JP4589897B2 - Internal quality judgment device - Google Patents

Internal quality judgment device Download PDF

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JP4589897B2
JP4589897B2 JP2006188188A JP2006188188A JP4589897B2 JP 4589897 B2 JP4589897 B2 JP 4589897B2 JP 2006188188 A JP2006188188 A JP 2006188188A JP 2006188188 A JP2006188188 A JP 2006188188A JP 4589897 B2 JP4589897 B2 JP 4589897B2
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vegetables
fruits
internal quality
light
light projecting
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JP2008014873A (en
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久也 山田
義一 下村
勝義 丹生
伸明 田中
咲子 高田
久美子 中川
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Yanmar Co Ltd
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Description

本発明は、赤外線を利用して、収穫された青果物の成分（糖度等）等を測定する内部品質判定装置において、特に画像処理によって算出した青果物の重心位置をもとに、赤外線照射の開始、および、終了のタイミングを制御する技術に関する。   The present invention is an internal quality determination device that measures components (such as sugar content) of harvested fruits and vegetables using infrared rays, and based on the gravity center position of the fruits and vegetables calculated by image processing, particularly, the start of infrared irradiation, The present invention also relates to a technique for controlling the end timing.

従来より、青果物の内部品質を測定する手段として、内部品質センサによる成分分析装置が公知となっている。前記内部品質センサは、青果物を破壊することなく、青果物の糖度や酸度等の内部品質を判定する非破壊品質判定装置であり、これに搬送手段を具備させて内部品質判定装置を構築したものが知られている。   Conventionally, a component analyzer using an internal quality sensor has been known as means for measuring the internal quality of fruits and vegetables. The internal quality sensor is a non-destructive quality determination device that determines the internal quality such as sugar content and acidity of fruits and vegetables without destroying the fruits and vegetables, and has an internal quality determination device that includes a conveying means. Are known.

前記内部品質判定装置では、青果物に対して確実に赤外線を照射するのは困難であった。すなわち、搬送ピッチの乱れや、搬送皿、あるいは搬送コンベア等に直接載置された青果物の大きさや、載置姿勢によって、照射される赤外線が部分的に透過されたり、あるいは、全く透過されない場合が生じていた。また、内部品質センサの投光部から照射される赤外線の光量は、判定対象とする青果物群の中から平均的な大きさを選定し、その平均的な大きさに見合った光量に調整して他のすべての青果物群を判定するため、例えば平均より小さな青果物を判定する場合などは、漏れ光が発生したり、光量が大き過ぎて、青果物の成分等の精確な測定ができない場合があった。   In the internal quality judging device, it is difficult to reliably irradiate the fruits and vegetables with infrared rays. In other words, depending on the disturbance of the transport pitch, the size of the fruits and vegetables placed directly on the transport tray or the transport conveyor, and the mounting posture, the irradiated infrared rays may be partially transmitted or not transmitted at all. It was happening. In addition, for the amount of infrared light emitted from the light projecting part of the internal quality sensor, select the average size from the group of fruits and vegetables to be judged, and adjust the light amount to match the average size. In order to judge all other fruits and vegetables, for example, when judging fruits and vegetables that are smaller than the average, leakage light may be generated or the amount of light may be too large to accurately measure the components of fruits and vegetables. .

これらの問題点を解決するべく、「特許文献１」による技術が開示されている。前記「特許文献１」によると、内部品質センサの上流部にはＣＣＤカメラ等からなる検出カメラが設けられ、内部品質センサに投入される以前に、青果物の搬送皿に対する「載置位置」、および、「載置姿勢」が画像処理される。   In order to solve these problems, a technique disclosed in “Patent Document 1” is disclosed. According to the “Patent Document 1”, a detection camera including a CCD camera or the like is provided upstream of the internal quality sensor, and before being put into the internal quality sensor, The “mounting posture” is subjected to image processing.

ここで、内部品質センサに設けられる赤外線照射用の投光部、および、受光部は、アクチュエータ等により上下左右方向に移動自在な構造を有しており、前記青果物の画像処理データをもとに前記投光部、および、受光部を、青果物に対して適切な位置に移動させて赤外線を照射させることとしている。
特開２００４−３６１３４７号公報 Here, the light emitting unit for infrared irradiation and the light receiving unit provided in the internal quality sensor have a structure that can be moved in the vertical and horizontal directions by an actuator or the like, and based on the image processing data of the fruits and vegetables. The light projecting unit and the light receiving unit are moved to appropriate positions with respect to the fruits and vegetables to emit infrared rays.
JP 2004-361347 A

上記「特許文献１」に示す技術によると、ランダムな搬送ピッチで搬送されてくる様々な形状を有した青果物に対して、適確な照射タイミングにより、赤外線を照射させることが可能となる。しかし、アクチュエータ等を用いて受光部、および、投光部を適切な位置に移動させるには、外部に大掛かりな移動装置を設ける必要があり、また、搬送されてくる青果物に対してその都度受光部等の位置を移動させることが必要であり、作業時間が大きくかかることになる。   According to the technique disclosed in “Patent Document 1”, it is possible to irradiate infrared rays to fruits and vegetables having various shapes conveyed at a random conveyance pitch at an appropriate irradiation timing. However, in order to move the light receiving unit and the light projecting unit to appropriate positions using an actuator or the like, it is necessary to provide a large moving device on the outside, and each time the received fruits and vegetables are received. It is necessary to move the position of the part or the like, and it takes a long work time.

これらの改善点を踏まえて、本発明においては、大きさや載置姿勢、または、搬送ピッチ等に左右されず、搬送されてくる青果物の個々にあった赤外線照射タイミングと、光量が選定され、適確に品質判定される内部品質判定装置を提供することが課題である。   Based on these improvements, in the present invention, the infrared irradiation timing and light quantity suitable for each of the fruits and vegetables being transported are selected and are not affected by the size, mounting posture, transport pitch, etc. It is an object to provide an internal quality determination apparatus that can accurately determine quality.

