WO2013124497A1 - Method for the temperature-difference-based separation of fruits with stones and fruits without stones - Google Patents
Method for the temperature-difference-based separation of fruits with stones and fruits without stones Download PDFInfo
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- WO2013124497A1 WO2013124497A1 PCT/ES2013/000040 ES2013000040W WO2013124497A1 WO 2013124497 A1 WO2013124497 A1 WO 2013124497A1 ES 2013000040 W ES2013000040 W ES 2013000040W WO 2013124497 A1 WO2013124497 A1 WO 2013124497A1
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- fruits
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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
- B07C5/34—Sorting according to other particular properties
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
Definitions
- the present invention has as its object a procedure for the separation of fruits with bone from those to which it has been extracted, based on the difference in temperature that the fruits reach when heated during the same time, whether said bone is present or not . After an artificial vision analysis with thermal camera, or by using an infrared or contact temperature sensor, separation is performed.
- the separation of fruits with and without bone requires a procedure that allows discerning between the two, the extractor machines have a non-negligible error rate, leaving the bone inside, completely or partially, on considerable occasions.
- the separation systems that are usually used depend on the type of fruit, as an example in the table olive it is common to use flotation tanks in which the olives with bone go to the bottom of the same and those that do not have it remain floating This system widely used in the table olive sector has serious drawbacks since flotation depends on the concentration of salt in the liquid of the tank and the temperature of the tank and are parameters that are usually not controlled, so the error It is not negligible and requires that after the tank, operators finish the work of sorting manually.
- FIG. 1 block diagram of procedure operation.
- Figure 2 diagram of the physical implementation of the fruit separation machine by temperature difference.
- the way to discern can be through an image obtained with a thermal camera that being processed by an artificial vision system, dictates within the image that fruits have or not bones according to their temperature level. Another way will be to analyze the surface temperature of each fruit by means of an infrared system or by physical contact with a thermocouple, PT100 or similar sensor. For both cases, the decision taken, an actuator system extracts the bone-bearing fruit from the conveyor belt.
- the decision system (PC, FPGA or Microcontroller) resolves the separation, normally acting on a pneumatic system that removes those olives that have bone from the tape.
- the decision system will again be a PC, FPGA or Microcontroller.
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- Bioinformatics & Computational Biology (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Bioinformatics & Cheminformatics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Investigating Or Analyzing Materials Using Thermal Means (AREA)
- Radiation Pyrometers (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to a method for separating fruits with stones from fruits from which the stone has been removed, based on the difference in the temperature reached by the fruits when heated for the same length of time, determining whether or not a full or partial stone is present. The fruits are separated following analysis by means of computer vision with a thermal camera, or using a contact or infrared temperature sensor.
Description
Título Title
Procedimiento para separación por diferencia de temperatura entre frutos con hueso y frutos sin hueso. Procedure for separation by temperature difference between fruits with bone and fruits without bone.
Objeto de la invención Object of the invention
La presente invención tiene por objeto un procedimiento para la separación de frutos con hueso de aquellos a los que les ha sido extraído, basándose en la diferencia de temperatura que alcanzan los frutos al ser calentados durante el mismo tiempo, sí dicho hueso está presente o no. Tras un análisis por visión artificial con cámara térmica, o mediante el uso de un sensor de temperatura infrarrojo o de contacto, se realiza la separación. The present invention has as its object a procedure for the separation of fruits with bone from those to which it has been extracted, based on the difference in temperature that the fruits reach when heated during the same time, whether said bone is present or not . After an artificial vision analysis with thermal camera, or by using an infrared or contact temperature sensor, separation is performed.
Estado de la técnica State of the art
La separación de frutos con y sin hueso requiere de un procedimiento que permita discernir entre ambos, las máquinas extractoras tienen una tasa de error no despreciable quedando el hueso dentro, por completo o parcialmente, en considerables ocasiones. Los sistemas de separación que se emplean habitualmente dependen del tipo de fruto, a título de ejemplo en la aceituna de mesa es habitual el uso de tanques de flotación en los que las aceitunas con hueso van al fondo del mismo y las que no lo tienen quedan flotando. Este sistema ampliamente utilizado en el sector de la aceituna de mesa tiene serios inconvenientes ya que la flotación depende de la concentración de sal en el líquido del tanque y de la temperatura del mismo y son parámetros que habitualmente no se controlan, con lo que el error no es desdeñable y exige que tras el tanque, operarios terminen la labor de clasificado de forma manual. The separation of fruits with and without bone requires a procedure that allows discerning between the two, the extractor machines have a non-negligible error rate, leaving the bone inside, completely or partially, on considerable occasions. The separation systems that are usually used depend on the type of fruit, as an example in the table olive it is common to use flotation tanks in which the olives with bone go to the bottom of the same and those that do not have it remain floating This system widely used in the table olive sector has serious drawbacks since flotation depends on the concentration of salt in the liquid of the tank and the temperature of the tank and are parameters that are usually not controlled, so the error It is not negligible and requires that after the tank, operators finish the work of sorting manually.
