plane using the change of the number of pixels according to the position, and then the data measured by the regular hexagon model is used to express The number of pixels can be corrected to the number of pixels when the subject is at the center coordinate of the upper camera 121. [ Thereafter, the noise may be removed using a first low-pass filter.

Then, the length of the actual object is calculated by the number of pixels of the image. The resolution of the camera and the actual length and height of one pixel can be obtained from the camera's reference table. The number of pixels of the vertical line is obtained by taking a cube whose actual length is known by the side camera located at the center of the image generated by the upper camera 121. The obtained pixel number is multiplied by the pixel length of the image sensor to obtain a proportional value to the actual length of the cube. The proportional value obtained is the correction variable. Accordingly, the actual size of the subject in the image captured by the image can be obtained by multiplying the pixel length of the image sensor, the number of pixels of the vertical line, and the correction parameter.

Hereinafter, a method of measuring the egg white and egg yolk area using the upper camera 121 in the image processing step S440 of the egg quality measuring apparatus 100 according to an embodiment of the present invention will be described.

FIGS. 14A to 14D are views showing an original image generated by the upper camera 121 by the egg quality measuring apparatus 100 according to an embodiment of the present invention, and an image obtained by converting the original into the HSV region.

FIGS. 15A to 15E illustrate a process of processing an image in the process of specifying an egg yolk region by an image generated by the upper camera 121 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

16A to 16J illustrate a process in which an image is processed in the process of specifying an egg white region by an image generated by the upper camera 121 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

FIG. 17 shows an image processed in the process of measuring the width of a harness by an image generated by the upper camera 121 by the egg quality measuring apparatus 100 according to an embodiment of the present invention.

A method of performing the image processing step S440 using the upper camera 121 will be described with reference to FIGS. 7 and 14A to 17, in which the egg quality measuring apparatus 100 according to an embodiment of the present invention performs an image processing step S440. The description of the overlapping portion with the method of performing the image processing step S440 with the side camera 122 will be briefly described.

First, the upper camera 121 generates an uncorrected image (S610). An original image that has not been corrected is shown in FIG. 14A. Then, the control unit converts the original image into the HSV region image by preprocessing the original image (S620). The hue region (H region) of the image converted into the HSV region is shown in Fig. 14B. Similarly, a saturation region (S region) is shown in Fig. 14C, and a dark region (V region) is shown in Fig. 14D.

The saturation region of the egg viewed from the top surface is brighter than the transparent egg white region in which the light saturation is high, as in the saturation region viewed from the side. This can be used to separate the yolk and egg white areas. Also, since the upper camera 121 looks at the light source unit 140 in front, the egg yolk region is relatively darker than the other regions. Using this point, the egg yolk region can be detected.

Next, the egg yolk region is specified (S630). The steps of specifying egg yolk in an embodiment of the present invention are shown in Figs. 15A to 15E. Since the light source 140 is located below the search board 130 and passes light through the search board 130 to illuminate the harbor, the opaque yolk does not pass through the egg yolk compared to the egg white, Harlan appears dark in the image. In one embodiment of the present invention, the controller detects a black portion through the threshold function in the V region of the image converted into the HSV region. The threshold value used for the threshold function is experimentally obtained as described above. If the brightness of the camera lens changes, the threshold value must be changed. The image of the egg yolk region set using the Threshold function is shown in FIG. 15A.

As described above, the control unit removes noise smaller than the circular structure of a specific size using the opening_circle function, as shown in FIG. 15B1. FIG. 15B shows an image in which noises are removed from an image in which yolk and noise are present together. In this case, a circular pyruvate 30 can be used to remove impurities such as egg yolk, not egg yolk. The result of removing the egg yolk and other impurities is shown in Fig. 15C.

Then, the control unit generates the result image as shown in FIG. 15D through the labeling process as described above, and selects the egg yolk region from at least one of the separated regions to specify the egg white region as shown in FIG. 15E. In one embodiment of the present invention, the specification of the egg yolk region is specified using the select_shape function among at least one labeled regions. The range values used in the select_shape function are area and circularity. area is the total number of pixels in the region and circularity is the pi of the prototype. Only the egg yolk region can be separated from the whole region by two characteristics.