本発明の解決しようとする課題は以上の如くであり、次にこの課題を解決するための手段を説明する。   The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

請求項１においては、いびつな外形を有した青果物（６）を搬送する搬送手段（２）と、赤外線を照射して該青果物（６）の品質を非破壊で判定する品質判定手段である内部品質センサ（４）と、該青果物（６）の形状を解析する画像処理手段である検出カメラ（１６）と、該青果物（６）の搬送を検知する検知手段（１４）を備えた内部品質判定装置（１）であって、該搬送手段（２）はベルト等の無端帯（１３）にて構成し、該無端帯（１３）上に、ランダムな搬送ピッチで青果物（６）を載置して搬送し、前記検出カメラ（１６）は、前記内部品質センサ（４）よりも上流側、かつ、入口付近に設けられ、前記無端帯（１３）の上方において、カメラレンズを下方に向けて配設し、該検出カメラ（１６）の上流側に検知手段（１４）を配置し、前記無端帯（１３）上にランダムな搬送ピッチに載置された青果物（６）が搬送され、前記検知手段（１４）により検出されると、前記検出カメラ（１６）が作動されて撮影し、該青果物（６）の画像データを取得し、該画像データより、前記青果物（６）の「重心位置」及び「形状」に関する画像データが取得されて記憶され、次に、前記検知手段（１４）から青果物（６）の「重心位置」までの距離（Ｌ１）と、前記搬送手段（２）の搬送速度と、前記検知手段（１４）から内部品質センサ（４）の投光部（２４）までの距離（Ｌ）と、「重心位置」から投光部（２４）までの距離（Ｌ２）から、該「重心位置」が前記の投光部（２４）へ達するタイミングを演算し、その後、該青果物（６）の搬送重心位置が投光部（２４）に達したかどうかの判定が常に行われ、該青果物（６）の重心位置が投光部（２４）に至ると、該投光部（２４）から青果物（６）に赤外線を照射させる命令を送信し、前記検出カメラ（１６）により認識した形状より、前記青果物（６）の大きさに合わせた内部品質センサ（４）による照射光量を演算して照射するものである。 In Claim 1, the conveyance means (2) which conveys the fruit and vegetables (6) which has an irregular outline, and the inside which is a quality determination means which irradiates infrared rays and determines the quality of this fruit and vegetables (6) nondestructively Internal quality determination provided with a quality sensor (4), a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6), and a detection means (14) for detecting the conveyance of the fruits and vegetables (6) In the apparatus (1), the conveying means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are placed on the endless belt (13) at a random conveying pitch. The detection camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance, and above the endless belt (13), the camera lens is arranged facing downward. The detection means (14) is installed upstream of the detection camera (16). When the fruits and vegetables (6) placed on the endless belt (13) at a random transport pitch are transported and detected by the detection means (14), the detection camera (16) is activated. The image data of the fruits and vegetables (6) is acquired and image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) is acquired and stored from the image data, and then the detection means The distance (L1) from (14) to the “gravity center position” of the fruits and vegetables (6), the conveying speed of the conveying means (2), and the light projecting part (4) of the internal quality sensor (4) from the detecting means (14) 24) and the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, After that, the gravity center position of the fruits and vegetables (6) is transferred to the light projecting part (24). When the position of the center of gravity of the fruits and vegetables (6) reaches the light projecting unit (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting unit (24). The amount of light emitted from the internal quality sensor (4) that matches the size of the fruits and vegetables (6) is calculated from the shape recognized by the detection camera (16) .

請求項２においては、請求項１記載の内部品質判定装置において、前記内部品質センサ（４）の投光部（２４）が照射する光量は、露出調節手段、または、光源数を変更して調節するものである。 According to Claim 2, in the internal quality determination device according to Claim 1 , the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or exposure adjusting means. To do .

本発明の効果として、以下に示すような効果を奏する。   As effects of the present invention, the following effects can be obtained.

請求項１においては、いびつな外形を有した青果物（６）を搬送する搬送手段（２）と、赤外線を照射して該青果物（６）の品質を非破壊で判定する品質判定手段である内部品質センサ（４）と、該青果物（６）の形状を解析する画像処理手段である検出カメラ（１６）と、該青果物（６）の搬送を検知する検知手段（１４）を備えた内部品質判定装置（１）であって、該搬送手段（２）はベルト等の無端帯（１３）にて構成し、該無端帯（１３）上に、ランダムな搬送ピッチで青果物（６）を載置して搬送し、前記検出カメラ（１６）は、前記内部品質センサ（４）よりも上流側、かつ、入口付近に設けられ、前記無端帯（１３）の上方において、カメラレンズを下方に向けて配設し、該検出カメラ（１６）の上流側に検知手段（１４）を配置し、前記無端帯（１３）上にランダムな搬送ピッチに載置された青果物（６）が搬送され、前記検知手段（１４）により検出されると、前記検出カメラ（１６）が作動されて撮影し、該青果物（６）の画像データを取得し、該画像データより、前記青果物（６）の「重心位置」及び「形状」に関する画像データが取得されて記憶され、次に、前記検知手段（１４）から青果物（６）の「重心位置」までの距離（Ｌ１）と、前記搬送手段（２）の搬送速度と、前記検知手段（１４）から内部品質センサ（４）の投光部（２４）までの距離（Ｌ）と、「重心位置」から投光部（２４）までの距離（Ｌ２）から、該「重心位置」が前記の投光部（２４）へ達するタイミングを演算し、その後、該青果物（６）の搬送重心位置が投光部（２４）に達したかどうかの判定が常に行われ、該青果物（６）の重心位置が投光部（２４）に至ると、該投光部（２４）から青果物（６）に赤外線を照射させる命令を送信し、前記検出カメラ（１６）により認識した形状より、前記青果物（６）の大きさに合わせた内部品質センサ（４）による照射光量を演算して照射するので、画像処理手段によって得られた青果物の位置、および、形状に関するデータから重心位置を演算し、該重心位置をもとに、品質判定手段の赤外線照射のタイミングを決定することから、個々の青果物に対して適確に赤外線を照射させることができ、前記品質判定手段による判定精度を向上させることができる。 In Claim 1, the conveyance means (2) which conveys the fruit and vegetables (6) which has an irregular outline, and the inside which is a quality determination means which irradiates infrared rays and determines the quality of this fruit and vegetables (6) nondestructively Internal quality determination provided with a quality sensor (4), a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6), and a detection means (14) for detecting the conveyance of the fruits and vegetables (6) In the apparatus (1), the conveying means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are placed on the endless belt (13) at a random conveying pitch. The detection camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance, and above the endless belt (13), the camera lens is arranged facing downward. The detection means (14) is installed upstream of the detection camera (16). When the fruits and vegetables (6) placed on the endless belt (13) at a random transport pitch are transported and detected by the detection means (14), the detection camera (16) is activated. The image data of the fruits and vegetables (6) is acquired and image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) is acquired and stored from the image data, and then the detection means The distance (L1) from (14) to the “gravity center position” of the fruits and vegetables (6), the conveying speed of the conveying means (2), and the light projecting part (4) of the internal quality sensor (4) from the detecting means (14) 24) and the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, After that, the gravity center position of the fruits and vegetables (6) is transferred to the light projecting part (24). When the position of the center of gravity of the fruits and vegetables (6) reaches the light projecting unit (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting unit (24). The amount of light emitted by the internal quality sensor (4) that matches the size of the fruits and vegetables (6) is calculated and irradiated from the shape recognized by the detection camera (16), so that the fruits and vegetables obtained by the image processing means The center of gravity position is calculated from the position and shape data, and the infrared irradiation timing of the quality judging means is determined based on the position of the center of gravity. And the accuracy of determination by the quality determination means can be improved.