Otra técnica existente, es el empleo de rayos X, con este sistema se pueden obtener buenos resultados, pero es caro, exige someter los frutos a radiación y requiere un blindaje especial para el manejo en fábrica. Es por estas razones que en el sector de la aceituna de mesa no se emplea; en España sólo hay una empresa que los comercializa Multiscan Technologies S.L. con su modelo X20V B65. Another existing technique, is the use of X-rays, with this system you can get good results, but it is expensive, requires submitting the fruits to radiation and requires a special shield for factory operation. It is for these reasons that in the table olive sector it is not used; in Spain there is only one company that sells them Multiscan Technologies S.L. with its X20V B65 model.
El uso del gradiente térmico obtenido al calentar los frutos, puede ser una alternativa eficaz y barata que aúna lo mejor de ambos sistemas siendo de uso
generalizable no sólo para la aceituna de mesa sino también para una amplia variedad de frutos con hueso. The use of the thermal gradient obtained when heating the fruits, can be an effective and cheap alternative that combines the best of both systems being of use generalizable not only for table olives but also for a wide variety of stone fruits.
Hasta la fecha no existen procedimientos industriales patentados como el que aquí se describe. To date there are no patented industrial procedures such as the one described here.
Revisando el estado de la técnica podemos encontrar diversas invenciones particularizadas en la aceituna de mesa: Reviewing the state of the art we can find various inventions specializing in table olives:
Asociadas a la separación por densidad: Associated with density separation:
P8700509 "Máquina para lavar la aceituna separándola de cuerpos pesados e impurezas". P8700509 "Machine to wash the olive separating it from heavy bodies and impurities".
P8801897 "Instalación y procedimiento para el lavado de aceituna, incluida la separación de piedras y objetos extraños acompañantes". P8801897 "Installation and procedure for washing olives, including the separation of stones and accompanying foreign objects".
P200002328 "Conjunto modular para la limpieza y secado de aceitunas". P200002328 "Modular set for cleaning and drying olives".
U0241663 "Dispositivo para la limpieza de aceitunas". U0241663 "Device for cleaning olives".
P9102361 "Máquina lavadora de aceituna". P9102361 "Olive washing machine".
P200800763 "Recogedor de sólidos en suspensión". P200800763 "Suspended solids collector".
A01 D1/00 "Dispositivo separador por flotación para recolectoras de frutos". A01 D1 / 00 "Flotation separator device for fruit pickers".
Asociadas al uso de Rayos X: Associated with the use of X-rays:
La empresa Multiscan Technologies S.L. tiene un modelo de máquina en mercado (X20V B65), que realiza una detección de huesos en aceitunas deshuesadas y posibles contaminantes basado en rayos X. The company Multiscan Technologies S.L. It has a machine model on the market (X20V B65), which detects bones in boneless olives and possible contaminants based on X-rays.
Descripción de las figuras Description of the figures
Figura 1, diagrama de bloques de funcionamiento del procedimiento. Figure 1, block diagram of procedure operation.
Se aprecian los diferentes bloques que conlleva la aplicación de este método: (1) frutos a clasificar que pueden no contener hueso o contenerlo ya sea entero o parcialmente, (2) un calentamiento de los frutos con una fuente de calor durante un tiempo que dependerá de la naturaleza de los mismos: (tamaño variedad, estado, etc.), (3) un sistema de captura y digitalización de imágenes basado en cámara termo-gráfica, sensores de temperatura infrarrojos o sensores de temperatura por contacto, (4) análisis de la imagen térmica de los frutos o (5) del valor obtenido del sensor de temperatura infrarrojo o por contacto, (4) y (5) están basados en P.C. o en un sistema autónomo con FPGA, DSP o Microcontrolador,
(6) una segmentación de la imagen en planos de color, para determinar de forma cuantitativa la temperatura en cada zona, permitiendo discernir entre frutos sin hueso, frutos con hueso total o parcial (esquirlas), (7) separación en tiempo real de los frutos con y sin hueso. The different blocks involved in the application of this method are appreciated: (1) fruits to be classified that may not contain bone or contain it either completely or partially, (2) a heating of the fruits with a heat source for a time that will depend their nature: (variety size, state, etc.), (3) an image capture and digitization system based on thermal imaging camera, infrared temperature sensors or contact temperature sensors, (4) analysis of the thermal image of the fruits or (5) of the value obtained from the infrared or contact temperature sensor, (4) and (5) are based on PC or an autonomous system with FPGA, DSP or Microcontroller, (6) a segmentation of the image in color planes, to quantitatively determine the temperature in each zone, allowing to distinguish between fruits without bone, fruits with total or partial bone (chips), (7) real-time separation of Fruits with and without bone.