Next, the egg white region is specified (S640). Specification of the egg white area proceeds to ROI setting step, leveling gray pixel value, egg area setting step and post-processing step.

First, the ROI region can be set to reduce the amount of data processed through the image processing. The process of setting the ROI may be omitted. The process of setting the ROI by the egg quality measuring apparatus 100 according to an embodiment of the present invention may be performed using a Dilation_circle function.

Among the HSV regions, the saturation region separates yolk and egg white, and ROI can reduce the area for image processing. The control unit can use the Dilation_circle function to create circles of the egg-like region and the like, and use this region as the ROI region to cut the S region (saturation region) in the image converted into the HSV region. The control unit can set a circular ROI region including the egg white region on the basis of the pie in the egg yolk region. Experimentally, the pie in the ROI region can use 5 times the pie in the yolk region. FIG. 16A shows the yolk boundary line, and FIG. 16B shows the ROI region generated with the yolk boundary line.

Then, through the reduce_domain, only the region belonging to the ROI region is left, and the remaining region is cut off. The results are shown in Figures 16c and 16d.

The step of leveling the gray pixel values is a step of averaging the gray pixels of the small group into a color similar to that of surrounding gray pixels. Through this process, the gray value of the surrounding area can be changed into a similar area, so that the area of the image can be easily separated. The egg quality measuring apparatus 100 according to an embodiment of the present invention can average a small gray pixel to a color similar to surrounding gray pixels using the gray_closing_shape function.

The step of setting the egg white area is performed by selecting pixels having a specific gray value. The egg quality measuring apparatus 100 according to an embodiment of the present invention selects only pixels having a specific gray value using a threshold command. Experimentally, a gray value range of 30 to 130 can be used. FIG. 16E shows a result of the egg quality measuring apparatus 100 selecting an egg white region using a specific gray value according to an embodiment of the present invention.

The egg quality measuring apparatus 100 according to an exemplary embodiment of the present invention separates neighboring pixels of neighboring pixels into pixels. This labeling separates the egg white region and other regions. This labeling can be done using the connection function. The result of being labeled separately from the egg white region and the other region is shown in Fig. 16F.

The egg quality measuring apparatus 100 according to an embodiment of the present invention selects an egg white region from among a plurality of labeled regions. The egg quality measuring apparatus 100 according to an embodiment of the present invention selects an area belonging to a specific range by using the select_shape function as in the above-described method. Here, the egg white area can be selected using the Area parameter which means the total number of pixels of the area. Since the other separated area is an area having relatively smaller pixels than the egg white area, the egg white area can be selected using the Area parameter. The result of selecting the egg white region is shown in Fig. 16G.

The egg quality measuring apparatus 100 according to an embodiment of the present invention processes the selected egg white region. The post-processing can be done by smoothing the boundaries of the selected egg-back region and removing the blank portions contained within the selected egg-fold region.

The egg quality measuring apparatus 100 according to an embodiment of the present invention can smooth the boundary of the egg white region by removing a region smaller than a circle having a specific radius by using the closing_circle function. The size of the circle used here is 300. The result of smoothing the boundary is shown in Figure 16h.

The egg quality measuring apparatus 100 according to an embodiment of the present invention may remove a blank portion included in the egg white region by removing a small region included in a closed large region using a fill_up function. The result of removing the empty space included in the inside of the egg white area by this process is shown in FIG. 16I.

The egg quality measuring apparatus 100 according to an embodiment of the present invention removes the egg yolk region from the entire egg region to obtain the area of only the egg white region. This can be done using the difference function. The best generated image of the egg white area is shown in Figure 16j.

Next, the step of calculating data is performed (S650). The data to be calculated may be the area of egg white and egg yolk.

The egg quality measuring apparatus 100 according to an embodiment of the present invention obtains the number of pixels of the egg yolk and the number of pixels of the egg white and multiplies the pixel number by the area of the subject represented by one pixel in the actual image sensor of the camera, Can be calculated.