また、前記画像処理手段により認識した形状より、前記青果物の大きさに合わせた照射光量を演算し、照射することから、いびつな外形を有した青果物であっても受光素子への漏れ光の発生等が無く、適確に赤外線を照射させることができ、前記品質判定手段による判定精度を向上させることができる。 In addition , the amount of irradiation light that matches the size of the fruits and vegetables is calculated from the shape recognized by the image processing means, and irradiation is performed, so that light leaks to the light receiving element even if the fruits and vegetables have an irregular shape. In other words, it is possible to accurately irradiate infrared rays, and it is possible to improve the determination accuracy by the quality determination means.

請求項２においては、請求項１記載の内部品質判定装置において、前記内部品質センサ（４）の投光部（２４）が照射する光量は、露出調節手段、または、光源数を変更して調節するので、前記品質判定手段が照射する光量は、露出調節手段、または、光源数を変更して調節することから、いびつな外形を有した青果物であっても受光素子への漏れ光の発生等が無く、適確に赤外線を照射させることができ、前記品質判定手段による判定精度を向上させることができる。 According to Claim 2, in the internal quality determination device according to Claim 1 , the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or exposure adjusting means. since, the amount of light the quality determining means is irradiated, exposure adjusting means, or, because it is adjusted by changing the number of light sources, the leakage light into a fresh produce be receiving element having a distorted contour occurrence Therefore, it is possible to accurately irradiate infrared rays, and it is possible to improve the determination accuracy by the quality determination means.

次に、発明の実施の形態を説明する。   Next, embodiments of the invention will be described.

図１は本発明の一実施例に係る内部品質判定装置の平面模式図である。図２は同じく側面模式図である。図３は本発明に係る画像処理演算プログラムを用いた、内部品質センサの赤外線照射の光量調整に関する作動の流れを示すフローチャートである。   FIG. 1 is a schematic plan view of an internal quality judgment device according to an embodiment of the present invention. FIG. 2 is a schematic side view of the same. FIG. 3 is a flowchart showing a flow of an operation relating to the light quantity adjustment of the infrared irradiation of the internal quality sensor using the image processing calculation program according to the present invention.

［内部品質判定装置１］
まず、本実施例における内部品質判定装置１の全体構成について図１及び図２を用いて説明する。なお、図１及び図２の矢印Ａで表される方向を、青果物６が搬送される方向（搬送方向Ａ）とする。 [Internal quality judgment device 1]
First, the overall configuration of the internal quality determination device 1 in the present embodiment will be described with reference to FIGS. 1 and 2. In addition, let the direction represented by arrow A of FIG.1 and FIG.2 be the direction (conveyance direction A) in which the fruits and vegetables 6 are conveyed.

図１及び図２に示すように、内部品質判定装置１は、赤外線やレーザー光等を用いて青果物６の糖度（甘味）や酸度（酸味）等の内部品質の測定を行うものであって、主に内部品質センサ４、検出カメラ１６、搬送手段２、エンコーダ７、検知手段１４、制御手段１０等から構成される。ここで、内部品質判定装置１によって測定される青果物６は、イチゴや、メロンや、ジャガイモ、トマト等その他の果物類または野菜類の総称であり、本実施例では特に、いびつな形状が多く存在するジャガイモの内部品質判定に特記して説明する。なお、本実施例においては、内部品質判定装置１として、主に内部品質センサ４が具備されるシステム構成について説明するが、これに限定されるものではなく、例えば、青果物表面に付着した残留農薬の種類・量等の測定を行うための残留農薬測定システム等、他の種類の成分や品質を分析・測定する為のセンサが具備されるシステム等にも適用できるものである。   As shown in FIG.1 and FIG.2, the internal quality determination apparatus 1 measures internal quality, such as sugar content (sweetness) and acidity (acidity), of fruits and vegetables 6 using infrared rays, a laser beam, etc., It is mainly composed of an internal quality sensor 4, a detection camera 16, a transport means 2, an encoder 7, a detection means 14, a control means 10, and the like. Here, the fruits and vegetables 6 measured by the internal quality judging device 1 are generic names of other fruits or vegetables such as strawberries, melons, potatoes and tomatoes, and there are many irregular shapes in this embodiment. The potato internal quality judgment will be described specifically. In addition, in a present Example, although the system structure mainly equipped with the internal quality sensor 4 is demonstrated as the internal quality determination apparatus 1, it is not limited to this, For example, the residual agricultural chemicals adhering to the fruit and vegetables surface The present invention can also be applied to a system equipped with a sensor for analyzing and measuring other types of components and quality, such as a pesticide residue measurement system for measuring the type / amount and the like.

