KR101686618B1 - System and method for sorting fruits - Google Patents

System and method for sorting fruits Download PDF

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Publication number
KR101686618B1
KR101686618B1 KR1020150115358A KR20150115358A KR101686618B1 KR 101686618 B1 KR101686618 B1 KR 101686618B1 KR 1020150115358 A KR1020150115358 A KR 1020150115358A KR 20150115358 A KR20150115358 A KR 20150115358A KR 101686618 B1 KR101686618 B1 KR 101686618B1
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KR
South Korea
Prior art keywords
tray
conveyor
sorting
unit
movement
Prior art date
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KR1020150115358A
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Korean (ko)
Inventor
김배호
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주식회사 한성엔지니어링
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Priority to KR1020150115358A priority Critical patent/KR101686618B1/en
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Publication of KR101686618B1 publication Critical patent/KR101686618B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0202—Agricultural and processed food products
    • B65G2201/0211—Fruits and vegetables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)

Abstract

A system for selecting fruits comprises: a control unit determining the grade of fruits; a main conveyor; a tray sensing unit sensing the entry of a tray; at least one intermediate tray sensing unit installed downstream of the tray sensing unit to sense a tray; a classifying conveyor; a classifying sorter discharging a tray toward the conveyor; a conveyor movement measuring unit measuring the movement of the main conveyor; and a memory unit storing first reference conveyor movement data and second reference conveyor movement data. The control unit when the conveyor movement data and the second reference conveyor movement data calculated when the tray is sensed by the at least one intermediate tray sensing unit is outside of a predetermined error range, the tray continues to move along the main conveyor to an initial work space. Thus, when fruits are load on the tray and the tray moves on the main conveyor, there is a slip or interference or collision with another tray. The classifying sorter cannot work correctly so that the tray cannot be ejected to the conveyor.

Description

FIELD AND METHOD FOR SORTING FRUITS

The present invention relates to a fruit selection system and method, and more particularly, to a fruit selection system and method capable of accurately sorting and sorting fruits loaded on a tray.

The harvested fruits are graded according to their sugar content and weight, sorted and shipped in a shipping box. A fruit sorting system is proposed in which fruits are graded and sorted by the same grade and packed.

1 shows a general fruit sorting system. Referring to FIG. 1, when a worker loads a fruit F onto a tray T that has been transported by a main conveyor 150 at a fruit loading position L, The fruits loaded on the tray T are sequentially passed through the aging degree detecting device 121, the sugar content detecting device 123 and the weight detecting device 125 in accordance with the movement of the conveyor 150, Transit.

The sorting conveyor 170 is provided for each grade of fruit to convey the fruits F sorted from the control device 110 to the shipping position S. After the fruit F transferred to the shipping position S is delivered to the shipping box B by the operator, the empty tray T is discharged to the conveying conveyor 180 and conveyed to the stacking position L. [

Thus, the sorting unit 160 arranged in the sorting conveyor 170 matched with the grade is given by the control unit 110 and the tray T on which the fruit F is loaded is sorted And conveyor 170. [

At this time, the main conveyor 150 rotates according to the rotation of the conveyor 150 to determine the amount of movement of the tray T, and the encoder 153 is moved to the driving source 151 of the main conveyor 150, As shown in FIG.

That is, the sorting unit 160 is arranged to be matched with the sorting conveyor 170, and the photosensor 190 is provided on the upstream side of the most upstream sorting unit 160, After the entrance of the tray T is detected, the movement amount of the tray T is determined from this, and the sorting unit 160 matching the grade is driven to be discharged to the sorting conveyor 170.

The tray T on which the fruit F is loaded by the operator on the empty tray T and the fruit F is loaded on the tray T by the aging degree detecting device 121 and the sugar content detecting device 123, And the weight 110 is passed through the weight detecting device 125 and the control device 110 gives a rating to the sorting conveyor 170 matched to the sorting conveyor 170, So that the tray 160 is driven to finally deliver the fruits F.

At this time, the control unit 110 measures the distance that the fruit tray T is moved to drive the sorting unit 160, determines whether the fruit tray T is located in the sorting conveyor 170, and drives the sorting unit 160 .

That is, after the tray T is detected by the photosensor 190, the movement amount of the main conveyor 150 is measured from the encoder 153 and it is determined that the conveyor 150 reaches the sorting conveyor 170, .

However, when the tray T slips on the main conveyor 150 or interference or collision occurs with other trays, the distance that the actual tray T is moved and the movement amount of the main conveyor 150 do not coincide with each other . That is, what is measured by the encoder 153 is the amount of movement of the main conveyor 150, and is not the amount of movement of the actual tray T. Therefore, before the actual tray T reaches the corresponding sorting conveyor 170, There may arise a problem that the tabs 160 operate in the air or press the completely different tray T to correctly sort and discharge the fruits.

