JPH10111110A - Spherical crop size measuring device - Google Patents

Abstract

(57) [Problem] To provide an inexpensive device that can measure the size of a packaging lettuce with high accuracy. SOLUTION: A plate-shaped positioning member F for stabilizing the position of the packaging lettuce when the packaging lettuce comes into contact with its own weight, and an outer surface on a side opposite to the positioning member F in the packaging lettuce whose position is stabilized by the positioning member F An optical sensor S for measuring the position is provided, and the size of the packaging lettuce is measured based on the measurement result from the optical sensor S.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring the size of spherical crops, and more particularly, to an apparatus used for continuously sorting a large number of spherical crops based on their sizes.

[0002]

2. Description of the Related Art Conventionally, for the purpose of continuously selecting a large number of spherical crops, for example, there is also a method in which a spherical crop sent by a conveyor is photographed by a television camera and the size is determined by processing the photographed image. It has been devised.

[0003]

As described above, in the method of determining the size by image processing, unlike the method of contacting the crop, the size is determined in a short time while sending the crop by the conveyor. On the other hand, on the other hand, in order to perform such image processing, as a result of requiring an imaging device such as a television camera and a processing device that operates at high speed,
The equipment is expensive. On the other hand, considering the case where small farmers sort lettuce, lettuce takes several seconds to perform one package even with an automated device. In addition, a measuring device that uses image processing to determine the size of a lettuce whose selling price is lower than that of a fruit is difficult to use in terms of cost.

[0004] In addition, in the case of spherical crops, the grade often changes even with a slight difference in size, and a technique for accurately judging the size is desired, and the size of a slightly deformed one can also be accurately judged. Is also desired.

An object of the present invention is to configure a measuring device capable of measuring the size of a spherical crop with high accuracy at low cost.

[0006]

A first feature of the present invention (claim 1) is a positioning member that stabilizes the position of a spherical crop by contacting the spherical crop with its own weight, and a position that is determined by the positioning member. A positioning member for the spherical crop in a stable state and a sensor for measuring the outer surface position of the opposite side, and configured to measure the size of the spherical crop based on the measurement result from this sensor. Is as follows.

A second feature of the present invention (claim 2) is that, in claim 1, the positioning member has three reference surfaces formed in different postures, and at least one of these three reference surfaces. The point at which the angle between the two is set to an acute angle is as follows.

According to a third feature of the present invention (claim 3), according to claim 1 or 2, the sensor is provided at three positions on the outer surface of the crop where three virtual straight lines perpendicular to each other intersect at the center of the crop. It is configured to measure each dimension of the crop in the three-dimensional direction by measuring the position, and the operation is as follows.

A fourth feature of the present invention (claim 4) is that according to claims 1 to 3, wherein the sensor uses a light-emitting portion that emits a light beam and a light-receiving portion disposed at a position to receive the light beam. The configuration is such that the size of the spherical crop is determined from the path through which the light beam blocked by the outer surface passes. The operation is as follows.

According to the first feature, the spherical crop comes into contact with the positioning member by its own weight, so that the position of the spherical crop is stabilized, and the spherical crop in the state where the position is determined is positioned. The size is determined by the sensor measuring the outer surface position on the side opposite to the positioning member with reference to the member. In other words, by utilizing the stability of the position of the spherical crop due to its own weight, it is not necessary to use a special positioning device, and the accuracy of the determination result is improved because the determination result is based on the measurement value based on the positioning member. Become.

According to the second feature, since the angle formed by two of the three reference surfaces of the positioning member is an acute angle, for example, spherical crops having different diameters are formed on the reference surface formed by the two acute angles. When comparing the amount of change in the contact position when contacting with the surface and the amount of change in the contact position when the spherical crops having different diameters are brought into contact with the reference plane where the two formed angles are obtuse angles, the two formed angles are The sharper the angle, the larger the amount of change in the contact position, the larger the amount of displacement of the position on the side opposite to the positioning member in the spherical crop relative to the positioning member, and the larger the difference in the diameter of the spherical crop, even if the difference is small Can be measured with high accuracy.

[0012] According to the third feature, the spherical crops may be 3
Since each dimension is measured, even a deformed spherical crop can be measured in an appropriate size.