内部品質センサ４は、搬送手段２の搬送工程の略中間部に配設されており、該搬送手段２により搬送される青果物６が、搬送途中で前記内部品質センサ４を通過する時に、糖度（甘味）や酸度（酸味）等の内部品質が、光学的に（光を用いて非破壊で）測定される。その後青果物６は搬送手段２の終端部まで搬送され、次工程、例えば選別工程のラインへと搬出される。なお、内部品質センサ４の詳細は後述する。
［搬送手段２］ The internal quality sensor 4 is disposed substantially in the middle of the transport process of the transport means 2, and when the fruits and vegetables 6 transported by the transport means 2 pass through the internal quality sensor 4 during transport, the sugar content ( Internal qualities such as sweetness and acidity (acidity) are measured optically (non-destructively using light). Thereafter, the fruits and vegetables 6 are transported to the end of the transport means 2 and are transported to the next process, for example, the line of the sorting process. Details of the internal quality sensor 4 will be described later.
[Conveying means 2]

搬送手段２は、搬送体となるベルト等からなる無端帯１３から構成されており、前記搬送手段２の無端帯１３の搬送方向一側には複数のプーリー１１・１１・１１を介して駆動輪９が配設され、該駆動輪９を固設する駆動軸に駆動モータ１２が連結され、該駆動モータ１２を作動させることにより無端帯１３を回転駆動可能に構成している。また、駆動モータ１２の近傍には搬送手段２の搬送駆動状態を検知するためにエンコーダ７が設けられ、駆動輪９または無端帯１３の回転を検知する構成としている。   The conveying means 2 is composed of an endless belt 13 composed of a belt or the like as a conveying body. One end of the conveying means 2 on the one side in the conveying direction of the endless belt 13 is driven through a plurality of pulleys 11, 11, 11. 9, a drive motor 12 is connected to a drive shaft for fixing the drive wheel 9, and the endless belt 13 can be driven to rotate by operating the drive motor 12. In addition, an encoder 7 is provided in the vicinity of the drive motor 12 in order to detect the conveyance drive state of the conveyance means 2 and is configured to detect the rotation of the drive wheel 9 or the endless belt 13.

［エンコーダ７］
エンコーダ７はロータリエンコーダ等より構成し、制御手段１０と接続され、回転数や回転角度を検知するものであって、前記駆動軸の端部に連結される。該エンコーダ７はパルスを制御手段１０に出力し、搬送状況を把握する。そして、後述する検出カメラ１６により画像データを取得して重心を演算し、この重心が検出カメラ１６から所定位置離れた内部品質センサ４の位置で停止して赤外線の照射される。つまり、エンコーダ７の入力信号から青果物６の位置を演算することができる。 [Encoder 7]
The encoder 7 is composed of a rotary encoder or the like, is connected to the control means 10 and detects the rotation speed and the rotation angle, and is connected to the end of the drive shaft. The encoder 7 outputs a pulse to the control means 10 and grasps the conveyance status. Then, image data is acquired by a detection camera 16 to be described later, the center of gravity is calculated, and the center of gravity stops at a position of the internal quality sensor 4 away from the detection camera 16 by a predetermined position and is irradiated with infrared rays. That is, the position of the fruits and vegetables 6 can be calculated from the input signal of the encoder 7.

［検知手段１４］
検知手段１４は搬送手段２の搬送経路において、検出カメラ１６よりも上流側となる位置に設けられるものであって、光センサ等から構成され、該検知手段１４を青果物６が通過したことを検知し、通過した旨の信号を制御手段１０に送信する。なお、図２に示す如く、検知手段１４の上下方向の高さは、搬送手段２のフレーム上面より僅かに高い位置に設けられており、小さな青果物６が搬送されても確実に検知されるようになっている。 [Detecting means 14]
The detection means 14 is provided at a position upstream of the detection camera 16 in the conveyance path of the conveyance means 2 and is composed of an optical sensor or the like, and detects that the fruits and vegetables 6 have passed through the detection means 14. Then, a signal indicating that it has passed is transmitted to the control means 10. As shown in FIG. 2, the height in the vertical direction of the detecting means 14 is provided at a position slightly higher than the upper surface of the frame of the conveying means 2, so that even if the small fruits and vegetables 6 are conveyed, they are reliably detected. It has become.

［検出カメラ１６］
検出カメラ１６は内部品質センサ４よりも上流側、かつ、入口付近に設けられ、搬送手段２の搬送面上に載置される青果物６の「形状」及び「重心」を検出する画像処理手段である。すなわち、検出カメラ１６は搬送手段２の上方に、カメラレンズを下方に向けて配設されており、主にセンサ機能を有するＣＣＤカメラ等により構成され、通信ケーブル１６ａを介して後述の演算記憶部１０ｂに接続されている。但し、検出カメラ１６は側方より撮影する構成とすることも可能である。具体的には、該検出カメラ１６によって搬送手段２上を搬送されてくる青果物１６の「形状」（シルエット）が認識され、演算記憶部１０ｂにおいて、当該形状に関する情報等に基いて青果物１６の大きさ、および、平面視における重心位置を演算し、搬送手段２の搬送速度に基いて青果物１６の重心位置が内部品質センサ４の測定位置に到達するタイミングが演算される。 [Detection camera 16]
The detection camera 16 is an image processing means that is provided upstream of the internal quality sensor 4 and in the vicinity of the entrance, and detects the “shape” and “center of gravity” of the fruits and vegetables 6 placed on the transport surface of the transport means 2. is there. That is, the detection camera 16 is arranged above the transport means 2 with the camera lens facing downward, and is mainly composed of a CCD camera or the like having a sensor function, and will be described later via a communication cable 16a. 10b. However, the detection camera 16 may be configured to shoot from the side. Specifically, the “shape” (silhouette) of the fruits and vegetables 16 conveyed on the conveying means 2 by the detection camera 16 is recognized, and the size of the fruits and vegetables 16 is determined based on the information on the shapes and the like in the arithmetic storage unit 10b. Then, the position of the center of gravity in plan view is calculated, and the timing at which the position of the center of gravity of the fruits and vegetables 16 reaches the measurement position of the internal quality sensor 4 is calculated based on the transport speed of the transport means 2.

