JP6039923B2 - Measuring device - Google Patents
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- JP6039923B2 JP6039923B2 JP2012128717A JP2012128717A JP6039923B2 JP 6039923 B2 JP6039923 B2 JP 6039923B2 JP 2012128717 A JP2012128717 A JP 2012128717A JP 2012128717 A JP2012128717 A JP 2012128717A JP 6039923 B2 JP6039923 B2 JP 6039923B2
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Description
本発明は、搬送路上を移動する農産物等の検査対象の外観を計測する計測装置に関する。 The present invention relates to a measuring device that measures the appearance of an inspection target such as agricultural products moving on a conveyance path.
農産物の外観をカメラ等の撮影装置により撮影し、撮影情報に基づいて傷の有無、サイズ、形状等を判定するための計測装置が提案されている。このような計測装置は、農産物を選別する選別コンベヤに沿って配置されており、搬送される農産物の底面の外観を撮影する計測装置がコンベヤの下方に配置されている（特許文献１）。 There has been proposed a measuring device for photographing the appearance of agricultural products with a photographing device such as a camera and determining the presence / absence, size, shape, etc. of a scratch based on photographing information. Such a measuring device is arranged along a sorting conveyor for sorting agricultural products, and a measuring device for photographing the appearance of the bottom surface of the conveyed agricultural products is arranged below the conveyor (Patent Document 1).
この農産物底部計測用の計測装置は、搬送上流側の第１コンベヤと、搬送下流側の第２コンベヤとを所定の隙間を隔てて配置し、第１コンベヤ上を搬送される農産物が第２コンベヤに乗り継ぎする際に、第１コンベヤの搬送終端と第２コンベヤの搬送始端との間に設けた所定の隙間（以下、撮影用隙間とする）を通して、農産物の底部を撮影装置により撮影する。 The measuring device for measuring the bottom of the agricultural product includes a first conveyor on the upstream side of the transport and a second conveyor on the downstream side of the transport with a predetermined gap therebetween, and the agricultural product transported on the first conveyor is the second conveyor. When transiting to, the bottom of the agricultural product is photographed by the photographing device through a predetermined gap (hereinafter referred to as a photographing gap) provided between the conveyance end of the first conveyor and the conveyance start end of the second conveyor.
前記撮影用隙間を通して農産物の底部を撮影するために、撮影用隙間の下方に例えば反射ミラーを配置して撮影光路を折り曲げ、折り曲げられた底部画像を例えばＣＣＤラインセンサ等の撮影装置で撮影する。 In order to photograph the bottom of the agricultural product through the photographing gap, for example, a reflection mirror is disposed below the photographing gap to fold the photographing optical path, and the folded bottom image is photographed by a photographing device such as a CCD line sensor.
また、撮影用隙間の下方には、光透過性を有する例えばガラス製の防塵カバーを設置し、撮影用隙間を通してゴミ、塵等が反射ミラーに直接落下してミラー面の汚れを防止している。そして、防塵カバー上に落下したゴミや塵等は、ブロア―等から防塵カバー面に向けて吹き付けるエアーで吹き飛ばし、防塵カバーの表面を清掃するクリーニング機構が設けられている。 In addition, a light-transmitting dust-proof cover made of glass, for example, is installed below the shooting gap, and dust, dust, etc. fall directly on the reflecting mirror through the shooting gap to prevent the mirror surface from becoming dirty. . A dust or dust that has fallen on the dust proof cover is blown off with air blown from a blower or the like toward the dust proof cover surface, and a cleaning mechanism is provided for cleaning the surface of the dust proof cover.
上記した特許文献１に記載の計測装置において、防塵カバーの表面に大きなゴミや水滴、果汁等が付着すると、ブロア―等から噴出するエアーでは清掃・除去ができない場合がある。このように、防塵カバーの表面にエアーの噴出力で除去困難な付着物が存在したまま農産物の底部をラインカメラ等で撮影すると、この付着物の上面を通過する農産物の底部は、農産物の搬送方向に沿って連続した線として認識されることになり、農産物の外観計測のために画像処理を行うと、前記線として認識された部分が傷として誤判定されるおそれがある。その結果、実際には傷がない農産物であっても下位の等級に選別されることになる。また、傷として誤判定される以外にも、果実の一部として誤認識されることがある。その結果、いびつな形状の果実と判断されたり、大きさを誤判定する可能性がある。 In the measurement apparatus described in Patent Document 1 described above, if large dust, water droplets, fruit juice, or the like adheres to the surface of the dustproof cover, cleaning or removal may not be possible with air blown from a blower or the like. In this way, if the bottom of the agricultural product is photographed with a line camera or the like while there is a deposit that is difficult to remove due to the jet of air on the surface of the dustproof cover, the bottom of the agricultural product that passes through the top surface of this deposit will It will be recognized as a continuous line along the direction, and when image processing is performed for the appearance measurement of agricultural products, the portion recognized as the line may be erroneously determined as a scratch. As a result, even agricultural products that are not actually damaged will be sorted into lower grades. In addition to being erroneously determined as a scratch, it may be erroneously recognized as part of the fruit. As a result, it may be determined that the fruit has an irregular shape, or the size may be erroneously determined.