According to the fourth feature, the size is determined based on whether or not the light from the light emitting unit is received by the light receiving unit. There is no need to use it, and the size of the spherical crop is measured by a non-contact type sensor, so that the measurement can be speeded up as compared with a method of measuring the size by contacting the member with the spherical crop. Not only does it hurt crops.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a lift mechanism A that receives a package lettuce Q sent from a lettuce wrapping machine P that packs a lettuce as an example of a crop and lifts the package lettuce Q to a predetermined height. A measuring mechanism B (an example of a measuring device of the present invention) for measuring and determining whether the obtained packaging lettuce Q belongs to any of three types of L size, M size, and S size that are set in advance.
And a sending mechanism C for sending the package lettuce Q measured by the measuring mechanism B by rolling or sliding using the weight of the packing lettuce Q, and a packing lettuce Q sent by the sending mechanism C. Then, a sorting device is provided with a sorting mechanism D that sends three types of L size, M size, and S size to different collection units E.

As shown in FIG. 1, the lettuce packaging machine P has a packaging table 2 formed on the upper surface of a main body 1 and a packaging roll 3 on the upper surface of the main body. The lettuce is dropped through the opening 2A of the packaging table 2 onto the upper surface of the packaging sheet from the packaging roll 3 in the state, and a pair of switches 4 and 4 on the upper surface are simultaneously turned on to thereby incorporate a built-in electric motor (not shown). After wrapping the lettuce with the packaging sheet with the driving force of (1), narrow the top of the packaging sheet at the same time, cut off the excess packaging sheet, and heat-seal the top of the packaging sheet, or fix it with adhesive tape. Is sent out of the packaging machine via the chute 5, and further, the next packaging sheet is automatically drawn out from the packaging roll 3 to the packaging table 2 and cut into a predetermined size. To have.

As shown in FIGS. 1 to 5, the lift mechanism A is provided with a support shaft 11 in a horizontal position with respect to a moving member 10 guided in a vertical direction along a vertical rail 9 provided on a first frame 8. A drive sprocket 14 at an upper position driven by an electric lift motor 13 and a follower at a lower position are driven by an electric lift motor 13 so as to swingably support a tray-shaped mounting body 12 around the tray. The moving member 10 is connected to an endless chain 16 wound around a sprocket 15, and the mounting body 12 is tilted around the support shaft 11 when the mounting body 12 rises to a preset height. The first frame 8 is provided with a contact member 18 that comes into contact with a roller 17A at the tip of an arm 17 provided on the mounting body 12 so as to release the packaging lettuce Q. As shown in FIG. 8, the contact member 18 is a bracket 1 of the first frame 8.
The height of the contact member 18 is changed by changing the connection position of the screw 20 with respect to the screw 9, so that the height at which the packaging lettuce Q is released from the mounting body 12 can be adjusted.

When the mounting body 12 is lowered to the receiving position IN for receiving the packaging lettuce Q sent from the lettuce packaging machine P, and when the mounting body 12 is raised to the sending position OUT for sending the packaging lettuce Q from the mounting body 12. A limit switch type upper sensor 21 and a lower sensor 2 which are operated by contact with a contact piece 10A formed on the moving member 10 so as to perform detection operation in some cases.
Two each are arranged. The upper sensor 21 is provided on the contact member 18 so as to be able to respond to a change in the discharge position. In addition, the path through which the packaging lettuce Q from the chute 5 of the lettuce packaging machine P is sent to the mounting body 12 at the receiving position IN is the packaging lettuce Q when the packaging lettuce Q passes.
Is supported swingably around the support shaft 23 so as to be slightly displaced downward by the weight of
Is provided, and a limit switch type sending sensor 26 operated when the path plate 25 is displaced downward is provided with the fact that the packaging lettuce Q is sent from the lettuce packaging machine P. It is configured to detect.

As shown in FIGS. 2 and 9, when the packaging lettuce Q from the chute 5 of the lettuce packaging machine P cannot be sent to the mounting body 12, The guide plate 27 in an inclined posture is set vertically below the elevating position of the mounting body 12 so as to send the lettuce Q out of the apparatus, and is supported so as to be swingable around a support shaft 28 in a lateral posture. It is prepared for a state of being held in the inclined posture by the spring 29. Also, the biasing force of the spring 29 holds the guide plate 27 in the inclined position with the weight of the packaging lettuce Q, and the roller provided on the lower surface of the mounting body 12 when the mounting body 12 reaches the receiving position IN. The posture is set to change to a substantially horizontal posture by a pressing force from 30.

