JPH0819763A - Long-shaped vegetable selector - Google Patents
Long-shaped vegetable selectorInfo
- Publication number
- JPH0819763A JPH0819763A JP15560494A JP15560494A JPH0819763A JP H0819763 A JPH0819763 A JP H0819763A JP 15560494 A JP15560494 A JP 15560494A JP 15560494 A JP15560494 A JP 15560494A JP H0819763 A JPH0819763 A JP H0819763A
- Authority
- JP
- Japan
- Prior art keywords
- cucumber
- conveyor
- image processing
- long
- sorting
- 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
- Sorting Of Articles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、キュウリ（胡瓜）、ヘ
チマ（糸瓜）、あるいは大根等の長もの野菜を、形状や
大きさ等によって選別して仕分ける選別機に関するもの
である。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sorting machine for sorting and sorting long vegetables such as cucumber (cucumber), loofah (melon), and radish according to their shape and size.
【０００２】[0002]
【従来の技術】収穫した長もの野菜を形状や大きさに分
類して仕分けする選別機としては、例えばキュウリ選別
機があり、それは、貯留部のキュウリを搬送装置に１本
ずつ手で供給し、搬送されるキュウリを光センサの投影
によって形状を判定して選別するというものであった。2. Description of the Related Art As a sorter that sorts and sorts harvested long vegetables into shapes and sizes, for example, there is a cucumber sorter, which manually supplies the cucumbers in a storage unit to a conveyor device one by one. The shape of the conveyed cucumber is determined by the projection of the optical sensor and the cucumber is selected.
【０００３】[0003]
【発明が解決しようとする課題】上記従来技術では、人
為操作でキュウリを供給するものであって労力的に厳し
いものである。そして、光センサの投影による選別手段
では、多数のセンサ数が必要であり、かつ、大雑把で言
わばデジタル的な形状認識となって正確な形状判別の把
握の点で難点がある。本発明の目的は、供給手段の自動
化が行えるとともに、より正確で精度良く形状認識して
選別できる選別手段を備え、省力化と高能率化との図れ
る選別機を提供する点にある。In the above-mentioned prior art, the cucumber is supplied manually, which is labor intensive. In addition, the selection means by projection of the optical sensor requires a large number of sensors, and roughly speaking, it is a digital shape recognition, and there is a difficulty in grasping the accurate shape discrimination. It is an object of the present invention to provide a sorting machine which can automate the supply means, and which is equipped with a sorting means capable of recognizing a shape more accurately and accurately and sorting, thereby achieving labor saving and high efficiency.
【０００４】[0004]
【課題を解決するための手段】上記目的の達成のために
本発明は、長もの野菜を搬送する搬送コンベヤと、この
搬送コンベヤの始端部に長もの野菜を所定姿勢で供給す
る供給手段と、搬送コンベヤで搬送される長もの野菜の
形状を認識可能な画像処理手段と、この画像処理手段か
ら出力される形状認識情報に基づいて、搬送コンベヤ上
の搬送長もの野菜を選別して仕分ける選別手段とを備え
て選別機を構成することを特徴とするものである。To achieve the above object, the present invention provides a conveyor for conveying long vegetables, and a supply means for supplying long vegetables in a predetermined posture to the starting end of the conveyor. Image processing means capable of recognizing the shape of long vegetables conveyed by the conveyor, and sorting means for selecting and assorting long vegetables on the conveyor based on the shape recognition information output from the image processing means. It is characterized in that a sorting machine is provided with.
【０００５】[0005]
【作用】つまり、供給手段を備えることで、人手を介す
ることなく搬送コンベヤに長もの野菜を供給できるよう
になる。そして、選別手段を、例えばカメラ等の画像処
理手段によって構成してあるから、長もの野菜の形状を
きめ細かに捕らえること、言わばアナログ的に形状認識
ができてより精度良く形状判断が行えるようになる。In other words, by providing the supply means, it becomes possible to supply long vegetables to the conveyor without manpower. Since the selecting means is composed of an image processing means such as a camera, the shape of long vegetables can be finely captured, so to speak, the shape can be recognized in an analog manner and the shape can be determined more accurately. .