In addition, when the grading is subdivided, that is, when a sorting conveyor 170 is arranged in a large number, the length of the movement of the tray T on the main conveyor 150 is increased so that the error becomes larger and larger. It can become more serious.

(Patent Document 1) KR20-0438754 Y1 'Fruit sorting machine'

It is an object of the present invention to provide a fruit selection system and method capable of sorting and discharging a tray on which fruits are loaded more accurately.

A fruit selection system according to a preferred embodiment of the present invention includes a controller for determining a grade of a fruit according to aging degree, sugar content, or weight of fruit loaded in a tray; A main conveyor to which the tray on which the fruit of the grade is measured is conveyed; A tray detection unit installed on an upstream side of the main conveyor and detecting a tray entry; At least one intermediate tray detecting unit installed downstream of the first tray detecting unit to detect a tray; A sorting conveyor arranged in such a manner that the fruit is separated and discharged according to the grade according to the conveying direction of the main conveyor; A sorting unit disposed for each sorting conveyor, for selectively discharging the tray to the sorting conveyor; A conveyor moving amount measuring unit for measuring a moving amount of the main conveyor; And a memory unit for storing the first reference conveyor moving amount data from the tray detecting unit indicating the position of the sorting unit and the second reference conveyor moving amount data from the tray detecting unit indicating the position of the intermediate tray detecting unit, Wherein the control unit controls the conveyor moving amount data calculated and calculated by the tray detecting unit and the second reference conveyor when the sorting conveyor in which the tray on which the fruits are stacked is discharged is located on the downstream side of the intermediate tray detecting unit, And the tray is continuously moved along the main conveyor when the movement amount data is out of a predetermined error range.

Wherein the calculated conveyor moving amount data calculates the amount of movement of the main conveyor until the tray detecting unit recognizes the conveyor moving amount data from the time when the tray detecting unit recognizes the conveyor moving amount data.

As a result, when the tray is loaded on the main conveyor, slippage occurs or interference or collision occurs with other trays, so that the sorting sorting part that is sorted can not operate correctly and the tray can not be ejected to the sorting conveyor . That is, the tray can be accurately ejected to the sorting conveyor by the sorting unit.

When the sorting conveyor in which the tray on which the fruits are stacked is disposed on the upstream side of the intermediate tray is recognized by the tray detecting unit and then the amount of movement of the main conveyor is detected by the first reference conveyor moving amount It is preferable that the sorting unit is driven to discharge the tray to the sorting conveyor.

When the sorting conveyor in which the tray on which the fruits are stacked is discharged is located on the downstream side of the intermediate tray, the control unit controls the conveyor moving amount data calculated by the tray detecting unit and the second reference conveyor moving amount When the data is within a predetermined error range, when the amount of movement of the main conveyor reaches the first reference conveyor moving amount data after the tray is recognized by the tray detection unit, the sorting unit is driven to discharge the tray to the sorting conveyor .

Accordingly, when the movement amount of the tray is increased, it is difficult to classify the tray at the correct position due to the movement error on the main conveyor due to slip or interference due to slip or interference. Therefore, if the tray is out of the predetermined error range, So that stable operation of the entire system can be achieved.

Meanwhile, a fruit selection method according to a preferred embodiment of the present invention includes: a grade determination step of determining a grade of a fruit according to aging degree, sugar content or weight of a fruit while a tray on which fruits are loaded is moved along a main conveyor; A pushing specifying step of specifying a sorting table portion matched with the sorting conveyor to which the tray is discharged according to the grades determined in the grade determining step; An initial entry detection step of detecting entry of a tray loaded with fruits judged as grade in the grade determination step; An intermediate entry detection step of detecting an intermediate entry of the tray detected in the initial entry detection step; A tray movement amount calculating step of calculating a movement amount of the tray based on the detection time of the tray detected in the intermediate initial entry detection step and the middle entry detection step and the movement amount of the main conveyor belt; And a movement amount comparison step of comparing the movement amount calculated in the tray movement amount calculation step with a predetermined second reference conveyor movement amount from the initial entry detection to the middle entry detection, and in the movement amount comparison step, And when the second reference conveyor movement amount deviates from a predetermined error range, it continues to move along the main conveyor without outputting a driving signal of the sorting unit specified according to the class of the tray.

It is preferable that the conveyor moving amount data of the tray is calculated using the moving speed of the main conveyor and the time difference between the initial tray entry time and the detection of the entry of the intermediate tray.