Figura 2, esquema de la implementación física de la máquina de separación de frutos por diferencia de temperatura. (1) cinta transportadora de una sola hilera, (2) frutos a temperatura ambiente, (3) fuente de calor, (4) sentido del movimiento de la cinta con los frutos encima, (5) actuador que extrae fuera de la cinta los frutos calientes con hueso, (6) fruto caliente con hueso extraído de la cinta, (7) fruto caliente sin hueso. Figure 2, diagram of the physical implementation of the fruit separation machine by temperature difference. (1) single-row conveyor belt, (2) fruits at room temperature, (3) heat source, (4) direction of movement of the belt with the fruits on top, (5) actuator that pulls out of the belt the hot fruits with bone, (6) hot fruit with bone extracted from the tape, (7) hot fruit without bone.
Descripción de la invención Description of the invention
Para llevar a cabo la separación, partimos de frutos que procederán de una máquina deshuesadora previa que realiza la extracción del hueso. Como a veces esa extracción es fallida y el hueso queda total o parcialmente en el interior, para conseguir separar esos frutos que aún conservan el hueso en su interior, emplearemos una fuente de calor que elevará la temperatura del fruto a valores distintos y diferenciables entre frutos con hueso y aquellos que no lo contienen dada la diferencia de calores específicos existente entre ambos. To carry out the separation, we start from fruits that will come from a previous boning machine that performs the bone extraction. As sometimes this extraction is failed and the bone is totally or partially inside, to separate those fruits that still retain the bone inside, we will use a heat source that will raise the temperature of the fruit to different and differentiable values between fruits with bone and those that do not contain it given the difference in specific heats existing between them.
Tras un intervalo de tiempo apropiado, se puede observar una diferencia de hasta varios grados Celsius. Para definir el tiempo necesario se hacen ajustes de laboratorio previos para calibrar la fuente de calor en función del tipo de fruto y variedad a clasificar, evitando siempre que tal calentamiento pueda afectar a las características de textura u organolépticas. Los valores empíricos que se obtienen dependerán de cada tipo de fruto o variedad y se añadirán como parámetros de configuración a la maquina clasificadora que realizara la separación según este gradiente térmico. Para que el proceso sea eficiente desde un punto de vista comercial, los frutos se harán circular por una cinta transportadora de varías vías lo que permitirá hacer pasar un número elevado de estos delante del sistema de análisis térmico. La forma de discernir puede ser mediante una imagen obtenida con una cámara térmica que siendo procesada mediante un sistema de visión artificial, dictamina dentro de la imagen que frutos tienen o no hueso según su nivel de temperatura. Otra forma será analizando la temperatura superficial de cada fruto mediante un sistema infrarrojo o por contacto físico con un sensor te tipo termopar, PT100 o similar.
Para ambos casos, tomada la decisión, un sistema actuador extrae el fruto con hueso de la cinta transportadora. After an appropriate time interval, a difference of up to several degrees Celsius can be observed. In order to define the necessary time, previous laboratory adjustments are made to calibrate the heat source according to the type of fruit and variety to be classified, always preventing such heating from affecting the texture or organoleptic characteristics. The empirical values obtained will depend on each type of fruit or variety and will be added as configuration parameters to the sorting machine that will perform the separation according to this thermal gradient. In order for the process to be efficient from a commercial point of view, the fruits will be circulated on a conveyor belt of several ways which will allow a large number of them to pass in front of the thermal analysis system. The way to discern can be through an image obtained with a thermal camera that being processed by an artificial vision system, dictates within the image that fruits have or not bones according to their temperature level. Another way will be to analyze the surface temperature of each fruit by means of an infrared system or by physical contact with a thermocouple, PT100 or similar sensor. For both cases, the decision taken, an actuator system extracts the bone-bearing fruit from the conveyor belt.
