JP2003028807A - Apparatus for handling object to be measured - Google Patents
Apparatus for handling object to be measuredInfo
- Publication number
- JP2003028807A JP2003028807A JP2001215071A JP2001215071A JP2003028807A JP 2003028807 A JP2003028807 A JP 2003028807A JP 2001215071 A JP2001215071 A JP 2001215071A JP 2001215071 A JP2001215071 A JP 2001215071A JP 2003028807 A JP2003028807 A JP 2003028807A
- Authority
- JP
- Japan
- Prior art keywords
- measured
- vegetables
- item
- fruit
- objects
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Sorting Of Articles (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、例えば梅の実、
ミカン、リンゴ、柿、梨などの略球形状を有する果菜
物、胡瓜、茄子、人参、長芋などの略長尺形状を有する
農作物等の被計測物に関する所定項目を計測するときに
用いられる被計測物処理装置に関する。TECHNICAL FIELD The present invention relates to, for example, plum fruits,
Measured items used for measuring specified items related to measured items such as mandarin oranges, apples, persimmons, pears, and other fruits and vegetables having a substantially spherical shape, cucumbers, eggplants, carrots, long potatoes, and other agricultural products with a substantially long shape The present invention relates to a material processing device.
【０００２】[0002]
【従来の技術】従来、上述例の果菜物を計測する装置と
しては、例えばコンベアにより搬送される果菜物の側部
周面を、略斜め前後に配設した４台の撮像カメラにより
撮像し、果菜物の上部周面（表面側）を略真上に配設し
た１台の撮像カメラにより撮像した後、その複数台（例
えば５台）により撮像カメラで撮像した画像情報に基づ
いて、果菜物の所定項目を判定装置により判定する装置
がある。また、果菜物の下部周面（裏面側）を撮像する
場合、果菜物の下部周面を下方から撮像したり、果菜物
を表裏反転して撮像する撮像カメラがもう一台必要であ
る。2. Description of the Related Art Conventionally, as a device for measuring fruit and vegetables in the above-mentioned example, for example, a side peripheral surface of a fruit and vegetables conveyed by a conveyor is imaged by four image pickup cameras arranged substantially obliquely front and rear, After the upper peripheral surface (front surface side) of the fruit and vegetables is imaged by one imaging camera arranged almost directly above, based on the image information imaged by the imaging cameras by the plural cameras (for example, five), the fruit and vegetables There is a device that determines a predetermined item of the above by a determination device. Further, when imaging the lower peripheral surface (back side) of the fruit and vegetables, it is necessary to provide another imaging camera that images the lower peripheral surface of the fruit and vegetables from below or reversely and image the fruit and vegetables.
【０００３】[0003]
【発明が解決しようとする課題】しかし、上述の装置
は、一つの果菜物を複数台の撮像カメラにより撮像する
ので、例えば複数条のコンベアにより搬送される果菜物
の所定項目を計測する場合、複数台の撮像カメラをコン
ベア毎に設置しなければならず、コンベアの倍数分だけ
撮像カメラが多数必要となるため、撮像カメラの設置作
業に手間及び時間が掛る。且つ、撮像カメラの設置台数
分だけ、装置全体の製作費が高くなるという問題点を有
している。However, since the above-mentioned device images one fruit and vegetables by a plurality of imaging cameras, for example, when measuring a predetermined item of fruit and vegetables conveyed by a plurality of conveyors, Since it is necessary to install a plurality of image pickup cameras for each conveyor, and a large number of image pickup cameras are required for a multiple of the conveyor, it is troublesome and time consuming to install the image pickup cameras. In addition, there is a problem that the manufacturing cost of the entire apparatus is increased by the number of installed image pickup cameras.
【０００４】また、各撮像カメラにより撮像した複数枚
の画像を１枚ずつ２値化処理するので、その撮像した画
像の枚数が多くなるほど、２値化処理に要する処理時間
が長くなり、一つの果菜物の所定項目を判定するのに時
間が掛るため、多数の果菜物を高速で判定することが難
しく、処理能力及び作業能率が低いという問題点も有し
ている。Further, since a plurality of images picked up by the image pickup cameras are binarized one by one, the larger the number of picked-up images is, the longer the processing time required for the binarization process becomes. Since it takes time to determine a predetermined item of fruits and vegetables, it is difficult to determine a large number of fruits and vegetables at high speed, and there is a problem that processing capacity and work efficiency are low.
【０００５】この発明は上記問題に鑑み、隣合う状態に
整列された複数の被計測物を項目計測手段で略同時に計
測し、その計測情報に基づいて、各被計測物の所定項目
を項目判定手段により個々に判定するので、項目計測手
段の設置数が少なくて済み、処理速度の高速化及び処理
作業の能率アップを図ることができる被計測物処理装置
の提供を目的とする。In view of the above problems, the present invention measures a plurality of objects to be measured aligned in an adjacent state by an item measuring means at substantially the same time, and based on the measurement information, determines a predetermined item of each object to be measured. It is an object of the present invention to provide a device for processing an object to be measured, in which the number of item measuring means can be reduced and the processing speed can be increased and the efficiency of the processing operation can be improved because the determination is made individually by the means.
【０００６】[0006]
【課題を解決するための手段】この発明は、複数の被計
測物を隣合う状態に整列して該各被計測物の所定項目を
略同時に計測する項目計測手段、又は、複数条の被計測
物搬送手段により隣合う状態に整列して搬送される各被
計測物の所定項目を略同時に計測する項目計測手段と、
上記項目計測手段により計測した計測情報に基づいて、
上記各被計測物の所定項目を個々に判定する項目判定手
段とを備えた被計測物処理装置であることを特徴とす
る。SUMMARY OF THE INVENTION According to the present invention, an item measuring means for arranging a plurality of objects to be measured adjacent to each other and measuring a predetermined item of each object to be measured substantially simultaneously, or a plurality of articles to be measured. Item measuring means for measuring the predetermined items of the respective objects to be measured that are conveyed in an adjacent state by the object conveying means,
Based on the measurement information measured by the item measuring means,
The object to be measured processing device is provided with an item determination unit that individually determines a predetermined item of each of the objects to be measured.
