TW202241258A - Egg candling apparatus - Google Patents
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- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
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Abstract
Description
本發明係關於一種驗蛋裝置。The invention relates to an egg testing device.
過往,關於食用蛋(未受精蛋)之檢查方法,已提出多項專利申請案,但該檢查方法係根據特定波長之光在蛋內部之吸收程度而檢測有無出血或異物、或者根據透射光圖像之濃度分佈而檢測蛋殼之裂紋,該等方法皆無法檢測受精蛋之血管的分佈狀態及發育狀態。
申請人於專利文獻1中揭示有一種驗蛋裝置,其於使用雞蛋之疫苗生產中,對受精蛋照射光,拍攝穿透蛋內部之狀態的圖像,且自所拍攝之圖像中擷取檢查區域,計測該檢查區域內之血管資訊,根據一定粗細以上之血管的總血管長度來自動判定正常蛋。
此外,揭示有一種技術(專利文獻2),於該技術中,使用蛋之圖像作為教學資料,且利用深度學習來進行機器學習,藉此而高精度地特定出包含未受精蛋在內之不良蛋的因素。
[先前技術文獻]
[專利文獻]
In the past, a number of patent applications have been filed for the inspection method of edible eggs (unfertilized eggs), but the inspection method is based on the degree of absorption of light of a specific wavelength inside the egg to detect whether there is bleeding or foreign matter, or based on the transmitted light image These methods are unable to detect the distribution and development status of blood vessels in fertilized eggs.
The applicant disclosed in
專利文獻1:日本專利第3998184號 專利文獻2:國際公開第2020/262557號 Patent Document 1: Japanese Patent No. 3998184 Patent Document 2: International Publication No. 2020/262557
(發明所欲解決之問題)(Problem to be solved by the invention)
於先前技術中,自動地將檢查對象蛋搬送至既定之檢查位置,於既定之檢查位置拍攝檢查對象蛋,且根據所拍攝之圖像來判定檢查對象蛋之狀態,但近年來,疫苗生產之高品質化及大量生產化之需求急遽增加,迫切需要節省裝置之空間、處理速度之高速化、提高檢查對象蛋之判定精度、提高裝置之通用性及可擴展性等。In the prior art, the egg to be inspected is automatically transported to a predetermined inspection position, the egg to be inspected is photographed at the predetermined inspection position, and the state of the egg to be inspected is judged according to the captured image. However, in recent years, vaccine production The demand for high quality and mass production is increasing rapidly. It is urgent to save the space of the device, increase the processing speed, improve the judgment accuracy of the eggs to be inspected, and improve the versatility and scalability of the device.
本發明之目的係在於提供一種驗蛋裝置,其可更適宜地對檢查對象蛋進行檢查。 (解決問題之技術手段) The object of the present invention is to provide an egg inspection device, which can more suitably inspect the eggs to be inspected. (technical means to solve the problem)
本發明之第一觀點的驗蛋裝置係具有:照明裝置,其將照明光照射於檢查對象蛋;攝影裝置,其對被前述照明裝置照射之檢查對象蛋進行攝影;判定裝置,其根據前述攝影裝置拍攝之檢查對象蛋的攝影圖像,判定檢查對象蛋之狀態;及反射器,其設置於前述照明裝置至檢查對象蛋之光路上、或設置於檢查對象蛋至前述攝影裝置之光路上;前述照明裝置與前述攝影裝置係並列配置。 於前述驗蛋裝置中,可構成為,前述照明裝置係自上方對檢查對象蛋照射照明光,前述攝影裝置係自上方對被前述照明裝置照射之檢查對象蛋進行攝影,前述反射器係設置於檢查對象蛋至前述攝影裝置之光路上,將由前述照明裝置照射照明光之檢查對象蛋的影像反射而入射於前述攝影裝置,於檢查對象蛋之上方,前述照明裝置與前述攝影裝置係並列配置。 於前述驗蛋裝置中,可構成為,前述照明裝置係配置成朝第一光軸方向照射光,前述反射器係配置成,將自檢查對象蛋放射之光束中自與前述第一光軸方向不同之第二光軸方向射出之光束,朝與前述第一光軸方向大致平行之第三光軸方向反射,前述攝影裝置係配置成,接收被前述反射器反射之自第三光軸方向入射之光束。 於前述驗蛋裝置中,可構成為,進而具有支撐機構,該支撐機構係支撐收容於托盤之檢查對象蛋,且使檢查對象蛋移動至自前述照明裝置照射之前述第一光軸方向之光的光軸與前述反射器所反射之前述第二光軸方向之光的光軸交叉之檢查位置。 於前述驗蛋裝置中,可構成為,前述支撐機構係具有:支撐台,其支撐檢查對象蛋;軸,其連結於前述支撐台之下部;孔部,其供前述軸***,而可使前述軸朝上下方向移動;及蓋,其覆蓋前述軸與前述孔部之間的間隙。 於前述驗蛋裝置中,可構成為,前述支撐機構具有用以支撐檢查對象蛋之支撐台,該支撐台係具有與檢查對象蛋之形狀對應之內面,前述支撐台之最大內徑與最大外徑之差為5mm以下。 於前述驗蛋裝置中,可構成為,前述支撐機構係具有用以於二維方向調整前述支撐台之位置的位置調整機構。 於前述驗蛋裝置中,可構成為,前述攝影裝置係以同時對2個檢查對象蛋進行攝影之方式調整視角及/或攝影距離,前述判定裝置係根據由前述攝影裝置所拍攝之一張攝影圖像,而分別判定2個檢查對象蛋之狀態。 於前述驗蛋裝置中,可構成為,前述判定裝置係具有校正功能,藉由對自前述攝影裝置取得之診斷用工件的攝影圖像進行診斷,根據該診斷結果而可自動地調整攝影條件或圖像調整條件。 於前述驗蛋裝置中,可構成為,前述照明裝置係具有放射出總光通量600lm以上之白色光的LED燈。 本發明之第二觀點的驗蛋裝置係具有:檢查部,其對檢查對象蛋之狀態進行檢查;搬送部,其將收容有檢查對象蛋之托盤搬送至前述檢查部;及控制部,其控制前述檢查部及前述搬送部之動作;前述搬送部係具有一對臂,該一對臂係具有一對爪部,藉由前述一對臂之前述一對爪部,以4點把持前述托盤,朝前述檢查部搬送。 於前述驗蛋裝置中,可構成為,前述托盤可於複數個收容部分別收容檢查對象蛋,前述檢查部係於對檢查對象蛋之狀態進行檢查之前,對由前述搬送部搬送之托盤進行攝影,根據所拍攝之攝影圖像,而特定出前述托盤中未收容檢查對象蛋之收容部。 於前述驗蛋裝置中,可構成為,進而具有排除機構,該排除機構係於前述檢查部中對檢查對象蛋之狀態進行檢查之後,用以將被判定為不良蛋之檢查對象蛋排除,前述排除機構係具有:吸附構件,其係設置有與可收容於前述托盤之檢查對象蛋相同之數量或其以上之數量,且與前述檢查對象蛋抵接而吸附被判定為不良蛋之檢查對象蛋;及單一之驅動部,其係同時驅動前述複數個吸附構件而使其等分別抵接於檢查對象蛋。 於前述驗蛋裝置中,可構成為,可自由地增設具有前述檢查部及前述搬送部之單元。 本發明之第三觀點的驗蛋裝置之特徵在於,其係具有:照明裝置,其將照明光照射於檢查對象蛋;攝影裝置,其對被前述照明裝置照射之檢查對象蛋進行攝影;及判定裝置,其根據前述攝影裝置所拍攝之檢查對象蛋的攝影圖像,而判定檢查對象蛋之狀態;前述攝影裝置係將RGB表色系之圖像輸出至前述判定裝置,前述判定裝置係將自前述攝影裝置取得之前述RGB表色系之圖像轉換為HSV表色系之圖像,且根據轉換後之前述HSV表色系之圖像中之色相,而判定檢查對象蛋之狀態。 於前述驗蛋裝置中,可構成為,前述檢查對象蛋係受精蛋。 (對照先前技術之功效) The egg inspection device according to the first aspect of the present invention includes: an illumination device that irradiates the egg to be inspected with illumination light; a photographing device that photographs the egg to be inspected that is irradiated by the illumination device; The photographic image of the egg to be inspected is taken by the device to determine the state of the egg to be inspected; and the reflector is arranged on the optical path from the aforementioned lighting device to the egg to be inspected, or on the optical path from the egg to be inspected to the aforementioned photographic device; The aforementioned illuminating device and the aforementioned photographing device are arranged in parallel. In the above-mentioned egg inspection device, it may be configured that the lighting device irradiates the egg to be inspected with illumination light from above, the photographing device photographs the egg to be inspected irradiated by the lighting device from above, and the reflector is arranged on On the light path from the egg to the camera, the image of the egg illuminated by the illuminating device is reflected and incident on the camera. Above the egg, the illuminating device and the camera are arranged side by side. In the above-mentioned egg inspection device, it may be configured that the lighting device is configured to irradiate light toward the first optical axis direction, and the reflector is configured to direct the light beam emitted from the egg to be inspected in the direction of the first optical axis. The light beams emitted in different second optical axis directions are reflected toward the third optical axis direction substantially parallel to the first optical axis direction, and the aforementioned photographing device is configured to receive the light incident from the third optical axis