また、農産物の選別中に防塵カバーの表面にこびり付いた汚れを除去しようとすると、選別作業を一時中断しなければならなかった。 In addition, the sorting operation had to be temporarily suspended in order to remove dirt stuck to the surface of the dust cover during sorting of agricultural products.
本発明の目的は、クリーニング処理を施すことなく、汚れのない清浄な防塵カバーの表面を通して農産物の底部を撮影できる計測装置を提供しようとするものである。 An object of the present invention is to provide a measuring apparatus capable of photographing the bottom of agricultural products through the surface of a clean and dust-free cover without performing a cleaning process.
本発明の課題を解決する計測装置は、農産物を搬送する搬送路に、農産物が跨いで移動できる間隔の隙間部を有する搬送手段と、前記隙間部を通して農産物の底部を撮影する、視野が前記搬送手段の搬送方向と直交する方向に延びるライン状の撮影手段と、前記撮影手段の撮影光路を横切って前記隙間部の下方に配置され、光透過性を有する光透過部材と、前記光透過部材を保持する光透過部材保持手段と、前記光透過部材保持手段を前記搬送手段の搬送方向と同一方向または逆方向に移動させる移動手段と、前記撮影手段で撮影した画像情報に基づいて、前記光透過部材における撮影光路上で発生した異常情報を検知すると、前記移動手段を駆動して前記光透過部材保持手段を異常状態が解消するまで移動させる制御手段と、を有する。 A measuring device that solves the problems of the present invention is a conveyance unit that conveys agricultural products on a conveyance path that conveys a gap between which the agricultural products can move and a bottom of the agricultural products through the gaps. A line-shaped imaging means extending in a direction perpendicular to the conveying direction of the means, a light-transmitting member disposed below the gap and across the imaging optical path of the imaging means, and the light-transmitting member. The light transmission member holding means to be held, the moving means for moving the light transmission member holding means in the same direction as or in the opposite direction to the conveyance direction of the conveyance means, and the light transmission based on the image information taken by the photographing means. And control means for driving the moving means to move the light transmitting member holding means until the abnormal state is resolved when abnormality information generated on the photographing optical path in the member is detected.
本発明の計測装置によれば、防塵カバー等の光透過部材の表面に付着した汚れが撮影手段で撮影した画像に異常情報として写し込まれると、光透過部材を移動して異常情報の発生を回避するため、撮影エリアを常に清浄な状態に保持でき、計測精度の維持を容易に図ることができる。 According to the measuring device of the present invention, when dirt attached to the surface of a light transmission member such as a dustproof cover is reflected as abnormality information in an image photographed by the photographing means, the light transmission member is moved to generate abnormality information. In order to avoid this, the imaging area can be kept clean at all times, and measurement accuracy can be easily maintained.
また、光透過部材を光透過部材保持手段に保持することで、移動手段による光透過部材の移動をスムーズに行うことができる。 Further, by holding the light transmitting member on the light transmitting member holding means, the light transmitting member can be smoothly moved by the moving means.
以下、本発明を図面に示す実施形態に基づいて詳細に説明する。 Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.
図１は本発明による計測装置を備えた農産物選別装置の実施形態を示す概略上面図、図２は図１の正面図、図３は図２に示す防塵カバーの分解斜視図である。図４は図２に示す計測装置における防塵カバーの移動を説明する概略図で、（ａ）は図２に示す防塵カバーに汚れが付着した状態と撮影画像を示し、（ｂ）は防塵カバーに付着した汚れが撮影エリアから退避するまで防塵カバーを移動した状態と撮影画像を示す概略図である。 1 is a schematic top view showing an embodiment of an agricultural product sorting apparatus equipped with a measuring device according to the present invention, FIG. 2 is a front view of FIG. 1, and FIG. 3 is an exploded perspective view of the dustproof cover shown in FIG. FIG. 4 is a schematic diagram for explaining the movement of the dust cover in the measuring apparatus shown in FIG. 2, in which (a) shows a state in which dirt is attached to the dust cover shown in FIG. 2 and a photographed image, and (b) shows the dust cover. It is the schematic which shows the state and the picked-up image which moved the dust-proof cover until the adhering stain | pollution | contamination retreated from the imaging area.