［制御手段１０］
制御手段１０は、図１及び図２に示すように、検知手段１４、エンコーダ７、内部品質センサ４、検出カメラ１６、搬送手段２等と接続して、内部品質センサ４や検出カメラ１６やエンコーダ７等からの情報を取得し、「重心」を演算し、搬送手段２を制御し、内部品質を測定して判定するものであり、これらの動作を制御するためのプログラムが格納されている。 [Control means 10]
As shown in FIGS. 1 and 2, the control means 10 is connected to the detection means 14, the encoder 7, the internal quality sensor 4, the detection camera 16, the transport means 2, and the like, so that the internal quality sensor 4, the detection camera 16, and the encoder are connected. 7 is obtained, the “center of gravity” is calculated, the conveying means 2 is controlled, the internal quality is measured and determined, and a program for controlling these operations is stored.

前記制御手段１０は、表示部１０ａと演算記憶部１０ｂから構成されている。演算記憶部１０ｂは、検出カメラ１６による画像データやエンコーダ７からのパルス信号を受信し、前記演算記憶部１０ｂに記憶された演算プログラムにより、内部品質センサ４の検出光（赤外線）の量（照射光量）や照射タイミングを演算し、内部品質センサ４によって測定された内部品質に基づいて青果物６・６・・・を階級付けし、搬送手段２の下流側に設けられた図示しない選別手段により階級別に選別する。
［内部品質センサ４］ The control means 10 includes a display unit 10a and a calculation storage unit 10b. The arithmetic storage unit 10b receives the image data from the detection camera 16 and the pulse signal from the encoder 7, and the amount (irradiation) of the detection light (infrared rays) of the internal quality sensor 4 by the arithmetic program stored in the arithmetic storage unit 10b. Light quantity) and irradiation timing, and classify the fruits and vegetables 6, 6... Based on the internal quality measured by the internal quality sensor 4, and classify by a sorting means (not shown) provided downstream of the transport means 2. Sort separately.
[Internal quality sensor 4]

次に、本実施例における内部品質センサ４について、図１及び図２を用いて説明する。内部品質センサ４は青果物６の内部品質である糖度（甘味）や酸度（酸味）等の内部品質を光学的に（光を用いて非破壊で）判断する品質判定手段であり、上述のとおり搬送手段２の略中間部に設けられている。   Next, the internal quality sensor 4 in the present embodiment will be described with reference to FIGS. The internal quality sensor 4 is a quality determination means for optically determining the internal quality of the fruits and vegetables 6 such as sugar content (sweetness) and acidity (acidity), etc. (non-destructively using light). It is provided at a substantially middle part of the means 2.

内部品質センサ４は主に筐体２３、投光部２４、受光部２５等で構成される。筐体２３は内部品質センサ４の他の部材を固定する構造体であるとともに投光部２４及び受光部２５に外部からの光が影響することを防止するための被覆手段を兼ねる。筐体２３は略直方体の箱であり、開口部２３ａおよび開口部２３ｂが筐体２３の互いに対向する側面に穿設され、搬送手段２が開口部２３ａ・開口部２３ｂを貫通している。搬送手段２上を搬送されてきた青果物６は、搬送面上に載置されたまま開口部２３ａより筐体２３の内部に進入し、開口部２３ｂから筐体２３の外部に排出される。   The internal quality sensor 4 mainly includes a housing 23, a light projecting unit 24, a light receiving unit 25, and the like. The housing 23 is a structure for fixing other members of the internal quality sensor 4 and also serves as a covering means for preventing light from the outside from affecting the light projecting unit 24 and the light receiving unit 25. The housing 23 is a substantially rectangular parallelepiped box, and an opening 23a and an opening 23b are formed in opposite side surfaces of the housing 23, and the conveying means 2 passes through the opening 23a and the opening 23b. The fruits and vegetables 6 that have been transported on the transport means 2 enter the inside of the housing 23 from the opening 23a while being placed on the transport surface, and are discharged from the opening 23b to the outside of the housing 23.

投光部２４は青果物６の糖度または酸度等の内部品質を測定するための光（赤外線やレーザー光等）を青果物６に照射するものであり、ケーブル２４ａにより制御手段１０に接続されている。投光部２４は具体的にはランプまたはＬＥＤ等で構成される。また、投光部２４は露出を変更可能に構成している。つまり、光量が変更可能に構成されており、制御手段によりその光量が調節される。光量の変更は光源数、例えば、ＬＥＤの点灯数を変更したり、ランプの印加電圧を変更したり、ＬＥＤへのパルス的に点灯時間（露出時間）を変更したりして調節することができる。また、投光出口に絞りを設けて、絞りをモータ等のアクチュエータで変更するように構成して露出を変更することも可能である。   The light projecting unit 24 irradiates the fruits and vegetables 6 with light (infrared rays, laser light, etc.) for measuring the internal quality such as sugar content or acidity of the fruits and vegetables 6, and is connected to the control means 10 by a cable 24a. Specifically, the light projecting unit 24 includes a lamp, an LED, or the like. Moreover, the light projection part 24 is comprised so that exposure can be changed. That is, the light quantity can be changed, and the light quantity is adjusted by the control means. The change in the amount of light can be adjusted by changing the number of light sources, for example, the number of LED lighting, changing the voltage applied to the lamp, or changing the lighting time (exposure time) in a pulsed manner to the LED. . It is also possible to change the exposure by providing a diaphragm at the light exit and changing the diaphragm with an actuator such as a motor.