direction reflected by the aforementioned reflector. beam of light. In the aforementioned egg inspection device, it may be configured to further include a support mechanism that supports the egg to be inspected and accommodated in the tray, and moves the egg to be inspected to the direction of the light irradiated from the lighting device in the direction of the first optical axis. The inspection position where the optical axis of the reflector intersects with the optical axis of the light in the direction of the second optical axis reflected by the reflector. In the above-mentioned egg testing device, the above-mentioned support mechanism can be configured as follows: a support platform, which supports the egg to be inspected; a shaft, which is connected to the lower part of the aforementioned support platform; a hole, which is inserted into the aforementioned shaft, so that the aforementioned The shaft moves up and down; and the cover covers the gap between the shaft and the hole. In the aforementioned egg inspection device, it can be configured that the aforementioned support mechanism has a support platform for supporting the egg to be inspected, the support platform has an inner surface corresponding to the shape of the egg to be inspected, and the maximum inner diameter and the maximum diameter of the aforementioned support platform The difference in outer diameter is 5 mm or less. In the above-mentioned egg inspection device, the above-mentioned support mechanism may be configured to include a position adjustment mechanism for adjusting the position of the above-mentioned support table in two-dimensional directions. In the aforementioned egg inspection device, it can be configured that the aforementioned photographing device adjusts the angle of view and/or the photographing distance by taking pictures of two eggs to be inspected at the same time, and the aforementioned judging device is based on one photograph taken by the aforementioned photographing device. images to determine the status of the two eggs to be inspected. In the aforementioned egg inspection device, it may be configured such that the aforementioned determination means has a calibration function, and the imaging conditions or conditions can be automatically adjusted or adjusted based on the diagnostic result by diagnosing the imaging image of the workpiece for diagnosis obtained from the aforementioned imaging means. Image adjustment conditions. In the aforementioned egg inspection device, it may be configured that the aforementioned illuminating device has an LED lamp emitting white light with a total luminous flux of 600 lm or more. The egg inspection device according to the second aspect of the present invention has: an inspection unit that inspects the state of the eggs to be inspected; a transport unit that transports the tray containing the eggs to be inspected to the inspection unit; and a control unit that controls the eggs to be inspected. Actions of the aforementioned inspection unit and the aforementioned transport unit; the aforementioned transport unit has a pair of arms, and the pair of arms has a pair of claws, and the aforementioned pair of claws of the pair of arms holds the aforementioned tray at 4 points, Transfer to the aforementioned inspection section. In the aforementioned egg inspection device, it may be configured that the trays are capable of accommodating eggs to be inspected in a plurality of storage sections, and the inspection section takes pictures of the trays conveyed by the conveying section before inspecting the state of the eggs to be inspected. , according to the captured photographic image, identify the storage portion of the tray that does not contain the eggs to be inspected. In the above-mentioned egg inspection device, it may be configured to further have an elimination mechanism, which is used to exclude the eggs to be inspected that are judged as defective eggs after the state of the eggs to be inspected is inspected in the aforementioned inspection section. The removal mechanism has: an adsorption member, which is provided with the same number or more than the number of eggs to be inspected that can be accommodated in the tray, and which abuts on the eggs to be inspected to absorb the eggs to be inspected that are judged to be defective eggs ; and a single driving unit, which simultaneously drives the above-mentioned plurality of adsorption members so that they respectively abut against the egg to be inspected. In the aforementioned egg inspection device, it can be configured such that a unit having the aforementioned inspecting section and the aforementioned conveying section can be freely added. The egg inspection device according to the third aspect of the present invention is characterized in that it includes: an illumination device that irradiates the egg to be inspected with illumination light; a photographing device that photographs the egg to be inspected that is irradiated by the illumination device; and judgment device, which judges the state of the egg to be inspected according to the photographic image of the egg to be inspected taken by the photographic device; the photographic device outputs the image of the RGB color system to the judgment device, and the judgment device automatically The image of the aforementioned RGB color system obtained by the aforementioned camera device is converted into an image of the HSV color system, and the state of the egg to be inspected is determined according to the hue in the converted image of the aforementioned HSV color system. In the aforementioned egg inspection device, it may be configured such that the egg to be inspected is a fertilized egg. (compared to the effect of previous technology)
根據本發明,可更適宜地對檢查對象蛋進行檢查。According to the present invention, the egg to be inspected can be inspected more suitably.
