JPS6141905A - Sorting device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an improvement in a sorting device that automatically sorts and sorts spherical objects such as fruits.

[Technical background of the invention and its problems]

Conventionally, as this kind of [E], for example, the objects to be sorted are conveyed by a conveyance mechanism 81 such as a belt conveyor, and a photodetector consisting of, for example, a light emitting element and a light receiving element is disposed in the conveyance path. The length or height of the object to be sorted is detected from the time it takes to pass through, the classification of the object to be sorted is determined from the detected value, and the sorting gate set in advance for each classification is operated according to the judgment result. There is a device in which the objects to be sorted are sorted by transferring the objects to a storage section.

This type of device uses a photodetector to determine the classification of the objects to be sorted without contacting them, so for example, by providing a sorting hole for each classification and passing the object through this sorting hole, Compared to a sorting device, the quality of the objects to be sorted is less impaired, and the sorting speed can be increased, so it is very suitable for efficiently sorting particularly perishable fruits and the like.

However, such conventional sorting devices use photodetectors to detect only dimensions in fixed, predetermined directions, such as the length and height in the transport direction, to determine the classification, so even if the classification is the same, Even if the object is to be sorted, the detected length and height will change if the conveyance posture is different, and this will change the classification determination result, so there is a drawback that highly accurate sorting cannot be performed.

(Object of the Invention) An object of the present invention is to provide a sorting device that can perform highly accurate classification determination regardless of the conveyance posture of objects to be sorted, thereby greatly increasing sorting accuracy.

[Effects of the Invention] In order to achieve the above object, the present invention images the objects to be sorted during conveyance using an 11il image means, obtains the imaged image information, and calculates the maximum diameter of the objects to be sorted from this imaged image information. The classification is determined based on the value of the maximum diameter detected.

(Embodiment of the Invention) FIG. 1 is a schematic configuration diagram of a sorting IA@ according to an embodiment of the present invention, and 1 indicates a transport mechanism for objects to be sorted. This conveyance mechanism 1 has a large number of conveyance tables 11 each having a strip shape as shown in FIG.
They are arranged in a constant pattern and attached to, for example, an endless chain (not shown), and are moved at a constant speed by rotating this chain.

By the way, each of the conveyance tables 11 is pivotally attached to a support shaft 13 provided on a support column 12, as shown in FIG. 4, and is swingable about this support shaft 13 as a fulcrum. Also,
An attitude setting mechanism 14 is provided at the lower part of one end of the conveyance table 11 . This posture setting mechanism 14 is for setting the posture of the conveyance table 11 in a horizontal state during conveyance, and includes a locking shaft 15 provided on the lower surface of one end side of the m conveyance table 11;
It is composed of a locking member 17 pivotally attached to a shaft 16 protruding from the middle portion of the support column 12, and an elastic body 18 that biases the locking member 17. The locking member 17 is attached to the shaft 1
an upwardly protruding piece 17a that protrudes upward from the pivot portion to 6;
A downwardly protruding piece 17b protruding downward and the above-mentioned upwardly protruding piece 1
The upper protruding piece 17a has a beak-shaped locking part 17d at its tip. In this attitude setting mechanism 14, the locking member 17 is biased in the direction of arrow A by the elastic body 18 made of a leaf spring during normal operation, and the locking portion 17 is biased in the direction of arrow A.
d is engaged with the locking shaft 15 of the conveyance table 11, thereby maintaining the conveyance table 11 in a horizontal state as shown by the solid line in FIG. In other words, it becomes possible to transport the objects to be sorted. On the other hand, when the operating lever 17C is moved downward as shown by the arrow against the elastic force of the elastic body 18, the upper protruding piece 17a and the lower protruding piece 17b rotate about the shaft 16, and the locking portion 17
(I retreats as shown by the two-dot chain line in the figure, and as a result, the engagement with the locking shaft 15 is disengaged, and the conveyance platform 11 swings as shown by the arrow C due to its own weight.

Now, above the transport table 11 of the transport If structure 1 as described above, there is an industrial television (ITV) as mrae.
A camera 2 is installed. This ITV camera 2 is
l(g!) It is operated by a synchronizing signal from the drive circuit 4 and, for example, as shown in FIG. The captured image signal S is digitized by the A/D converter 5 and then stored in the image memory 6. Further, on the downstream side of the ITV camera 2 installation position of the transport mechanism 1, there is an installation position of the ITV camera 2. A plurality of (two in the figure) gears are placed at a predetermined distance from
Two private structures 7a and 7' are provided. These gate mechanisms 7a and 7b are composed of, for example, a plunger m structure, and are operated by drive currents supplied from the drive circuits 3a and 8b to adjust the posture setting (ff) provided on the carrier 11.
The operating lever 17C of the mechanism 14 is pulled down, thereby swinging the transport platform 11. In addition, 10 in the figure is a rotary encoder for detecting the conveyance speed of the conveyance mechanism 1.