As shown in FIG. 6 and FIG.
Is an angle that opens upward with respect to a support member 35 that is guided vertically along a vertical rail 34 provided in the second frame 33 when viewed in the direction along which the packaging lettuce Q is released from the placing body 12. The first reference plate 36 is formed in a V-shape having an acute angle θ, and is formed in an inclined posture in which the lower surface thereof is higher toward the lift mechanism when viewed in a horizontal direction orthogonal to this direction. The mounting body 12 described above with reference to the first reference plate 36.
A second reference plate 37 in a vertical position disposed on the lower side in the direction in which the packaging lettuce Q is released from the container, and a pair of reference surfaces of the first reference plate 36 and the second reference plate 37 (each of which is Reference surface 36S, 3 of the positioning member F of claim 1).
Packaging lettuce Q supported in contact with 6S and 37S respectively
Are provided with three optical sensors S, S, S for determining the position of the outer surface (surface opposite to the contact position). Also, the vertical rail 34
Crank member 3 driven by an electric delivery motor 38 to reciprocate the first reference plate 36 in the vertical direction along
9 and a bracket 40 connected and fixed to a first reference plate 36 so as to receive a force from the crank member 39.
The bracket 40 confirms that the reference plate 36 is at the lowest position.
Is provided with a limit switch type position sensor 41 operated by a contact piece 40A formed in the above.

Each of the three optical sensors S, S, S has a single light emitting section 42 and a light ray ray from the light emitting section 42.
And a pair of light receiving portions 43, 43 arranged at positions for receiving the package lettuce Q, as shown in FIG.
The first reference plate 36 and the second reference plate are arranged at a position where a position where a virtual straight line having a posture substantially orthogonal to and substantially perpendicular to the center of the packaging lettuce Q intersects with the outer surface of the packaging lettuce Q is measured. The size in the diameter direction can be classified into three types from the extent that the packaging lettuce Q stably held by the plate 37 blocks the light ray from the light emitting unit 42. That is, the light receiving portions 43 of the optical sensor S are arranged in parallel in the radial direction of the packaging lettuce Q,
When each of the light rays 3 and 43 receives the ray rays, the packaging lettuce Q is determined to be small. When the light ray passing through the center side of the packaging lettuce Q is blocked, the packaging lettuce Q
Is determined to be medium, and it is determined that the packaging lettuce Q is large in each case where each of the light rays, ray, is blocked. Incidentally, since the packaging lettuce Q is not perfectly spherical, the size of the packaging lettuce Q to be measured is determined by a control device which will be described later based on a comprehensive judgment of the measurement results of the three optical sensors S, S, S, as will be described later. Which of the three types, L size, M size, and S size, is determined.

As shown in FIGS. 3 and 4, the first reference plate 36 is raised by the driving force of the delivery motor 38, and the packaging lettuce Q lifted together with the first reference plate 36 is moved to the second reference plate 37. When reaching a height exceeding the upper edge 37A, the second
The package lettuce Q is sent out to the side opposite to the lift mechanism by its own weight beyond the upper edge 37A of the reference plate 37, and is provided with the electric motor 38, the crank mechanism 39, and the bracket 40 so as to be vertically movable. The transmission mechanism C is constituted by the above system.

As shown in FIGS. 2 and 5, the sorting mechanism D
Uses the moving force of its own weight to transfer the package lettuce Q sent by the sending mechanism C based on the measurement result of the measuring mechanism B to L.
It is rotatable around the axis Y in the vertical position so that it can be sent to the three different collecting units E of size, M size, and S size.
The switching plate 44 has a guide groove 44A formed in the center thereof, and an electric selection motor 46 for rotating the switching plate 44 via a reduction gear 45.

As shown in FIG. 1, FIG. 5, and FIG. 10, the collecting section E has an outer wall 48 erected at the outer peripheral position of the upper surface of the table 47 in the inclined posture in which the side opposite to the delivery mechanism C is lowered, and a pair of the outer walls 48 Is configured by standing up partition plates 49, 49,
In the collecting section E, three types of packaging lettuce Q of L size, M size, and S size are sent to three spaces on the table 47 separated by the partition plates 49, 49, respectively. At the end of the table 47 on the side opposite to the sending-out mechanism, collecting cases 59, 59, 59 are arranged.

In this sorting apparatus, a control system is configured as shown in FIG. 12. In this control system, an upper sensor 21, a lower sensor 22, a sending sensor 26, a position sensor 41, light receiving portions 43 of three optical sensors S, S, S, reset switch 5
A system for inputting a signal from a mode selection switch 53 configured to be set at a few positions is formed, and a lift motor 13, a delivery motor 38, a selection motor 46, an operation lamp 54, an emergency lamp An output system for each of the stop lamps 55 is formed. The control operation of the control device 51 is set to operate as follows.