以下,根據圖式,對本發明之實施形態進行說明。本發明係關於一種驗蛋裝置,其用以檢查供作製造疫苗等之雞蛋(受精蛋)。本發明中作為檢查對象之蛋係雞等之受精蛋,蛋表面之顏色可為白色、褐色等任何顏色。無論流感等病毒之種類、其他藥品等注射物之種類、或有無注射其等注射物,於胎兒之血管隨著生長而於蛋內部廣泛分佈之受精蛋中,在對其生死及發育狀況進行非破壞性檢查之情況下,本發明之技術係具有重大意義。Hereinafter, embodiments of the present invention will be described based on the drawings. The present invention relates to an egg inspection device for inspecting eggs (fertilized eggs) for vaccine production and the like. In the present invention, the egg used as the inspection object is a fertilized egg of a chicken, etc., and the color of the surface of the egg can be any color such as white or brown. Regardless of the type of viruses such as influenza, the type of injections such as other medicines, or whether the injections are injected or not, in the fertilized egg whose blood vessels grow and are widely distributed inside the egg, the life, death and development of the egg can be determined in a non-critical manner. In the case of destructive inspection, the technology of the present invention is of great significance.
圖1為顯示本實施形態之驗蛋裝置1的立體圖。此外,圖2為顯示本實施形態之驗蛋裝置1之搬送部3及檢查部4的立體圖。如圖1及圖2所示,本實施形態之驗蛋裝置1係具有控制部2、搬送部3及檢查部4。於本實施形態中,在圖3所示之專用托盤8內收容有檢查對象蛋之狀態下,藉由搬送部3而將檢查對象蛋搬送至檢查部4,進行檢查對象蛋之狀態(是不良蛋還是正常蛋)的判定。再者,圖3為顯示本實施形態之專用托盤8的立體圖。如圖3所示,專用托盤8係分別具有用以收容檢查對象蛋之收容部81。再者,於本實施形態中,如圖3所示,例示了可收容6×6個檢查對象蛋之專用托盤8而進行說明,但可收容於專用托盤8之檢查對象蛋的數量不限於此,例如,也可為能保持6×7個檢查對象蛋之構成。再者,於收容部81形成有較檢查對象蛋之直徑更小之孔徑的孔部82,藉由將檢查對象蛋***般地放置於該孔部82內,檢查對象蛋被卡在孔部82之邊緣,從而可保持及收容檢查對象蛋。Fig. 1 is a perspective view showing an
控制部2係電腦等運算裝置,其係具有:記憶裝置21,其係記憶有用以進行本實施形態之驗蛋處理的程式;及運算裝置22,其係執行記憶於記憶裝置21之程式,且控制搬送部3及檢查部4之動作而進行將檢查對象蛋加以檢查之驗蛋處理。運算裝置22係根據於檢查部4中拍攝之檢查對象蛋的攝影圖像,而判定檢查對象蛋之狀態(是正常蛋還是不良蛋)。再者,運算裝置22之判定檢查對象蛋之判定方法可使用公知之方法,例如,可自檢查對象蛋之圖像中檢測出整體之色調、氣室與漿尿膜腔之邊界附近的狀態、血管之狀態、氣室之有無或形狀、有無裂紋等特徵點,而特定出是正常蛋還是不良蛋,此外,於不良蛋之情況下,還可特定出未受精蛋、中止蛋、氣室不良蛋、顛倒蛋、發育不良蛋、具有裂紋之蛋等不良因素。The
此外,過往雖然已知一種根據檢查對象蛋之彩色圖像來對檢查對象蛋之狀態進行檢查之方法,但仍具有不能將血管充分地存在之檢查對象蛋中因出血而導致整個蛋的紅色變深之蛋、或胎兒衰弱而整個蛋的黃色變深之蛋檢測為不良蛋之情況。與此相對,本實施形態之運算裝置22係將以RGB表色系輸出之檢查對象蛋的攝影圖像轉換為HSV表色系,根據HSV成分中之H(色相)之值,判定檢查對象蛋之整體色調,藉此而可將因出血而導致整個蛋的紅色變深之蛋、或胎兒衰弱而整個蛋的黃色變深之蛋檢測為不良蛋。In addition, although a method of inspecting the state of an egg to be inspected is known based on a color image of the egg to be inspected, there is still a problem that blood vessels in the egg to be inspected cannot be sufficiently present, and the entire egg becomes red due to bleeding. Dark eggs, or eggs whose fetuses are weak and the yellow color of the whole egg becomes darker are detected as bad eggs. In contrast, the computing device 22 of this embodiment converts the photographic image of the egg to be inspected outputted in the RGB colorimetric system into the HSV colorimetric system, and judges the egg to be inspected based on the value of H (hue) in the HSV component. The overall tone of the egg can be used to detect the egg whose red color becomes darker due to bleeding, or the egg whose yellow color becomes darker due to fetal weakness as a defective egg.