図１に示す農産物選別装置１は、選別コンベヤ２の搬送方向に沿って、選別コンベヤ２上を搬送する例えば柑橘系の農産物Ｐの底部を計測する第１の計測装置３Ａと、第１の計測装置３Ａの搬送方向下流側に農産物Ｐの底部以外の全外観を計測する第２の計測装置３Ｂを配置している。 The agricultural product sorting apparatus 1 shown in FIG. 1 includes a first measuring device 3A that measures the bottom of, for example, a citrus-based agricultural product P that is transported on the sorting conveyor 2 along the transport direction of the sorting conveyor 2, and a first measurement. A second measuring device 3B that measures the entire appearance other than the bottom of the agricultural product P is disposed on the downstream side in the conveying direction of the device 3A.
第１の計測装置３Ａと第２の計測装置３Ｂは、共に農産物の外観をカメラ等の撮影装置４、５により撮影し、撮影情報を図４に示す制御装置２９に送信する。制御装置２９は、制御部２９ａと、モニター２９ｂとキーボード２９ｃを有し、制御部２９ａの画像処理部（不図示）で所定の画像処理を行った後、画像処理された情報に基づいて、等階級判定手段（不図示）により傷の有無などの判定項目に従って当該農産物の等階級を判定する。また、制御部２９ａには、汚れ判定部（不図示）が設けられている。 Both the first measuring device 3A and the second measuring device 3B take pictures of the appearance of agricultural products using the photographing devices 4 and 5 such as cameras, and transmit the photographing information to the control device 29 shown in FIG. Controller 29 includes a control unit 29a, has a monitor 2 9b and a keyboard 29c, after the predetermined image processing by the image processing unit of the control unit 29a (not shown), based on the image processing information Then, the equal class of the agricultural product is determined according to the determination items such as the presence or absence of scratches by an equal class determination means (not shown). Further, the control unit 29a is provided with a dirt determination unit (not shown).
第２の計測装置３Ｂの搬送方向下流側には、選別コンベヤ２の側方に等階級ごとに引き出しコンベヤ７が配置され、等階級判定済みの農産物Ｐが対応する等階級の排出装置８の位置に到達すると、対応する等階級の引き出しコンベヤ７に排出される。なお、第２の計測装置３Ｂは、農産物の側面の全面を撮影する複数の撮影装置と、農産物の上面を撮影する撮影装置を備えている。 On the downstream side in the transport direction of the second measuring device 3B, a drawer conveyor 7 is arranged for each equal class on the side of the sorting conveyor 2, and the position of the equal class discharge device 8 corresponding to the agricultural product P for which the equal class has been determined. , It is discharged to the corresponding equivalent class drawer conveyor 7. The second measuring device 3B includes a plurality of photographing devices that photograph the entire side surface of the agricultural product and a photographing device that images the top surface of the agricultural product.
選別コンベヤ２は、第１の計測装置３Ａが設置されるベルトコンベヤで構成した第１選別コンベヤ部２０と、第２の計測装置３Ｂが設置されるＰＫ式コンベヤで構成した第２選別コンベヤ部２１を有する。 The sorting conveyor 2 includes a first sorting conveyor unit 20 configured by a belt conveyor on which the first measuring device 3A is installed, and a second sorting conveyor unit 21 configured by a PK type conveyor on which the second measuring device 3B is installed. Have
第１選別コンベヤ部２０は、搬送上流側の第１コンベヤ２０Ａと、搬送下流側の第２コンベヤ２０Ｂとを所定の隙間を隔てて配置し、第１コンベヤ２０Ａ上を搬送される農産物Ｐが第２コンベヤ２０Ｂに乗り継ぎする際に、第１コンベヤ２０Ａの搬送終端と第２コンベヤ２０Ｂの搬送始端との間に設けた所定の隙間（以下、撮影用隙間とする）２２を通して、農産物Ｐの底部を第1計測装置３Ａの撮影装置４により撮影する。ここで、第１選別コンベヤ部２０の搬送方向をｘ軸方向、ｘ軸と水平平面内で直交する方向をｙ軸方向とする。 The first sorting conveyor unit 20 arranges the first conveyor 20A on the upstream side of the transport and the second conveyor 20B on the downstream side of the transport with a predetermined gap, and the agricultural product P transported on the first conveyor 20A is the first. 2 When connecting to the conveyor 20B, the bottom of the agricultural product P is passed through a predetermined gap 22 (hereinafter referred to as a "photographing gap") provided between the conveyance end of the first conveyor 20A and the conveyance start end of the second conveyor 20B. Photographing is performed by the photographing device 4 of the first measuring device 3A. Here, let the conveyance direction of the 1st sorting conveyor part 20 be an x-axis direction, and let the direction orthogonal to an x-axis in a horizontal plane be a y-axis direction.