【０００６】[0006]
【発明の効果】従って、自動供給化と画像処理を導入し
た選別手段とにより、選別精度が改善されるとともに省
力化及び高能率化の図れる好ましい長もの野菜選別機を
提供することができた。Therefore, by the automatic supply and the sorting means which introduces the image processing, it is possible to provide a preferable long vegetable sorter which is capable of improving the sorting accuracy, saving labor and increasing the efficiency.
【０００７】[0007]
【実施例】以下に、本発明の実施例を図面に基づいて説
明する。図１にキュウリ選別機が示され、Ａは収納箱１
内に貯留されたキュウリを２連構造のベルトコンベヤ
（搬送装置に相当）Ｂの始端部に所定姿勢で供給する供
給する供給手段、ＣはベルトコンベヤＢで移送されるキ
ュウリの形状及び大きさを認識する画像処理手段、Ｄは
画像処理手段Ｃから出力される形状認識情報に基づいて
ベルトコンベヤＢ上の搬送キュウリを選別して仕分ける
選別手段である。又、２は選別シュート、３〜６は回収
箱、７はくず箱である。Embodiments of the present invention will be described below with reference to the drawings. Fig. 1 shows a cucumber sorter, where A is the storage box 1.
A supply means for supplying the cucumber stored in the inside to a starting end portion of a belt conveyor (corresponding to a conveying device) B having a double structure in a predetermined posture, and C is a shape and a size of the cucumber transferred by the belt conveyor B. The image processing means, D, for recognizing is a sorting means for sorting and sorting the conveyed cucumbers on the belt conveyor B based on the shape recognition information output from the image processing means C. Further, 2 is a sorting chute, 3 to 6 are collection boxes, and 7 is a waste box.
【０００８】このキュウリ選別機の概略作用は、先ず、
供給手段Ａが、収納箱１のキュウリを吸引による吸い付
きによって持上げるとともに、搬送ベルト８の長手方向
に直交する方向に向いた姿勢でベルトコンベヤＢの始端
部に供給する。次に、画像処理手段Ｃが、コンベヤ上で
搬送されるキュウリをＣＣＤカメラ９によってその形状
・大きさを認識し、画像処理手段Ｃから出力される形状
認識情報に基づいて、ベルトコンベヤＢ上の搬送キュウ
リをベルト側方に押出し排出し、傾斜配置された選別シ
ュート２を滑落させて回収箱３〜６に回収する。そし
て、あまりに細いとか短いといった未成熟キュウリや極
端に曲がったキュウリ等の商品とならないくずキュウリ
は、ベルトコンベヤＢ終端に配置されたくず箱７に回収
されるのである。The general operation of this cucumber sorter is as follows.
The supply means A lifts the cucumber in the storage box 1 by suction by suction and supplies the cucumber to the starting end portion of the belt conveyor B in a posture oriented in a direction orthogonal to the longitudinal direction of the conveyor belt 8. Next, the image processing means C recognizes the shape and size of the cucumber conveyed on the conveyor by the CCD camera 9, and based on the shape recognition information output from the image processing means C, on the belt conveyor B. The conveyed cucumber is extruded to the side of the belt and discharged, and the slantingly arranged sorting chute 2 is slid and collected in the collecting boxes 3 to 6. Then, the waste cucumber that is not a commodity such as an immature cucumber that is too thin or too short or an extremely curved cucumber is collected in the waste box 7 arranged at the end of the belt conveyor B.
【０００９】次に、各装置を簡単に説明する。図１、図
２に示すように、供給装置Ａは、複数の吸着パッド１０
を備えた作用体１１を前後左右、及び上下に移動自在な
３次元移動機構１２と、各吸着パッド１０に作用する吸
引ポンプ１３とで構成されている。吸着パッド１０は、
内部に図示しない吸引経路を有した可撓性の吸着面１４
を首振り移動可能に設けて構成され、各吸着パッド１０
を平面視で千鳥格子状に配列してあるとともに、それら
複数の吸着パッド１０と３次元移動機構１２の基体１７
に設けた吸引ポンプ１３とを、屈曲自在な吸引ホース１
８で接続連結してある。Next, each device will be briefly described. As shown in FIGS. 1 and 2, the supply device A includes a plurality of suction pads 10.
The working body 11 including the above is configured to include a three-dimensional moving mechanism 12 that can move back and forth, left and right, and up and down, and a suction pump 13 that acts on each suction pad 10. The suction pad 10 is
Flexible suction surface 14 having a suction path (not shown) inside
Each suction pad 10 is configured to be swingable and movable.