此外,於本實施形態中,運算裝置22對於過往難以判別之以下不良蛋,仍可適當地進行判別。即,運算裝置22係根據彩色圖像中之檢查對象蛋的血管之顏色資訊(RGB表色系),而判別正常蛋與殘留有粗血管(例如1mm以上之寬度的血管)之死蛋,藉此而可將殘留有粗血管之死蛋檢測為不良蛋。此外,運算裝置22,可根據彩色圖像中之檢查對象蛋的氣室之形狀或氣室之輪廓的鮮明度,而將氣室具有異常之檢查對象蛋檢測為不良蛋。除此之外,運算裝置22也可根據彩色圖像中之檢查對象蛋的氣室之顏色資訊(RGB表色系),而檢測氣室中之紅色斑點,藉此而將抗原之接種孔中附著有血之出血蛋檢測為不良蛋。In addition, in this embodiment, the computing device 22 can still properly discriminate the following defective eggs that were difficult to discriminate in the past. That is, the computing device 22 distinguishes a normal egg from a dead egg with remaining thick blood vessels (for example, a blood vessel with a width of 1 mm or more) based on the color information (RGB color system) of the blood vessels of the egg to be inspected in the color image. In this way, dead eggs with remaining thick blood vessels can be detected as bad eggs. In addition, the computing device 22 can detect an egg to be inspected with an abnormal air cell as a defective egg based on the shape of the air cell of the egg to be inspected in the color image or the sharpness of the outline of the air cell. In addition, the computing device 22 can also detect the red spots in the air cell according to the color information (RGB color system) of the air cell of the inspected egg in the color image, thereby injecting the antigen into the inoculation hole Bleeding eggs with blood attached are detected as bad eggs.
此外,於本實施形態中,控制部2也可為具有攝影圖像之診斷功能的構成。例如,控制部2可構成為,根據攝影裝置62拍攝之診斷用工件的攝影圖像,而診斷攝影圖像之明亮度、對比度等是否適合判定檢查對象蛋之狀態,並輸出診斷結果。於此情況下,可於初始工作時或維護時等,根據診斷結果,而將攝影條件(例如,攝影裝置62之色彩平衡或照明裝置61之照明程度)、圖像調整條件(例如,攝影圖像之色彩平衡或亮度)調整為適合檢查對象蛋之檢查的條件。此外,控制部2也可構成為,具有校正功能,該修正功能係根據診斷結果,而自動地對攝影條件或所拍攝之圖像的修正等進行校正。In addition, in the present embodiment, the
其次,對搬送部3進行說明。搬送部3係根據控制部2之控制,而將專用托盤8所收容之複數個檢查對象蛋按每個專用托盤8而搬送至檢查部4。此外,搬送部3還根據控制部2之控制,而將由檢查部4檢查後之檢查對象蛋按每個專用托盤8而朝後方搬送。如圖4所示,為了按每個專用托盤8而搬送檢查對象蛋,搬送部3係具有一對臂31。再者,圖4為顯示臂31的立體圖。Next, the conveying
此外,如圖4所示,一對臂31分別具有一對爪部32。在此,於各臂31中,一對爪部32係隔開與專用托盤8之一邊長度相等之間隔而進行安裝。此外,一對臂31具有氣缸33,可使一對臂31朝配置有專用托盤8之方向滑動。藉此,可以一對臂31之4個爪部32自兩側面夾住且保持專用托盤8,從而可穩定地搬送專用托盤8。進而,一對臂31具有未圖示之柱塞,而可吸收專用托盤8之誤差。Furthermore, as shown in FIG. 4 , each pair of
接著,對檢查部4進行說明。檢查部4係藉由控制部2之控制而用以對檢查對象蛋進行檢查之裝置,其具有事前檢查部5、本檢查部6及事後檢查部7。由搬送部3搬送至檢查部4之檢查對象蛋係依事前檢查部5、本檢查部6、事後檢查部7之順序進行各檢查。Next, the
圖5為本實施形態之事前檢查部5的立體圖。事前檢查部5係判定於專用托盤8中是否存在未收容檢查對象蛋之收容部81。具體而言,如圖5所示,事前檢查部5具有攝影裝置51及照明裝置52,一面藉由照明裝置52對專用托盤8照射光,一面藉由攝影裝置51自上方對被搬送至本檢查部6之前的專用托盤8進行攝影,然後將所拍攝之圖像資料傳送至控制部2之運算裝置22。藉此,運算裝置22藉由對拍攝專用托盤8而得之圖像進行圖像解析,檢測於專用托盤8中未收容有檢查對象蛋之收容部81,且將檢測結果記憶於記憶裝置21。事前檢查部5之檢測結果,係於控制部2中判定檢查對象蛋之狀態時,可作為顯示有無檢查對象蛋之資訊來使用,藉此,可正確地求出進行了檢查之檢查對象蛋的數量、不良蛋的數量。即,過往,即使於專用托盤8存在空置之收容部81,也當作存在有檢查對象蛋來進行檢查,且將其作為不良蛋來進行處理。與此相對,於本實施形態中,藉由掌握專用托盤8之空置狀況,可正確地求出已進行檢查之檢查對象蛋的數量、不良蛋的數量。再者,於前述例子中,例示了運算裝置22根據攝影圖像而檢測專用托盤8之空置狀況的構成,但是,例如也可構成為,藉由使用測長照相機作為攝影裝置51而於攝影裝置51中檢測專用托盤8之空置狀況。Fig. 5 is a perspective view of the pre-inspection unit 5 of the present embodiment. The pre-inspection unit 5 determines whether or not there is a
如圖6及圖7所示,本檢查部6係具有照明裝置61、攝影裝置62、反射器63、支撐機構64、暗室65及馬達67。在此,圖6為顯示本實施形態之本檢查部6的立體圖,圖7為用以說明本實施形態之本檢查部6的示意圖。再者,為了方便說明,於圖6中省略了支撐機構64、暗室65、馬達67之記載。As shown in FIGS. 6 and 7 , the
