JP3980443B2 - Leek root trimming device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a leek root aligning device used for, for example, an operation for trimming a leek root .
[0002]
[Prior art]
Conventionally, when the leek of the above example is shipped to the market, the epidermis that covers the outer surface of the stalk of the leek to increase the commercial value is mechanically separated, but the epidermis is pulled to the root. When peeled, if there are many connected portions between the epidermis and the root, the epidermis may remain in the root, so it is necessary to cut the root of the leek into a state suitable for separating the epidermis.
[0003]
As an apparatus for cutting the root part of the above-mentioned onion, for example, the apparatus of Patent Document 1 that cuts the root part of the onion conveyed by the conveyor with a rotary blade disposed at a fixed position or moved to a fixed position, for example, from a light source part Based on the transmitted light quantity detected by the transmitted light sensor, the transmitted detection light is irradiated to the stem part of the leek inserted in the holder, and the transmitted light quantity transmitted through the stem part is detected by the transmitted light sensor. Further, there is a root cutting device disclosed in Patent Document 2 that identifies a boundary position (cutting position) between a stem portion and a root portion.
[0004]
[Patent Document 1]
Japanese Patent No. 3118417 [Patent Document 2]
JP 11-225729 A [Problems to be solved by the invention]
However, the device of Patent Document 1 has different bending conditions of the stalk and root of the leek depending on the growth situation. Therefore, when the root of the leek is cut with a rotary blade, the amount of cut at the root tends to vary, and a predetermined amount is cut off. Difficult to do.
[0005]
Further, in the root cutting device of Patent Document 2, depending on the freshness (water content) of the leeks, the shape and dimensions of the stems, the detection light emitted from the light source may pass through the stems of the leeks well. In some cases, the detection light may be excessively transmitted. Therefore, the success rate for identifying the boundary position between the stem and the root is only about 80% to about 90%, and the remaining is about 10% to about 20%. There is a problem that it is difficult to identify the boundary position of the leek.
[0006]
In addition, when the amount of the stalks of the root part is large, the internal fluid tends to ooze out from the cut surface of the root part, so that the speed of progression of discoloration and rot increases, and the freshness of the leek is lost in a short period of time. Moreover, when there is little quantity which excises the stalk of a root part, since several hair roots remain in a root part, it looks bad and a commercial value is impaired. In addition, when the unnecessary epidermis is peeled off to the root part, if there is a lot of remaining part of the epidermis connected to the root part, it may be unnecessary to peel off the epidermis or a part of the epidermis will remain on the root part. There is a problem that inconvenience occurs when the skin is peeled off.
[0007]
In view of the above problems, the present invention accurately detects the boundary position between the unnecessary part and the necessary part of the root part by detecting the reflected light in the wavelength region suitable for identifying the boundary position between the unnecessary part and the necessary part of the leeks. An object of the present invention is to provide a leek root trimming device that can detect reliably and can improve detection accuracy and trimming accuracy.
[0008]
[Means for Solving the Problems]
The present invention provides detection light irradiation means for irradiating the unnecessary part and the necessary part with detection light for detecting a boundary position between the unnecessary part and the necessary part of the root part of the leek , and the unnecessary part and the necessary part of the root part. Reflected light that has passed through an optical filter that allows only reflected light in the wavelength region of 300 nm to 500 nm suitable for identifying the boundary position between the unnecessary portion and the necessary portion from the wavelength region of the reflected light reflected by the reflected light detecting means for detecting, on the basis of the detection information output from the reflection light detecting means, and a cutting position determining means for determining a cutting position of the root, based on the determination by the cutting position determining means, said root portion A leek root trimming device comprising trimming means for cutting a predetermined amount of unnecessary portions.
[0009]
Test Idemitsu irradiation means described above, for example, a halogen lamp or a xenon lamp, an ultraviolet lamp, a fluorescent lamp, can be composed of the lighting device of incandescent lamp. The reflected light detection means can be constituted by optical detection means such as a monochrome or color imaging camera, digital camera, video camera, or the like. Further, the cutting position determining means can be constituted by a control device including, for example, a personal computer, a CPU, a ROM, and a RAM. Further, the cutting and aligning means can be constituted by, for example, a cutting device, a rotary blade, a fixed blade, a cutter, a wire cutter, a band saw, a fluid spray cutter, a laser cutter, or the like.