Modo preferente de realización de la invención para el caso particular de la aceituna de mesa Preferred embodiment of the invention for the particular case of table olives
a) Fruto: a) Fruit:
La aceitunas procedentes de una máquina de deshuesado convencional, circulan encima de una cinta transportadora que las conduce a través de un horno (eléctrico o microondas), aplicando durante varios segundos calor y elevando de manera diferente la temperatura entre las aceitunas que incluyen hueso o parte del mismo de las que no. b) Sistema de temperatura: Olives from a conventional boning machine circulate on a conveyor belt that drives them through an oven (electric or microwave), applying heat for several seconds and raising the temperature between olives that include bone or part differently of the same of those that do not. b) Temperature system:
b1) Si la temperatura es adquirida por sensores infrarrojos o de contacto para cada aceituna, el sistema de decisión (PC, FPGA o Microcontrolador) resuelve la separación, normalmente actuando sobre un sistema neumático que elimina de la cinta aquellas aceitunas que tienen hueso. b1) If the temperature is acquired by infrared or contact sensors for each olive, the decision system (PC, FPGA or Microcontroller) resolves the separation, normally acting on a pneumatic system that removes those olives that have bone from the tape.
b2) Si la temperatura es adquirida por una cámara termográfica se recurrirá a un procesado de imagen que igualmente permitirá eliminar mediante un actuador, preferentemente neumático, las aceitunas con hueso. El sistema de decisión será nuevamente un PC, FPGA o Microcontrolador. b2) If the temperature is acquired by a thermal imager, an image processing will be used that will also allow the removal of bone olives by means of an actuator, preferably pneumatic. The decision system will again be a PC, FPGA or Microcontroller.
A título de ejemplo y sin perder generalidad, con una velocidad de movimiento en cinta transportadora de 1 cm/s, una potencia de 1000 W en microondas y una exposición de 5 segundos, se obtienen variaciones de 4°C en aceituna de la variedad manzanilla con calibre 180-200. Las temperaturas conseguidas no superan los 40 °C por lo que la aceituna no sufre en ningún momento pérdidas de calidad. By way of example and without losing generality, with a speed of movement on conveyor belt of 1 cm / s, a power of 1000 W in microwaves and an exposure of 5 seconds, variations of 4 ° C are obtained in olives of the chamomile variety with caliber 180-200. The temperatures achieved do not exceed 40 ° C, so the olive does not suffer quality losses at any time.
Con una cinta transportadora de 20 líneas y separación neumática se llegan a obtener rendimientos de 1200 aceitunas/minuto.
With a conveyor belt of 20 lines and pneumatic separation, yields of 1200 olives / minute are obtained.
Claims
1.- Procedimiento para separación por diferencia de temperatura entre frutos con hueso y frutos sin hueso caracterizado porque comprende: a) uso de frutos a clasificar que pueden no contener hueso o contenerlo ya sea entero o parcialmente. 1. Procedure for separation by temperature difference between fruits with bone and fruits without bone characterized in that it comprises: a) use of fruits to be classified that may not contain bone or contain it either whole or partially.
b) un calentamiento de los frutos con una fuente de calor durante un tiempo que dependerá de la naturaleza de los mismos: (tamaño variedad, estado, etc.) y que no afecta a las características organolépticas del fruto ni genera deterioros o perdidas de calidad. b) a heating of the fruits with a source of heat for a time that will depend on their nature: (variety size, condition, etc.) and that does not affect the organoleptic characteristics of the fruit nor does it cause deterioration or loss of quality .
c) un sistema de medida de la temperatura basado en sensores de temperatura por infrarrojos, sensores de temperatura por contacto o mediante una cámara termo-gráfica. c) a temperature measurement system based on infrared temperature sensors, contact temperature sensors or by means of a thermo-graphic camera.
d) el procesado de los valores de temperatura de los sensores o de la imagen térmica de las aceitunas con un P.C. o en un sistema autónomo con FPGA, DSP o Microcontrolador. d) the processing of the temperature values of the sensors or of the thermal image of the olives with a P.C. or in a stand-alone system with FPGA, DSP or Microcontroller.
e) en el caso de imagen térmica una segmentación de la imagen en planos de color, para determinar de forma cuantitativa la temperatura en cada zona permitiendo discernir entre frutos sin hueso, frutos con hueso o frutos con un trozo de hueso (esquirlas). e) in the case of thermal imaging, a segmentation of the image in color planes, to quantitatively determine the temperature in each zone allowing to distinguish between fruits without bone, fruits with bone or fruits with a piece of bone (chips).
f) un ajuste no lineal o una red neuronal entrenada para efectuar la selección en tiempo real al hacer pasar los frutos a una determinada velocidad por la parte de medida de temperatura. f) a non-linear adjustment or a neural network trained to make the selection in real time by passing the fruits at a certain speed through the temperature measurement part.
