JP3055205B2 - Fruit and Vegetable Scratch Detection Device - Google Patents
Fruit and Vegetable Scratch Detection DeviceInfo
- Publication number
- JP3055205B2 JP3055205B2 JP3098149A JP9814991A JP3055205B2 JP 3055205 B2 JP3055205 B2 JP 3055205B2 JP 3098149 A JP3098149 A JP 3098149A JP 9814991 A JP9814991 A JP 9814991A JP 3055205 B2 JP3055205 B2 JP 3055205B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- fruit
- vegetable
- vegetables
- fruits
- 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.)
- Expired - Fee Related
Links
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、柿、蜜柑、トマト、ナ
スのようにへたの付いた青果物の傷を検出する青果物の
傷検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting wounds of fruits and vegetables such as persimmons, tangerines, tomatoes and eggplants.
【０００２】[0002]
【従来の技術】従来、この種の傷の検出方法としては、
搬送装置で搬送されてくる青果物をカラーセンサで撮影
し、この画像から傷の面積の総和を求め、その総和から
へたに相当する面積を一律に減算し、その減算した結果
を青果物の傷の総面積とするものが知られている。2. Description of the Related Art Conventionally, as a method for detecting this kind of flaw,
The fruits and vegetables conveyed by the conveyance device are photographed with a color sensor, the total area of the wounds is obtained from this image, the area corresponding to the sum is uniformly subtracted from the total, and the result of the subtraction is used for the damage of the fruits and vegetables. It is known to have a total area.
【０００３】[0003]
【発明が解決しようとする課題】ところで、搬送装置で
搬送される青果物は、へたが上向きまたは下向きの状態
で搬送され、その搬送状態はまちまちである。上向きの
場合はあまり問題とならないが、へたが下向きで搬送さ
れる青果物の場合には検出した傷の総面積は不正確のみ
ならず、傷の面積の総和がへたに相当する面積以下のと
きには、傷の総面積を検出できないという不都合があ
り、その解決が望まれていた。By the way, the fruits and vegetables conveyed by the conveying device are conveyed in an upward or downward direction, and the conveying state varies. In the case of fruits and vegetables transported downwards, the total area of detected wounds is not only inaccurate, but the total area of wounds is not more than the area equivalent to At times, there is a disadvantage that the total area of the wound cannot be detected, and a solution has been desired.
【０００４】また、画像の周辺部では、ぼけや照明むら
などに起因する誤検出が発生しやすいのでその解決も望
まれている。In addition, erroneous detection due to blurring or uneven illumination is likely to occur in the peripheral portion of an image.
【０００５】そこで、本発明は、これらの点に鑑み、青
果物の画像から傷の評価に不確定な要素を除去し、青果
物の搬送姿勢にかかわらず、確実に傷と判定できるもの
だけを評価することを目的とする。In view of the above, the present invention eliminates uncertain factors in the evaluation of flaws from an image of fruits and vegetables, and evaluates only those which can be reliably determined to be flaws regardless of the transport posture of the fruits and vegetables. The purpose is to:
【０００６】[0006]
【課題を解決するための手段】かかる目的を達成するた
めに本発明は、以下のように構成した。すなわち、本発
明は、搬送装置で搬送されてくるへた付きの青果物に向
けて光を照射する光源と、前記青果物をカラーで撮影す
る撮像手段と、当該撮像手段で撮影した青果物の画像か
らへたに相当する部分を除いて残余の部分を抽出する抽
出手段と、前記抽出手段で抽出した画像から青果物の輪
郭周辺の一定領域を画像の周辺部として除去する周辺部
除去手段と、前記抽出及び除去の終了した画像から青果
物の傷を検出する傷検出手段と、を備えてなる。In order to achieve the above object, the present invention is configured as follows. In other words, the present invention provides a light source that irradiates light toward a sticky fruit or vegetable that is transported by the transport device, an imaging unit that captures the fruit or vegetable in color, and an image of the fruit or vegetable captured by the imaging unit. Extracting means for extracting a remaining part except for a part corresponding to the part, a peripheral part removing means for removing a fixed area around a contour of a fruit or vegetable from the image extracted by the extracting means as a peripheral part of the image, And a flaw detection means for detecting flaws in the fruits and vegetables from the image after the removal.