[0010]
That is, when the detection light emitted from the detection light irradiation means is irradiated to an unnecessary part (for example, a root part or a stem board) and a necessary part (for example, a stem part or a soft white part) of the leek , the unnecessary part and the necessary part are necessary. An optical filter that allows only reflected light in a wavelength region of 300 nm to 500 nm suitable for identifying a boundary position (cutting reference position) between an unnecessary portion and a necessary portion from a wavelength region of reflected light reflected by the portion. The transmitted reflected light is detected by reflected light detection means. In addition, after determining the cutting position of the root portion by the cutting position determining means based on the detection information of the wavelength region output from the reflected light detecting means, the unnecessary portion of the root portion is trimmed based on the determination by the cutting position determining means. A predetermined amount is excised by means and trimmed.
[0011]
As an embodiment, based on the determination by the cutting position determining means, in a position Setsusoroe means relative to the cutting position of the root is opposed, the relative movement means (e.g. a motor for relatively moving said root and Setsusoroe means And a solenoid, an air cylinder, a chain feed mechanism, a screw feed mechanism, a cam feed mechanism, etc.).
[0012]
For example, as shown in the characteristic diagram of FIG. 6, the reflectance of the stalk rises from a wavelength region of about 300 nm, as shown in the characteristic diagram of FIG. The reflectance of the root part rises from a wavelength region of about 50 nm or more than about 300 nm of the stem part. In addition, up to a wavelength region of approximately 600 nm, the stem portion exhibits a reflectance that is approximately two to three times as high as that of the root portion. The method of identifying the boundary position (cutting position) seems to be optimal.
[0013]
In addition, when the boundary position between the stalk and root of the leeks is identified by the difference in the wavelength region of the reflected light reflected by the stalk and the root, for example, a polarizing filter (for example, a PL filter or a circular PL) for preventing halation from occurring. And an illumination device having a radiation characteristic of approximately 370 nm or more, and a monochrome imaging camera equipped with the polarization filter and an optical filter that allows only reflected light in the wavelength region of 300 nm to 500 nm to be used. Is optimal, and image information in a wavelength region that is optimal and easy to identify the boundary position (cutting position) between the stem and root of the onion can be obtained (for example, within a wavelength region of about 400 nm to about 500 nm). Further, the wavelength region for identifying the boundary position between the stem portion and the root portion can be changed to, for example, a wavelength region of about 400 nm or less and about 500 nm or more. In addition, a CCTV lens having a transmission wavelength of about 370 nm or more and a focal length of about 6 mm is used for the imaging camera.
[0014]
Further, the transmission wavelength of the optical filter can be changed, for example, by exchanging it with another optical filter manufactured by Kenko or by exchanging it with an optical filter manufactured by another company. Also, the CCTV lens can be replaced with a lens having a focal length of about 6 mm or less.
[0015]
The energy output from the imaging camera described above includes the transmittance of the CCTV lens shown in FIG. 7, the transmittance of the polarizing filter (PL filter) shown in FIG. 8, the transmittance of the optical filter shown in FIG. And the radiation characteristic of the illumination device 12 shown in FIG.
[0016]
Originally, the output energy of the imaging camera is calculated by the following Equation 1 and Equation 2, the range of the wavelength λ where the difference D between Or and Ob shown in Equation 3 is maximized is determined, and the optical filter is selected according to the range. It is preferable to design. However, when designed by the above calculation method, the optical filter becomes very expensive. For example, since it is necessary to use an interference filter instead of a glass filter, a commercially available inexpensive glass filter having the largest difference D is selected and used.