【０００７】上述の被計測物は、例えば梅の実、ミカ
ン、リンゴ、柿、梨などの略球形状を有する果菜物、胡
瓜、茄子、人参、長芋などの略長尺形状を有する農作物
等で構成することができる。被計測物搬送手段は、例え
ばローラを鍵盤状に配列してなるコンベア、ベルトコン
ベア、チェーンコンベア、バケットコンベア等で構成す
ることができる。項目計測手段は、例えば撮像カメラ、
ビデオカメラ、ディジタルカメラ等で構成することがで
きる。また、項目判定手段は、例えばパーソナル・コン
ピュータやＣＰＵ、ＲＯＭ、ＲＡＭを内蔵した制御装置
等で構成することができる。The above-mentioned objects to be measured are, for example, fruit fruits having a substantially spherical shape such as plum fruits, mandarin oranges, apples, persimmons and pears, and agricultural products having a substantially long shape such as cucumbers, eggplants, carrots and potatoes. Can be configured. The object-to-be-measured conveying means can be constituted by, for example, a conveyor in which rollers are arranged in a keyboard shape, a belt conveyor, a chain conveyor, a bucket conveyor, or the like. The item measuring means is, for example, an imaging camera,
It can be configured by a video camera, a digital camera, or the like. Further, the item determination means can be configured by, for example, a personal computer, a control device having a CPU, a ROM, and a RAM built therein.
【０００８】つまり、隣合う状態に整列された複数の被
計測物又は複数条の被計測物搬送手段により隣合う状態
に整列して搬送される各被計測物を項目計測手段で略同
時に計測し、その計測情報に基づいて、各被計測物の所
定項目を項目判定手段により個々に判定する。That is, the plurality of measured objects arranged in the adjacent state or the measured objects conveyed in the adjacent state by the plural measured object conveying means are measured substantially simultaneously by the item measuring means. Then, based on the measurement information, the predetermined item of each measured object is individually judged by the item judging means.
【０００９】実施の形態として、項目計測手段を、隣合
う状態に整列された各被計測物が略同時に計測される角
度に斜設することができる。また、項目計測手段を、上
記隣合う状態に整列された各被計測物の一側面が計測さ
れる一側位置と、該各被計測物の他側面が計測される他
側位置とに配設することもできる。また、隣合う状態に
整列された各被計測物の向きを略同一角度に変更する向
き変更手段を備えることもできる。また、各被計測物を
略同時に計測する項目計測手段と、該各被計測物の向き
を略同一角度に変更する向き変更手段とを、被計測物搬
送手段の搬送方向に対して所定間隔に隔てて複数設ける
こともできる。As an embodiment, the item measuring means can be obliquely installed at an angle at which the respective objects to be measured aligned in the adjacent state are measured substantially at the same time. Further, the item measuring means is arranged at one side position where one side surface of each of the measured objects arranged in the adjacent state is measured and at another side position where the other side surface of each measured object is measured. You can also do it. Further, it is also possible to provide an orientation changing means for changing the orientations of the respective objects to be measured which are aligned in the adjacent state to substantially the same angle. Further, the item measuring means for measuring the respective measured objects at substantially the same time and the direction changing means for changing the direction of the respective measured objects to substantially the same angle are provided at predetermined intervals with respect to the conveying direction of the measured object conveying means. It is also possible to provide a plurality of them separately.
【００１０】[0010]
【作用及び効果】この発明によれば、隣合う状態に整列
された複数の被計測物を項目計測手段により略同時に計
測し、その計測情報に基づいて、各被計測物の所定項目
を項目判定手段により個々に判定するので、各被計測物
を個々に計測するよりも、項目判定に要する時間が短く
なり、処理速度の高速化及び処理作業の能率アップを図
ることができる。According to the present invention, a plurality of measured objects arranged in adjacent states are measured by the item measuring means substantially at the same time, and the predetermined item of each measured object is determined based on the measurement information. Since the individual determination is performed by the means, the time required for the item determination is shorter than that when each measured object is individually measured, and the processing speed can be increased and the processing work efficiency can be improved.
【００１１】しかも、隣合う被計測物の略全体を項目計
測手段により計測するので、一つの被計測物を複数の項
目計測手段により計測するよりも、項目計測手段の設置
数が少なくて済み、項目計測手段の設置作業が簡単且つ
容易に行える共に、装置全体を安価に製作することがで
きる。Moreover, since almost all the adjacent objects to be measured are measured by the item measuring means, the number of installed item measuring means can be smaller than that of measuring one object by a plurality of item measuring means. The installation work of the item measuring means can be performed easily and easily, and the entire device can be manufactured at low cost.
【００１２】[0012]
【実施例】この発明の一実施例を以下図面に基づいて詳
述する。図面は被計測物の一例である略球形状の果菜物
に関する所定項目を計測する作業に用いられる被計測物
処理装置を示し、図１及び図２に於いて、この被計測物
処理装置１は、多数の果菜物Ａ（例えば梅の実）を、２
条併設した仕分けコンベア２に対して隣合う状態に整列
して載置し、仕分けコンベア２，２に載置された果菜物
Ａを、搬送路上に設定した計測部Ｂ下部の回転装置３に
より略同期して回転（例えば表裏反転）させ、その隣合
う果菜物Ａの所定項目を、計測部Ｂ上部の項目計測装置
４により略同時に計測して、その計測情報に基づいて、
左右の仕分けコンベア２により搬送される果菜物Ａの所
定項目を個々に総合判定する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. The drawings show a measured object processing apparatus used for the work of measuring a predetermined item regarding a substantially spherical fruit and vegetable as an example of the measured object, and in FIG. 1 and FIG. , A large number of fruit vegetables A (eg plum fruits) 2
The fruit and vegetables A placed on the sorting conveyors 2 and 2 are aligned and placed next to each other, and the fruits and vegetables A placed on the sorting conveyors 2 and 2 are substantially rotated by the rotating device 3 below the measuring unit B set on the transport path. Rotate in a synchronized manner (for example, reverse the front and back), measure the predetermined items of the adjacent fruit and vegetable A at substantially the same time by the item measuring device 4 above the measuring unit B, and based on the measurement information,
Predetermined items of the fruit and vegetables A conveyed by the left and right sorting conveyors 2 are comprehensively judged individually.