受光部２５は、投光部２４により照射され青果物６内を通過してきた透過光を受けるものであり、ケーブル２５ａにより制御手段１０に接続されている。受光部２５は具体的にはフォトダイオードやフォトトランジスタやＣＣＤ等で構成される。   The light receiving unit 25 receives the transmitted light that has been irradiated by the light projecting unit 24 and passed through the fruits and vegetables 6, and is connected to the control means 10 by a cable 25a. Specifically, the light receiving unit 25 includes a photodiode, a phototransistor, a CCD, or the like.

受光部２５により受光される光（青果物６の透過光）は、投光部２４により照射される光と比較すると、特定の波長成分が減少している。これは、青果物６中に含まれる糖度に係る成分や酸度に係る成分等が特定の波長成分を吸収することに起因している。従って、この吸収量を測定する（青果物６が光路を遮っていない状態で受光部２５が受光している時の特定波長成分と、青果物６が光路を遮っている状態で受光部２５が受光している時の特定波長成分とを比較する）ことにより、光が透過した部材に存在する青果物６の糖度に係る成分や、酸度に係る成分等の量（より厳密には、糖度に係る成分分子の個数や酸度に係る成分分子等の個数）を測定することが可能である。   The light received by the light receiving unit 25 (transmitted light from the fruits and vegetables 6) has a reduced specific wavelength component as compared with the light irradiated by the light projecting unit 24. This is due to the fact that components related to sugar content, components related to acidity, and the like contained in the fruits and vegetables 6 absorb specific wavelength components. Therefore, the amount of absorption is measured (the specific wavelength component when the light receiving unit 25 receives light with the fruits and vegetables 6 not blocking the light path, and the light receiving unit 25 receiving light with the fruits and vegetables 6 blocking the light path. The amount of the component related to the sugar content of the fruits and vegetables 6 and the component related to the acidity (more precisely, the component molecule related to the sugar content) And the number of component molecules related to acidity) can be measured.

本実施例では、投光部２４、および、受光部２５は筐体２３内部において、搬送手段２を挟んで左右両側に対峙して配設される。すなわち図２において、投光部２４、および、受光部２５は、搬送手段２のフレームの上端部に対して僅か上方に配設されているため、たとえ青果物６が搬送方向Ａに対して左右何れかの方向に多少ずれて、搬送面上に載置されていても、投光部２４より照射される光は確実に前記青果物６を透過することができる。   In the present embodiment, the light projecting unit 24 and the light receiving unit 25 are disposed inside the housing 23 so as to face both the left and right sides with the transport unit 2 interposed therebetween. That is, in FIG. 2, the light projecting unit 24 and the light receiving unit 25 are disposed slightly above the upper end of the frame of the transport unit 2, so Even if it is slightly deviated in this direction and placed on the transport surface, the light emitted from the light projecting unit 24 can surely pass through the fruits and vegetables 6.

なお、投光部２４、および、受光部２５の位置については、光路の方向と搬送方向Ａとの関係（成す角度及び位置関係）について限定されるものではなく、たとえば、投光部２４が搬送手段２の搬送面の下方、受光部２５が前記搬送面の上方に配置される構成としてもよい。この場合、搬送手段２を構成する無端帯１３は、搬送方向Ａに対して左右両側に分割して設け、かつ、青果物６が該分割された無端帯中央部の空間に落ち込むことの無いように搬送皿を設け、該搬送皿に載置させることにより、搬送していく構成とする必要がある。なお、このような搬送皿による青果物の搬送を行なうには、該搬送皿の中央部には孔部を穿孔する等して、投光部２４より照射される光を妨げないような構造が必要となることは言うまでもない。   In addition, about the position of the light projection part 24 and the light-receiving part 25, it is not limited about the relationship (the angle and positional relationship which are formed) of the direction of an optical path, and the conveyance direction A, for example, the light projection part 24 carries It is good also as a structure by which the light-receiving part 25 is arrange | positioned under the conveyance surface of the means 2 and the said conveyance surface. In this case, the endless belt 13 constituting the transport means 2 is divided and provided on both the left and right sides with respect to the transport direction A, and the fruits and vegetables 6 do not fall into the space of the divided endless belt center. It is necessary to set it as the structure which conveys by providing a conveyance tray and making it mount on this conveyance tray. In order to transport fruits and vegetables using such a transport tray, a structure that does not block the light emitted from the light projecting section 24 is required by, for example, drilling a hole in the center of the transport tray. It goes without saying that.

つまり、本発明の内部品質センサ４は、青果物６の搬送方向Ａと直交する方向に赤外線を照射する投光部２４（および受光部２５）と、該搬送方向と該赤外線の照射方向とに直交する方向から該青果物６を眺めた「位置」及び「形状」（シルエット）が認識可能な検出カメラ１６とを備えている。詳しくは、本実施例のように前記内部品質センサ４を左右方向に配設した場合には、検出カメラ１６によって青果物の平面視における「位置」及び「形状」（シルエット）を認識する構成とし、内部品質センサ４を上下方向に配設した場合には検出カメラ１６によって側面視における「位置」及び「形状」（シルエット）を認識する構成とすれば好ましい。   That is, the internal quality sensor 4 of the present invention includes a light projecting unit 24 (and a light receiving unit 25) that irradiates infrared rays in a direction orthogonal to the conveyance direction A of the fruits and vegetables 6, and a direction orthogonal to the conveyance direction and the irradiation direction of the infrared rays. And a detection camera 16 capable of recognizing the “position” and “shape” (silhouette) of the fruits and vegetables 6 when viewed from the direction in which the fruits and vegetables are viewed. Specifically, when the internal quality sensor 4 is disposed in the left-right direction as in the present embodiment, the detection camera 16 recognizes the “position” and “shape” (silhouette) in plan view of the fruits and vegetables, When the internal quality sensor 4 is arranged in the vertical direction, the detection camera 16 preferably recognizes the “position” and “shape” (silhouette) in a side view.