【０００７】[0007]
【作用】撮像手段は、搬送装置で搬送されてくるへた付
きの青果物を撮影する。抽出手段は、その撮影した青果
物の画像からへたに相当する部分を除いて残余の部分を
抽出する。周辺部除去手段は、抽出手段で抽出した画像
から青果物の輪郭から一定の距離を画像の周辺部として
除去する。傷検出手段は、抽出及び除去の終了した画像
から青果物の傷を検出する。このように、周辺部除去手
段で除去した青果物の画像は、抽出手段でへたに相当す
る部分を抽出した画像から、青果物の輪郭周辺の一定領
域を画像の周辺部として除去する。換言すれば傷の判定
に不確定な要素を除去したものである。従って、本発明
では、青果物の搬送姿勢にかかわらず、確実に傷と判定
できるものだけを評価できる上に、へたが下向きで搬送
される場合には、従来のように傷の総面積を求められな
いという不都合を解消できる。The image pickup means takes an image of the fruit and vegetables which are conveyed by the conveying device. The extracting means extracts the remaining portion except for the portion corresponding to the edge from the photographed fruit and vegetable image. The peripheral part removing means removes a certain distance from the contour of the fruit or vegetable from the image extracted by the extracting means as a peripheral part of the image. The flaw detection means detects flaws in the fruits and vegetables from the extracted and removed images. As described above, in the image of the fruits and vegetables removed by the peripheral part removing means, a certain area around the outline of the fruits and vegetables is removed as the peripheral part of the image from the image in which the portion corresponding to the lip is extracted by the extracting means. In other words, the factors uncertain in the determination of the scratch are removed. Therefore, according to the present invention, regardless of the transport posture of the fruits and vegetables, only those that can be reliably determined to be scratches can be evaluated, and when the fruits and vegetables are transported downward, the total area of the scratches is obtained as in the conventional case. The inconvenience of not being able to be solved can be eliminated.
【０００８】[0008]
【実施例】以下、図面を参照して本発明の実施例につい
て説明する。Embodiments of the present invention will be described below with reference to the drawings.
【０００９】図１において、１は青果物２を紙面の後方
から前方に向けて搬送する搬送装置である。この搬送装
置１で搬送する青果物２は、柿、蜜柑、トマト、ナスな
どのへた付きのものである。また搬送装置１の左右に
は、搬送中の青果物２を左右方向から照射する一対の光
源３，３を配置する。光源３，３で照射する青果物２を
撮影する撮像手段としてＣＣＤカメラのようなカラーカ
メラ４を、搬送装置１の真上に設置する。In FIG. 1, reference numeral 1 denotes a transport device for transporting fruits and vegetables 2 from the rear to the front of the paper. The fruits and vegetables 2 transported by the transport device 1 are sticky things such as persimmons, tangerines, tomatoes, and eggplants. A pair of light sources 3 for irradiating the fruits and vegetables 2 being conveyed from the left and right directions are arranged on the left and right sides of the conveying device 1. A color camera 4 such as a CCD camera as an imaging unit for photographing the fruits and vegetables 2 illuminated by the light sources 3 and 3 is installed right above the transport device 1.
【００１０】カラ−カメラ４は、Ａ／Ｄ変換回路５を介
して画像処理用コンピュータ６の入力側に接続する。画
像処理用コンピュータ６は、カラーカメラ４が撮影した
青果物２の画像を後述のように処理する。画像処理用コ
ンピュータ６の出力側には、表示装置やプリンタなどか
らなる画像出力装置７を接続する。The color camera 4 is connected to an input side of an image processing computer 6 via an A / D conversion circuit 5. The image processing computer 6 processes the image of the fruits and vegetables 2 captured by the color camera 4 as described later. An output side of the image processing computer 6 is connected to an image output device 7 such as a display device or a printer.
【００１１】次に、このように構成する実施例の画像処
理例について、図２のフローチャートを参照して説明す
る。Next, an example of image processing of the embodiment configured as described above will be described with reference to the flowchart of FIG.
【００１２】いま、搬送装置１によりへたを有する青果
物２が搬送されてくると、青果物２はカラーカメラ４で
撮影され、カラーカメラ４からはＲ、Ｇ、Ｂ信号が出力
される。このＲ、Ｇ、Ｂ信号は、Ａ／Ｄ変換回路５でＡ
／Ｄ変換されたのち、画像処理用コンピュータ６に入力
される（Ｓ１）。画像処理用コンピュータ６では、例え
ばそのＲ、Ｇ、Ｂ信号に基づいて所定の演算により画像
の彩度を計算し（Ｓ２）、その求めた彩度の分布をメモ
リに記憶すると、図３で示すようにメモリ上に彩度の高
低による画像が得られる。その後、その画像から目的物
である青果物を抽出する（Ｓ３）。Now, when the transportable device 1 transports the fruit or vegetable 2 having a bulge, the fruit or vegetable 2 is photographed by the color camera 4 and the color camera 4 outputs R, G and B signals. The R, G, and B signals are converted by the A / D conversion circuit 5 into A
After the / D conversion, it is input to the image processing computer 6 (S1). In the image processing computer 6, for example, the saturation of the image is calculated by a predetermined operation based on the R, G, B signals (S2), and the obtained distribution of the saturation is stored in a memory, as shown in FIG. Thus, an image based on the level of saturation can be obtained on the memory. After that, the target fruit and vegetables are extracted from the image (S3).