如圖6及圖7所示,照明裝置61係具有長方體狀之LED燈611、筒狀構件612及散熱器613。此外,如圖7所示,照明裝置61係配置於用以支撐檢查對象蛋之支撐機構64之上方,將光朝向藉由支撐機構64而上升至檢查位置之檢查對象蛋照射。於圖7中,將自LED燈611放射之光的光軸表示為L1。As shown in FIGS. 6 and 7 , the
再者,雖無特別限制,但較佳為,LED燈611係以能減少照相機之性能及感光度產生的影響而由多個照相機高精度地對檢查對象蛋進行檢查之方式放射白色光,且較佳為,放射總光通量600lm以上之光。同樣地,較佳為, LED燈611係以可高精度地對檢查對象蛋進行檢查之方式具有以下之構成。亦即,較佳為,作為LED燈611,係使用可放射600lm以上之光、例如根據電流值而可放射600〜1000lm之光的白色LED燈。此外, 較佳為,LED燈611也可對檢查對象蛋照射高照度之光,例如,可使用於將筒狀構件612抵接於檢查對象蛋之狀態下,能對於檢查對象蛋照射照度為40萬lx以上之光的LED燈。再者,於照明裝置61之實施例(試製機)中,於電流500mA時總光通量為794lm,且於500mA時照度為493014lx。Furthermore, although there is no particular limitation, it is preferable that the
此外,於本實施形態中,照明裝置61係具有與可同時檢查之蛋相同數量的筒狀構件612。筒狀構件612係,於檢查對象蛋之攝影時,用以與上升至既定之檢查位置的檢查對象蛋抵接,而使自LED燈611放射之光集中入射於檢查對象蛋的構件。筒狀構件612係以與大小不同之檢查對象蛋抵接而變形之方式由柔軟之彈性材質構成,並且,於長度方向具有波紋構造。此外,照明裝置61還具有用以散發LED燈611所產生之熱量的散熱器613。
In addition, in this embodiment, the illuminating
於位在進行檢查對象蛋之攝影的檢查位置之檢查對象蛋的水平方向(側方),設置有反射器63。其中,圖8為顯示本實施形態之反射器63的立體圖。於本實施形態中,反射器63係以於鉛直方向上反射來自水平方向之入射光之方式,以約45°之傾斜角度設置,如圖7或圖8所示,將來自位於側方之檢查位置的檢查對象蛋之光朝上方反射。於反射器63之上方配置有攝影裝置62,且藉由反射器63反射之光係被攝影裝置62接收。再者,於圖7及圖8中,將自檢查對象蛋放射且朝反射器63入射之光的光軸表示為L2,將藉由反射器63反射且朝攝影裝置62入射之光的光軸表示為L3。此外,反射器63之傾斜角度不限於45°,只要為可反射自檢查對象蛋放射之光而可朝攝影裝置62入射之角度即可。再者,較佳為,反射器63係使反射面成為鏡子或加工為鏡面之不鏽鋼,於加工為鏡面之不銹鋼的情況下,較佳為使用以800號以上之粒度的拋光進行鏡面加工者。The
攝影裝置62具有彩色CMOS照相機,該彩色CMOS照相機係對檢查對象蛋進行攝影,且輸出所拍攝之檢查對象蛋的彩色圖像資料。攝影裝置62係位於反射器63之上方,而接收自位於檢查位置之檢查對象蛋放射且由反射器63反射之光,以拍攝檢查對象蛋之影像。由攝影裝置62拍攝之檢查對象蛋的彩色圖像資料係被傳送至控制部2之運算裝置22。再者,攝影裝置62具有之照相機不限於彩色CMOS照相機,例如,也可使用彩色CCD照相機。
The photographing
再者,於本實施形態中,攝影裝置62係構成為,同時對2個檢查對象蛋進行攝影。例如,攝影裝置62以2個檢查對象蛋在攝影範圍內之方式調整視角及至檢查對象蛋(檢查位置)之攝影距離。再者,於本實施形態中,如圖3所示,例示了使用可收容6×6個檢查對象蛋之專用托盤8之情況,於此情況下,如圖6所示,本檢查部6具備3個攝影裝置62,且藉由該3個攝影裝置62而分別對各2個檢查對象蛋,即共計6個檢查對象蛋同時進行攝影。其結果,可抑制攝影裝置62之數量而降低成本,並且可提高對檢查對象蛋進行檢查之處理能力。Furthermore, in the present embodiment, the
此外,如圖6及圖7所示,照明裝置61及攝影裝置62係以自照明裝置61照射之光的光軸L1與朝攝影裝置62入射之光的光軸L3大致平行之方式,於反射器63及支撐機構64之上方並列配置。再者,於本發明中,「並列」係指,只要照明裝置61與攝影裝置62為相對於檢查對象蛋之檢查位置而配置於相同方向側即可,而不限於照明裝置61及攝影裝置62彼此鄰接地排列之構成,其還包含照明裝置61及攝影裝置62彼此相隔一定距離地排列之構成。如此,於本實施形態中,藉由於檢查對象蛋之檢查位置的側方設置反射器63,以反射器63反射自檢查對象蛋放射之光,而可將照明裝置61及攝影裝置62並排地一體設置,以謀求整個驗蛋裝置1之省空間化。In addition, as shown in FIG. 6 and FIG. 7 , the
此外,本檢查部6具有支撐機構64,該支撐機構64係於檢查對象蛋之攝影時支撐檢查對象蛋,且使檢查對象蛋移動至既定之檢查位置。如圖7所示,支撐機構64係具有支撐台641、軸642及蓋643。其中,圖9(A)為本實施形態之支撐台641周邊的立體圖,圖9(B)為本實施形態之支撐台641的立體圖,圖9(C)為顯示先前之支撐台的立體圖。如圖9(B)所示,支撐台641具有與檢查對象蛋之形狀對應之半球狀的內面645,且於內面645中支撐檢查對象蛋。並且,如圖7所示,於支撐台641支撐檢查對象蛋之狀態下,藉由馬達67而使軸642上升,而可使以支撐台641支撐之檢查對象蛋移動至暗室65內之檢查位置。藉此,於暗室65內進行照明裝置61對檢查對象蛋之照射及攝影裝置62對檢查對象蛋之攝影。
Moreover, this
於本實施形態中,於專用托盤8之收容部81收容有檢查對象蛋,且藉由搬送部3而將收容有檢查對象蛋之專用托盤8搬送至本檢查部6,放置於本檢查部6之搬送台34上。如圖9(A)所示,於本檢查部6之搬送台34形成有孔341,於該孔341內收容有支撐台641。控制部2係以支撐台641位於進行檢查之檢查對象蛋的正下方之方式,調整專用托盤8之位置,然後使馬達67運作,而使收容於孔341之軸642朝上方伸長至搬送部3。藉此,支撐台641通過專用托盤8之孔部82,自下方抬起並支撐檢查對象蛋,使檢查對象蛋上升至暗室65內之既定的檢查位置。此外,於本實施形態中,使用可收容6×6個檢查對象蛋之專用托盤8,且以可同時支撐收容於專用托盤8之一列檢查對象蛋(6個檢查對象蛋)之方式設置有6個支撐台641。In this embodiment, eggs to be inspected are accommodated in the