第１計測装置３Ａは、暗箱をなす筐体２３内に、撮影用隙間２２の下方に反射手段である反射ミラー２４を傾斜配置し、反射ミラー２４で反射した農産物Ｐの底部画像を撮影装置４に導く。撮影装置４は、受光部にＣＣＤラインセンサ等を用いたラインカメラを使用しており、図４に示すように、撮影エリア４ａは帯状の狭い領域をなし、ｘ軸方向における長さｂは数ミリ程度であり、撮影用隙間２２のｙ軸方向の全領域を撮影する。 The first measuring device 3 </ b> A has a reflection mirror 24, which is a reflection means, is inclined below the shooting gap 22 in a housing 23 that forms a dark box, and the bottom image of the agricultural product P reflected by the reflection mirror 24 is captured by the shooting device 4. Lead to. The photographing apparatus 4 uses a line camera using a CCD line sensor or the like as a light receiving portion. As shown in FIG. 4, the photographing area 4a is a narrow band-like region, and the length b in the x-axis direction is several. The entire area in the y-axis direction of the imaging gap 22 is imaged.
反射ミラー２４は、ｙ軸方向（幅方向）において撮影用隙間２２と少なくとも同幅に設定され、農産物Ｐが撮影用隙間２２の通過位置に関係なく農産物Ｐの底部を撮影可能としている。 The reflection mirror 24 is set to at least the same width as the photographing gap 22 in the y-axis direction (width direction) so that the agricultural product P can photograph the bottom of the agricultural product P regardless of the passing position of the photographing gap 22.
筐体２３には、反射ミラー２４の上方に光透過部材である光透過性を有する例えばガラス製の防塵カバー２５を水平方向に配置している。防塵カバー２５は矩形形状に形成され、ｙ軸方向（幅方向）の長さは、少なくとも撮影用隙間２２と同じ長さとしている。 In the housing 23, a dustproof cover 25 made of, for example, glass having a light transmitting property as a light transmitting member is disposed above the reflecting mirror 24 in the horizontal direction. The dust-proof cover 25 is formed in a rectangular shape, and the length in the y-axis direction (width direction) is at least as long as the shooting gap 22.
図３に示すように、防塵カバー２５は、光透過部材保持手段である保持部材２６に保持されている。保持部材２６は、例えば平板状の板材に防塵カバー２５が嵌まり込む開口部２６ａが形成され、開口部２６ａの内周部に防塵カバー２５を支持する桟部材２６ｂを設けている。そして、保持部材２６は筐体２３に設けた支持台２７上にｘ軸方向に移動可能に支持されている。保持部材２６がｘ軸方向にスムーズに移動できるように、リニアスライダー等の滑動部材２７ａを支持台２７と保持部材２６に取り付けるようにしてもよい。支持台２７には、保持部材２６をｘ軸方向に直進移動させる移動手段２８を設けている。移動手段２８としては、例えばサーボシリンダ機構を例示でき、サーボシリンダ機構の移動軸２８ａを保持部材２６に取り付け、保持部材２６を一方向（第１選別コンベア部２０の搬送下流側から上流側、あるいは搬送上流側から下流側に向かう方向）に移動させることにより、保持部材２６と共に防塵カバー２５を移動させる。 As shown in FIG. 3, the dustproof cover 25 is held by a holding member 26 that is a light transmitting member holding means. The holding member 26 has an opening 26a into which the dustproof cover 25 is fitted, for example, in a flat plate material, and a crosspiece member 26b that supports the dustproof cover 25 is provided on the inner peripheral portion of the opening 26a. The holding member 26 is supported on a support base 27 provided in the housing 23 so as to be movable in the x-axis direction. A sliding member 27 a such as a linear slider may be attached to the support base 27 and the holding member 26 so that the holding member 26 can move smoothly in the x-axis direction. The support 27 is provided with moving means 28 for moving the holding member 26 straight in the x-axis direction. As the moving means 28, for example, a servo cylinder mechanism can be exemplified, and the moving shaft 28a of the servo cylinder mechanism is attached to the holding member 26, and the holding member 26 is moved in one direction (from the downstream side of conveyance of the first sorting conveyor unit 20 to the upstream side, or The dust cover 25 is moved together with the holding member 26 by moving in the direction from the upstream side to the downstream side).