【００１３】上述の仕分けコンベア２は、例えば特許第
２９１１８０１号、特許第２８２４０４６号等の搬送装
置（コンベア）で構成され、略同一構成の仕分けコンベ
ア２を搬送方向（正面方向）から見て左右対称となるよ
うに２条配設している。つまり、ブラケット１１を、搬
送路側部に張架した周回チェーン１０全長に対して所定
間隔に隔てて取付け、支持部材１２を、ブラケット１１
の搬送側下端部に対して搬送方向と略直交する方向に上
下回動可能に枢着している。The above-mentioned sorting conveyor 2 is composed of, for example, a conveying device (conveyor) of Japanese Patent No. 2911801, Japanese Patent No. 2824046, etc. Two lines are arranged so that That is, the brackets 11 are attached at a predetermined interval to the entire length of the circulating chain 10 stretched on the side of the conveyance path, and the support members 12 are attached to the brackets 11.
Is pivotally attached to the lower end of the transport side so as to be vertically rotatable in a direction substantially orthogonal to the transport direction.
【００１４】且つ、中央部外周面から両端部外周面に向
けて大径となる形状（例えば鼓形）に形成した支持ロー
ラ１３を、支持部材１２の搬送側上端部に対して搬送方
向と略平行する方向に前後回転可能に枢着すると共に、
果菜物Ａが略水平に載置される前後間隔に隔てて鍵盤状
に配列している。つまり、周回チェーン１０を、減速機
付きモータ（図示省略）の駆動力により一定速度で回転
して、鍵盤状に配列した支持ローラ１３…を搬送方向に
対して周回移動させる。また、上述の支持ローラ１３
を、例えば一端側外周面から他端側外周面に向けて略同
径となる形状に形成したローラに取り替えてもよい。Further, the support roller 13 formed in a shape (for example, a drum shape) having a large diameter from the outer peripheral surface of the central portion toward the outer peripheral surfaces of both ends is substantially in the transport direction with respect to the upper end portion of the support member 12 on the transport side. While pivoting in a parallel direction so that it can rotate back and forth,
The fruit and vegetables A are arranged in a keyboard shape at a front-rear interval at which they are placed substantially horizontally. That is, the revolving chain 10 is rotated at a constant speed by the driving force of a motor (not shown) with a speed reducer, and the supporting rollers 13 ... Arranged in a keyboard shape are revolved in the transport direction. In addition, the support roller 13 described above
May be replaced with, for example, a roller formed to have a shape having substantially the same diameter from the outer peripheral surface on one end side toward the outer peripheral surface on the other end side.
【００１５】且つ、係止レバー１４を、ブラケット１１
の搬送側上端部に対して搬送方向と略直交する方向に上
下回動可能に枢着すると共に、支持部材１２に対して係
止される方向に回動付勢している。つまり、支持ローラ
１３は、係止レバー１４を支持部材１２に係止したき、
果菜物Ａが略水平に載置される水平姿勢又は水平角度に
回動規制される。その係止を解除すると、果菜物Ａが斜
め下方に向けて放出される放出姿勢に回動され、搬送路
の始端側に回帰するとき略水平となる姿勢に回動復帰さ
れる。また、計測時に於いて、果菜物Ａを、支持ローラ
１３に対して非接触となる状態に板状や棒状の支持部材
（図示省略）で支持してもよい。Further, the locking lever 14 is attached to the bracket 11
It is pivotally attached to the upper end of the conveyance side so as to be vertically rotatable in a direction substantially orthogonal to the conveyance direction, and is rotationally biased in a direction to be locked with respect to the support member 12. That is, when the support roller 13 locks the locking lever 14 to the support member 12,
Rotation is regulated in a horizontal posture or a horizontal angle at which the fruit and vegetables A are placed substantially horizontally. When the lock is released, the fruit and vegetables A are rotated to a discharging posture in which they are discharged obliquely downward, and are rotated and returned to a posture that is substantially horizontal when returning to the starting end side of the transport path. In addition, at the time of measurement, the fruit and vegetables A may be supported by a plate-shaped or rod-shaped support member (not shown) in a state of not contacting the support roller 13.
【００１６】前述の計測部Ｂ下部に配設した回転装置３
は、支持ローラ１３を回転するのに必要な接触抵抗を有
する第１ベルト３ａと、第２ベルト３ｂと、第３ベルト
３ｃとを、計測部Ｂの第１計測区間Ｂａと、第２計測区
間Ｂｂと、第３計測区間Ｂｃとの搬送路下部に張架する
と共に、搬送方向に対して果菜物Ａを所定角度に回転す
るのに必要な前後間隔に隔てて配設している。且つ、第
１ベルト３ａと、第２ベルト３ｂと、第３ベルト３ｃと
を、搬送路下部に軸支したプーリ２０，２０の間と、プ
ーリ２０，２０の間に架設したベルトガイド２１とに張
架して、支持ローラ１３の遊端側下部周面に対して接触
される高さに配設している。The rotating device 3 arranged at the lower part of the measuring section B described above.
Is a first belt 3a having a contact resistance necessary to rotate the support roller 13, a second belt 3b, a third belt 3c, a first measurement section Ba of the measurement unit B, and a second measurement section. It is stretched under the conveyance path between Bb and the third measurement section Bc, and is arranged at a front-rear interval necessary for rotating the fruit and vegetables A at a predetermined angle with respect to the conveyance direction. In addition, the first belt 3a, the second belt 3b, and the third belt 3c are provided between the pulleys 20 and 20 that are axially supported on the lower portion of the conveyance path, and the belt guide 21 that is installed between the pulleys 20 and 20. It is stretched and arranged at a height where it comes into contact with the lower peripheral surface of the support roller 13 on the free end side.
【００１７】且つ、第１ベルト３ａと、第２ベルト３ｂ
と、第３ベルト３ｃとを、減速機付きモータ（図示省
略）の駆動力により、仕分けコンベア２の搬送速度より
も速く独立又は連動して回転（又は相反する方向に低速
回転、回転停止）させ、支持ローラ１３を矢印方向に回
転させながら搬送方向に周回移動して、その支持ローラ
１３…間に載置された様々な大きさを有する大中小の果
菜物Ａを所定角度（例えば略１２０度〜略３６０度又は
略１２０度以下の角度）に回転及び表裏反転する。な
お、果菜物Ａの大きさに応じてベルト３ａ，３ｂ，３ｃ
の回転速度（例えば高速、中速、低速）を可変したり、
果菜物Ａを略１２０度以下の角度に回転したり、一本の
ベルトにより回転する等してもよい。Further, the first belt 3a and the second belt 3b
And the third belt 3c are independently or interlocked by a driving force of a motor with a speed reducer (not shown) and faster than the conveying speed of the sorting conveyor 2 (or low-speed rotation in opposite directions, rotation stop). , The support roller 13 is rotated in the direction of the arrow while rotating in the conveying direction, and the large, medium, and small fruit vegetables A having various sizes placed between the support rollers 13 are set at a predetermined angle (for example, about 120 degrees). ~ 360 degrees or an angle of about 120 degrees or less) and turn over. The belts 3a, 3b, 3c depending on the size of the fruit and vegetables A
The rotation speed (eg high speed, medium speed, low speed) of
The fruit and vegetables A may be rotated at an angle of about 120 degrees or less, or may be rotated by one belt.