2- Procedimiento para separación por diferencia de temperatura entre frutos con hueso y frutos sin hueso según reivindicación 1 , caracterizado porque se evitan los errores típicos de los sistemas estándar de separación por densidad en tanques de flotación, (influencia de la temperatura, variación de la concentración de sal, incapacidad de diferenciar aquellos frutos con trozos de hueso). 2- Procedure for separation by temperature difference between fruits with bone and fruits without bone according to claim 1, characterized in that the typical errors of the standard systems of separation by density in flotation tanks are avoided, (influence of temperature, variation of the salt concentration, inability to differentiate those fruits with pieces of bone).
3.- Procedimiento para separación por diferencia de temperatura entre frutos con hueso y frutos sin hueso según reivindicación 1 , caracterizado porque no emplean para la clasificación fuentes de rayos X, lo que permite una mayor seguridad en el uso y la no exposición del alimento a radiaciones. 3. Procedure for separation by temperature difference between fruits with bone and fruits without bone according to claim 1, characterized in that they do not use X-ray sources for classification, which allows greater safety in the use and non-exposure of food to radiation
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP13751195.2A EP2823898A4 (en) | 2012-02-21 | 2013-02-20 | Method for the temperature-difference-based separation of fruits with stones and fruits without stones |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES201200160A ES2423847A1 (en) | 2012-02-21 | 2012-02-21 | Method for the temperature-difference-based separation of fruits with stones and fruits without stones |
| ESP201200160 | 2012-02-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2013124497A1 true WO2013124497A1 (en) | 2013-08-29 |
Family
ID=49005041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/ES2013/000040 WO2013124497A1 (en) | 2012-02-21 | 2013-02-20 | Method for the temperature-difference-based separation of fruits with stones and fruits without stones |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2823898A4 (en) |
| ES (1) | ES2423847A1 (en) |
| WO (1) | WO2013124497A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016056009A1 (en) * | 2014-10-07 | 2016-04-14 | The State Of Israel, Ministry Of Agriculture & Rural Development, Agricultural Research Organization (Aro) (Volcani Center). | Grading peanuts by thermal imaging |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3806723A4 (en) * | 2018-06-12 | 2022-02-23 | H.T.B Agri Ltd. | A system, method and computer product for real time sorting of plants |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2697450A1 (en) * | 1992-10-30 | 1994-05-06 | Felter Christian | Fruit or vegetables sorting method for use on conveyor - using video camera to detect variations of infra red radiation from surface of object on conveyor. |
| US5659624A (en) * | 1995-09-01 | 1997-08-19 | Fazzari; Rodney J. | High speed mass flow food sorting appartus for optically inspecting and sorting bulk food products |
-
2012
- 2012-02-21 ES ES201200160A patent/ES2423847A1/en active Pending
-
2013
- 2013-02-20 WO PCT/ES2013/000040 patent/WO2013124497A1/en active Application Filing
- 2013-02-20 EP EP13751195.2A patent/EP2823898A4/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2697450A1 (en) * | 1992-10-30 | 1994-05-06 | Felter Christian | Fruit or vegetables sorting method for use on conveyor - using video camera to detect variations of infra red radiation from surface of object on conveyor. |
| US5659624A (en) * | 1995-09-01 | 1997-08-19 | Fazzari; Rodney J. | High speed mass flow food sorting appartus for optically inspecting and sorting bulk food products |
Non-Patent Citations (1)
| Title |
|---|
| See also references of EP2823898A4 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016056009A1 (en) * | 2014-10-07 | 2016-04-14 | The State Of Israel, Ministry Of Agriculture & Rural Development, Agricultural Research Organization (Aro) (Volcani Center). | Grading peanuts by thermal imaging |
Also Published As
| Publication number | Publication date |
|---|---|
| ES2423847A1 (en) | 2013-09-24 |
| EP2823898A1 (en) | 2015-01-14 |
| EP2823898A4 (en) | 2015-12-16 |
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