此外,於本實施形態中,支撐台641係將最大外徑形成為較小,而使其即使於專用托盤8之孔部82的直徑較過往小之情況下,仍可通過孔部82。即,無論是圖9(B)所示之本實施形態的支撐台641,還是圖9(C)所示之先前的支撐台,由於支撐之檢查對象蛋之形狀及大小幾乎不變,因此內面之形狀及大小不改變,而最大內徑為R1。另一方面,圖9(B)所示之本實施形態的支撐台641之最大外徑為R2,其係形成為較圖9(C)所示之先前的支撐台之最大外徑R3更小。具體而言,於本實施形態中,以最大外徑R2與最大內徑R1之差為5mm以下之方式形成支撐台641。藉此,於本實施形態之支撐台641中,與過往比較,其亦可使用孔部82較小之專用托盤8,而可提高專用托盤8之通用性。例如,圖3所示之專用托盤8係可收容6×6個檢查對象蛋之托盤,但藉由使用本實施形態之支撐台641,則還可使用收容6×7個檢查對象蛋之專用托盤8。
In addition, in this embodiment, the maximum outer diameter of the support table 641 is formed to be small so that it can pass through the
此外,圖10為將軸642及蓋643之周邊放大的立體圖。如圖10所示,於軸642安裝有蓋643。蓋643係於由支撐台641支撐之檢查對象蛋破裂或破損之情況下,防止自檢查對象蛋泄漏之液體傳至軸642,進入被軸642***而可使軸624朝上下方向移動之孔部644(圖示於圖11),引起被組入於軸624之下方的線性推桿等各種機械之動作不良或破損等情形。再者,蓋643只要為與軸642無間隙地相接之構造即可,而不限於傘狀之構造,其形狀或素材可適宜設定。In addition, FIG. 10 is an enlarged perspective view of the periphery of the
此外,如圖10所示,本檢查部6係於搬送台34之下側具有位置調整機構66。圖11為顯示位置調整機構66的立體圖。再者,於圖11中,為了方便說明,軸642顯示出截面。位置調整機構66係用以調整軸642(或支撐台641)之左右前後方向(圖11之X1方向及X2方向)之位置的機構,如圖11所示,其具有第一位置調整構件661及第二位置調整構件662。In addition, as shown in FIG. 10 , the
第一位置調整構件661係用以調整軸624之X1方向之位置的構件,於圖11中,例示分別調整軸642
7〜642
12之X1方向的位置之第一位置調整構件661
1〜661
6。再者,第一位置調整構件661係設於第二位置調整構件662之下側,且於第二位置調整構件662
2之下側也設置有調整軸642
1〜642
6之X1方向的位置之第一位置調整構件661。
The first position adjusting member 661 is a member for adjusting the position of the shaft 624 in the X1 direction. In FIG . . Moreover, the first position adjustment member 661 is arranged on the lower side of the second position adjustment member 662, and one of the positions of the
此外,第二位置調整構件662係用以調整軸642之X2方向之位置的構件,於圖11中,例示調整軸642
1〜642
6之X2方向的位置之第二位置調整構件662
1、662
2及調整軸642
7〜642
12之X2方向的位置之第二位置調整構件662
3。再者,第二位置調整構件662係藉由一對第二位置調整構件662夾住軸642而將X2方向之軸624的位置固定者,雖然未於圖11顯示,但位置調整機構66還具有與第二位置調整構件662
3成對之第二位置調整構件622。
In addition, the second position adjusting member 662 is a member for adjusting the position of the
如此,於本實施形態中,由於可藉由位置調整機構66於二維方向(X1方向及X2方向)自由地調整軸642(或支撐台641)之位置,因此可使用收容6×6個檢查對象蛋之專用托盤8、或收容6×7個檢查對象蛋之專用托盤8等之、孔部82之位置及排列不同之各種專用托盤8,而可提高專用托盤8之通用性。Thus, in this embodiment, since the position of the shaft 642 (or the support table 641) can be freely adjusted in two-dimensional directions (X1 direction and X2 direction) by the
此外,如圖12所示,本檢查部6係具有用以排除判定為不良蛋之檢查對象蛋的排除機構68。其中,圖12為顯示本實施形態之排除機構68的立體圖。排除機構68係用以根據控制部2之指示而自專用托盤8中排除不良蛋之機構,如圖12所示,其具有用以吸附及排除各檢查對象蛋之複數個吸附構件681及單一之氣缸682。再者,以可吸附及排除收容於專用托盤8之各檢查對象蛋之方式,於排除機構68具備有與可收容於專用托盤8之檢查對象蛋相同數量或以上之吸附構件681。於本實施形態中,於判定完被收容於專用托盤8之檢查對象蛋的狀態之後,藉由搬送部3而將專用托盤8搬送至吸附構件681正下方之位置。然後,控制部2使複數個吸附構件681同時下降至氣缸682,使吸附構件681之吸附口接觸於檢查對象蛋。然後,控制部2使與被判定為不良蛋之檢查對象蛋對應的吸附構件681進行真空吸引,於保持吸附有不良蛋之狀態下,將吸附之不良蛋移動至廢棄場所。例如,控制部2可構成為,將由吸附構件681吸附之不良蛋轉移至不良蛋用傳送帶上,藉由不良蛋用傳送帶而搬送至丟棄場所並加以廢棄、或者裝入不良蛋用托盤而進行廢棄。然後,藉由搬送部3而將排除了不良蛋之專用托盤8朝後方之事後檢查部7搬送。Moreover, as shown in FIG. 12, this
圖13為本實施形態之事後檢查部7的立體圖。事後檢查部7係進行專用托盤8中是否殘留有應由排除機構68排除之不良蛋的檢查。具體而言,如圖13所示,事後檢查部7係具有攝影裝置71及照明裝置72,且一面藉由照明裝置72而對專用托盤8照射光,一面藉由攝影裝置71而自上方對從本檢查部6搬送之專用托盤8進行攝影,並將所拍攝之圖像資料朝控制部2之運算裝置22傳送。藉此,運算裝置22係根據檢查對象蛋之檢查結果及自事後檢查部7接收之攝影圖像,而判定是否已自專用托盤8適宜地排除了不良蛋。再者,於未自專用托盤8排除不良蛋之情況下,運算裝置22可設為輸出警告等而通知作業者之構成,也可設為自動地排除不良蛋之構成。如此,由於可藉由一個攝影裝置71而對專用托盤8之所有檢查對象蛋進行檢查,因此與例如將壓力開關、距離感測器等設置有與檢查對象蛋相同數量之構成比較,可簡化構造並降低成本。再者,於前述例子中,例示有運算裝置22根據攝影圖像而檢測是否於專用托盤8中殘留有不良蛋之構成,但也可構成為,例如藉由使用測長照相機作為攝影裝置71,而於攝影裝置71中檢測是否有不良蛋殘留於專用托盤8。Fig. 13 is a perspective view of the