【００１８】前述の計測部Ｂ上部に配設した項目計測装
置４は、図７にも示すように、例えばハロゲンランプや
紫外線ランプ等で構成される光源３２を、仕分けコンベ
ア２に載置された果菜物Ａと対向して計測部Ｂを囲繞す
る遮光室３１内に複数配設している。また、光源３２に
代わる照光手段の他の例として、例えば赤外線ランプや
白熱電球、蛍光灯、白熱灯、キセノンランプ、タングス
テンランプ等を用いてもよい。As shown in FIG. 7, the item measuring device 4 arranged above the measuring section B has a light source 32, which is composed of, for example, a halogen lamp or an ultraviolet lamp, placed on the sorting conveyor 2. A plurality of light-shielding chambers 31 are arranged to face the fruit and vegetable A and surround the measuring section B. Further, as another example of the illumination means instead of the light source 32, for example, an infrared lamp, an incandescent lamp, a fluorescent lamp, an incandescent lamp, a xenon lamp, a tungsten lamp or the like may be used.
【００１９】且つ、例えばＣＣＤカメラやディジタルカ
メラ等で構成される撮像カメラ３３ａ，３４ａと、撮像
カメラ３３ｂ，３４ｂと、撮像カメラ３３ｃ，３４ｃと
を、計測部Ｂの第１計測区間Ｂａと、第２計測区間Ｂｂ
と、第３計測区間Ｂｃとの搬送路上部に配設すると共
に、搬送方向に対して所定間隔に隔てて配設している。Further, for example, the image pickup cameras 33a and 34a composed of CCD cameras and digital cameras, the image pickup cameras 33b and 34b, the image pickup cameras 33c and 34c, the first measurement section Ba of the measurement section B, and the first measurement section Ba 2 measurement section Bb
And in the upper part of the transport path between the third measurement section Bc and the third measurement section Bc, and at a predetermined interval in the transport direction.
【００２０】且つ、右側の撮像カメラ３３ａ，３３ｂ，
３３ｃを、２条の仕分けコンベア２に載置された果菜物
Ａの右側周面と対向して搬送路の右側斜め上方に配設
し、左側の撮像カメラ３４ａ，３４ｂ，３４ｃを、２条
の仕分けコンベア２に載置された果菜物Ａの左側周面と
対向して搬送路の左側斜め上方に配設すると共に、２条
の仕分けコンベア２に載置された左右果菜物Ａの側部周
面（例えば正面から見て略１／４又は略１／４以上の撮
像範囲）が略同時に撮像される撮像角度に設定してい
る。Further, the right side image pickup cameras 33a, 33b,
33c is disposed diagonally above and to the right of the conveyance path so as to face the right side peripheral surface of the fruit and vegetables A placed on the two-section sorting conveyor 2, and the left-side imaging cameras 34a, 34b, and 34c are provided in two sections. The left and right fruits and vegetables A placed on the sorting conveyor 2 are disposed diagonally above the left side of the conveyance path so as to face the left peripheral surface of the fruits and vegetables A and the side circumferences of the left and right fruits and vegetables A placed on the two-piece sorting conveyor 2 are arranged. The image pickup angle is set such that the surfaces (for example, the image pickup range of about 1/4 or about 1/4 or more when viewed from the front) are imaged at substantially the same time.
【００２１】且つ、撮像カメラ３３ａ〜３３ｃと撮像カ
メラ３４ａ〜３４ｂとを接続した画像処理装置３５は、
右側撮像カメラ３３ａ〜３３ｃにより略同時に撮像され
た左右果菜物Ａの画像情報と、左側撮像カメラ３４ａ〜
３４ｂにより略同時に撮像された左右果菜物Ａの画像情
報とを２値化処理して判定装置３６に出力する。Further, the image processing device 35 in which the image pickup cameras 33a to 33c and the image pickup cameras 34a to 34b are connected is
The image information of the left and right fruit and vegetables A captured by the right imaging cameras 33a to 33c at substantially the same time, and the left imaging cameras 34a to
The image information of the left and right fruit and vegetables A, which are picked up at substantially the same time by 34 b, are binarized and output to the determination device 36.
【００２２】図４は、農作物計測装置１の制御回路ブロ
ック図を示し、ディスクトップ型又はノート型のパーソ
ナル・コンピュータ３６にはＣＰＵ３７、ＲＯＭ３８、
ＲＡＭ３９が内蔵され、ＣＰＵ３７は、ＲＯＭ３８（又
はＰＲＯＭ）に格納されたプログラムに沿って、仕分け
コンベア２と、回転装置３と、項目計測装置４と、撮像
カメラ３３ａ〜３３ｃ及び３４ａ〜３４ｂとの駆動及び
停止を制御する。また、パーソナル・コンピュータ３６
に代えて、例えばＣＰＵ、ＲＯＭ、ＲＡＭを備えた制御
装置等で構成してもよい。FIG. 4 is a block diagram of a control circuit of the agricultural product measuring apparatus 1. The desktop type or notebook type personal computer 36 has a CPU 37, a ROM 38,
The RAM 39 is built in, and the CPU 37 drives the sorting conveyor 2, the rotating device 3, the item measuring device 4, and the imaging cameras 33a to 33c and 34a to 34b in accordance with the program stored in the ROM 38 (or PROM). And control the stop. Also, a personal computer 36
Instead of this, for example, a control device including a CPU, a ROM, and a RAM may be used.