Are arranged in a zigzag pattern in a plan view, and the plurality of suction pads 10 and the base 17 of the three-dimensional moving mechanism 12 are arranged.
The suction pump 13 provided on the
It is connected and connected at 8.
【００１０】３次元移動機構１２は、作用体１１を鉛直
方向に所定範囲で昇降自在な上下移動機構１２Ａと、上
下移動機構１２Ａを左右方向（ベルトコンベヤＢの搬送
方向に直交する方向）に所定範囲で移動自在な左右移動
機構１２Ｂと、左右移動機構１２Ｂを前後方向（ベルト
コンベヤＢの搬送方向）に所定範囲で移動自在な前後移
動機構１２Ｃとから構成されている。The three-dimensional moving mechanism 12 has a vertically moving mechanism 12A for vertically moving the working body 11 in a predetermined range in the vertical direction, and a vertically moving mechanism 12A for the left and right directions (directions orthogonal to the conveying direction of the belt conveyor B). The left and right moving mechanism 12B is movable within a range, and the front and rear moving mechanism 12C is capable of moving the left and right moving mechanism 12B in the front-rear direction (conveying direction of the belt conveyor B) within a predetermined range.
【００１１】ベルトコンベヤＢは、前後の輪体１５，１
６、これらに巻回される搬送ベルト８、電動モータ等の
駆動源２６から構成されるコンベヤ２台を直列配備して
構成されている。後部のコンベヤを前部のコンベヤより
も速く駆動させることで、供給されてくるキュウリの搬
送方向間隔が選別に適した所定間隔に広がるようにして
あると好都合である。搬送ベルト８上にキュウリを載せ
付けての載置搬送により、キュウリ表面のイボイボを落
とすことなく搬送できる。又、ベルト表面に、キュウリ
姿勢を整えさせるために、ベルト移動方向に直交した凸
条（図示せず）を適宜に形成しておけば好都合と思われ
る。The belt conveyor B is composed of front and rear wheels 15, 1.
6, two conveyors including a conveyor belt 8 wound around these, and a drive source 26 such as an electric motor are arranged in series. It is convenient that the rear conveyor is driven faster than the front conveyor so that the interval of the supplied cucumbers in the conveying direction is widened to a predetermined interval suitable for sorting. By placing and transferring the cucumber on the conveyor belt 8, the cucumber can be conveyed without dropping the warts on the surface of the cucumber. Further, in order to adjust the cucumber posture on the surface of the belt, it may be convenient to appropriately form a ridge (not shown) orthogonal to the belt moving direction.
【００１２】画像処理手段Ｃは、ベルトコンベヤＢの搬
送方向中間位置に設けた支持塔１９のオーバーハング部
分にＣＣＤ（charge coupled device 電荷結合素子）カ
メラ９を配置して構成されており、コンベヤ上のキュウ
リを上方から撮影してその形状や大きさを認識するもの
である。The image processing means C is constructed by disposing a CCD (charge coupled device) camera 9 on an overhang portion of a support tower 19 provided at an intermediate position in the conveying direction of the belt conveyor B. The cucumber is photographed from above and its shape and size are recognized.
【００１３】選別手段Ｄは、４個の選別アクチュエータ
（伸縮シリンダ等）２０〜２３をベルトコンベヤＢの側
方近傍の位置でベルト長手方向に並列させて配備して構
成されている。搬送上手側のものから、直線形状で長さ
が所定以上のキュウリを押出す第１シリンダ２０、直線
形状で長さが所定以下のキュウリを押出す第２シリンダ
２１、曲線形状で長さが所定以上のキュウリを押出す第
３シリンダ２２、及び曲線形状で長さが所定以下のキュ
ウリを押出す第４シリンダ２３に構成されている。The sorting means D is constructed by arranging four sorting actuators (extendable cylinders, etc.) 20 to 23 in parallel in the longitudinal direction of the belt at a position near the side of the belt conveyor B. The first cylinder 20 that extrudes a cucumber that is linear and has a predetermined length or more, the second cylinder 21 that extrudes a cucumber that is linear and has a predetermined length or less, and the curved shape has a predetermined length The third cylinder 22 for extruding the above-mentioned cucumber and the fourth cylinder 23 for extruding a cucumber having a curved shape and having a predetermined length or less are configured.