As a result, when the tray is loaded on the main conveyor, slippage occurs or interference or collision occurs with other trays, so that the sorting sorting part that is sorted can not operate correctly and the tray can not be ejected to the sorting conveyor . That is, the tray can be accurately ejected to the sorting conveyor by the sorting unit.

When the classification sorting unit specified in the pushing specifying step is located on the upstream side of the intermediate entry detection, the moving amount of the main conveyor after being detected in the initial entry sensing step is set to a first When the reference conveyor moving amount is reached, it is preferable that the corresponding sorting unit is driven to discharge the tray to the sorting conveyor.

When the sorting and sorting unit specified in the pushing-specifying step is located on the downstream side of the intermediate entry detection, if it is determined that the calculated movement amount and the second reference conveyor moving amount are within a predetermined error range, And when the amount of movement of the main conveyor reaches the first reference conveyor moving amount data after the entrance of the tray is recognized, it is preferable to drive the sorting unit to discharge the tray to the sorting conveyor.

Accordingly, when the movement amount of the tray is increased, it is difficult to classify the tray at the correct position due to the movement errors on the main conveyor due to slip or interference due to slip or interference. Therefore, if the tray is out of a predetermined error range, So that stable operation of the entire system can be achieved.

According to the present invention, a slip occurs when a tray is loaded on a main conveyor, interference or collision occurs with another tray, and the sorted sorting part is correctly operated so that the tray can not be ejected to the sorting conveyor . That is, the tray can be accurately ejected to the sorting conveyor by the sorting unit.

In addition, when the movement amount of the tray is increased, that is, when the class is divided and the number of the sorting conveyors is increased, the tray is moved on the main conveyor due to slip or interference, In case of deviating from a certain error range, the system is not classified and returned to the initial setting position, so that stable operation of the entire system can be achieved.

1 is a view for explaining a general fruit sorting apparatus,
FIG. 2 is a view for explaining an operation of sorting fruits according to grades in a conventional fruit sorting apparatus; FIG.
FIG. 3 is a schematic block diagram for explaining a fruit sorting apparatus according to a preferred embodiment of the present invention;
FIG. 4 is a view for explaining an operation of sorting fruits according to grades in a fruit sorting apparatus according to a preferred embodiment of the present invention, and FIG.
5 is a flowchart for explaining the operation of the fruit sorting apparatus shown in FIG.

Hereinafter, a fruit sorting system according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

1, 3 and 4, a fruit selection system 100 according to a preferred embodiment of the present invention includes a control unit 110, a main conveyor 150, an entrance tray detection unit 191, an intermediate tray detection unit 192, a sorting conveyor 170, a sorting unit 160, a conveyor moving amount measuring unit 153, and a memory unit 130.

The control unit 110 controls the aging of the fruit when the fruit F is loaded on the tray T from the loading position L of the fruit to the main conveyor 150, And the weight detecting unit 125, the fruit is classified according to the grade.

The main conveyor 150 transfers the fruit F loaded on the tray T to the sorting conveyor 170 corresponding to the grade while the tray T on which the fruits having the graded properties are transferred by the control unit 110 is transferred, So that the tray T loaded with the empty tray or the fruit that has not been discharged to the sorting conveyor 170 returns to the loading position L. [

In this embodiment, the conveyor moving amount measuring unit 153 is provided to measure the moving amount of the main conveyor 150. In the embodiment of the present invention, the encoder 153 is provided to the rotating shaft of the main conveyor driving unit 151, And the amount of movement of the main conveyor 150 can be measured.

The entrance tray detection unit 191 detects whether the tray T enters before passing through the detection unit 120 and before being conveyed to the sorting conveyor 170. The entrance tray detection unit 191 is a light emitting diode And a light receiving diode for receiving light emitted therefrom.

Therefore, when the tray T passes along the main conveyor 150 and passes the entrance tray detection unit 191, light emitted from the light emitting diode is intercepted by the tray T and is not received by the light receiving diode, Is detected.

In the case of the later-described intermediate tray detection unit 192, the installation position thereof is different from that of the intermediate tray detection unit 192, and the configuration and the tray detection principle are the same.

In the embodiment of the present invention, the intermediate tray detecting unit 192 is arranged so as to be managed as a group of four sorting conveyors 170. However, the intermediate tray detecting unit 192 may be arranged differently. That is, it is possible to more accurately classify the fruit according to the grade by detecting an error due to the slip or interference of the tray T, as compared with the case where the intermediate tray detecting unit 192 is finely arranged.

The sorting conveyor 170 is provided for each grade of fruit to deliver the fruit F graded by the control unit 110 to the shipping position S. In the embodiment of the present invention, twelve sorting conveyors 170 are illustrated and described, but they can be set differently according to the fruit grade number.