図４（ａ）に示すように、ｘ軸方向における防塵カバー２５の長さａは、撮影装置４におけるｘ軸方向の撮影視野長ｂ（数ミリ程度）よりも長く設定する。図４（ａ）に示すように、防塵カバー２５の表面に付着する汚れＱは、撮影用隙間２２の下方に発生する。この場合、汚れＱは撮影エリア（撮影光路）４ａ内に存在するので、汚れＱが例えばドット状であっても、モニター２９ｂに示すように、撮影用隙間２２を通過する農産物Ｐの底部画像に対し、汚れＱがｘ軸方向に沿って写し込まれ、線Ｌとして異常情報が認識されることになる。このような線Ｌが農産物の底部画像に写し込まれると、等級判定の際に線が例えば傷として認識され、下位の等級に誤判定されるおそれがある。また、傷として認識される以外にも、果実の一部として誤認識されることがある。 As shown in FIG. 4A, the length a of the dustproof cover 25 in the x-axis direction is set to be longer than the photographing field length b (about several millimeters) in the x-axis direction in the photographing apparatus 4. As shown in FIG. 4A, the dirt Q adhering to the surface of the dust cover 25 is generated below the photographing gap 22. In this case, since the dirt Q is present in the photographing area (photographing optical path) 4a, even if the dirt Q is, for example, in the form of dots, the bottom image of the agricultural product P passing through the photographing gap 22 is displayed as shown on the monitor 29b. On the other hand, the dirt Q is imprinted along the x-axis direction, and abnormal information is recognized as a line L. If such a line L is imprinted on the bottom image of the agricultural product, the line may be recognized as, for example, a flaw at the time of grade determination, and may be erroneously determined as a lower grade. In addition to being recognized as a flaw, it may be misrecognized as part of the fruit.
そこで、撮影装置４で撮影した画像データに基づいて、防塵カバー２５の表面に汚れがあるか否かを汚れ判定部で判定し、汚れＱが付着していると判定されると、図４（ｂ）に示すように、移動手段２８を駆動して防塵カバー２５をｘ軸方向に移動する。防塵カバー２５のｘ軸方向の移動は、汚れ判定部が汚れ無し、と判定するまで行われる。 Therefore, based on the image data photographed by the photographing device 4, whether or not the surface of the dustproof cover 25 is dirty is determined by the dirt determination unit, and if it is determined that the dirt Q is attached, FIG. As shown in b), the moving means 28 is driven to move the dust cover 25 in the x-axis direction. The movement of the dust cover 25 in the x-axis direction is performed until the dirt determination unit determines that there is no dirt.
ここで、汚れの有無の判定は、撮影装置４により常時読み込んでいる画像データにおいて、例えば農産物Ｐが撮影されていない状態でｘ軸方向に沿って連続的に線Ｌが存在している場合には、汚れが存在すると判定することができる。勿論、農産物Ｐの撮影画像に存在するｘ軸方向に沿った線が、農産物Ｐを超えて存在する場合も汚れと判定することができる。 Here, the determination of the presence / absence of dirt is performed when, for example, the line L is continuously present along the x-axis direction in the image data that is constantly read by the photographing device 4 in a state where the agricultural product P is not photographed. Can be determined to be soiled. Of course, it can be determined that the line along the x-axis direction existing in the captured image of the agricultural product P exceeds the agricultural product P as dirty.
このような判定の具体的手法としては、例えば画像データを階調処理（例えば２５６階調）し、さらに２５６階調の画像データを所定の閾値に基づいて二値化処理する。二値化処理により画像有りと処理された画素の中で、ｘ軸方向に沿って線上に延びている画素が存在すると、これはゴミなどが付着した部分によって生じたと判断し、防塵カバー２５のカバー面に汚れが付着していると判定する。なお、この判定方法は一例であり、本発明はこの判定方法に限定されるものではない。 As a specific method for such determination, for example, image data is subjected to gradation processing (for example, 256 gradations), and image data of 256 gradations is binarized based on a predetermined threshold value. If there is a pixel extending on the line along the x-axis direction among the pixels processed as having an image by the binarization processing, it is determined that this is caused by a portion to which dust or the like is attached, and the dustproof cover 25 It is determined that dirt is attached to the cover surface. This determination method is an example, and the present invention is not limited to this determination method.
図４（ｂ）に示すように、防塵カバー２５のｘ軸方向の移動により、防塵カバー２５の表面に付着した汚れＱが防塵カバー２５における撮影エリア（撮影光路）から外れる位置まで達すると、防塵カバー２５の汚れのないカバー面を撮影エリア（撮影光路）に配置することができ、防塵カバー２５を通して撮影する画像にカバー面の汚れが写し込まれることがない。 As shown in FIG. 4B, when the dust cover 25 moves in the x-axis direction and the dirt Q attached to the surface of the dust cover 25 reaches a position outside the photographing area (photographing optical path) in the dust cover 25, the dustproof cover 25. The cover surface without the dirt of the cover 25 can be arranged in the photographing area (photographing optical path), and the dirt on the cover surface is not imprinted on the image photographed through the dust cover 25.