That is, immediately after the power is turned on, signals from the lower sensor 22 and the position sensor 41 are inputted, and when the mounting body 12 is not at the receiving position IN shown in FIG. 13, the mounting body 12 is moved down until the lower sensor 22 reaches the detection state.
When the reference plate 36 is not at the lower position shown in FIG. 2, the motor 38 is driven until the position sensor 41 reaches the detection state. This state is the initial state, and when the initial state is reached, the operation lamp 54 is lit, so that the worker can recognize that the work is possible.

After reaching the initial state, lettuce packaging is performed by the lettuce packaging machine P,
Is sent out, the delivery sensor 26 detects the delivery of the packaging lettuce Q and then starts driving the lift motor 13 until the upper sensor 21 reaches the detection state.
Perform a 2 rise. When the lifting operation is performed in this manner, the packaging lettuce Q placed on the mounting body 12 is sent out to the measurement mechanism B due to the tilting of the mounting body 12 around the support shaft 11. After the upper sensor 21 has reached the detection state in this way, the control device 51 drives the lift motor 13 in the reverse direction until the lower sensor 22 reaches the detection state, and at the same time, the measuring mechanism B uses the three optical sensors S, S , S, the size of the packaging lettuce Q is measured.

Based on the measurement result, the control device 51 determines whether the size of the packaging lettuce Q belongs to the L size, the M size, or the S size. As shown in FIG. Is set to the “small” position, all of the six light receiving units 43 are in the non-detection state (when all of the six light receiving units 43 receive the light ray)
S is determined, and S is determined in a state in which one to three of the six light receiving units 43 detect (the remaining five to three of the six light receiving units 43 do not receive light). 4
When the mode switch 53 is set to the "standard" position, all the six light receiving sections 43 are in the non-detection state. Is determined as S when only the state is detected, 6
When two or four of the six light receiving units 43 detect, M is determined, and when five or all of the six light receiving units 43 detect, L is determined. Is set to the “large” position, if all of the six light receiving sections 43 are in the non-detection state or if one or two of them are in the detection state, it is determined to be M, and out of the six light receiving sections 43 L is determined when three to five light beams are detected, and LL is determined when all six light receivers 43 detect the light (when all six light receivers 43 do not receive the light ray). I have. In this manner, by selecting the mode switch 53, the size of the packaging lettuce Q is set to 5 of SS to LL.
It is possible to determine to which of the types it belongs.

After the size of the packaging lettuce Q is thus determined, the direction in which the concave groove 44A of the switching plate 44 is directed by the driving of the selection motor 46 is set, and after this setting, the delivery motor 38 is set. By rotating the crank member 39 by one rotation, the packaging lettuce Q is sent out to the upper surface of the switching plate 44 as the first reference plate 36 rises, and the packaging lettuce Q is
4 and is collected in each of the L position, the M position, and the S position in accordance with the size thereof. In addition, when the crank member 39 is rotated once by the drive of the delivery motor 38, the first reference plate 36 is reciprocated one time in the vertical direction. When the position sensor 41 reaches the detection state, the delivery motor 38 Is to stop.

In this sorting apparatus, the time required for the placing body 12 to reciprocate in the vertical direction is set sufficiently shorter than the time required for the lettuce packaging machine P to pack the lettuce. Lift motor 13 due to use over a period
When the delivery sensor 26 reaches the detection state in a state where the mounting body 12 has not been lowered to the receiving position IN due to a decrease in the operation speed of the mounting body 12 or an increase in the frictional resistance of the system for moving the mounting body 12 up and down, the lift is lifted. The driving of the motor 13 is stopped, and the operation lamp 5 is stopped.
4 is turned off, and the emergency stop lamp 55 is turned on.

When the packaging lettuce Q is not placed on the placing body 12, the packaging lettuce Q is discharged to the outside of the apparatus by the guide plate 27. When stopped, the packaging lettuce Q is
If the mounting posture is improper, for example, the outer peripheral portion may come into contact with the outer periphery, the packaging lettuce Q is artificially removed, and the reset switch 52 is turned on to operate the emergency stop lamp 5.
After turning off 5 and introducing the above-mentioned initial state,
The operation lamp 54 is turned on.

Further, in the present sorting apparatus, the lift mechanism A is configured to be separable, and as shown in FIG. 13, for example, the packaging lettuce Q sent from the lettuce packaging machine P is sequentially lifted upward, and It is also possible to perform operations such as simply lifting crops, such as releasing them to the sea.