Here, the egg quality measuring apparatus 100 according to an embodiment of the present invention calculates the difference between the center coordinates of the camera and the center coordinates of the egg yolk in the same manner as correcting the number of pixels in the method of measuring the egg height and egg yolk height It is possible to obtain the degree of separation of the center of the egg yolk from the center of the camera and to correct the number of displayed pixels according to the degree of separation.

The egg quality measuring apparatus 100 according to an embodiment of the present invention can obtain the number of pixels of egg yolk and the number of pixels of egg white using the area_center function.

The actual length of one pixel of the CMOS sensor can be obtained from the reference table of the upper camera 121. The actual length of one pixel of the CMOS sensor used in the egg quality measuring apparatus 100 according to an embodiment of the present invention is 0.28 X 0.28 mm. (0.28 x 0.28) x (the number of pixels in the region) is calculated by multiplying the number of pixels in the area of the egg white and egg yolk measured by the image processing of the image generated by the upper camera 121 by the actual area of one pixel of the cmos sensor, The actual area can be obtained.

FIG. 17 is a diagram showing an egg yolk and an egg white area in a video image generated by the upper camera 121 and displaying the calculated data.

Where distance is the distance from the center of the screen to the center of the yolk, indicated by the intersection of the blue leader lines. distance_x is the absolute x-axis coordinate distance from the center of the screen to the center of the yolk, indicated by the intersection of the blue leader lines.

distance_y is the absolute value y-axis coordinate distance from the center of the screen to the center of the yolk, indicated by the intersection of the blue leader lines. yorkcoumn_dis is the x-axis coordinate distance, expressed as an integer from the center of the screen to the center of the yolk, indicated by the intersection of the blue leader lines. The yorkcoumn_dis value has the same value as distance_x but has a sign when it is left at the center of the blue of the x axis and a sign when it is at the right. yolkrow_dis is the y-axis coordinate distance, expressed as an integer from the center of the screen to the center of the yolk, indicated by the intersection of the blue leader lines. The value of yolkrow_dis has the same value as distance_y, but has a plus sign if it is up at the center of the y axis and a plus sign if it is down.

The weight measurement of the egg quality measuring apparatus 100 according to an embodiment of the present invention

A load cell is a load sensor that measures force or load by converting physical quantities such as force or load into electrical signals. An object is deformed in proportion to a force or a load, and the strain per unit length is called a strain. The strain developed at this time has a characteristic that it changes linearly with the magnitude of force or load.

A strain gage is a measuring device developed for measuring strain. Strain gages work based on the principle that the electrical resistance of an object changes with length and cross-sectional variation.

The load cell transforms the physical deformation occurring in the receiving part of the elastic strain member, which generates a structurally stable deformation with respect to the force or the load, into a change in electrical resistance by using a strain gauge, Bridge) and converts it into a precise electrical signal to measure the weight.

The egg quality measuring apparatus 100 according to an embodiment of the present invention uses four load cells and the HD-Lcell-01 load cell of the used Hanjin data is shown in FIG. Fig. 19 shows specifications of the HD-Lcell-01 load cell of Hanjin data shown in Fig. 20, in order to reduce the measuring time of the image processing and the weight measurement, the weight measurement part of the load cell is separately processed using a separate module. The processing module is an 8 bit MCU of Atmega128 (JMOD-128) equipped with a built-in module. Fig. 21 shows details of the module JMOD-128. In order to increase the accuracy of the load cell, a high-precision 24-bit ADC (Analog-to-Digital Converter) is used as shown in FIG. 20, and in this embodiment, four EPX4XM8A of Hanjin Data Co., Ltd. are used.

The weight correction mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention uses a RS232 communication method between a microprocessor (ATMEGA 128) for controlling a load cell and a PC to input and output mutual data. 22 shows an interface for setting a reference value of weight by transmitting a weight correction command in the PC.