本実施形態では、防塵カバー２５のカバー面に汚れが付着すると、汚れのないカバー面が撮影光路内に達するまで防塵カバー２５を移動させるため、防塵カバー２５は常に一定の移動距離を移動するものではないが、防塵カバー２５のカバー面に汚れが付着する範囲もそれほど広範囲になるものでもないので、防塵カバー２５が一度に移動する距離は、撮影装置４のｘ軸方向における撮影視野の距離に比べて大幅に長くなることはなく、数ミリ程度の移動となる。したがって、防塵カバー２５のｘ軸方向の全長は、選別装置を含めて選果・包装設備が連続して可動する操業時間、防塵カバー２５のカバー面に汚れが付着する頻度等を考慮して決定することができる。 In the present embodiment, if dirt adheres to the cover surface of the dust cover 25, the dust cover 25 is moved until the clean cover surface reaches the photographing optical path. Therefore, the dust cover 25 always moves a certain distance. However, since the range in which dirt adheres to the cover surface of the dust cover 25 is not so wide, the distance that the dust cover 25 moves at a time is the distance of the field of view in the x-axis direction of the photographing apparatus 4. Compared to this, it does not become much longer, and it moves about several millimeters. Accordingly, the total length of the dust cover 25 in the x-axis direction is determined in consideration of the operation time during which the selection / packaging equipment continuously moves including the sorting device, the frequency with which dirt adheres to the cover surface of the dust cover 25, and the like. can do.
また、防塵カバー２５の移動の累積により、カバー面の全面が汚れた状態となると、きれいなカバー面を撮影光路中に配置できないので、警告ブザー或いは警告ランプ等の報知手段２９ｄで警報を出力し、防塵カバー２５の交換、あるいはクリーニングを促す。その際、選別ラインは農産物Ｐの搬送を中断する。 Further, if the entire cover surface becomes dirty due to the accumulation of the movement of the dust cover 25, a clean cover surface cannot be arranged in the photographing optical path, so an alarm is output by the notification means 29d such as a warning buzzer or a warning lamp, Replacing the dust cover 25 or cleaning is urged. At that time, the sorting line interrupts the transportation of the agricultural product P.
なお、防塵カバー２５のカバー面に汚れが付着していることを検知すると、汚れが付着した部分が撮影エリアから外れるまで防塵カバー２５をｘ軸方向に移動させているが、所定距離だけ移動させるようにしてもよい。この場合、汚れのないカバー面を迅速に撮影エリアに移動させることができ、第１選別コンベヤ部２０を搬送される農産物Ｐの撮影にできるだけ間に合うように防塵カバー２５の移動を完了させることができる。 When it is detected that dirt is attached to the cover surface of the dust cover 25, the dust cover 25 is moved in the x-axis direction until the dirty part is removed from the photographing area, but is moved by a predetermined distance. You may do it. In this case, the dirt-free cover surface can be quickly moved to the photographing area, and the movement of the dustproof cover 25 can be completed so as to be in time for photographing the agricultural product P conveyed through the first sorting conveyor unit 20. .
本実施形態によれば、選果処理作業中に、防塵カバー２５の表面に汚れが付着しても、防塵カバー２５の汚れのないカバー面を撮影光路中に移動させているので、選果作業を中断することなく農産物Ｐの計測を行うことができる。 According to the present embodiment, even if dirt adheres to the surface of the dustproof cover 25 during the fruit selection processing operation, the clean cover surface of the dustproof cover 25 is moved into the photographing optical path. The agricultural product P can be measured without interruption.
一方、カバー面に付着した汚れによって傷が存在すると誤判定された農産物Ｐは、第２選別コンベヤ部２１に向けて搬送されるが、例えば誤判定された農産物Ｐを第２選別コンベヤ部２１の搬送終端まで搬送し、再計測のために排出するようにしてもよい。 On the other hand, the agricultural product P erroneously determined to have scratches due to dirt adhered to the cover surface is conveyed toward the second sorting conveyor unit 21. For example, the erroneously determined agricultural product P is transferred to the second sorting conveyor unit 21. It may be transported to the end of transport and discharged for remeasurement.