As described above, in the present invention, since the packaging lettuce Q discharged from the lower position of the lettuce packaging machine P is configured to be lifted to a high position, the worker can remove the packaging lettuce Q discharged to the lower position. Not only does it not have to perform an artificial collection operation, but also the size of the packaging lettuce Q lifted to a high position is determined by the light receiving section 43 of the non-contact type optical sensors S, S, S.
The magnitude is 3 by a simple signal combination of detection and non-detection of
Since it is determined from the direction, the three-dimensional size can be measured in a short time, and the angle θ formed between the opposing surfaces of the first reference plate 35 is made acute, so even if the difference in diameter is small, it can be accurately performed. In addition, since the packing lettuce Q is sent out from its high position by using its own weight, dedicated equipment for sending out a conveyor belt or the like is not required, and furthermore, Since the system has a system for changing the feeding direction by contacting the packaging lettuce Q when the packaging lettuce Q is sent out by its own weight, for example, the moving force is applied to the packaging lettuce Q to separate and collect L, M, and S respectively. No need for a drive system for feeding the packaging lettuce up to this point, and the packaging lettuce sent from a lower position of the lettuce packaging machine P can be collected in a case 50 having an opening at a position higher than the sending position OUT. Become Ri, which is intended to perform without imposing a burden on labor to the operator proper sorting based on size with a simple structure as a whole is.

Further, when the packaging lettuce Q cannot be lifted by the lift mechanism A, the packaging lettuce Q is discharged out of the apparatus, and control is performed in a state where the phenomenon that the packaging lettuce Q remains in the apparatus is avoided. The operation is stopped, and the emergency stop lamp 55 is lit to make the worker recognize that the operation is in the stop state, thereby enabling a reasonable operation.

[0034]

Accordingly, a measuring device capable of stabilizing a spherical crop at a measurement position by its own weight and measuring the size of the spherical crop with high accuracy has been constructed at low cost without complicating the present invention. In addition, the extremely simple structure of setting the angle formed by the reference plane of the positioning member enhances the measurement accuracy of the size of the spherical crop (claim 2), and reduces the three-dimensional size of the distorted spherical crop. A measuring device capable of accurately measuring (claim 3) and measuring the size of the spherical crop with high accuracy without damaging the crop was rationally configured (claim 4).

[Brief description of the drawings]

FIG. 1 is a perspective view of a packaging device and a sorting device.

FIG. 2 is a longitudinal sectional side view of a sorting device.

FIG. 3 is a vertical side view of a lift mechanism and a measurement mechanism.

FIG. 4 is a vertical sectional side view of a sorting mechanism.

FIG. 5 is a plan view of a measuring mechanism and a sorting mechanism.

FIG. 6 is a perspective view showing a sensor arrangement and the like of a measuring mechanism.

FIG. 7 is a longitudinal sectional front view of a measuring mechanism.

FIG. 8 is an enlarged side view of the contact member.

FIG. 9 is a longitudinal sectional front view showing a guide plate.

FIG. 10 is a plan view showing a sorting state by a sorting mechanism.

FIG. 11 is a diagram illustrating a relationship between an operation position of a mode switch and a sorting mode.

FIG. 12 is a block circuit diagram of a control system.

FIG. 13 is a longitudinal sectional side view showing a working mode using only a lift mechanism.

[Explanation of symbols]

 42 Light emitting unit 43 Light receiving unit F Positioning member S Sensor θ Angle

Claims (4)

[Claims] 1. A positioning member for stabilizing the position of a spherical crop when the spherical crop comes into contact with its own weight, and measuring the outer surface position of a side opposite to the positioning member in the spherical crop in a state where the position is stabilized by the positioning member. A spherical crop size measuring device comprising a sensor and configured to measure the size of the spherical crop based on the measurement result from the sensor. 2. The positioning member according to claim 1, wherein the positioning member has three reference planes formed in different postures, and an angle between at least two of the three reference planes is set to an acute angle. Size measuring device for spherical crops. 3. The three-dimensional dimension of the crop is measured by the sensor measuring three positions on the outer surface of the crop where three virtual straight lines having a posture orthogonal to each other intersect at the center of the crop. 3. The size measuring device for spherical crops according to claim 1, wherein the size measuring device is configured to perform the following. 4. The light-emitting unit, wherein the sensor emits a light beam;
The light receiving unit arranged at a position for receiving the light beam, and configured to determine the size of the spherical crop from the path through which the light beam blocked on the outer surface of the spherical crop passes.
3. The apparatus for measuring the size of a spherical agricultural product according to any one of 3.