US 9,789,518 B2 · Fruits sorting apparatus and fruits sorting method

Abstract

A fruits sorting apparatus includes: a conveyance device configured to convey a plurality of charged fruits from a detection area located on an upstream side to a sorting area disposed on a downstream side; an imaging device configured to photograph the fruits in the detection area of the conveyance device; a processor configured to detect a rotten fruit and a nonstandard fruit having an irregular shape or size based on images of the fruits and vegetables imaged by the imaging device; and a robot configured to pick up the rotten fruit and the nonstandard fruit detected by the processor in the sorting area.

Drawings

Drawings are temporarily unavailable. Open the PDF at USPTO

Drawings

Claims12

Dependent claims

A fruit sorting apparatus comprising:

a conveyor configured to convey a plurality of charged fruits from a detection area located on an upstream side to a sorting area located on a downstream side;
a CCD camera configured to photograph the fruits in the detection area of the conveyer;
a computer configured to detect a rotten fruit and a nonstandard fruit having an irregular shape or size based on images of the fruits photographed by the CCD camera;
a robot controller configured to control a robot, and
wherein the robot is configured to pick up the rotten fruit and the nonstandard fruit detected by the computer in the sorting area, and
wherein the computer assigns an identification symbol to each of the fruits conveyed in the detection area and tracks movement of the each of the fruits, and, when the rotten fruit or the nonstandard fruit is conveyed from the detection area to the sorting area, sends out the identification symbol of the rotten fruit or the nonstandard fruit, data of timing of charging into the sorting area, and data of a position in a horizontal direction perpendicular to a conveyance direction of the conveyer to the robot controller.

3 more elements

Dependencies are inferred from the claim text.

Description4,015 words

Summary1,490 words

#Technical Field

#The present invention relates to an apparatus and a method for sorting and removing fruits in a case where the collected fruits such as mandarin oranges are rotten or nonstandard.

#Related Art

Brief description of the drawings7 figures

#FIG. 1 is an entire configuration diagram of a fruits sorting apparatus according to an embodiment of the present invention;

#FIG. 2 is a side view of a main portion of a fruits sorting apparatus according to an embodiment of the present invention;

#FIG. 3 is a plan view of a main portion of a fruits sorting apparatus according to an embodiment of the present invention;

Detailed description2,360 words

#Hereinafter, a fruit sorting apparatus according to an embodiment of the present invention will be described. FIG. 1 illustrates the entire configuration of the fruits sorting apparatus according to this embodiment. In FIG. 1, a conveyance device 10 is a conveyer which conveys fruits A in a direction of arrow X, a lighting device 20 includes an LED or a halogen lamp which lights the fruits A conveyed by the conveyance device 10, and an imaging device 30 uses a CCD camera which continuously photographs the fruits A lighted by the lighting device 20 in the middle of the conveyance process.

#In addition, a processor 40 includes a computer including a CPU and takes in an image captured by the imaging device 30 and performs image processing thereon, detects each of the fruits A and assigns an identification symbol thereto, tracks the movement thereof, and detects rotten fruits and nonstandard fruits present among the fruits A. Then, the processor 40 outputs identification symbols, Y coordinates in a direction perpendicular to the conveyance direction denoted by arrow X, send-out timings, and the like for rotten fruits and nonstandard fruits when the rotten fruits and the nonstandard fruits are sent out from a detection area to be described later to a sorting area.

#In addition, an operation unit 50 used for operating the entire fruits sorting apparatus and a monitor 60 used for displaying a manipulation content or an operation content are illustrated.

Facts

Application

15/140,851Filed 28 Apr 2016

Priority

JP 2015-10746727 May 2015

Published

US 2016/0346811 A11 Dec 2016

Granted

17 Oct 2017

Term ends

28 Apr 2036

Estimated · how

20 years from earliest known nonprovisional domestic filing plus recorded patent term adjustment. Maintenance-fee lapses, terminal disclaimers and statutory extensions have not been checked. The continuity chain may be incomplete; this is not an enforceability determination.

Classification9 codes

B07C 5/3422
According to optical properties, e.g. colour: using video scanning devices, e.g. TV-cameras
B25J 9/1697
Characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor…:…
B07C 5/362
Processing or control devices therefor, e.g. escort memory: separating or distributor mechanisms
B07C 2501/009
Sorting according to a characteristic or feature of the articles or material to be sorted: sorting of fruit

Timeline

27 May 2015Priority claimedJP 2015-107467
28 Apr 2016Application filedUS 15/140,851
28 Apr 2016Assigned to Nireco Corporationassignment of assignor's interest
1 Dec 2016PublishedUS 2016/0346811 A1
17 Oct 2017GrantedUS 9,789,518 B2
12 Oct 2026TodayWithin its term
28 Apr 2036Term endsEstimated

Fruits sorting apparatus and fruits sorting method

Life of this patent

Fruits sorting apparatus and fruits sorting method

Life of this patent

Life of this patent

Abstract

Drawings

Drawings

Claims12

Description4,015 words

Drawings

Description4,015 words

Classification9 codes

Life of this patent