In the weight measurement using the load cell of the egg quality measuring apparatus 100 according to an embodiment of the present invention, the programmatic algorithm calculates the weight with two points of zero and SPAN obtained through the weight correction operation. During the weight calibration, ZERO measurement and SPAN measurement value measured by the load cell are made a linear expression and the weight value is displayed. The algorithm using the load cell is shown in Equation 1 below.

In the above equation (1), X is the weight value of the measured object, and A and B are the tremble correction variables. Y is the measured weight value of the corrected object. The calibration parameter A can be expressed as the ratio of the actual weight value of SPAN and zero to the measured weight value as in (SPAN weight - 0) / (measured value in SPAN - measured value in ZERO). Where SPAN weight is the weight of any object whose weight value is known for weight correction. SPAN measurement value is the measurement weight value measured when an arbitrary object having a SPAN weight value is measured, and the ZERO measurement value is a measurement weight value when there is no object to be measured, that is, when the weight is zero. Equation (1) can be written as Equation (2) below.

In Equation (2), B can be calculated by Equation (3) below. That is, when the weight is 0, the measurement value that is displayed is multiplied by the weightlessness correction variable A and -1, and the value can be used as B.

In one embodiment, when the SPAN weight is set to 1000, A can be calculated as Equation (4) below and can have a value of 0.001807782, and B can be calculated to be 666 as shown in Equation (5) below. In the present embodiment, the measured value at SPAN is 921.940 and the measured value at ZERO is 368.776.

The values of A and B and the AD conversion value calculated by Equations (4) and (5) are substituted into Equation (1) and converted into weight values. The weight value Y at SPAN is calculated as 0.001807782 * 921.940 - 666, and a value of 1000 is displayed. The weight value Y at ZERO is calculated as 0.001807782 * 368.776 - 666, and a value of 0 appears to show the actual weight of the object.

In the case of a load cell, even if it is the same object, the weight varies depending on the position where it is placed. The load cell is a sensor for measuring the pressure per unit area of an object. In the egg quality measuring apparatus 100 according to an embodiment of the present invention, four load cells are provided at both corners of a search board for placing a harness. There is a change in the weight because the characteristics of the non-ortho-halan halan are different from when the pressure applied to the four load cells is shifted as the halan migrates.

In order to correct the error of the load cell itself, there is a method of correcting the error by using a precise load cell. However, when the side of the haran is measured in order to eliminate the error of movement of the object, A calibration method can be used.

The egg quality measuring apparatus 100 according to an embodiment of the present invention stores a change in weight according to a position of an object using an upper camera for each coordinate of a certain unit and then adds or subtracts a mass error according to the coordinates The error due to the movement of the object was corrected. Fig. 25 shows the weight of an object measured differently depending on the movement of the object. The reference weight was measured with a scale having an accuracy of 0.01 as shown in FIG. 24, and the weight of the object used for the correction was 213.13 g.

23 is a flowchart showing the operation of the weight correction mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention. Hereinafter, the weight correction of the egg quality measuring apparatus 100 according to an embodiment of the present invention will be described. First, the weight measurement error of the object according to the position of the search board is calculated (2310). An object having a reference weight is positioned for each of the divided positions on the search board, and the measured weight is recorded to generate weight error data according to the position. A weight error table in which weight error data is recorded is shown in Fig. The weight error table shown in Fig. 25 shows actual measured values corresponding to x and y axis coordinates (-7 to +7 intervals of 0.5 cm). Since the x and y axes have data of 29 (-7. -6.5, ..., - 0.5, 0, 0.5, ..., 7) There are weight error data (29 on the x-axis and 29 on the y-axis) as the object is located at a total of 58 positions. Since the weight error data may have already been generated, the step of calculating the weight measurement error of the object according to the position may be omitted.

Next, the weight of the object is measured (2320). The object to be measured is placed on a search board and the weight of the object is measured. Next, the position of the object is measured using the upper camera (2330). In one embodiment of the present invention, the object to be weighed is a Harlan and the Harlan is placed in the area of the search board. The egg quality measuring apparatus 100 according to an embodiment of the present invention specifies the weight position of the Harlan located on the search board as coordinates. The position of the weight of the haran can be set to the median of the spread of the haran. Or a central region of egg yolk. Or in general, the weight position of the egg yolk can be set at a certain point between the central position of the egg yolk and the central position of the egg yolk in a line segment connecting the central position of the egg yolk with the central position of the egg yolk.