［赤外線照射の光量の制御方法］
次に本発明における画像処理手段を用いた、内部品質センサ４の赤外線照射の光量、および、内部品質センサ４の赤外線照射タイミングに関する制御方法を、図３を用いて説明する。まず、搬送手段２により青果物６が搬送されて、検知手段１４により青果物６が検出されると（ステップＳ１０１）、検出カメラ１６が作動されて撮影して青果物６の画像データを取得する（ステップＳ１０２）。この得られた画像データは、青果物６の「重心位置」及び「形状」（平面シルエット）に関する画像処理が実行される。 [Infrared irradiation light intensity control method]
Next, a control method relating to the amount of infrared irradiation of the internal quality sensor 4 and the infrared irradiation timing of the internal quality sensor 4 using the image processing means of the present invention will be described with reference to FIG. First, when the fruits and vegetables 6 are transported by the transport means 2 and the fruits and vegetables 6 are detected by the detection means 14 (step S101), the detection camera 16 is operated to capture and acquire image data of the fruits and vegetables 6 (step S102). ). The obtained image data is subjected to image processing relating to the “center of gravity” and “shape” (planar silhouette) of the fruits and vegetables 6.

ここで演算記憶部１０ｂには、検出カメラ１６が検出した画像データ等を一時記憶する記憶部と、前記画像データをもとに内部品質センサ４による赤外線照射タイミングを演算する画像処理プログラムとが具備されており、前記画像データをもとに、画像処理プログラムを介して、青果物６の外形形状に関するデータとあわせて、青果物６の「重心位置」と「照射光量」が算出され、それぞれのデータは再び記憶部に記憶される（ステップＳ１０３）。   Here, the calculation storage unit 10b includes a storage unit that temporarily stores image data detected by the detection camera 16, and an image processing program that calculates the infrared irradiation timing by the internal quality sensor 4 based on the image data. Based on the image data, the “gravity position” and “irradiation light amount” of the fruits and vegetables 6 are calculated together with the data related to the outer shape of the fruits and vegetables 6 through the image processing program. It is stored again in the storage unit (step S103).

青果物６の「重心位置」が算出されると、該「重心位置」のデータをもとに内部品質センサ４の赤外線照射タイミングが演算される。即ち、演算記憶部１０ｂにおいては、検知手段１４から青果物６の「重心位置」までの距離と、搬送手段２の搬送速度と、検知手段１４から内部品質センサ４までの距離と、から「重心位置」が内部品質センサ４の投光部２４へ達するタイミングを演算し（ステップＳ１０４）、その後、青果物６の搬送重心位置が投光部２４に達したかどうかの判定が常に行われる（ステップＳ１０５）。具体的には、検知手段１４から投光部２４までの距離をＬとすると、この距離Ｌにかかるエンコーダにより得られる搬送パルス信号はＰａとして求められる。また、検出カメラ１６により撮影して重心位置を求めると、検知手段１４から重心位置までの距離Ｌ１が判り、その距離をパルス信号に変換してＰ０とする。従って、重心位置が検出されてその重心位置の搬送距離Ｌ２、積算パルスではＰｎとすると、この積算パルスＰｎが投光部２４に到達する距離（Ｌ−Ｌ１）、即ち、（Ｐａ−Ｐ０）になったかどうかを演算すればよい（Ｌ２＝Ｌ−Ｌ１、Ｐｎ＝Ｐａ−Ｐ０）。こうして、青果物６が搬送されてその重心位置が投光部２４に至ると、投光部２４から青果物６に赤外線を照射させる命令を送信するのである。   When the “center of gravity position” of the fruits and vegetables 6 is calculated, the infrared irradiation timing of the internal quality sensor 4 is calculated based on the data of the “center of gravity position”. That is, in the arithmetic storage unit 10b, the "center of gravity position" is calculated from the distance from the detecting means 14 to the "center of gravity position" of the fruits and vegetables 6, the transport speed of the transport means 2, and the distance from the detecting means 14 to the internal quality sensor 4. "Is reached at the light projecting unit 24 of the internal quality sensor 4 (step S104). Thereafter, it is always determined whether or not the transport gravity center position of the fruit 6 has reached the light projecting unit 24 (step S105). . Specifically, when the distance from the detection means 14 to the light projecting unit 24 is L, the carrier pulse signal obtained by the encoder for this distance L is obtained as Pa. Further, when the center of gravity position is obtained by photographing with the detection camera 16, the distance L1 from the detecting means 14 to the center of gravity position is known, and the distance is converted into a pulse signal to be P0. Accordingly, when the center of gravity position is detected and the transport distance L2 of the center of gravity position is Pn in the integrated pulse, the distance (L-L1) that the integrated pulse Pn reaches the light projecting unit 24, that is, (Pa-P0). What is necessary is just to calculate whether it became (L2 = L-L1, Pn = Pa-P0). Thus, when the fruits and vegetables 6 are conveyed and the center of gravity reaches the light projecting unit 24, a command for irradiating the fruits and vegetables 6 with infrared rays is transmitted from the light projecting unit 24.

ここで、上述のとおり、演算記憶部１０ｂでは、検出カメラ１６からの画像データにより青果物６の「重心位置」と青果物の大きさとから、「重心位置」を通過する内部品質センサ４の赤外線透過距離も演算され、該透過距離の長短を基に、適切な赤外線の照射出力（電圧）を演算し、適切な「照射光量」が算出されている（ステップＳ１０３）。そして、投光部２４に到達した青果物６は、前記算出された「照射光量」によって、適切な出力の赤外線が照射されることとなり（ステップＳ１０６）、その結果、搬送状態の「姿勢」、「大きさ」、「形状」や、ランダムな搬送ピッチ等の影響を受けず、適確に青果物６に赤外線が照射されるのである。   Here, as described above, in the arithmetic storage unit 10 b, the infrared transmission distance of the internal quality sensor 4 that passes through the “centroid position” from the “centroid position” of the fruits and vegetables 6 and the size of the fruits and vegetables by the image data from the detection camera 16. And an appropriate infrared irradiation output (voltage) is calculated based on the length of the transmission distance to calculate an appropriate “irradiation light amount” (step S103). Then, the fruits and vegetables 6 that have reached the light projecting unit 24 are irradiated with infrared rays having an appropriate output by the calculated “irradiation light quantity” (step S106). As a result, the “posture” and “ The fruits and vegetables 6 are appropriately irradiated with infrared rays without being affected by the “size”, “shape”, random transport pitch, and the like.