此外,於本實施形態中,藉由於本檢查部6中並列地一體設置照明裝置61及攝影裝置62,而如圖14所示,於檢查部4中形成用以維護之空間S。此外,於本實施形態中,於檢查部4之側方設置有用以進出空間S之開閉門9。再者,開閉門9可構成為僅設於檢查部4之側方的一面,或也可構成為於檢查部4之2面以上設置2個以上的開閉門9。如此,藉由設置開閉門9,而可提高驗蛋裝置1之維護性。In addition, in the present embodiment, by integrally providing the
此外,在本實施形態之驗蛋裝置1中,於本檢查部6,照明裝置61之LED燈611係藉由將總光通量為600lm以上及/或照度為40萬lx之光照射於檢查對象蛋,從而可較過往更容易地判別檢查對象蛋之血管等,而可進一步提高檢查對象蛋之判定精度。此外,藉由使用此種高亮度之LED燈611,而可實現曝光時間之縮短及資訊量之增加,可使檢查對象蛋之判定處理速度高速化。進而,於本實施形態中,攝影裝置62係構成為同時對2個檢查對象蛋進行攝影,其可抑制攝影裝置62之數量而降低成本,而且還可提高對檢查對象蛋進行檢查之處理能力。In addition, in the
除此之外,於本實施形態之驗蛋裝置1中,具有事前檢查部5,藉由對專用托盤8檢測空置之收容部81,而可正確地求出進行檢查後之檢查對象蛋的數量及不良蛋的數量。進而,於本實施形態之驗蛋裝置1中,事後檢查部7係具有攝影裝置71及照明裝置72,攝影裝置71係根據自上方拍攝專用托盤8而得之圖像資料,判定是否已將不良蛋自專用托盤8適宜地排除,與過往比較,其可簡化用以檢查是否已適宜地將不良蛋排除之構造,而且還可降低成本。In addition, in the
進而,於本實施形態中,由於支撐台641係將最大外徑形成為較過往小,因此與過往比較,也可使用孔部82小之專用托盤8,可提高專用托盤8之通用性。此外,於本實施形態中,由於可藉由位置調整機構66而於二維方向(X1方向及X2方向)自由地調整軸642(或支撐台641)之位置,因此可使用孔部82之位置及排列不同之各種專用托盤8,還可進一步提高專用托盤8之通用性。
Furthermore, in the present embodiment, since the maximum outer diameter of the support table 641 is formed smaller than conventional ones, it is also possible to use a
以上,對本發明之較佳實施形態例進行了說明,但本發明之技術範圍不限於前述實施形態之記載。可於前述實施形態例增加各種變更及改良,增加了如此變更或改良之形態者,也包含於本發明之技術範疇內。The preferred embodiments of the present invention have been described above, but the technical scope of the present invention is not limited to the description of the foregoing embodiments. Various changes and improvements can be added to the above-mentioned embodiments, and the addition of such changes or improvements is also included in the technical scope of the present invention.
例如,除了前述實施形態之外,還可構成為,將搬送部3及檢查部4單元化,且以該單元單位增設驗蛋裝置1,以增強檢查能力。例如,於對圖1所示之驗蛋裝置1增設一個具有搬送部3及檢查部4之單元的情況下,在檢查對象蛋之搬送方向上並排地配置有2個檢查部4,從而使將檢查對象蛋之檢查處理能力變成2倍。For example, in addition to the above-mentioned embodiment, it may also be configured such that the
此外,於前述實施形態中,例示了使照明裝置61及攝影裝置62於檢查對象蛋(之檢查位置)之上方並列地配置於水平方向之構成,但不限於此構成,例如,也可構成為使照明裝置61及攝影裝置62於檢查對象蛋(之檢查位置)之側方並列地配置於鉛直方向。於此情況下,將反射器63設置於自照明裝置61照射之照明光的光路上且為檢查對象蛋之檢查位置的上方或下方。此外,反射器63係以將由照明裝置61沿水平方向照射之照明光朝鉛直方向反射之方式,以約45°之傾斜角度設置。藉此,若藉由照明裝置61自檢查對象蛋之側方照射照明光,則自照明裝置61照射之照明光係被反射器63反射,且自檢查對象蛋之上方或下方朝檢查對象蛋入射。由於攝影裝置62係配置於檢查對象蛋之檢查位置之側方,因此可自側方拍攝由照明光照射之檢查對象蛋的影像。In addition, in the above-mentioned embodiment, the configuration in which the
此外,於前述實施形態中,例示了藉由攝影裝置62而僅自一個方向拍攝檢查對象蛋,且使用自該方向所拍攝之攝影圖像來判定檢查對象蛋之狀態的構成,但不限於該構成,例如,可構成為,藉由馬達67而使與檢查對象蛋之支撐台641連結的軸642旋轉,自複數個方向(例如使支撐台641各旋轉90度而自4個方向)拍攝檢查對象蛋,且使用自複數個方向所拍攝之攝影圖像來判定檢查對象蛋之狀態。於此情況下,可進一步提高檢查對象蛋之判定精度。In addition, in the foregoing embodiment, the configuration in which the egg to be inspected is photographed from only one direction by the
進而,於前述實施形態中,例示了根據以RGB表色系輸出之檢查對象蛋之彩色圖像來檢測不良蛋的構成,但不限於該構成,也可構成為,根據以Lab表色系或HSV表色系輸出之彩色圖像來檢測不良蛋。Furthermore, in the aforementioned embodiment, the configuration for detecting defective eggs based on the color image of the egg to be inspected outputted in the RGB colorimetric system was exemplified, but it is not limited to this configuration. The HSV color system outputs color images to detect defective eggs.