At this time, the sorting conveyor 170 can transport the tray T by the sorting conveyor drive unit 171 such as a motor, or alternatively, it can be installed inclined from the main conveyor 150 side to the shipping position S, By the load of the fruit (F) and the tray (T) loaded by the rotating roll.

The sorting unit 160 transfers the tray T conveyed by the main conveyor 150 to a sorting conveyor 170 provided for each grade so that the fruit can be sorted by grade. The classification of the fruit F loaded on the tray T by the control unit 110 is specified and the sorting conveyor 170 matched to each sorting conveyor 170 so as to be transferred to and sorted by the sorting conveyor 170 corresponding to the specified grade The classification sorter 160 is specified.

Thereafter, when the tray T is transported to the position of the sorting unit 160, the tray T is driven and discharged to the sorting conveyor 170.

Data indicating the position of the classification sorter 160 and data indicating the position of the intermediate tray detection unit 192 are prestored in the memory unit 130.

The data indicating the position of the sorting table unit 160 is transmitted from the entrance tray detecting unit 191 to the position of the sorting table unit 160 when the tray T is moved along the main conveyor 150 without slipping or overlapping. And is provided as the first reference conveyor movement amount data, indicating the movement amount of the conveyor 150. [

In the embodiment of the present invention, the first reference conveyor moving amount data of the first sorting unit 160-1 is 10 cm, the first reference conveyor moving amount data of the second sorting unit 160-2 is 40 cm, The first reference conveyor moving amount data of the tabular portion 160-3 is 70 cm and the first reference conveyor moving amount data of the fourth sorting portion 160-4 is 100 cm.

On the other hand, the first reference conveyor moving amount data of the fifth sorting unit 160-5 located downstream of the intermediate tray detecting unit 192-1 indicates the main conveyor moving amount from the intermediate tray detecting unit 162-1, The first reference conveyor moving amount data of the sixth sorting unit 160-6 is 41 cm, the first reference conveyor moving amount data of the seventh sorting unit 160-7 is 73 cm, the eighth sorting unit 160-8, The first reference conveyor moving amount data of the first reference conveyor has 99 cm.

The first reference conveyor moving amount data of the ninth sorting unit 160-9 located downstream of the intermediate tray detecting unit 192-2 is 12 cm on the basis of the intermediate tray detecting unit 192-2, The first reference conveyor moving amount data of the twelfth sorting unit 160-12 is 40 cm, the first reference conveyor moving amount data of the eleventh sorting unit 160-11 is 71 cm, The movement amount data has 101 cm.

When the intermediate tray detecting unit 192-1 is arranged on the upstream side of the sorting unit 160 as described above, the first reference conveyor moving amount data is the amount of movement from the upstream-side intermediate tray detecting unit 192-1 And the intermediate tray detecting unit 192-1 are not arranged, the movement amount is set on the basis of the entrance tray detection unit 191 as the movement amount.

The data indicative of the position of the intermediate tray detecting section 192 is transmitted from the entrance tray detecting section 191 to the position of the intermediate tray detecting section 192 when the tray T is moved along the main conveyor 150 without slipping or overlapping, (150), and is provided as the second reference conveyor moving amount data.

Further, in the case of the intermediate tray detecting section 192-2 having the intermediate tray detecting section 192-1 on the upstream side, the tray T from the closest upstream tray detecting section 192-1 is slipped or not overlapped, Represents the amount of movement of the main conveyor 150 when it is moved along the guide rail 150.

In the embodiment of the present invention, the second reference conveyor moving amount data of the first intermediate tray detecting unit 192-1 is 150 cm, and the second reference conveyor moving amount data of the second intermediate tray detecting unit 192-2 is 160 cm.

The table below summarizes the following.

Classification Sector and
Intermediate tray detecting section The first reference conveyor
Movement data (cm) Second reference conveyor
Movement data (cm) The first classification sorter 10 The second sorting- 40 The third classification sorter 70 The fourth classification sorter 100 The first intermediate tray detecting unit 150 The fifth classification sorter 12 The sixth classification sorter 41 Seventh sorting socket 73 The eighth sorting socket 99 The second intermediate tray detecting section 160 The ninth sorting socket 12 The tenth classification sorter 40 The eleventh classification sorter 71 12th classification sorter 101

The driving of the sorting unit 160 must calculate the transport distance of the tray T so that the tray T can be accurately transferred to the sorting conveyor 170 arranged in a grade.