【００１４】そして、供給装置Ａ、ベルトコンベヤＢの
駆動源２６、画像処理手段Ｃ、及び各シリンダ２０〜２
３に対する制御弁群２４の夫々が制御装置２５に電気的
に連係接続されている。これにより、選別機が駆動され
ると収納箱１内のキュウリを人手を要することなく４種
類の回収キュウリとくずキュウリとに自動選別して夫々
の回収箱３〜６、及びくず箱７に回収されるのである。Then, the supply device A, the drive source 26 of the belt conveyor B, the image processing means C, and the cylinders 20-2.
Each of the control valve groups 24 for 3 is electrically connected to the control device 25. As a result, when the sorter is driven, the cucumbers in the storage box 1 are automatically sorted into four types of collection cucumbers and waste cucumbers without manual labor, and are collected in the respective collection boxes 3 to 6 and the waste box 7. Is done.
【００１５】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.
【図１】キュウリ選別機の概略構造を示す斜視図FIG. 1 is a perspective view showing a schematic structure of a cucumber sorter.
【図２】キュウリ選別機の概略構造を示す平面図FIG. 2 is a plan view showing a schematic structure of a cucumber sorter.
Ａ 供給手段 Ｂ 搬送コンベヤ Ｃ 画像処理手段 Ｄ 選別手段 A supply means B transport conveyor C image processing means D sorting means
Claims (1)
（Ｂ）と、この搬送コンベヤ（Ｂ）の始端部に長もの野
菜を所定姿勢で供給する供給手段（Ａ）と、前記搬送コ
ンベヤ（Ａ）で搬送される長もの野菜の形状を認識可能
な画像処理手段（Ｃ）と、この画像処理手段（Ｃ）から
出力される形状認識情報に基づいて、前記搬送コンベヤ
（Ａ）上の搬送長もの野菜を選別して仕分ける選別手段
（Ｄ）とを備えて成る長もの野菜選別機。1. A conveyor (B) for conveying long vegetables, a supply means (A) for supplying long vegetables in a predetermined posture to the starting end of the conveyor (B), and the conveyor (A). The image processing means (C) capable of recognizing the shape of the long vegetables conveyed by, and the conveyance long ones on the conveyor (A) based on the shape recognition information output from the image processing means (C). A long vegetable sorter comprising a sorting means (D) for sorting and sorting vegetables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15560494A JPH0819763A (en) | 1994-07-07 | 1994-07-07 | Long-shaped vegetable selector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15560494A JPH0819763A (en) | 1994-07-07 | 1994-07-07 | Long-shaped vegetable selector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0819763A true JPH0819763A (en) | 1996-01-23 |
Family
ID=15609660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15560494A Pending JPH0819763A (en) | 1994-07-07 | 1994-07-07 | Long-shaped vegetable selector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0819763A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103331267A (en) * | 2012-12-20 | 2013-10-02 | 横店集团东磁股份有限公司 | Automatic size grading device for power ferrites |
| JP2018034233A (en) * | 2016-08-30 | 2018-03-08 | ファナック株式会社 | System and method for workpiece assortment |
| JP2018075509A (en) * | 2016-11-08 | 2018-05-17 | ティーエスプラント有限会社 | Fruit vegetable sorting apparatus and fruit vegetable sorting method |
| GB2593169A (en) * | 2020-03-16 | 2021-09-22 | Demeester Christopher | A support device |
-
1994
- 1994-07-07 JP JP15560494A patent/JPH0819763A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103331267A (en) * | 2012-12-20 | 2013-10-02 | 横店集团东磁股份有限公司 | Automatic size grading device for power ferrites |
| JP2018034233A (en) * | 2016-08-30 | 2018-03-08 | ファナック株式会社 | System and method for workpiece assortment |
| JP2018075509A (en) * | 2016-11-08 | 2018-05-17 | ティーエスプラント有限会社 | Fruit vegetable sorting apparatus and fruit vegetable sorting method |
| GB2593169A (en) * | 2020-03-16 | 2021-09-22 | Demeester Christopher | A support device |
| GB2593169B (en) * | 2020-03-16 | 2022-09-28 | Demeester Christopher | A support device |
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