第２選別コンベヤ部２１を構成するＰＫ式コンベヤは、水平方向に回転軸を有する駆動スプロケット（不図示）と従動スプロケット３０に掛け回された無端チェーン（不図示）にピアノ鍵盤状の複数のトレー３１を傾倒可能に取り付けた構成とし、第１選別コンベヤ部２０から供給される農産物Ｐが水平姿勢に保持された連続する複数のトレー３１に載置されて搬送される。農産物Ｐが該当する仕分け区分の排出装置８に到達すると、農産物Ｐが載置される複数のトレー３１が水平姿勢の保持位置から傾動し、載置している農産物Ｐが該当する仕分け区分の引き出しコンベヤ７に落下排出される。 The PK type conveyor constituting the second sorting conveyor unit 21 is composed of a drive sprocket (not shown) having a rotation axis in the horizontal direction and an endless chain (not shown) wound around the driven sprocket 30 and a plurality of piano keyboard-like trays. The agricultural product P supplied from the first sorting conveyor unit 20 is placed and transported on a plurality of continuous trays 31 held in a horizontal posture. When the agricultural product P reaches the discharge device 8 of the corresponding sorting category, the plurality of trays 31 on which the agricultural product P is placed tilts from the holding position of the horizontal posture, and the agricultural product P that is placed pulls out the corresponding sorting category. Dropped and discharged onto the conveyor 7.
本実施形態において、第１の計測装置３Ａは、第１選別コンベヤ部２０の搬送路よりも下方に配置しているが、これに限定されるものではなく、さらに反射ミラーを配置して撮影画像光を第１選別コンベヤ部２０の搬送路よりも上方に配置した撮影装置に導くようにしてもよい。 In the present embodiment, the first measuring device 3A is disposed below the conveyance path of the first sorting conveyor unit 20 , but the present invention is not limited to this. The light may be guided to an imaging device arranged above the conveyance path of the first sorting conveyor unit 20 .
他の実施形態
図５は本発明の他の実施形態を示す。
Other Embodiments FIG. 5 shows another embodiment of the present invention.
図３に示す第１の計測装置３Ａでは、筐体３３内へ埃や果汁が入り込み、撮影用隙間２２の真下に配置される反射ミラー２４を直接汚すのを防止するために、平板状の防塵カバー２５を配置し、防塵カバー２５を第１選別コンベヤ部２０の農産物搬送方向に沿って、搬送上流側から下流側、またはその逆方向に防塵カバー２５を所定長さだけ水平に移動させ、汚れのないカバー面を撮影光路上に位置させている。 In the first measuring apparatus 3A shown in FIG. 3, in order to prevent dust and fruit juice from entering the housing 33 and directly fouling the reflecting mirror 24 arranged immediately below the photographing gap 22, a flat dustproof The cover 25 is disposed, and the dust cover 25 is moved horizontally along the agricultural product transport direction of the first sorting conveyor unit 20 from the upstream side of the transport to the downstream side, or vice versa, by a predetermined length, thereby causing dirt. The uncovered cover surface is positioned on the photographing optical path.
これに対し、本実施形態の第１の計測装置４０は、光透過部材をなす例えばガラス或いはアクリル樹脂等で構成される防塵カバー４１を多面体形状に形成し、反射ミラー２４の上方に設けられた支持台４２内に防塵カバー４１を回転可能に取り付けている。支持台４２の天板部４２ａには、ｙ軸方向に沿って開口部４２ｂが形成され、撮影光が開口部４２ｂを通って防塵カバー４１に入射する。防塵カバー４１は、ｙ軸方向に沿って回転軸心を有し、ｙ軸方向両端にそれぞれ取り付けた保持部材４３が支持台４２に回転自在に保持されている。 On the other hand, in the first measuring device 40 of the present embodiment, a dustproof cover 41 made of, for example, glass or acrylic resin that forms a light transmitting member is formed in a polyhedral shape, and is provided above the reflection mirror 24. A dust cover 41 is rotatably mounted in the support base 42. An opening 42b is formed in the top plate portion 42a of the support base 42 along the y-axis direction, and photographing light enters the dustproof cover 41 through the opening 42b. The dust-proof cover 41 has a rotation axis along the y-axis direction, and holding members 43 respectively attached to both ends of the y-axis direction are rotatably held by the support base 42.
防塵カバー４１の一面は、天板部４２ａの開口部４２ｂとｘ軸方向における幅が略等しいので、落下するゴミなどは開口部４２ｂに臨む当該一面のみに落下し、隣接する他面には落下しない。このため、汚れの付着を検知すると、汚れの付着に基づく線Ｌの写り込みが消えるまで防塵カバー４１を移動させなくても、次の一面が開口部４２ｂに移動する所定の回転角度だけ回転させればよい。 Since one surface of the dust cover 41 has substantially the same width in the x-axis direction as the opening 42b of the top plate portion 42a, falling dust or the like falls only on the one surface facing the opening 42b and falls on the other adjacent surface. do not do. For this reason, when the adhesion of dirt is detected, the next surface is rotated by a predetermined rotation angle that moves to the opening 42b without moving the dustproof cover 41 until the reflection of the line L based on the adhesion of dirt disappears. Just do it.