【００１３】次に、その抽出された青果物の画像から、
へたに相当する部分を除去する（Ｓ４）。青果物が柿や
蜜柑などのようにへたが中央にあるものでは、その画像
から青果物の中心を求め、その求めた中心から一定距離
を半径とする円を中央部Ａとし、この中央部Ａをへたに
相当する部分として除去する（図４参照）。引き続き、
画像周囲のぼけや照明むらなどによる誤検出を防止する
ために、青果物の画像の周辺部を除去する（Ｓ５）。こ
れは、青果物の画像の輪郭周辺の一定領域を画像の周辺
部Ｂとし、これを除去する（図４参照）。Next, from the image of the extracted fruits and vegetables,
The part corresponding to the waste is removed (S4). In the case where the fruits and vegetables are in the center, such as persimmons and tangerines, the center of the fruits and vegetables is determined from the image, a circle having a radius of a certain distance from the obtained center is defined as the center part A, and this center part A is defined as It is removed as a portion corresponding to a stub (see FIG. 4). Continued
In order to prevent erroneous detection due to blurring around the image or uneven illumination, the peripheral portion of the fruit and vegetable image is removed (S5). In this method, a fixed area around the outline of the fruit and vegetable image is set as a peripheral part B of the image, and is removed (see FIG. 4).
【００１４】このようにして抽出された青果物の画像
は、傷の判定が確実な部分のみ抽出されたものになり、
傷の判定に不確定な要素であるへたに相当する部分、お
よび画像の周辺部はいずれも除去された状態となる。そ
こで次に、その抽出された青果物の画像について、その
各点の彩度を所定の基準値と比較し、その基準値よりも
低い点を傷として判定する。そして、このように判定さ
れた傷の総和を求める（Ｓ６）。The image of the fruits and vegetables extracted in this manner is obtained by extracting only the portion where the determination of the wound is reliable.
The portion corresponding to the indeterminate element in the determination of the scratch and the peripheral portion of the image are all removed. Then, next, regarding the extracted vegetable image, the saturation of each point is compared with a predetermined reference value, and a point lower than the reference value is determined as a flaw. Then, the total sum of the scratches determined in this way is obtained (S6).
【００１５】以上のように本発明実施例では、青果物の
画像中からへたに相当する部分、および画像の周辺部を
除去するようにしたので、傷の判定に不確定な要素が除
去される。従って、青果物の搬送姿勢にかかわらず、確
実に傷と判定できるものだけを評価できる上に、へたが
下向きで搬送される場合であっても、従来のように傷の
総面積を求められないという不都合を解消できる。As described above, in the embodiment of the present invention, the portion corresponding to the edge of the image of the fruits and vegetables and the peripheral portion of the image are removed, so that the elements uncertain in the judgment of the scratches are removed. . Therefore, irrespective of the transport posture of the fruits and vegetables, only those that can be reliably determined to be scratches can be evaluated, and even when transported downwards, the total area of the scratches cannot be obtained as in the past. The inconvenience of can be eliminated.
【００１６】[0016]
【発明の効果】以上のように本発明では、青果物の画像
中からへたに相当する部分、および画像の周辺部（画像
の輪郭周辺の一定領域）を除去するようにしたので、傷
の判定に不確定な要素が除去される。従って、青果物の
搬送姿勢にかかわらず、確実に傷と判定できるものだけ
を評価できる上に、へたが下向きで搬送される場合であ
っても、従来のように傷の総面積を求められないという
不都合を解消できる。As described above, according to the present invention, a portion corresponding to an edge of an image of a fruit or vegetable and a peripheral portion of the image (a fixed area around the contour of the image) are removed, so that the determination of a scratch is made. The uncertain elements are removed. Therefore, irrespective of the transport posture of the fruits and vegetables, only those that can be reliably determined to be scratches can be evaluated, and even when transported downwards, the total area of the scratches cannot be obtained as in the past. The inconvenience of can be eliminated.
【図１】本発明実施例の全体構成を示す図である。FIG. 1 is a diagram showing an overall configuration of an embodiment of the present invention.
【図２】本発明実施例の画像処理例を示すフローチャー
トである。FIG. 2 is a flowchart illustrating an example of image processing according to an embodiment of the present invention.