本発明の一実施例に係る内部品質判定装置の平面模式図。The plane schematic diagram of the internal quality determination apparatus which concerns on one Example of this invention. 同じく側面模式図。The side schematic diagram. 本発明に係る画像処理演算プログラムを用いた、内部品質センサの赤外線照射の光量調整に関する作動の流れを示すフローチャートを示す。The flowchart which shows the flow of the operation | movement regarding the light quantity adjustment of the infrared irradiation of an internal quality sensor using the image processing calculation program which concerns on this invention is shown.

１ 内部品質判定装置
２ 搬送手段
４ 内部品質センサ
５ 搬送皿
５ｄ 溝
６ 青果物
７ エンコーダ
９ 駆動輪
１０ 制御手段
１０ａ 表示部
１０ｂ 演算記憶部
１１ テンションプーリ
１２ 駆動モータ
１３ 無端帯
１４ 検知手段
１６ 検出カメラ
１６ａ 通信ケーブル
２３ 筐体
２３ａ 開口部
２３ｂ 開口部
２４ 投光部
２５ 受光部 DESCRIPTION OF SYMBOLS 1 Internal quality determination apparatus 2 Conveyance means 4 Internal quality sensor 5 Conveyance tray 5d Groove 6 Fruits and vegetables 7 Encoder 9 Drive wheel 10 Control means 10a Display part 10b Calculation storage part 11 Tension pulley 12 Drive motor 13 Endless belt 14 Detection means 16 Detection camera 16a Communication cable 23 Case 23a Opening 23b Opening 24 Light projecting unit 25 Light receiving unit

Claims (2)

いびつな外形を有した青果物（６）を搬送する搬送手段（２）と、赤外線を照射して該青果物（６）の品質を非破壊で判定する品質判定手段である内部品質センサ（４）と、該青果物（６）の形状を解析する画像処理手段である検出カメラ（１６）と、該青果物（６）の搬送を検知する検知手段（１４）を備えた内部品質判定装置（１）であって、該搬送手段（２）はベルト等の無端帯（１３）にて構成し、該無端帯（１３）上に、ランダムな搬送ピッチで青果物（６）を載置して搬送し、前記検出カメラ（１６）は、前記内部品質センサ（４）よりも上流側、かつ、入口付近に設けられ、前記無端帯（１３）の上方において、カメラレンズを下方に向けて配設し、該検出カメラ（１６）の上流側に検知手段（１４）を配置し、前記無端帯（１３）上にランダムな搬送ピッチに載置された青果物（６）が搬送され、前記検知手段（１４）により検出されると、前記検出カメラ（１６）が作動されて撮影し、該青果物（６）の画像データを取得し、該画像データより、前記青果物（６）の「重心位置」及び「形状」に関する画像データが取得されて記憶され、次に、前記検知手段（１４）から青果物（６）の「重心位置」までの距離（Ｌ１）と、前記搬送手段（２）の搬送速度と、前記検知手段（１４）から内部品質センサ（４）の投光部（２４）までの距離（Ｌ）と、「重心位置」から投光部（２４）までの距離（Ｌ２）から、該「重心位置」が前記の投光部（２４）へ達するタイミングを演算し、その後、該青果物（６）の搬送重心位置が投光部（２４）に達したかどうかの判定が常に行われ、該青果物（６）の重心位置が投光部（２４）に至ると、該投光部（２４）から青果物（６）に赤外線を照射させる命令を送信し、前記検出カメラ（１６）により認識した形状より、前記青果物（６）の大きさに合わせた内部品質センサ（４）による照射光量を演算して照射すること特徴とする内部品質判定装置。 A conveying means (2) for conveying the fruit and vegetables (6) having an irregular shape, and an internal quality sensor (4) which is a quality judging means for irradiating infrared rays and judging the quality of the fruits and vegetables (6) in a non-destructive manner. An internal quality judging device (1) comprising a detection camera (16) which is an image processing means for analyzing the shape of the fruits and vegetables (6) and a detection means (14) for detecting the conveyance of the fruits and vegetables (6). The transport means (2) is composed of an endless belt (13) such as a belt, and the fruits and vegetables (6) are transported on the endless belt (13) with a random transport pitch, and the detection is performed. The camera (16) is provided on the upstream side of the internal quality sensor (4) and in the vicinity of the entrance. The camera (16) is disposed above the endless belt (13) so that the camera lens faces downward. The detection means (14) is arranged upstream of (16), and the endless belt ( 3) When the fruits and vegetables (6) placed on the random transport pitch are transported and detected by the detection means (14), the detection camera (16) is actuated and photographed, and the fruits and vegetables (6 ), And image data relating to the “center of gravity” and “shape” of the fruits and vegetables (6) are obtained and stored from the image data, and then the fruits and vegetables (6 ) To the “center of gravity” (L1), the conveyance speed of the conveyance means (2), and the distance (L) from the detection means (14) to the light projecting portion (24) of the internal quality sensor (4). ) And the distance (L2) from the “center of gravity position” to the light projecting unit (24), the timing at which the “center of gravity position” reaches the light projecting unit (24) is calculated, and then the fruits and vegetables (6) Whether or not the center of gravity of the transport has reached the light projecting part (24) When the barycentric position of the fruits and vegetables (6) reaches the light projecting portion (24), a command to irradiate the fruits and vegetables (6) with infrared rays is transmitted from the light projecting portion (24), and the detection camera (16 The internal quality determination device is characterized in that the amount of light emitted by the internal quality sensor (4) in accordance with the size of the fruits and vegetables (6) is calculated and irradiated from the shape recognized by (1) . 請求項１記載の内部品質判定装置において、前記内部品質センサ（４）の投光部（２４）が照射する光量は、露出調節手段、または、光源数を変更して調節することを特徴とする内部品質判定装置。 2. The internal quality determination device according to claim 1, wherein the amount of light emitted by the light projecting unit (24) of the internal quality sensor (4) is adjusted by changing the number of light sources or the number of light sources. Internal quality judgment device.
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