【００２３】上述のＲＡＭ３９には、項目計測装置４を
構成する撮像カメラ３３ａ〜３３ｃと、撮像カメラ３４
ａ〜３４ｃとから出力される画像情報と、仕分けコンベ
ア２を構成する支持ローラ１３の番地情報又はタイムラ
グと、判定結果とを対応させて記憶する。In the RAM 39, the image pickup cameras 33a to 33c constituting the item measuring device 4 and the image pickup camera 34 are provided.
The image information output from a to 34c, the address information or time lag of the support roller 13 forming the sorting conveyor 2, and the determination result are stored in association with each other.
【００２４】前述のＣＰＵ３７は、上述の画像処理装置
３５から出力される右側撮像カメラ３３ａ〜３３ｃで撮
像した右側果菜物Ａと左側果菜物Ａとの画像情報を、Ｒ
ＡＭ３９に設定された右側用の第１画像情報記憶領域と
左側用の第２画像情報記憶領域とに記憶する。且つ、左
側撮像カメラ３４ａ〜３４ｃで撮像した右側果菜物Ａと
左側果菜物Ａとの画像情報を、ＲＡＭ３９に設定された
第１画像情報記憶領域と第２画像情報記憶領域とに記憶
する。The above-mentioned CPU 37 outputs the image information of the right-side fruit vegetables A and the left-side fruit vegetables A captured by the right-side imaging cameras 33a to 33c, which are output from the image processing device 35, to R.
The image is stored in the first image information storage area for the right side and the second image information storage area for the left side set in AM39. In addition, the image information of the right side fruit vegetables A and the left side fruit vegetables A captured by the left side imaging cameras 34a to 34c is stored in the first image information storage area and the second image information storage area set in the RAM 39.
【００２５】且つ、第１及び第２の計測情報記憶領域に
記憶された右側果菜物Ａと左側果菜物Ａとの計測情報
と、予め比較情報記憶領域に記憶された基準情報（正常
な果菜物Ａを撮像したときに出力される計測情報）とを
比較及び演算して、２条の仕分けコンベア２に載置され
た左右果菜物Ａの所定項目（例えば色、糖度、傷、腐
り、外径、形状、高さ、幅、体積、偏平度、成熟度、腐
り具合、浮き皮具合、規格外等の等階級）を個々に総合
判定すると共に、その判定結果と、左右果菜物Ａを載置
した支持ローラ１６が計測部Ｂ後段に設定した仕分け部
（図示省略）に移動するまでの番地又はタイムラグとを
対応させて第１及び第２の計測情報記憶領域に記憶す
る。In addition, the measurement information of the right side fruit vegetables A and the left side fruit vegetables A stored in the first and second measurement information storage areas, and the reference information (normal fruit vegetables stored in advance in the comparison information storage area). By comparing and calculating with the measurement information output when A is imaged, predetermined items (eg, color, sugar content, scratches, rot, outer diameter) of the left and right fruit vegetables A placed on the two-row sorting conveyor 2 are compared. , Shape, height, width, volume, flatness, maturity, decay, floating skin, non-standard grade etc.) and the judgment result and left and right fruit and vegetables A are placed. The supporting roller 16 is stored in the first and second measurement information storage areas in association with the address or time lag until the supporting roller 16 moves to the sorting unit (not shown) set in the latter stage of the measuring unit B.
【００２６】判定と対応する仕分け部に果菜物Ａが搬送
されたとき、仕分け部に配設した放出手段（例えばソレ
ノイド、エアーシリンダ、モータ等の係止解除装置）を
駆動し、係止レバー１４による係止を瞬間的に解除し
て、支持ローラ１６を放出姿勢に揺動する。判定と異な
る果菜物Ａが搬送されたとき、放出手段を駆動せず、支
持ローラ１６を水平姿勢のまま周回移動する。When the fruit A is conveyed to the sorting section corresponding to the determination, the releasing means (for example, an unlocking device such as a solenoid, an air cylinder, a motor, etc.) arranged in the sorting section is driven to drive the locking lever 14. Then, the support roller 16 is swung in the discharging posture. When a fruit or vegetable A different from the determination is conveyed, the discharging means is not driven and the support roller 16 is orbitally moved in a horizontal posture.
【００２７】また、上述の番地やタイムラグに代わる他
の仕分け方法として、例えば支持ローラ自体又は支持ロ
ーラと対応して付設した記録媒体（例えばバーコード、
ＩＤカード、磁気カード等）の固有情報（番地やキャリ
ア番号）を読取ったり、切断位置情報やその他の計測情
報を記録媒体に記録する等してもよい。As another sorting method in place of the above-mentioned address and time lag, for example, the supporting roller itself or a recording medium attached corresponding to the supporting roller (for example, a bar code,
Specific information (address or carrier number) of an ID card, a magnetic card, etc. may be read, cutting position information or other measurement information may be recorded in a recording medium.
【００２８】図示実施例は上記の如く構成するものにし
て、以下、被計測物処理装置１による果菜物Ａの計測方
法を説明する。先ず、図１、図２、図３に示すように、
荷受される果菜物Ａ（例えば梅の実）を、２条の仕分け
コンベア２を構成する支持ローラ１３…に対して隣合う
状態に整列して、所定のピッチ間隔に隔てて載置する。The illustrated embodiment is configured as described above, and the method of measuring the fruit and vegetable A by the object processing device 1 will be described below. First, as shown in FIGS. 1, 2, and 3,
The fruits and vegetables A (for example, plum nuts) to be received are aligned in a state of being adjacent to the support rollers 13 forming the two-row sorting conveyor 2 and placed at a predetermined pitch interval.
【００２９】次に、計測部Ｂの計測区間Ｂａに於いて、
２条の仕分けコンベア２に載置された左右果菜物Ａの右
側周面と左側周面とを、撮像カメラ３３ａ，３４ａによ
り左右方向から略同時に撮像し、その画像情報を画像処
理装置３５に出力した後、支持ローラ１３を、回転装置
３を構成する第１ベルト３ａにより矢印方向に回転さ
せ、その支持ローラ１３…間に載置された果菜物Ａを所
定角度（例えば略１２０度）に回転する。Next, in the measuring section Ba of the measuring section B,
The right and left peripheral surfaces of the left and right fruit and vegetables A placed on the two-row sorting conveyor 2 are imaged from the left and right sides at substantially the same time by the imaging cameras 33a and 34a, and the image information is output to the image processing device 35. After that, the support roller 13 is rotated in the direction of the arrow by the first belt 3a that constitutes the rotation device 3, and the fruit vegetables A placed between the support rollers 13 are rotated at a predetermined angle (for example, about 120 degrees). To do.