【図３】画像メモリの格納例を示す図である。FIG. 3 is a diagram illustrating a storage example of an image memory;
【図４】青果物の画像からへたに相当する部分などを除
去するための説明図である。FIG. 4 is an explanatory diagram for removing a portion corresponding to an edge of a vegetable image;
１ 搬送装置 ２ 青果物 ３ 光源 ４ カラーカメラ ６ 画像処理用コンピュータ ７ 画像出力装置 DESCRIPTION OF SYMBOLS 1 Transport device 2 Fruits and vegetables 3 Light source 4 Color camera 6 Image processing computer 7 Image output device
Claims (1)
物に向けて光を照射する光源と、 前記青果物をカラーで撮影する撮像手段と、 当該撮像手段で撮影した青果物の画像からへたに相当す
る部分を除いて残余の部分を抽出する抽出手段と、 前記抽出手段で抽出した画像から青果物の輪郭周辺の一
定領域を画像の周辺部として除去する周辺部除去手段
と、 前記抽出及び除去の終了した画像から青果物の傷を検出
する傷検出手段と、 を備えてなる青果物の傷検出装置。1. A light source for irradiating light to a fruit or vegetable with a slant conveyed by a conveying device, an imaging means for photographing the fruit or vegetable in color, and an image of the fruit or vegetable photographed by the imaging means. Extracting means for extracting a remaining portion excluding a portion corresponding to the above, peripheral portion removing means for removing a fixed area around a contour of a fruit and vegetable from the image extracted by the extracting means as a peripheral portion of the image, and extracting and removing And a flaw detection means for detecting flaws in the fruits and vegetables from the image which has been completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3098149A JP3055205B2 (en) | 1991-04-03 | 1991-04-03 | Fruit and Vegetable Scratch Detection Device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3098149A JP3055205B2 (en) | 1991-04-03 | 1991-04-03 | Fruit and Vegetable Scratch Detection Device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04307357A JPH04307357A (en) | 1992-10-29 |
| JP3055205B2 true JP3055205B2 (en) | 2000-06-26 |
Family
ID=14212126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3098149A Expired - Fee Related JP3055205B2 (en) | 1991-04-03 | 1991-04-03 | Fruit and Vegetable Scratch Detection Device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3055205B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100534642C (en) * | 2007-09-24 | 2009-09-02 | 浙江大学 | Fruit classifying method according to surface color |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5386114B2 (en) * | 2008-06-06 | 2014-01-15 | ヤンマー株式会社 | Fruit and vegetable quality judgment device |
| JP6765036B2 (en) | 2016-03-28 | 2020-10-07 | パナソニックＩｐマネジメント株式会社 | Visual inspection equipment and visual inspection method |
-
1991
- 1991-04-03 JP JP3098149A patent/JP3055205B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100534642C (en) * | 2007-09-24 | 2009-09-02 | 浙江大学 | Fruit classifying method according to surface color |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04307357A (en) | 1992-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2018066717A (en) | Defect inspection device for board for boiled fish paste | |
| JP2001255275A (en) | Surface defect inspection method and device | |
| JP3055205B2 (en) | Fruit and Vegetable Scratch Detection Device | |
| JPH07282219A (en) | Tablet inspection device equipped with image recognition means and tablet inspecting method | |
| JPH08114432A (en) | Device for inspecting transparent sheet containing net body | |
| KR102457712B1 (en) | System and Method for Recognizing Double Loading of Baggage | |
| JP2018186502A5 (en) | ||
| JP3311880B2 (en) | Automatic detection device for fruits and vegetables injury | |
| JP2000266514A (en) | Method and device for inspecting metallic sheet | |
| JP3175347B2 (en) | Inspection method for foreign substances in sheet products | |
| JP2000084494A (en) | Farm product inspecting apparatus | |
| JP3412732B2 (en) | Defect inspection method and apparatus | |
| JPH03226658A (en) | Method for detecting flaw of vegetables and fruits | |
| JP4656399B2 (en) | Agricultural products visual inspection equipment | |
| JPH03221849A (en) | Method for detecting defect | |
| JPH11328409A (en) | Device for inspecting sheet material defect | |
| JPH1172445A (en) | Recognition apparatus for linear body | |
| JP2003215048A (en) | Defect-part detection method | |
| JP2880813B2 (en) | Nori defect inspection equipment | |
| JP2004317188A (en) | Visual inspection apparatus and ptp packaging machine | |
| JPS63163153A (en) | Sea weed inspecting apparatus | |
| JPH0552763A (en) | Inspecting apparatus of appearance of semiconductor device | |
| JP2002181718A (en) | Method and apparatus for inspecting hologram sheet | |
| JP2004317187A (en) | Visual inspection apparatus and ptp packaging machine | |
| JPH04102052A (en) | Apparatus for inspecting painted surface of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20000314 |
|
| LAPS | Cancellation because of no payment of annual fees |