Hereinafter, the sorting unit 160 is operated so that the tray T can be accurately transferred from the transfer point to the sorting conveyor 170 by the control unit 110. [

The fruit is loaded on the tray T by the worker at the loading position L of the fruit and the tray T on which the fruit is loaded passes along the main conveyor 150 and passes through the detector 120, When the sugar content and the weight are measured, the control unit 110 determines and specifies the grade of the fruit.

The control unit 110 determines the classification of the fruit and then specifies the sorting unit 160 matching the classification conveyor 170 corresponding to the grade to be transferred and outputs the first reference conveyor moving amount data to the sorting unit 160 And the encoder 153 in real time and compares the amount of movement of the main conveyor 150 with the first reference conveyor moving amount data to determine if the amount of movement in real time is within a predetermined error range by driving the sorting unit 160, So that the sorted trays T can be transferred to the sorting conveyor 170 and sorted.

On the other hand, when the position of the sorting conveyor 170 is located downstream of the intermediate tray detecting unit 192-1, the tray T is forced to be transported over the main conveyor 150 over a long distance, The movement amount of the main conveyor 150 and the movement amount of the actual tray T measured by the encoder 153 may be different due to the interferences and the tray T does not reach the position where the tray T is to be sorted, An error may occur in the classification operation.

Since the movement interval of the tray T is short in the first section of the entrance tray detection section 191 and the first intermediate tray detection section 192-1, the influence of the above problem is insignificant. However, It is necessary to prevent an error due to such a problem in a section in which the moving distance of the tray T is long including the second section of the first intermediate tray detecting section 192-1 and the second intermediate tray detecting section 192-2.

Accordingly, when the sorting conveyor 170 to which the graded fruit F is to be transferred is located downstream of the first or second intermediate tray detecting unit 192-1 or 192-2, The first reference conveyor moving amount data up to the specified sorting unit 160 and the moving amount of the main conveyor 150 from the encoder 153 are set to be smaller than the first reference conveyor moving amount data, When the measured movement amount in real time is compared with the first reference conveyor moving amount data and the difference is within a predetermined error range, the sorting unit 160 is driven to transfer the tray T loaded with fruits to the sorting conveyor 170 So that they can be selected.

As described above, the determination as to whether or not the slip occurs in the entire section is performed based on the distance between the entrance tray detection unit 191 and the first intermediate tray detection unit 192-1 as a second reference value indicating the movement amount of the main conveyor 150 The conveyor moving amount data and the second reference conveyor moving amount data indicating the distance between the first intermediate tray detecting unit 192-1 and the second intermediate tray detecting unit 192-2 as the second section as the moving amount of the main conveyor 150 The controller 153 determines that there is no influence or insignificant effect of slip when it is within a predetermined error range compared with the movement amount measured in real time by the encoder 153. If the deviation is out of a predetermined error range, The process returns to the loading position L along the main conveyor 150 without passing through the specified sorting unit 160 and passes through the detecting unit 120 again And so.

The controller 110 analyzes the signal transmitted from the encoder 153 and transmits the analyzed result to the main conveyor 150. The control unit 110 determines whether the fruit is classified as the second sorting conveyor 170-2 by the control unit 110, The amount of movement determined in real time after the tray T is recognized from the entrance tray detection unit 191 and the amount of movement determined in real time are compared with the amount of movement determined in the second sorting unit 160-2 corresponding to the second sorting conveyor 170-2, The second sorting conveyor 160-2 presses the tray T to be transferred to the second sorting conveyor 170-2 when the first sorting conveyor 160-2 reaches the first reference conveyor shift amount of 40 cm.

On the other hand, when the fruit is classified by the control section 110 to be classified as the eighth sorting conveyor 170-8, that is, when the sorting conveyor 170- 8), the control unit 110 determines whether the tray T is detected from the entrance tray detection unit 191 and the tray T is detected from the first intermediate tray detection unit 192-1 (150) of the first intermediate tray detecting unit (192-1) is compared with 150 cm which is the second reference conveyor moving amount (R2) of the first intermediate tray detecting unit (192-1). When it is determined that the calculated amount is within a certain error range, And there is no error caused by the error or the like.

The control unit 110 analyzes the signal transmitted from the encoder 153 to determine the movement amount CM of the main conveyor 150 in real time and detects the tray T from the first intermediate tray detection unit 192-1 And the first reference conveyor movement amount assigned to the eighth sorting section 160-8 corresponding to the eighth sorting conveyor 170-8 reaches the reference conveyor moving amount CM of the eighth sorting conveyor 170-8, The sorting unit 160-8 presses the tray T to be transferred to the eighth sorting conveyor 170-8.