1:驗蛋裝置 2:控制部 3:搬送部 4:檢查部 5:事前檢查部 6:本檢查部 7:事後檢查部 8:專用托盤 9:開閉門 21:記憶裝置 22:運算裝置 31:臂 32:爪部 33:氣缸 34:搬送台 51:攝影裝置 52:照明裝置 61:照明裝置 62:攝影裝置 63:反射器 64:支撐機構 65:暗室 66:位置調整機構 67:馬達 68:排除機構 71:攝影裝置 72:照明裝置 81:收容部 82:孔部 341:孔 611:LED燈 612:筒狀構件 613:散熱器 641:支撐台 642、642 1〜642 12:軸 643:蓋 644:孔部 645:內面 661、661 1〜661 6:第一位置調整構件 662、662 1〜662 3:第二位置調整構件 681:吸附構件 682:氣缸 L1〜L3:光軸 R1:內徑 R2:外徑 R3:外徑 S:空間 1: Egg inspection device 2: Control section 3: Transport section 4: Inspection section 5: Pre-inspection section 6: This inspection section 7: Post-inspection section 8: Special tray 9: Open and close door 21: Memory device 22: Calculation device 31: Arm 32: Claws 33: Cylinder 34: Transfer table 51: Photographing device 52: Lighting device 61: Lighting device 62: Photographing device 63: Reflector 64: Support mechanism 65: Darkroom 66: Position adjustment mechanism 67: Motor 68: Removal Mechanism 71: Photographing device 72: Illumination device 81: Receptacle 82: Hole 341: Hole 611: LED lamp 612: Cylindrical member 613: Radiator 641: Support stand 642, 642 1-642 12 : Shaft 643: Cover 644 : Hole 645: Inner surface 661, 661 1 to 661 6 : First position adjustment member 662, 662 1 to 662 3 : Second position adjustment member 681: Adsorption member 682: Air cylinder L1 to L3: Optical axis R1: Inner diameter R2: outer diameter R3: outer diameter S: space
圖1為顯示本實施形態之驗蛋裝置的立體圖。 圖2為顯示本實施形態之搬送部及檢查部的立體圖。 圖3為顯示本實施形態之專用托盤的立體圖。 圖4為用以說明本實施形態之搬送部之臂的立體圖。 圖5為顯示本實施形態之事前檢查部的立體圖。 圖6為顯示本實施形態之本檢查部的立體圖。 圖7為用以說明本實施形態之本檢查部的示意圖。 圖8為顯示本實施形態之反射器的立體圖。 圖9(A)為顯示本實施形態之支撐台周邊的立體圖,圖9(B)為顯示本實施形態之支撐台的立體圖,圖9(C)為顯示先前之支撐台的立體圖。 圖10為將軸及蓋之周邊放大的立體圖。 圖11為顯示本實施形態之位置調整機構的立體圖。 圖12為顯示本實施形態之排除機構的立體圖。 圖13為顯示本實施形態之事後檢查部的立體圖。 圖14為用以說明開閉門的立體圖。 Fig. 1 is a perspective view showing an egg inspection device according to this embodiment. Fig. 2 is a perspective view showing a conveyance unit and an inspection unit of the present embodiment. Fig. 3 is a perspective view showing the dedicated tray of this embodiment. Fig. 4 is a perspective view for explaining the arm of the conveyance unit of the present embodiment. Fig. 5 is a perspective view showing a pre-inspection unit of the present embodiment. Fig. 6 is a perspective view showing the inspection unit of the present embodiment. Fig. 7 is a schematic diagram for explaining the inspection unit of the present embodiment. Fig. 8 is a perspective view showing the reflector of this embodiment. 9(A) is a perspective view showing the periphery of the support platform of this embodiment, FIG. 9(B) is a perspective view showing the support platform of this embodiment, and FIG. 9(C) is a perspective view showing the previous support platform. Fig. 10 is an enlarged perspective view of the shaft and the periphery of the cover. Fig. 11 is a perspective view showing the position adjustment mechanism of this embodiment. Fig. 12 is a perspective view showing the removal mechanism of this embodiment. Fig. 13 is a perspective view showing a post-inspection unit of the present embodiment. Fig. 14 is a perspective view for explaining the opening and closing of the door.
6:本檢查部 6: The inspection department
8:專用托盤 8: Dedicated tray
34:搬送台 34: Transfer table
61:照明裝置 61: Lighting device
62:攝影裝置 62: Photographic device
63:反射器 63: reflector
64:支撐機構 64: Support mechanism
65:暗室 65: dark room
67:馬達 67: motor
611:LED燈 611: LED lights
612:筒狀構件 612: Cylindrical member
613:散熱器 613: Radiator
641:支撐台 641: support table
642:軸 642: axis
643:蓋 643: cover
L1~L3:光軸 L1~L3: optical axis
Claims (17)
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JP2021-034714 | 2021-03-04 | ||
WOPCT/JP2022/009149 | 2022-03-03 | ||
PCT/JP2022/009149 WO2022186339A1 (en) | 2021-03-04 | 2022-03-03 | Egg candling apparatus |
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KR (1) | KR20230153397A (en) |
CN (1) | CN116964430A (en) |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109156383A (en) * | 2018-11-02 | 2019-01-08 | 陕西科技大学 | A kind of open country convolvulate asiabell root automatic sorting device and method |
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US20040040515A1 (en) * | 2002-08-30 | 2004-03-04 | Kabusiki Kaisya Horiuchi | Method and apparatus for determining the sex of a fertilized egg |
JP4353766B2 (en) * | 2003-10-21 | 2009-10-28 | 共和機械株式会社 | Automatic egg detection mechanism and egg sorting and packaging system equipped with this mechanism |
JP2007232445A (en) * | 2006-02-28 | 2007-09-13 | Web Tec Kk | Line sensor inspection device |
JP2011169629A (en) * | 2010-02-16 | 2011-09-01 | Joichiro Tsuboi | Fertilized egg inspection device |
JP2011215015A (en) * | 2010-03-31 | 2011-10-27 | Naberu:Kk | Egg air space position inspection method and device |
JP2019521683A (en) * | 2016-06-28 | 2019-08-08 | エッグ ウェーブス リミテッド | System, apparatus and method for noninvasive bird egg sperm detection |
CN114096844A (en) | 2019-06-28 | 2022-02-25 | 四国计测工业株式会社 | Egg inspection device, egg inspection program and egg inspection method |
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2022
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CN109156383A (en) * | 2018-11-02 | 2019-01-08 | 陕西科技大学 | A kind of open country convolvulate asiabell root automatic sorting device and method |
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CN116964430A (en) | 2023-10-27 |
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