そこで、一方の保持部材４３をロータリアクチュエータ等の回転駆動手段４４により間欠的に回転駆動し、防塵カバー４１を一方向に所定の回転角度で間欠的に回転させる。勿論、第１実施形態と同様に、撮影画像から防塵カバー４１の汚れが消える位置まで防塵カバーを移動させるようにしてもよいことはいうまでもないことである。 Therefore, one holding member 43 is intermittently rotated by a rotation driving means 44 such as a rotary actuator, and the dust cover 41 is intermittently rotated at a predetermined rotation angle in one direction. Of course, as in the first embodiment, it goes without saying that the dustproof cover may be moved from the captured image to a position where the dirt of the dustproof cover 41 disappears.
なお、上記した各実施形態において、第１計測装置３Ａ、４０は、一台の撮影装置４を例示しているが、これに限定されるものではなく、複数台の撮影装置を用いてもよい。 In each of the above-described embodiments, the first measuring devices 3A and 40 illustrate one imaging device 4. However, the present invention is not limited to this, and a plurality of imaging devices may be used. .
また、防塵カバーは、平板状や多面体状に限定されるものではなく、円盤状や円柱体であってもよい。 The dust cover is not limited to a flat plate shape or a polyhedron shape, and may be a disk shape or a cylindrical body.
１ 農産物選別装置
２ 選別コンベヤ
３Ａ、４０ 第１の計測装置 ３Ｂ 第２の計測装置
４、５ 撮影装置
４ａ 撮影エリア
７ 引き出しコンベヤ
８ 排出装置
２０ 第１選別コンベヤ部
２０Ａ 第１コンベヤ ２０Ｂ 第２コンベヤ
２１ 第２選別コンベヤ部
２２ 撮影用隙間
２３ 筐体
２４ 反射ミラー
２５、４１ 防塵カバー
２６、４３ 保持部材
２６ａ 開口部 ２６ｂ 桟部材
２７、４２ 支持台
４２ａ 天板部 ４２ｂ 開口部
２７ａ 滑動部材
２８ 移動手段
２８ａ 移動軸
２９ 制御装置
２９ａ 制御部 ２９ｂ モニター ２９ｃ キーボード
２９ｄ 報知手段
４４ 回転駆動手段
Ｐ 農産物
Ｑ 汚れ
Ｌ 線
DESCRIPTION OF SYMBOLS 1 Agricultural product sorter 2 Sorting conveyor 3A, 40 1st measuring device 3B 2nd measuring device 4, 5 Imaging device 4a Imaging area 7 Drawer conveyor 8 Discharge device 20 1st sorting conveyor part 20A 1st conveyor 20B 2nd conveyor 21 Second sorting conveyor section 22 Shooting gap 23 Housing 24 Reflection mirrors 25, 41 Dust-proof covers 26, 43 Holding member 26a Opening 26b Crosspiece members 27, 42 Support base 42a Top plate 42b Opening 27a Sliding member 28 Moving means 28a Moving shaft 29 Control device 29a Control unit 29b Monitor 29c Keyboard 29d Notification means 44 Rotation drive means P Agricultural product Q Dirt L line
Claims (1)
前記隙間部を通して農産物の底部を撮影する、視野が前記搬送手段の搬送方向と直交する方向に延びるライン状の撮影手段と、
前記撮影手段の撮影光路を横切って前記隙間部の下方に配置され、光透過性を有する光透過部材と、
前記光透過部材を保持する光透過部材保持手段と、
前記光透過部材保持手段を前記搬送手段の搬送方向と同一方向または逆方向に移動させる移動手段と、
前記撮影手段で撮影した画像情報に基づいて、前記光透過部材における撮影光路上で発生した異常情報を検知すると、前記移動手段を駆動して前記光透過部材保持手段を異常状態が解消するまで移動させる制御手段と、
を有する計測装置。 Conveying means having gaps at intervals where agricultural products can move across the conveying path for conveying agricultural products;
Photographing the bottom of the agricultural product through the gap, a line-shaped photographing means extending in a direction perpendicular to the conveying direction of the conveying means,
A light transmissive member that is disposed below the gap portion across the photographing optical path of the photographing means and has light permeability;
A light transmissive member holding means for holding the light transmissive member;
Moving means for moving the light transmissive member holding means in the same direction or in the opposite direction to the conveying direction of the conveying means;
Based on the image information photographed by the photographing means, when detecting abnormality information generated on the photographing optical path in the light transmitting member, the moving means is driven to move the light transmitting member holding means until the abnormal state is resolved. Control means for causing
Measuring device.
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| CN110639841A (en) * | 2019-08-13 | 2020-01-03 | 浙江华睿科技有限公司 | Device is swept at bottom of commodity circulation and has device's commodity circulation letter sorting line is swept at bottom of this commodity circulation |
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