【００３０】一方、撮像カメラ３３ａ，３４ａから出力
される左右果菜物Ａの画像情報を、画像処理装置３５で
２値化処理してパーソナル・コンピュータ３６に出力す
ると共に、その左右果菜物Ａの画像情報と、果菜物Ａが
載置された支持ローラ１３の番地情報とを対応させて、
ＲＡＭ３９に設定された第１及び第２の画像情報記憶領
域に記憶する。On the other hand, the image information of the left and right fruit and vegetables A output from the image pickup cameras 33a and 34a is binarized by the image processing device 35 and output to the personal computer 36, and the images of the left and right fruit and vegetables A are produced. The information and the address information of the support roller 13 on which the fruit and vegetables A are placed are associated with each other,
It is stored in the first and second image information storage areas set in the RAM 39.
【００３１】次に、計測区間Ｂｂに於いて、左右果菜物
Ａの両側周面を撮像カメラ３３ｂ，３４ｂで略同時に撮
像し、その画像情報を画像処理装置３５に出力した後、
支持ローラ１３を第２ベルト３ｂにより回転させ、果菜
物Ａを所定角度（例えば略１２０度）に回転する。且
つ、撮像カメラ３３ｂ，３４ｂから出力される左右果菜
物Ａの画像情報を、画像処理装置３５で２値化処理して
パーソナル・コンピュータ３６に出力し、その左右果菜
物Ａの画像情報と、支持ローラ１３の番地情報とを対応
させて第１及び第２の画像情報記憶領域に記憶する。Next, in the measuring section Bb, both side surfaces of the left and right fruit and vegetables A are imaged by the imaging cameras 33b and 34b at substantially the same time, and the image information is output to the image processing device 35,
The support roller 13 is rotated by the second belt 3b to rotate the fruit and vegetables A at a predetermined angle (for example, about 120 degrees). Moreover, the image information of the left and right fruit and vegetables A output from the imaging cameras 33b and 34b is binarized by the image processing device 35 and output to the personal computer 36, and the image information of the left and right fruit and vegetables A is supported. The address information of the roller 13 is stored in the first and second image information storage areas in association with each other.
【００３２】次に、計測区間Ｂｃに於いて、左右果菜物
Ａの両側周面を撮像カメラ３３ｃ，３４ｃで略同時に撮
像し、その画像情報を画像処理装置３５に出力した後、
支持ローラ１３を第２ベルト３ｃにより回転させ、果菜
物Ａを所定角度（例えば略１２０度）に回転して、元の
向きに回転復帰（例えば略３６０度）する。且つ、撮像
カメラ３３ｃ，３４ｃから出力される左右果菜物Ａの画
像情報を、画像処理装置３５で２値化処理してパーソナ
ル・コンピュータ３６に出力し、その左右果菜物Ａの画
像情報と、支持ローラ１３の番地情報とを対応させて第
１及び第２の画像情報記憶領域に記憶する。Next, in the measurement section Bc, the both side surfaces of the left and right fruit and vegetables A are imaged by the image pickup cameras 33c and 34c at substantially the same time, and the image information is output to the image processing device 35.
The support roller 13 is rotated by the second belt 3c, the fruit and vegetables A are rotated by a predetermined angle (for example, about 120 degrees), and the original direction is restored (for example, about 360 degrees). Further, the image information of the left and right fruit and vegetables A output from the imaging cameras 33c and 34c is binarized by the image processing device 35 and output to the personal computer 36, and the image information of the left and right fruit and vegetables A is supported. The address information of the roller 13 is stored in the first and second image information storage areas in association with each other.
【００３３】一方、ＲＡＭ３９の第１画像情報記憶領域
に記憶された右側果菜物Ａ全体の計測情報と、第２画像
情報記憶領域に記憶された左側果菜物Ａ全体の計測情報
とを、判定装置３６に記憶された基準情報とを比較及び
演算して、２条の仕分けコンベア２に載置された左右果
菜物Ａの所定項目を個々に総合判定し、判定と対応する
仕分け部（図示省略）に果菜物Ａが搬送されたとき、係
止レバー１４の係止を放出手段（図示省略）により解除
して、支持ローラ１３を放出姿勢に回動又は揺動させ、
果菜物Ａを、所定の仕分け部に対して項目別に放出す
る。規格外の果菜物Ａは、仕分けコンベア２の終端側下
部に配設した回収部（図示省略）に放出して回収処理す
る。On the other hand, the determination device determines the measurement information of the entire right-side fruit vegetables A stored in the first image information storage area of the RAM 39 and the measurement information of the entire left-side fruit vegetables A stored in the second image information storage area. By comparing and calculating with the reference information stored in 36, the predetermined items of the left and right fruit vegetables A placed on the sorting conveyors 2 of 2 articles are individually comprehensively determined, and the sorting unit (not shown) corresponding to the determination. When the fruit and vegetables A are transported to the container, the locking of the locking lever 14 is released by the discharging means (not shown), and the supporting roller 13 is rotated or swung in the discharging posture.
The vegetables A are released item by item to a predetermined sorting unit. The non-standard fruit and vegetable A is discharged to a collecting section (not shown) disposed at the lower end of the sorting conveyor 2 on the terminal side to be collected.
【００３４】以上のように、２条の仕分けコンベア２に
より隣合う状態に整列して搬送される果菜物Ａの両側周
面を、右側撮像カメラ３３ａ〜３３ｃと左側撮像カメラ
３４ａ〜３４ｂとで斜め上方から略同時に撮像し、その
左右果菜物Ａの画像情報を画像処理装置３５により一括
して処理した後、画像処理装置３５から出力される画像
情報に基づいて、２条の仕分けコンベア２に載置された
果菜物Ａの所定項目をパーソナル・コンピュータ３６の
ＣＰＵ３７により個々に総合判定するので、複数台のカ
メラにより撮像した複数枚の画像を一枚ずつ処理するよ
りも、２値化処理に要する処理時間が短くなり、項目判
定に要する時間を短縮して、処理速度の高速化及び処理
作業の能率アップを図ることができる。As described above, the right and left image pickup cameras 33a to 33c and the left image pickup cameras 34a to 34b are slanted on both side peripheral surfaces of the fruit and vegetables A which are aligned and conveyed adjacently by the two sorting conveyors 2. Images are picked up substantially at the same time from above, and the image information of the left and right fruit and vegetables A are collectively processed by the image processing device 35, and then the image information is output from the image processing device 35 and placed on the two-section sorting conveyor 2. The predetermined items of the placed fruit and vegetables A are individually judged by the CPU 37 of the personal computer 36 individually, so that the binarization processing is required rather than processing a plurality of images picked up by a plurality of cameras one by one. The processing time can be shortened, the time required for item determination can be shortened, and the processing speed can be increased and the processing work efficiency can be increased.