[0017]
[Formula 1] is expressed as Oa = ΣE · Ra · T · L · S · Δλ
[Expression 2] is obtained by the following equation: Ob = ΣE · Rb · T · L · S · Δλ
[Formula 3] is D = (Oa−Ob) / (Oa + Ob)
Symbols in the above formulas 1, 2 and 3 are: E: radiant energy of the illumination device, Ra: stem reflectance, Rb: root reflectance, T: filter transmittance, L: lens transmittance, S: CCD Λ: wavelength (so Oa is the energy of the stem in the input image, and Ob is the energy of the root).
[0018]
And when actually picked up with a monochrome imaging camera 13 having sensitivity characteristics up to the near-ultraviolet region side, the stem Ab (soft white portion) of the green onion A shows a very high density value level, and is in the vicinity of the stem board Ad. The brightness is considerably darker than that of an image captured by a conventional imaging camera, and the root portion Aa and the stem portion Ab (soft white portion) can be easily identified. Moreover, the reflectance and density value of the stem part Ab is approximately two to three times that of the root part Aa.
[0019]
[Action and effect]
According to the present invention, the reflected light of the wavelength region suitable for identifying the boundary position between the unnecessary part and the necessary part is reflected from the wavelength region of the reflected light reflected by the unnecessary part and the necessary part of the root part of the leek. Detected by the detection means, and based on the detection information, the boundary position between the unnecessary part and the necessary part of the root part is determined individually by the cutting position determination means, so the freshness (moisture content), appearance shape, outer diameter dimensions of the leeks Therefore, it is possible to accurately and surely detect the unnecessary part of the root part of the leeks and the boundary position of the necessary part, and to improve the detection accuracy and the trimming accuracy.
[0020]
【Example】
An embodiment of the present invention will be described in detail with reference to the drawings.
[0021]
The drawings show a leek root aligning device used for leasing the leek roots . In FIGS. 1 and 2, this leek root aligning device 1 separates the unnecessary skin of leek A. The leek A, which is arranged in the previous stage of the skinning process and placed on the placing table 3 of the conveyor 2, is divided into a preprocessing section a, a trimming section b, and a trimming section c set on the transport path. Convey and cut the root Aa of leek A into a state suitable for skinning.
[0022]
The above-described conveyor 2 has a circular chain 4 in which a long mounting spring 3 on which a long green onion A is mounted in a posture substantially orthogonal to the conveying direction is stretched around the lower part of the conveying path. At intervals, the rotating chains 4 are rotated in the conveying direction by the driving force of a motor with a reduction gear (not shown), and the mounting table 3 on which the leeks A are mounted is continuously or with respect to the conveying direction. It moves intermittently.
[0023]
In addition, the mounting table 3 includes a receiving base 3a that supports the root Aa side in a state protruding a predetermined length from the left side of the conveyance path, a receiving part 3b that supports the stem part Ab substantially horizontally, and a leaf part Ac that is substantially horizontal. And a receiving portion 3c that is supported. Further, instead of the transport conveyor 2, for example, a bucket conveyor, a belt conveyor, a roller conveyor, a chain conveyor, a free tray on which the leeks A are placed, or the like may be used.
[0024]
The cleaning device 6 disposed in the pretreatment section a includes, for example, a discharge nozzle 6a connected to an air supply source such as an air supply blower or a compressor and a water supply source such as a water supply or a tank. 3 Arranged on the upper left side of the conveyance path facing the upper surface of the root Aa of the green onion A protruding to the left side, and mixed with air (atmosphere) and water (tap water) discharged from the discharge nozzle 6a on the upper surface of the root Aa On the other hand, it sprays from diagonally upward, and the foreign material (for example, mud, dust, etc.) which covers the upper surface of the root Aa is washed away. Moreover, you may spray either air or water.
[0025]
For example, a gas such as nitrogen gas, an inert gas, or carbon dioxide may be used instead of the air, and a liquid such as distilled water, natural water, a solvent, or a chemical solution may be used instead of water. Moreover, you may combine multiple above-mentioned gas and liquid, and a wiping tool.