On the other hand, the control circuit shown at 9 in the figure is equipped with, for example, a microprocessor as a main control section, and in addition to various control means such as imaging control and conveyance control, the control circuit is stored in the image memory 6 as shown in FIG. a maximum diameter calculation means 91 that detects the maximum diameter of the object to be sorted from the captured image signal; a classification determination means 92 that determines the classification of the object from the calculation result of the maximum diameter calculation means 91; and a classification determination means Based on the determination result of step 92, drive control signals GS1. It has a gate control means 93 that outputs GS2 to drive the gate mechanisms 7a and 7b. Furthermore, A
D is address information to be output to the image memory 6, and C8 is an imaging type signal for driving all the imaging drive circuits 4.

With such a configuration, when the object 3 to be sorted arrives at the imaging position of the ITV camera 2, the control circuit 9 detects this in step 6a of FIG. 6, and then outputs the conveyance control signal O8 in step 6b. By outputting and driving the Il@ drive circuit 4, the ITV camera 2 is caused to start an imaging operation. Then, in step 9C, the captured image signal D obtained by the ITV camera 2 and digitized by the A/D converter 5
VS is stored in the image memory 6, and then in step 6d, the detection signal ES of the rotary encoder 1o is introduced, and from this signal ES, the conveyance table 11 at the time of image transfer of the object 3 to be sorted is detected.
This Wi image position information is stored in the internal memory in step 6e.

When the storage of this information is finished, the control circuit 9 first calculates the maximum diameter of the object to be sorted 3 in step 6f.

That is, for example, if the horizontal scanning direction of the ITV camera 2 is
! l! Assuming that the direction is straight running and the @I&1iii image signal representing the outline of the object to be sorted 3 as shown in FIG. 7 is stored in the image memory 6, the control circuit 9 first converts the captured image signal Dvs Read out the maximum and minimum coordinates A, B, C, and D in the X and Y directions of the contour, respectively.
Detect. Next, the coordinates of arbitrary points E, F, G, and H on the outline of each of these points A, B, C, and D are determined. How to find the coordinates of each of these points E, F, G, and H is as follows:
For example, taking E as an example, first, Xg-(XA+X11)/
2YE-(YA+YB)/2 is performed to calculate the coordinates of the midpoint I between AS.

Then, find a point on the contour that matches the X coordinate value of this midpoint I, then find the midpoint in the Y direction between this point and the one point above, and find a point on the outline that matches the Y coordinate value of this midpoint. Find this point and call it E. After determining the coordinates of each point E-H, the control circuit 9 then determines the inter-coordinate distance AF between each point A-H.

AC, AG, BH, BD, BG, CE, CH, DE, D
F, EG, and FH are determined, and the maximum distance between these coordinates is selected, and this maximum distance between coordinates is determined as the maximum diameter of the object 3 to be sorted.

In the case of the object to be sorted 3 shown in FIG. 7, the maximum diameter is detected as AC, as is clear from the figure.

After calculating the maximum diameter of the object to be sorted 3, the control circuit 9 moves to step 6Q, where it compares the value of the maximum diameter of the object to be sorted 3 with a preset reference value for each classification. The classification of the object to be sorted 3 is determined, for example, whether it is L size, M size, or non-standard. Then, in step 6h, a gate mechanism, for example 7a, corresponding to the classification of the object 3 to be sorted is selected based on the determination result of the classification, and this gate mechanism 7a is selected.
Number information (gate number) representing the gate number is stored in the internal memory in step 61.

Now, when the selection of this gate mechanism is completed, the control circuit 9 then introduces the detection output ES of the rotary encoder 10 in step 6j, and calculates the current transport platform 11 from this detection output value.
The difference between this current position and the imaging position previously stored in the internal memory in step 6e, that is!
In step 6, the transport distance of the next casing sorted object 3 is calculated.

And this difference is known 'i! The distance from the i@ position to the gate mechanism 7a is compared in step 62, and if the two do not match, it is determined that the object 3 to be sorted has not reached the position of the gate mechanism 7a, and the following Step 6 assumes that the object to be sorted arrives at the imaging position.
Move to a. On the other hand, if the above difference matches the distance from the Wi image position to the gate Akebonobashi 7a installation position, it is determined that the object to be sorted 3 has reached the gate mechanism installation position, and the process moves to step 6m, where the gate A gate drive side signal GS1 is output to the drive circuit 8a, thereby operating the gate mechanism 78 for a certain period of time. Then, the scanning levers 17c of the conveyance platform 11 that passed in front of the gate mechanism 78 during the operation period of the gate mechanism 7a are pushed down, and the engagement between the locking portion 17d and the locking shaft 15 is thereby disengaged. The conveyor table 11 respectively swings. The objects 3 to be sorted placed on these conveyance tables 11 are transferred along the inclination of the conveyance tables 11 and stored in a storage box (not shown) installed below. In this way, one object 3 to be sorted is classified and sorted.