On the other hand, when the movement amount CM calculated by the control unit 110 is compared with 150 cm, which is the second reference conveyor movement amount R 2 of the first intermediate tray detection unit 192-1, and the tray T deviates from a certain error range, It is determined that the sorting operation can not be performed at the correct position due to the slip or interference and the tray T is moved to the stacking position L on the main conveyor 150 without controlling the driving of the specified sorting unit 160-8, .

On the other hand, when the fruit is classified to the ninth sorting conveyor 170-9 by the control unit 110, that is, when the sorting conveyor 170-n is assigned to the downstream side of the second intermediate tray detecting unit 192-2, 9, the control unit 110 detects that the tray T is detected from the first intermediate tray detecting unit 192-1 and the tray T is detected from the second intermediate tray detecting unit 192-2 And the calculated movement amount CM is compared with 160 cm which is the second reference conveyor movement amount R2 of the second intermediate tray detection unit 192-2 to obtain a constant error range , It is judged that there is no error due to slip or the like or is insignificant.

The control unit 110 analyzes the signal transmitted from the encoder 153 to determine the amount of movement of the main conveyor 150 in real time so that the tray T is recognized from the second intermediate tray detecting unit 192-2 And the first reference conveyor movement amount assigned to the ninth sorting unit 160-9 corresponding to the ninth sorting conveyor 170-9 has reached 12 cm, (160-9) presses the tray (T) to be transferred to the ninth sorting conveyor (170-9).

On the other hand, if the movement amount CM calculated by the control unit 110 is compared with 160 cm, which is the second reference conveyor movement amount R 2 of the second intermediate tray detection unit 192-2, if the tray T deviates from a certain error range, It is determined that the sorting is not possible at the correct position due to slip or interference and the tray T is moved to the stacking position L by the main conveyor 150 without controlling the driving of the specified ninth sorting unit 160-9, .

According to this configuration, when the distance traveled on the main conveyor 150 for the sorting of fruit is long, errors caused by slip or the like are gradually diverged, which can solve many problems in the fruit sorting operation .

While the first reference conveyor moving amount R1 and the second reference conveyor moving amount R2 are set on the basis of the immediately preceding tray detecting units 192-1 and 192-2 in the above embodiment, It may be set to the accumulation amount of movement based on the different-approach tray detection unit 191.

That is, it may be set as shown in Table 2 below.

Classification Sector and
Intermediate tray detecting section The first reference conveyor
Movement data (cm) Second reference conveyor
Movement data (cm) The first classification sorter 10 The second sorting- 40 The third classification sorter 70 The fourth classification sorter 100 The first intermediate tray detecting unit 150 The fifth classification sorter 12 162 The sixth classification sorter 41 191 Seventh sorting socket 73 223 The eighth sorting socket 99 249 The second intermediate tray detecting section 310 The ninth sorting socket 322 The tenth classification sorter 350 The eleventh classification sorter 381 12th classification sorter 411

Meanwhile, although the first reference conveyor movement amount R1 and the second reference conveyor movement amount R2 are set as the concept of the moving distance, they may be set as a time concept.

For example, if the first section (entrance tray detection section 191 and intermediate tray detection section 192-1) and the second section (intermediate tray detection section 192-1 and intermediate tray detection section 192-2) The intermediate tray detecting unit 192-1 and the intermediate tray detecting unit 192-2 determine the time difference when the trays are sensed by the entrance tray detecting unit 191, the intermediate tray detecting unit 192-1 and the intermediate tray detecting unit 192-2, As a reference value.

If the reference time difference at which the tray T is sensed by the intermediate tray detection unit 192-1 and the intermediate tray detection unit 192-2 is set to 10 seconds and the actual measured time difference is out of a predetermined error range of 10 seconds, It is also possible to return to the loading position L by riding on the main conveyor 150, assuming that the tray T has not reached the predetermined position within a predetermined time due to slipping or the like in the case of 11 seconds or 12 seconds.

Meanwhile, FIG. 5 is a flowchart illustrating a fruit selection method according to a preferred embodiment of the present invention.

5, when the fruit F is loaded on the tray T and is moved on the main conveyor 150 in the stacking position L, the aging degree, sugar content and weight are detected while passing through the detection unit 120, Is determined (S110).

Then, the control unit 110 specifies the sorting unit 160 matching the classification conveyor 170 corresponding to the grade given in step S110 (S115).

Subsequently, it is determined whether the tray T transported on the main conveyor 150 is detected by the entrance tray detection unit 191 (S120). If it is detected that the sorting unit 160 specified in the step S115 is detected by the intermediate tray detection unit 191, (192-1) (S125).