【００３５】しかも、２条の仕分けコンベア２により搬
送される果菜物Ａを回転装置３により所定角度に回転し
て、果菜物Ａの略全体を、右側撮像カメラ３３ａ〜３３
ｃと左側撮像カメラ３４ａ〜３４ｂとで撮像するので、
１条の仕分けコンベア２により搬送される果菜物Ａの略
全体を複数台（例えば５台、６台）のカメラで撮像する
よりも、カメラの設置台数が少なくて済み、カメラの設
置作業が簡単且つ容易に行えると共に、装置全体を安価
に製作することができる。Moreover, the fruit and vegetables A conveyed by the two-piece sorting conveyor 2 are rotated by the rotating device 3 to a predetermined angle, and substantially the whole of the fruit and vegetables A are picked up from the right side image pickup cameras 33a to 33.
c and the left imaging cameras 34a-34b are used for imaging,
The number of cameras installed is smaller than the number of cameras (for example, 5 or 6) that capture the whole of the fruit and vegetables A conveyed by the single-article sorting conveyor 2, and the camera installation work is easy. In addition to being easy to perform, the entire device can be manufactured at low cost.
【００３６】この発明の構成と、上述の実施例との対応
において、この発明の被計測物は、実施例の果菜物Ａ
（例えば梅の実）やミカン、リンゴ、柿、梨等の果菜
物、胡瓜、茄子、人参、長芋等の農作物に対応し、以下
同様に、被計測物搬送手段は、仕分けコンベア２やベル
トコンベア、チェーンコンベア、バケットコンベア等に
対応し、項目計測手段は、撮像カメラ３３ａ〜３３ｃ及
び３４ａ〜３４ｃやビデオカメラ、ディジタルカメラ等
に対応し、項目判定手段は、パーソナル・コンピュータ
３６及びＣＰＵ３７に格納されたプログラムに対応し、
向き変更手段は、回転装置３及び第１ベルト３ａと、第
２ベルト３ｂと、第３ベルト３ｃと、仕分けコンベア２
の支持ローラ１３とに対応するも、この発明は、上述の
実施例の構成のみに限定されるものではない。In the correspondence between the configuration of the present invention and the above-described embodiment, the object to be measured of the present invention is the fruit vegetable A of the embodiment.
Corresponding to (for example, plum fruits) and fruit vegetables such as mandarin oranges, apples, persimmons, pears, and agricultural products such as cucumbers, eggplants, carrots, and potatoes. , A chain conveyor, a bucket conveyor, etc., the item measuring means corresponds to the imaging cameras 33a to 33c and 34a to 34c, a video camera, a digital camera, etc., and the item determining means is stored in the personal computer 36 and the CPU 37. Corresponding to the program,
The orientation changing means includes the rotating device 3 and the first belt 3a, the second belt 3b, the third belt 3c, and the sorting conveyor 2.
However, the present invention is not limited to the configuration of the above-described embodiment.
【００３７】上述した被計測物処理装置１の構成は、例
えば３条、４条等の２条以上の仕分けコンベア２により
搬送される複数個の果菜物Ａの所定項目を略同時に計測
するにも適用することができる。The above-described structure of the object processing apparatus 1 is used to measure the predetermined items of a plurality of fruit vegetables A conveyed by the sorting conveyor 2 having two or more articles such as three articles and four articles substantially at the same time. Can be applied.
【図１】 被計測物処理装置による果菜物の計測状態を
示す斜視図。FIG. 1 is a perspective view showing a measurement state of fruit and vegetables by an object processing device.
【図２】 項目計測装置による果菜物の計測状態を示す
側面図。FIG. 2 is a side view showing a measurement state of fruit and vegetables with an item measuring device.
【図３】 ２条の仕分けコンベアに載置された果菜物の
計測状態を示す正面図。FIG. 3 is a front view showing a measurement state of the fruit and vegetables placed on the two-row sorting conveyor.
【図４】 被計測物処理装置の制御回路ブロック図。FIG. 4 is a block diagram of a control circuit of the device for processing an object to be measured.
Ａ…果菜物 １…被計測物処理装置 ２…仕分けコンベア ３…回転装置 ３ａ…第１ベルト ３ｂ…第２ベルト ３ｃ…第３ベルト ４…項目計測装置 １３…支持ローラ ３３ａ，３３ｂ，３３ｃ…撮像カメラ ３４ａ，３４ｂ，３４ｃ…撮像カメラ ３５…画像処理装置 ３６…パーソナル・コンピュータ A ... Fruit vegetables 1 ... Object processing device 2 ... Sorting conveyor 3 ... Rotating device 3a ... first belt 3b ... second belt 3c ... third belt 4 ... Item measuring device 13 ... Support roller 33a, 33b, 33c ... Imaging camera 34a, 34b, 34c ... Imaging camera 35 ... Image processing device 36 ... Personal computer
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０１Ｂ 21/20 Ｇ０１Ｂ 21/20 Ｃ 21/30 21/30 // Ｇ０１Ｂ 21/10 21/10 Ｆターム(参考） 2F069 AA39 AA42 AA49 AA60 AA66 AA96 BB40 DD15 GG07 HH30 PP07 2G051 AA05 AB02 BA01 CA03 CA07 CB01 DA06 DA13 EA11 EA12 3F079 AC21 AC23 BA11 CA19 CA20 CA21 CA23 CA27 CA32 CA34 CA42 CB25 CB26 CB30 CC09 EA08 ─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. 7 Identification code FI theme code (reference) G01B 21/20 G01B 21/20 C 21/30 21/30 // G01B 21/10 21/10 F term ( Reference) 2F069 AA39 AA42 AA49 AA60 AA66 AA96 BB40 DD15 GG07 HH30 PP07 2G051 AA05 AB02 BA01 CA03 CA07 CB01 DA06 DA13 EA11 EA12 3F079 AC21 AC23 BA11 CA19 CA20 CA21 CA23 CA27 CA32 CA34 CA42 CB30 CC25 CB26 CB25 CB25 CB26 CB26
Claims (6)
各被計測物の所定項目を略同時に計測する項目計測手段
と、上記項目計測手段により計測した計測情報に基づい
て、上記各被計測物の所定項目を個々に判定する項目判
定手段とを備えた被計測物処理装置。1. An item measuring means for arranging a plurality of objects to be measured adjacent to each other to measure a predetermined item of each object to be measured substantially at the same time, and based on the measurement information measured by the item measuring means, An object-to-be-measured processing apparatus comprising: item determination means for individually determining a predetermined item of each object to be measured.