[0026]
On the other hand, the rough cutting device 7 disposed at the rear of the cleaning device 6 includes a rotary blade 7a rotated by a motor (not shown), and a tip of a root Aa of the green onion A that protrudes to the left side of the mounting table 3 of the conveyor 2. Oppositely arranged on the left side of the conveying path, the root Aa tip and a plurality of long hair roots protruding from the tip are cut out by the rotary blade 7a, and rough cut processing is performed.
[0027]
Since each set of trimming devices 10 arranged in the aforementioned trimming sections b and c has the same configuration, the configuration of one set of trimming devices 10 will be described. As shown in FIGS. 3 and 4, this apparatus is provided with a light shielding chamber 11 that shields outside light other than detection light B and reflected light C, which will be described later, on the conveying path of the trimming sections b and c. Two illumination devices 12 that irradiate detection light B in a wavelength region suitable for detecting the boundary position (cutting position) between the root Aa and the stem Ab of the leek A inside the chamber 11 are provided on the left side of the mounting table 3. The imaging camera 13 described later (for example, a monochrome camera having sensitivity characteristics up to the near ultraviolet region side of about 300 nm to about 1000 nm, manufactured by SONY, XC- It is arranged on both sides of EU50CE).
[0028]
In addition, a wavelength region suitable for identifying a boundary position (cutting position) between the root Aa and the stem Ab from the reflected light C reflected by the root Aa and the stem Ab of the leek A (for example, approximately 400 nm to approximately 500 nm). The monochrome imaging camera 13 that captures the reflected light C) is disposed on the upper left side of the conveyance path so as to face the root Aa and the stem Ab upper surface of the green onion A protruding to the left side of the mounting table 3, and the root Aa and the stem The substantially disc-shaped or substantially cylindrical contrast member 14 for clarifying the contrast between the part Ab and the other part (background) is opposed to the root part Aa and the lower part of the stem part Ab of the green onion A protruding to the left side of the mounting table 3. And it arrange | positions in the conveyance path left lower part.
[0029]
The illumination device 12 is equipped with a PL filter for preventing halation, and the imaging camera 13 has an optical filter having a transmission wavelength of approximately 300 nm to approximately 500 nm (for example, Blue filter B manufactured by Kenko). -390) and a CCTV lens having a transmission wavelength of approximately 370 nm or more and a focal length of approximately 6 mm. Further, the wiping body 15 that is in contact with the contrast member 14 is configured such that when the contrast member 14 is rotated by a motor (not shown), foreign matter (for example, a leek skin, internal liquid, water droplets, dust) adhering to the upper surface side of the contrast member 14 is used. Etc.).
[0030]
In addition, the detection light B projected from the illumination device 12 is irradiated substantially perpendicularly to the top surface of the root Aa and the stem Ab of the green onion A. For example, substantially obliquely upward and backward upward, substantially obliquely right and left upward, substantially upward direction, etc. It is also possible to irradiate from a desired direction and angle. Moreover, the number of the illuminating devices 12 can be changed to, for example, one or two or more.
[0031]
In addition, the upper surface of the root Aa and the stem Ab of the green onion A is imaged from approximately right above by a single imaging camera 13. For example, a desired direction and angle, such as approximately obliquely front and back, approximately obliquely right and left, and approximately directly below. It is also possible to take an image. Further, the number of imaging cameras 13 can be changed to, for example, two or more.
[0032]
The image processing device 17 connected to the imaging camera 13 described above is numerical information suitable for identifying the boundary position (cutting position) between the root Aa and the stem Ab of the green onion A in the captured image output from the imaging camera 13. It converts into (for example, binarization processing), and outputs it to the control apparatus 18.
[0033]
The control device 18 (for example, a personal computer) connected to the image processing device 17 determines the boundary position (cutting position) between the root Aa and the stem Ab based on the image information output from the image processing device 17. . That is, as shown in the spectral reflection characteristic diagram of FIG. 6, the reflectance of the stem Ab rises from a wavelength region of about 300 nm, whereas the reflectance of the root Aa is substantially larger than about 300 nm of the stem Ab. It rises from a wavelength region of 50 nm or more.