Next, a weight measurement error of the object according to the position of the object is calculated (2340). Finally, the weight of the measured object is corrected using the calculated weight measurement error (2350).

In the weight correction mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention, an error of weight measurement of an object according to the position of the object is calculated (2340) and the weight of the object measured using the calculated measurement error (Step 2350).

The egg quality measuring apparatus 100 according to an embodiment of the present invention uses the same method as the lateral measurement to improve the accuracy of the load cell. The upper camera is used to obtain the coordinates on which the object is placed, and then the weight measurement value is corrected using the error weight value according to the position. Equation (6) is a weight correction formula in one embodiment, and the measured result of the corrected weight value is shown in FIG. Equation (6) is a formula for correcting the weight by multiplying the weight before correction by calculating the error ratio according to the position of the object. In another embodiment, the error may be corrected by adding or subtracting the value to be corrected to the measured weight value. However, in the case of a small-mass object, the corrected weight value may be calculated as a negative value. Therefore, in the present embodiment, the measured weight value is corrected by multiplying the weight error according to the position by the weight before correction.

In Equation (6), A is the weight measurement value at the x and y axis coordinates (-7 to +7). B is the weight measurement value when the x- and y-axis coordinates are at the center. C is the x value corresponding to the A pixel value. y coordinate. D is the x and y axis coordinates obtained through the top camera. E is the weight value of the object measured before correction. Y is the corrected weight value of the object.

A is a measured value of the weight corresponding to x, y axis coordinates (-7 to +7, 0.5 cm intervals). Since the x and y axes have data of 29 (-7. -6.5, ..., - 0.5, 0, 0.5, ..., 7) There are 58 weight shift data (29 x axis, 29 y axis).

(AB) is the difference from the measured object when the same object is at the center and the object is moved directly from -7 to +7 at intervals of 0.5 cm between y and x axes. Therefore, the measured weight value at the point where the object is located It is the weight error value which compares the measured weight value when the object is at the center. Therefore, (AB) / A is the ratio of the weight error value to the A value.

The description of ((A-B) / A) / C) * D in Equation 6 can be replaced with ((A-B) / A) * ((1 / C) * D). And C is the coordinate in the weight error table corresponding to the coordinate E of the object obtained by the upper camera. Since the error of weight in the weight error table is measured at intervals of 0.5 cm, the linear weight error ratio within a 0.5 cm interval is calculated using (1 / C) * D. (1 / C) * D) is in the range of 0 ~ 0.5cm, 0.5cm ~ 1cm, 1cm ~ 1.5cm and so the weight error ratio increases linearly within 0.5cm interval . ((1 / C) * D) is a linear proportion of 0.5 cm intervals. Therefore, the ratio of the weight error by D (actual object coordinates) to ((AB) / A) * ((1 / C) * D) multiplied by ((AB) / A) You can calculate the value.

C and D may be expressed as distances from the center coordinates of the search board to the C and D coordinates. In this case, 1 / C * D can be calculated by dividing the distance from the center coordinate of the search board to the D coordinate by the distance from the center coordinate of the search board to the C coordinate. Further, in another embodiment, a substrate for multiplying ((1 / C) * D) to calculate the weight error value between the measurement units of the weight error table as needed may be omitted for simplifying the weight correction.

Finally, E x (1 - ((AB) / A) * ((1 / C) * D)) is described. Since C and D always have the same sign, the result of ((1 / C) * D) is positive. However, the error weight ratio (AB / A) of an object has a negative value when the weight measured at the actual position is smaller than the weight measured at the center, and a positive value when the weight is measured at the actual position. If you have a negative value, you must multiply E by a value greater than 1 (1.XXX), and if you have a positive value, multiply by a value less than 1 (0.XXX) to compensate. Therefore, the weight value of the corrected object is calculated by multiplying the value obtained by subtracting the calculated value from 1 by the E value.