態に整列して搬送される各被計測物の所定項目を略同時
に計測する項目計測手段と、上記項目計測手段により計
測した計測情報に基づいて、上記各被計測物の所定項目
を個々に判定する項目判定手段とを備えた被計測物処理
装置。2. Item measurement means for measuring predetermined items of each measured object that are conveyed in an adjacent state by a plurality of measured object conveying means, and measurement information measured by the item measuring means. The device for processing an object to be measured, comprising: item determination means for individually determining a predetermined item of each of the objects to be measured based on the above.
列された各被計測物が略同時に計測される角度に斜設し
た請求項１又は２記載の被計測物処理装置。3. The object processing apparatus according to claim 1, wherein the item measuring means is obliquely installed at an angle at which the objects to be measured aligned in the adjacent state are measured substantially at the same time.
列された各被計測物の一側面が計測される一側位置と、
該各被計測物の他側面が計測される他側位置とに配設し
た請求項１又は２記載の被計測物処理装置。4. The item measuring means, and one side position at which one side surface of each of the objects to be measured aligned in the adjacent state is measured,
The object-to-be-measured processing device according to claim 1 or 2, which is disposed at a position on the other side where the other side surface of each of the objects to be measured is measured.
向きを略同一角度に変更する向き変更手段を備えた請求
項１又は２記載の被計測物処理装置。5. An object processing apparatus according to claim 1, further comprising a direction changing means for changing the directions of the respective objects to be measured arranged in the adjacent state to substantially the same angle.
測手段と、該各被計測物の向きを略同一角度に変更する
向き変更手段とを、上記被計測物搬送手段の搬送方向に
対して所定間隔に隔てて複数設けた請求項２記載の被計
測物処理装置。6. An item measuring means for measuring the respective objects to be measured substantially at the same time, and a direction changing means for changing the directions of the respective objects to be measured to substantially the same angle in the carrying direction of the object carrying means. The object-to-be-measured device according to claim 2, wherein a plurality of them are provided at predetermined intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001215071A JP2003028807A (en) | 2001-07-16 | 2001-07-16 | Apparatus for handling object to be measured |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001215071A JP2003028807A (en) | 2001-07-16 | 2001-07-16 | Apparatus for handling object to be measured |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003028807A true JP2003028807A (en) | 2003-01-29 |
Family
ID=19049777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001215071A Pending JP2003028807A (en) | 2001-07-16 | 2001-07-16 | Apparatus for handling object to be measured |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003028807A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007502761A (en) * | 2003-08-18 | 2007-02-15 | エフ ピー エス フーヅ プロセッシング システムス ベスロテン フェンノートシャップ | Device that measures and transports the weight of an object |
| CN100365411C (en) * | 2005-01-31 | 2008-01-30 | 浙江大学 | Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment |
| JP2008259931A (en) * | 2007-04-10 | 2008-10-30 | Sandee Syst Kk | Grade and class sorting device |
| WO2012038576A1 (en) * | 2010-09-23 | 2012-03-29 | Mariano Gual Pasalodos | Modular chain unit for the transport and display of geoid products and method carried out by said unit |
| ES2394516A1 (en) * | 2010-12-02 | 2013-02-01 | Citrodiagnosis Selectiva, S.L. | Improved system of individualization, transport and exhibition in the form of modular chain for citrus and other horticultural products, and exhibition procedure. (Machine-translation by Google Translate, not legally binding) |
| CN103913112A (en) * | 2014-03-17 | 2014-07-09 | 北京农业信息技术研究中心 | Multifunctional device and method for measuring longitudinal diameter and transverse diameter of fruit |
| CN106180001A (en) * | 2016-09-21 | 2016-12-07 | 福建农林大学 | Class spherical nut Non-Destructive Testing classification conveyer device and control method thereof |
| CN107626604A (en) * | 2016-07-19 | 2018-01-26 | 天津市圣红宝食品科技有限公司 | A kind of sugarcane screening machine of fruity bread |
-
2001
- 2001-07-16 JP JP2001215071A patent/JP2003028807A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007502761A (en) * | 2003-08-18 | 2007-02-15 | エフ ピー エス フーヅ プロセッシング システムス ベスロテン フェンノートシャップ | Device that measures and transports the weight of an object |
| CN100365411C (en) * | 2005-01-31 | 2008-01-30 | 浙江大学 | Detection method suited on surface of spherical fruit triggered to collect images based on need and equipment |
| JP2008259931A (en) * | 2007-04-10 | 2008-10-30 | Sandee Syst Kk | Grade and class sorting device |
| WO2012038576A1 (en) * | 2010-09-23 | 2012-03-29 | Mariano Gual Pasalodos | Modular chain unit for the transport and display of geoid products and method carried out by said unit |
| ES2394516A1 (en) * | 2010-12-02 | 2013-02-01 | Citrodiagnosis Selectiva, S.L. | Improved system of individualization, transport and exhibition in the form of modular chain for citrus and other horticultural products, and exhibition procedure. (Machine-translation by Google Translate, not legally binding) |
| CN103913112A (en) * | 2014-03-17 | 2014-07-09 | 北京农业信息技术研究中心 | Multifunctional device and method for measuring longitudinal diameter and transverse diameter of fruit |
| CN107626604A (en) * | 2016-07-19 | 2018-01-26 | 天津市圣红宝食品科技有限公司 | A kind of sugarcane screening machine of fruity bread |
| CN106180001A (en) * | 2016-09-21 | 2016-12-07 | 福建农林大学 | Class spherical nut Non-Destructive Testing classification conveyer device and control method thereof |
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