[0034]
In addition, up to a wavelength region of approximately 600 nm, the stem Ab exhibits a reflectance that is approximately two to three times as high as that of the root Aa. A boundary position (cutting position) with the stem Ab can be identified and determined, and a cutting position where, for example, about 2/3 of the stem board Ad is left is determined based on the boundary position (cutting reference position). In addition, the cutting position determined from the image information of the imaging camera 13 can be variably adjusted in a plurality of stages (for example, three stages of large, medium, and small, or three or more stages) depending on the stem diameter size of the leek A.
[0035]
The cutting position information determined for each above-mentioned leek A and the address information of the mounting table 3 read by the address reading device 19a described later are stored in association with each other. Further, the cutting amount of the root Aa can be changed to, for example, a position where about 2/3 or more of the stem board Ad is left or a position where it is left below.
[0036]
In addition, address reading devices 19a and 19b for reading the address information set for each mounting table 3 or the address information that moves substantially corresponding to the mounting table 3 are arranged in the lower part of the conveyance path, and the imaging section of the imaging camera 13 The address information read by the address reading device 19a disposed in the cutting section 20 and the address reading device 19b disposed in the cutting section of the cutting device 20 is output to the control device 18.
[0037]
Further, instead of the address information described above, for example, the unique information of a recording medium (for example, a bar code, an ID card, a magnetic card, etc.) attached to the mounting table 3 itself or moved substantially corresponding to the mounting table 3 is read or cut. For example, the position information and other measurement information may be recorded, or the time lag until the leek A reaches the cutting device 20 may be timed.
[0038]
Since the cutting device 20 disposed immediately after the imaging camera 13 has the same configuration, the configuration and operation of one cutting device 20 will be described. In this apparatus, for example, a rotary table 20c that is disposed on the left side of the conveyance path with a rotary blade 20a inclined in a two-dimensional direction in the vertical direction and the horizontal direction facing the root Aa of the onion A protruding on the left side of the mounting table 3. And is rotated at a constant speed by a motor 20b fixed to the movable base 20c.
[0039]
Further, the movable base 20c is attached to a support base 20d disposed on the left side of the transport path, and is substantially orthogonal to the transport direction by a motor 20e with a movement amount detection function (for example, a servo motor or a stepping motor) fixed to the support base 20d. As shown in FIG. 11, the rotary blade 20a is moved back and forth stepwise by a predetermined amount of movement (for example, approximately 0.25 mm unit) with respect to the direction, and at a high speed stepwise with respect to the direction facing the tip of the root Aa. Move (for example, approximately 0.3 seconds). Moreover, the side part and upper part of the rotary blade 20a are enclosed by the cover 20f. Further, as another example of the moving means replacing the motor 20e, for example, a solenoid, an air cylinder, a cam, a chain, or the like may be used.
[0040]
FIG. 5 shows a control circuit block diagram of the leek root trimming device 1. The control device 18 (for example, a personal computer) includes a CPU, ROM, and RAM, and the CPU is stored in the ROM (or PROM). The driving and stopping of the conveyor 2, the cleaning device 6, the rough cutting device 7, the imaging camera 13, the image processing device 17, the address reading devices 19a and 19b, and the cutting device 20 are performed in accordance with the program. Control.
[0041]
In the RAM, image information output from the imaging camera 13 and the image processing device 17, cutting position information determined for each leek A, address information of the mounting table 3 read by the address reading devices 19a and 19b, and cutting The movement amount information of the rotary blade 20a output from the device 20 is stored in correspondence.
[0042]
Based on the pulse signal output from the motor 20e, the above-mentioned control device 18 uses the root Aa tip protruding to the left side of the mounting table 3 as a cutting reference position to cut a predetermined amount of the pedestal Ad of the root Aa (for example, approximately 2). The movement distance of the rotary blade 20a until reaching the position to be left is calculated and calculated.