The results of verification of the accuracy of the weighing mode of the egg quality measuring apparatus 100 according to an embodiment of the present invention are shown in Fig. The accuracy of the weighing measurement is indicated by a weight correction of up to 0.88g.

The combination of the above-described embodiments is not limited to the above-described embodiments, and various combinations of types as well as the above-described embodiments may be provided according to implementation and / or necessity.

In the above-described embodiments, the methods are described on the basis of a flowchart as a series of steps or blocks, but the present invention is not limited to the order of steps, and some steps may occur in different orders or in a different order than the steps described above have. It will also be understood by those skilled in the art that the steps depicted in the flowchart illustrations are not exclusive and that other steps may be included or that one or more steps in the flowchart may be deleted without affecting the scope of the invention You will understand.

The foregoing embodiments include examples of various aspects. While it is not possible to describe every possible combination for expressing various aspects, one of ordinary skill in the art will recognize that other combinations are possible. Accordingly, it is intended that the invention include all alternatives, modifications and variations that fall within the scope of the following claims.

Claims (22)

main body;
A detector mounted on the main body and made of a light transmitting material;
A light source positioned between the inspection plate and the main body and irradiating light transmitted through the inspection plate under the inspection plate;
A camera unit mounted on an arm protruding from an upper portion of the main body to generate an image of a subject positioned on the search board;
At least one weighing unit positioned at the lower end of the search plate; And
And a controller for controlling at least one of the light source unit, the camera, and the weight measuring unit,
The weight and the weight of the object located on the inspection board are measured. The weight measuring unit measures an arbitrary object having a weight value (ZERO value) and a SPAN weight value when a load cell is used and there is no object to be measured The weight is measured using a calibration variable based on a measured weight value (SPAN value)

(SPAN weight - 0) / (measured value at SPAN - measured value at ZERO), B is the measured weight value of the object to be calibrated,