When it is determined that the sorting unit 160 specified in step S125 is positioned upstream of the intermediate tray detecting unit 192-1, the entrance of the tray is detected by the entrance tray detecting unit 191 (T1) Is calculated in real time (S150).

The movement amount CM of the main conveyor 150 calculated in step S150 is compared with the first reference conveyor movement amount R1 that has been stored in the classification sorter 160 specified in step S115 and stored in advance in step S155, It is determined that the tray T has arrived at a position to be transferred to the sorting conveyor 170, and the specified sorting unit 160 is driven (S160).

On the other hand, if it is determined that the sorting unit 160 specified in step S125 is located downstream of the intermediate tray detecting unit 192-1, the intermediate tray detecting unit 192-1 determines whether the tray T is detected (S130).

When the tray is detected in step S130, the tray T is detected in step S120, and the movement amount CM of the main conveyor 150 calculated in real time until the tray T is detected in step S130 and the movement amount CM of the main conveyor 150, The conveyor moving amount R2 is compared (S140).

If it is determined that the movement amount CM calculated in step S140 and the second reference conveyor movement amount R2 are within a predetermined error range, the step S150 is performed.

That is, after the entrance of the tray is detected by the intermediate tray detecting unit 192-1 (T2), the amount of movement of the main conveyor 150 is calculated in real time (S150).

The movement amount CM of the main conveyor 150 calculated in step S150 is compared with the first reference conveyor movement amount R1 that has been stored in the classification sorter 160 specified in step S115 and stored in advance in step S155, It is determined that the tray T has arrived at a position to be transferred to the sorting conveyor 170, and the specified sorting unit 160 is driven (S160).

On the other hand, if it is determined in step S140 that the predetermined error range is exceeded, the tray T is not interlocked with the movement of the main conveyor 150 by the slip or the like in the first section, The main conveyor 150 is returned to the initial loading position L without operating the sorter 160 (S145).

The tray T is slid on the main conveyor 150 or the tray T is interlocked with the main conveyor 150 due to interference between the trays T when the movement period of the tray T is long, By not being able to move, it is possible to solve the problem that the fruit was not sorted at the correct position.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are in all respects illustrative and not restrictive.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

100: Fruit sorting system 110:
121: aging degree detection unit 123: sugar content detection unit
125: Weight detector 140: Memory part
150: main conveyor 151: main conveyor drive
153: encoder 160:
170: sorting conveyor 171: sorting conveyor drive part
180: conveying conveyor 181: conveying conveyor driving part
190: Tray detection unit 191: Entry tray detection unit
192-1, 192-2, ... 192-n:

Claims (8)