[0043]
Further, the address information of the mounting table 3 moved to the imaging section of the imaging camera 13 is read by the address reading device 19a, and the address information is output to the control device 18, and the above-described movement amount information and the address reading device 19a . The read address information of the mounting table 3 is stored in the control device 18 in association with it.
[0044]
In addition, the address information of the mounting table 3 that is moved to the cutting section of the cutting device 20 is read by the address reading device 19 b, and the address information is output to the control device 18. The control device 18 compares the address information of the mounting table 3 output from the address reading device 19b with the address information stored in the RAM, and determines whether the address information is the same.
[0045]
Further, the cutting position information corresponding to the address information read by the address reading device 19b is read from the RAM, the motor 20e is intermittently rotated by a predetermined amount based on the cutting position information stored in the RAM, and the rotary blade 20a. Are moved stepwise to a position where a predetermined amount of the stem A of the root Aa is cut off. Further, the cutting information stored in the RAM is deleted or overwritten when returning from the terminal side to the starting side.
[0046]
Illustrated embodiment to what constitutes as described above, will be described an operation for aligning off the root Aa leek A by Setsusoroe device 1 of the root portion of the leek.
[0047]
First, as shown in FIG. 1 and FIG. 2, the green onions A are aligned on the mounting table 3 of the transport conveyor 2 in a posture substantially orthogonal to the transport direction, and the tip of the root Aa is, for example, a belt The sheet is conveyed to the pretreatment section a while being aligned with a state of projecting a predetermined length on the left side of the mounting table 3 by being pressed against an aligning portion (not shown) such as a plate or a plate.
[0048]
Next, in the pretreatment section a, air and water discharged from the discharge nozzle 6a of the cleaning device 6 are sprayed onto the upper surface of the root Aa, and the foreign matter covering the upper surface of the root Aa is cleaned and removed, and protrudes to the tip of the root Aa. A plurality of long hair roots are cut by the rotary blade 7a of the rough cutting device 7 and rough cut processing is performed.
[0049]
Next, in the trimming section b, as shown in FIGS. 3 and 4, the detection light B projected from the illumination device 12 is irradiated with the root Aa and the stem Ab of the green onion A protruding to the left side of the mounting table 3. Irradiate the top surface from above. In addition, a wavelength region suitable for identifying a boundary position (cutting position) between the root Aa and the stem Ab from the wavelength region of the reflected light C reflected by the root Aa and the stem Ab, for example, approximately 400 nm to approximately 500 nm. ) Is reflected by the imaging camera 13, and the image information is output to the image processing device 17.
[0050]
The control device 18 calculates and determines the boundary position (cutting reference position) between the root part Aa and the stem part Ab based on the image information in the wavelength region output from the imaging camera 13, and the cutting position information described above. And the address information of the mounting table 3 read by the address reading device 19a are stored in the control device 18 in association with each other.
[0051]
Subsequently, when the mounting table 3 moves to the cutting section of the cutting device 20, the cutting position information corresponding to the address information of the mounting table 3 read by the address reading device 19b is read, and based on the cutting position information, the cutting device 20 is driven. That is, the rotary blade 20a is moved stepwise to the cutting position determined for each leek A, and the root Aa of the leek A is excised to such an extent that the stem plate Ad remains in a predetermined amount, and then the leek A that has undergone stalk excision. Is conveyed to the next trimming section c.
[0052]
Next, in the trimming section c, in the same way as described above, based on the image information output from the imaging camera 13 of the trimming apparatus 10, the cut amount and the remaining cut amount of the stalk board Ad are calculated, and the stalk board Ad is calculated. It is determined whether or not it has been excised so that a predetermined amount remains. At the same time, the above-described cutting position information and the address information of the mounting table 3 read by the address reading device 19a are stored in the control device 18 in association with each other.
[0053]
Subsequently, when the mounting table 3 moves to the cutting section of the cutting device 20, the control device 18 reads the cutting position information corresponding to the address information of the mounting table 3 read by the address reading device 19b, and uses the cutting position information as the cutting position information. Based on this, the cutting device 20 is driven. That is, when it is determined that a predetermined amount has been removed, the rotary blade 20a is not moved, and the standby state or the resting state is maintained. The green onion A determined to have undergone scutanectomy is conveyed to the next step.