And the weight value is corrected through the weight of the egg. The method according to claim 1,
Wherein the weighing part is located at a lower edge of the corner of the inspection board and does not interfere with the light emitted from the light source part. The method of claim 1, wherein
Wherein the control unit corrects a weight error caused by a position of the subject on the search board by using the position of the subject measured by the camera unit. The method according to claim 1,
It is determined whether there is an operating means for placing a harbor on the search board in the image generated through the camera unit and whether or not the harness exists
And measures the characteristics of the egg yolk only when the operating means does not exist in the image and the egg yolk exists. As an egg quality measuring method,
Generating an image of a subject located on a top surface of the search board using a side camera located on a side of the search board or an upper camera located vertically above the search board; And
And analyzing the image to measure the characteristics of the hall,
The image generating step and the measuring step are repeatedly performed to measure the change of the halan, and a yellow yellow image of the yolk color fan model is picked up to discriminate whether or not the halan is yellowish, Converting the RGB image of the image into an LAB image value, and converting the RGB image into a database to calculate a grade. As a region specific method of Harlan,
Converting an image generated by the camera unit into an HSV channel image; And
Setting an area of the halan using the difference of one of a saturation value, a lightness value, and a hue value in a saturation channel of the converted HSV channel image,
The HSV channel image is set as an egg region separately from the background on the basis of a point where the V region value rapidly changes based on the threshold value, the boundary line is smoothed using the opening_circle function, A method of specifying a region of a Harlan in which labels are grouped and subjected to separation processing to perform labeling. The method according to claim 6,
Wherein the image conversion step is a step of converting the side or upper image of the halan generated by the camera into an HSV channel image,
The step of setting the area of the harness includes:
And setting an egg yolk region using the difference in the saturation value of the transformed HSV channel image in the saturation channel. 8. The method of claim 7, wherein the setting of the area of the Harlan includes:
And setting the egg white region by removing the yolk region from the egg region. The method according to claim 6,
After the labeling, an egg area is selected from the areas separated by each label, where Area is the total number of pixels of the area, row1 is the y-axis value at which the area starts, and row2 is the center of the area y-axis value of the selected region. 10. The method of claim 9, wherein specifying the area of the Harlan comprises:
And setting an egg white area by removing an egg yolk area from the egg area. 11. The method according to any one of claims 6 to 10,
Wherein the image generated by the camera unit has a region of interest such that image processing for the image is performed only in the region of interest. 11. The method according to any one of claims 6 to 10,
Wherein the step of setting the area of the area further comprises the step of removing a closed area smaller than a specific size included in the set area. In the Harlan method,
Generating a measurement area, which is an object area of measurement, from the image of the halan generated by the camera;
Measuring a number of pixels in the measurement area; And
Generating an actual value of the measurement area by multiplying the measured pixel number and a correction factor,
In order to generate an actual value of the measurement area, when measuring with a side camera in a state where the regular hexagon model is located at the center of the upper camera, the number of pixels of the line corresponding to the height is obtained, Measuring the number of pixels of the line corresponding to the height to be represented and obtaining information of the subject separated from the center of the upper camera on the secondary plane using the change of the number of pixels according to the position, And correcting the number of pixels represented by the position of the subject by the number of pixels when the subject is at the center coordinate of the upper camera. 14. The method of claim 13,
Wherein the step of generating the measurement region comprises:
Generating one of an egg yolk region and an egg white region in a side image of the Harlan generated by the camera unit;
Generating a measurement line parallel to the Y axis at a portion where the Y coordinate value is largest in the generated one area; And
Generating a measurement region of the measurement line belonging to one of the generated regions as a measurement region,
Wherein the correction coefficient is a coefficient indicating a length of a subject represented by one pixel of the camera image sensor according to a degree of separation between the camera and the subject,
And the length of the measurement area is obtained. 15. The method of claim 14, wherein measuring the number of pixels comprises:
Obtaining center coordinates of the measurement area with an upper image generated by a camera unit; And
And correcting the number of pixels of the measurement area using the degree of the center coordinates of the measurement area being spaced apart from the reference coordinates from which the correction coefficient is generated. 14. The method of claim 13,
Wherein the step of setting the measurement area comprises:
Generating at least one of an egg yolk region and an egg white region as a measurement region in an upper image of the halan generated by the camera unit,
Wherein the correction coefficient is a coefficient indicating the area of the subject represented by one pixel of the camera image sensor according to the degree of separation between the camera and the subject,
And the area of the measurement area is obtained. 17. The method of claim 16,
Wherein measuring the number of pixels comprises:
Wherein a change in the number of pixels of the measurement region caused by a distance of the center coordinates of the measurement region from the center coordinates of the upper image is corrected. In the Harlan method,
Measuring the weight of the Harlan;
Measuring a position of the harness on the inspection board using an upper camera;
Calculating a gravimetric error of Haran according to the position of the Harlan; And
And calibrating the weight of the measured Harlan using the calculated gravimetric error,
When weighing a Harlan, weigh the measured value (ZERO value) when the load cell is used and there is no object to be measured. Based on the measured weight value (SPAN value) measured when an arbitrary object having the SPAN weight value is measured The weight is measured using a calibration parameter,

(Where A is the weighing value at the x and y axis coordinates (-7 to +7), B is the weighing value at the center of the x, y axis coordinate, and C is the weighing value corresponding to the A pixel value x is the y coordinate, D is the x and y axis coordinates obtained by the top camera, E is the weight value of the object measured before correction, and Y is the corrected weight value of the object) As shown in FIG. 19. The method of claim 18,
And generating weight difference data for each position generated as the same object is located at a different position of the search board on the search board,
Wherein the step of calculating the weighing error of the Haran according to the position of the Harlan is performed by calculating the weighing error of the Harlan using the weighing data for each position. In a method for calculating a Haugh Unit,
Measuring the weight of the haran by the weight measuring unit of any one of claims 1 to 3;
Measuring the height of the egg white by the method of claim 10; And
And calculating a storm unit using the measured weight of the harran and the height of the egg whites.

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