Incidentally, if the arrival of the subsequent object to be sorted is detected in step 6a during the period until the object to be sorted 3 after the classification judgment has been completed reaches the gate-like structure installation position, the control circuit 9 will control the control circuit 9 to move the object to be sorted. ITV camera 2! image and step 6
Steps C to 61 are executed to determine the classification of the imaged object to be sorted and to select a gate mechanism, and the results are stored in the internal memory.

After this process is completed, the position of the object 3 that has not reached the gate mechanism is determined again in steps 6j to 6°C, and if it is determined that the object 3 has reached the gate mechanism, the gate mechanism is moved in step 6m. It is driven to transfer the objects 3 to be sorted to the storage box. When one object to be sorted is transferred from the gate, the transport position of the object is determined in the order in which the classification was determined, and the object to be sorted is moved in front of the gate mechanism according to the classification. When reaching the point, the corresponding gate mechanism is operated to transfer the objects to be sorted to the storage box.

In this way, in this embodiment, the objects to be sorted can be transported and
The maximum diameter of the object to be sorted is detected by processing the captured image, and the classification is determined based on this maximum diameter. Even if: the size of the object to be sorted can always be accurately detected regardless of its orientation, and as a result, the accuracy of classification judgment can be improved and the accuracy of sorting can be greatly improved. In addition, in this example, drifting at a plurality of representative points in the outline image of the object to be sorted is detected, and the maximum diameter is determined from the coordinates of these points. The maximum diameter can be determined easily and quickly.

Note that the present invention is not limited to the above embodiments. For example, in the above embodiment, the classification judgment is made only based on the maximum diameter of the objects to be sorted, but in addition to this maximum diameter, the height of the objects to be sorted is detected, and the height of the objects to be sorted is determined based on the maximum diameter and height. The classification may also be determined. In this way, even more accurate classification determination can be performed. Furthermore, when calculating the maximum diameter, in the embodiment described above, the coordinates of eight contour points are determined, but the maximum diameter may be calculated from a larger number of contour points. As a result, the maximum diameter can be determined more accurately, and the accuracy of classification can be further improved.

In addition, the configuration, control procedure, and control content of the control circuit for conveyance mechanism, II! The type of imager (for example, a solid-state imager made of COD or the like may be used) can be modified in various ways without departing from the gist of the present invention.

〔Effect of the invention〕

As described in detail above, according to the present invention, the object to be sorted during transport is imaged by the Ifi image means to obtain the captured image information, and the maximum diameter of the object to be sorted is detected from this IIIf&image information. To provide a sorting device in which classification is determined based on the value of the maximum diameter, thereby making it possible to perform highly accurate classification determination regardless of the conveying posture of objects to be sorted, thereby greatly increasing sorting accuracy. I can do it.

[Brief explanation of drawings]

The figure is for explaining a sorting device in one embodiment of the present invention, the first factor is a schematic configuration diagram of the device, and the second
Figures 3 and 4 are block diagrams showing the main functions of the instant circuit. Figures 3 and 4 show the configuration of the transport platform. Figure 3 is a plan view showing the arrangement of the transport tables, and Figure 4 is a diagram showing the arrangement of the transport tables. 5 is a diagram showing the m-image state of the object to be sorted by the imager, FIG. 6 is a flow chart showing the control procedure of the control circuit, and FIG. 7 is a contour image of the object to be sorted. FIG. DESCRIPTION OF SYMBOLS 1... Transport mechanism, 11... Transport platform, 12... Support shaft, 13... Support shaft, 14... Attitude setting mechanism, 15...
... Locking shaft, 16 ... Shaft, 17 ... Locking member, 17
c... Operating lever, 17d... Locking part, 18...
Elastic body, 2... ITV camera, 3... Object to be sorted, 6
...Image memory, 7a, 7b...Gate mechanism, 3a
, 8b...gate drive circuit, 9...control circuit, 1
0...Rotary encoder. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7

Claims (2)

[Claims] (1) A conveying means for placing spherical or lump-like objects of different sizes on a conveyance table and conveying them at a constant speed; an imaging means for taking an image of the object to be sorted and storing the imaged image information; a maximum diameter detection means for detecting the maximum diameter of the object to be sorted from the imaged image information obtained by the imaging means; and detection by the maximum diameter detection means. a classification determination means for determining the classification of the object to be sorted from the results;
A predetermined sorting gate, which is set in advance according to the determination result of the classification determining means, is driven on the downstream side of the position where the imager is disposed on the conveyance path of the to-be-sorted articles by the conveying means, and the to-be-sorted articles are sorted from the conveyance platform. A sorting device characterized by comprising means for transferring to an object storage section. (2) The maximum diameter detection means each detects the coordinates of a plurality of points on the image representing the outline of the object to be sorted from the captured image information,
The sorting device according to claim 1, wherein the distances between these detected coordinates are compared with each other, and the maximum distance between the coordinates is detected as the maximum diameter of the object to be sorted.