[0054]
And when it is determined that a predetermined amount or more remains, the rotary blade 20a is moved stepwise to the cutting position determined for each leek A, and the root portion Aa of the leek A has a predetermined amount of stem board Ad remaining. After the final excision, the leek A that has undergone stalk excision is transported to the next process (for example, a skinning process or a sorting process). That is, since the stem A of the root Aa is excised into a state suitable for peeling off the unnecessary epidermis, when the epidermis is peeled off to the root Aa, the remaining part of the epidermis connected to the root Aa is small, and the epidermis Can be easily removed. Hereinafter, similarly to the above, the leek A is continuously aligned.
[0055]
As described above, when the detection light B projected from the illumination device 12 is applied to the root Aa and the stem Ab of the leek A, the wavelength range of the reflected light C reflected by the root Aa and the stem Ab is reflected. The reflected light C in the wavelength region suitable for identifying the boundary position (cutting reference position) between the root portion Aa and the stem portion Ab is imaged by the imaging camera 13 having sensitivity characteristics up to the near ultraviolet region side, and the imaging Based on the image information output from the camera 13, the boundary position (cutting reference position) between the root Aa and the stem Ab of the leeks A is individually determined and determined by the control device 18, so that the freshness of the leeks A (water content) ), Appearance shape, outer diameter size, etc., the boundary position (cutting reference position) between the root Aa and the stem Ab of the leek A can be accurately and reliably detected, and the detection accuracy and the alignment accuracy Can be improved.
[0056]
The configuration of the leek root trimming device 1 according to the present invention can also be applied to, for example, trimming the root Aa of the leek A held in a substantially vertical posture or a substantially oblique posture.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a plan view showing a leek root trimming device provided with two trimming devices.
FIG. 2 is a perspective view showing a leek trimming operation by a leek root trimming apparatus.
FIG. 3 is a perspective view showing a detection operation and an alignment operation by the alignment device.
FIG. 4 is a front view showing a method for detecting a cutting position of a stem and a root.
FIG. 5 is a control circuit block diagram of a leek root trimming device.
FIG. 6 is a spectral reflection characteristic diagram of a stem part (soft white part) and a root part.
FIG. 7 is a characteristic diagram showing the transmittance of a CCTV lens.
FIG. 8 is a characteristic diagram showing the transmittance of a PL filter.
FIG. 9 is a characteristic diagram showing the transmittance of the optical filter.
FIG. 10 is a characteristic diagram showing radiation characteristics of the lighting device.
FIG. 11 is a side view showing a root excision operation by a cutting device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS A ... Green onion Aa ... Root part Ab ... Stem part B ... Detection light C ... Reflection light 1 ... Leek root part aligning device 2 ... Conveyor 3 ... Mounting table 10 ... Trimming device 12 ... Illuminating device 13 ... Imaging camera 17 ... Image processing device 18 ... control device 20 ... cutting device

Claims (2)

A detection light irradiation means for irradiating the unnecessary part and the necessary part with detection light for detecting a boundary position between the unnecessary part and the necessary part of the root part of the leek ;
Only the reflected light in the wavelength region of 300 nm to 500 nm suitable for identifying the boundary position between the unnecessary portion and the necessary portion is allowed to be transmitted from the wavelength region of the reflected light reflected by the unnecessary portion and the necessary portion of the root portion. Reflected light detection means for detecting reflected light transmitted through the optical filter ;
Based on detection information output from the reflected light detection means, a cutting position determining means for determining the cutting position of the root ,
Based on the determination by the cutting position determining means, a cutting aligning means for cutting a predetermined amount of unnecessary portions of the root portion is provided.
Leek root trimming device. Relative movement means for relatively moving the root portion and the trimming means at a position where the trimming means faces the cutting position of the root portion based on the determination by the cutting position determination means. Item 1. A leek root aligning device according to item 1.

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