A control unit for determining the grade of the fruit by the degree of fermentation, sugar content or weight of the fruit loaded in the tray;
A main conveyor to which the tray on which the fruit of the grade is measured is conveyed;
A tray detection unit installed on an upstream side of the main conveyor and detecting a tray entry;
At least one intermediate tray detection unit installed downstream of the tray detection unit to detect the tray;
A sorting conveyor arranged in such a manner that the fruit is separated and discharged according to the grade according to the conveying direction of the main conveyor;
A sorting unit disposed for each sorting conveyor, for selectively discharging the tray to the sorting conveyor;
A conveyor moving amount measuring unit for measuring a moving amount of the main conveyor; And
And a memory unit for storing first reference conveyor moving amount data from the tray detecting unit indicating the position of the sorting unit and second reference conveyor moving amount data from the tray detecting unit indicating the position of the intermediate tray detecting unit,
Wherein the control unit controls the conveyor moving amount data calculated by the tray detecting unit and the second reference conveyor moving amount when the tray is positioned on the downstream side of the intermediate tray detecting unit, And to cause the tray to be continuously moved along the main conveyor when the data is out of a predetermined error range. The method according to claim 1,
Wherein the calculated conveyor moving amount data calculates the amount of movement of the main conveyor until the tray detecting unit recognizes the conveyor moving amount data from the time when the tray detecting unit recognizes the conveyor moving amount data. 3. The method according to claim 1 or 2,
Wherein when the sorting conveyor in which the tray on which the fruits are stacked is discharged on the upstream side of the intermediate tray is recognized by the tray detecting unit and then the amount of movement of the main conveyor is stored in the first reference conveyor moving amount data The sorting unit is driven to discharge the tray to the sorting conveyor. The method of claim 3,
The control unit may be configured such that when the sorting conveyor in which the tray on which the fruits are stacked is discharged at the downstream side of the intermediate tray, the conveyor moving amount data calculated by the tray detecting unit and the second reference conveyor moving amount data When the amount of movement of the main conveyor reaches the first reference conveyor moving amount data after the tray is recognized by the tray detecting unit, the sorting unit is driven to discharge the tray to the sorting conveyor Fruit sorting system. A grade determination step of determining the grade of fruit by the degree of ripening, sugar content, or weight of the fruit while the tray on which the fruit is loaded is moved along the main conveyor;
A pushing specifying step of specifying a sorting table portion matched with the sorting conveyor to which the tray is discharged according to the grades determined in the grade determining step;
An initial entry detection step of detecting entry of a tray loaded with fruits judged as grade in the grade determination step;
An intermediate entry detection step of detecting an intermediate entry of the tray detected in the initial entry detection step;
A tray movement amount calculating step of calculating a movement amount of the main conveyor until the tray is detected in the initial entry detection step and the middle entry detection step; And
And a movement amount comparison step of comparing the movement amount calculated in the tray movement amount calculation step with a predetermined second reference conveyor movement amount from the initial entry detection to the middle entry detection,
When the calculated movement amount and the second reference conveyor movement amount deviate from a predetermined error range in the movement amount comparison step, the driving signal of the classification sorter section specified according to the grade of the tray is not output and the operation continues along the main conveyor ≪ / RTI > 6. The method of claim 5,
Wherein the tray movement amount calculating step calculates the movement amount of the main conveyor until the initial tray entry time and the detection of the entrance of the intermediate tray are calculated. The method according to claim 5 or 6,
Wherein when the sorting and sorting unit specified in the pushing specifying step is located on the upstream side of the intermediate entry detection, the movement amount of the main conveyor after being sensed in the initial entry sensing step is set to a first reference conveyor And when the amount of movement is reached, the sorting unit is driven to discharge the tray to the sorting conveyor. 8. The method of claim 7,
When the sorting and sorting unit specified in the pushing specifying step is located on the downstream side of the intermediate entry detection, if it is determined that the calculated movement amount and the second reference conveyor moving amount are within a predetermined error range in the movement amount comparing step, Wherein when the amount of movement of the main conveyor reaches the first reference conveyor moving amount data after the entry of the main conveyor is recognized, the sorting unit is driven to discharge the tray to the sorting conveyor.
KR1020150115358A 2015-08-17 2015-08-17 System and method for sorting fruits KR101686618B1 (en)

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Publication number Priority date Publication date Assignee Title
CN108622642A (en) * 2018-04-13 2018-10-09 范雄杰 A kind of express delivery sorting system and method for sorting
CN109772757A (en) * 2019-03-15 2019-05-21 浙江德菲洛智能机械制造有限公司 A kind of free conveying-type fruits and vegetables sorting equipment and its method for sorting
RU2736517C1 (en) * 2017-01-27 2020-11-17 Ямато Скейл Ко.,Лтд. Apparatus for feeding articles and weighing system in which it is used
KR20210118556A (en) * 2020-03-23 2021-10-01 (주)티앤테크 Monitoring system for easy management of work history information to classify fruits by grade and the control method thereof

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JP2000079945A (en) * 1998-09-02 2000-03-21 Maki Seisakusho:Kk Selective packing device for agricultural product
KR100344579B1 (en) * 1999-10-21 2002-08-19 대한민국 Fruit sorting system compensating the length difference and its process
KR200438754Y1 (en) * 2007-06-20 2008-03-06 주식회사 한성엔지니어링 Fruit sorting machinery

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Publication number Priority date Publication date Assignee Title
JP2000079945A (en) * 1998-09-02 2000-03-21 Maki Seisakusho:Kk Selective packing device for agricultural product
KR100344579B1 (en) * 1999-10-21 2002-08-19 대한민국 Fruit sorting system compensating the length difference and its process
KR200438754Y1 (en) * 2007-06-20 2008-03-06 주식회사 한성엔지니어링 Fruit sorting machinery

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2736517C1 (en) * 2017-01-27 2020-11-17 Ямато Скейл Ко.,Лтд. Apparatus for feeding articles and weighing system in which it is used
CN108622642A (en) * 2018-04-13 2018-10-09 范雄杰 A kind of express delivery sorting system and method for sorting
CN108622642B (en) * 2018-04-13 2023-06-27 范雄杰 Express sorting system and sorting method
CN109772757A (en) * 2019-03-15 2019-05-21 浙江德菲洛智能机械制造有限公司 A kind of free conveying-type fruits and vegetables sorting equipment and its method for sorting
KR20210118556A (en) * 2020-03-23 2021-10-01 (주)티앤테크 Monitoring system for easy management of work history information to classify fruits by grade and the control method thereof
KR102391403B1 (en) * 2020-03-23 2022-04-28 (주)티앤테크 Monitoring system for easy management of work history information to classify fruits by grade and the control method thereof

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