System for the automatic selective separation of rotten citrus fruits
The invention relates to system conceived and designed to identify pieces of fruit, especially citrus fruits, affected by any amount of rot and to determine the automatic expulsion of these pieces from the conveyor moving them through the installation. The system comprises illuminating the fruits with UV-A band light in a computer vision unit, and capturing images of the illuminated fruits by means of a camera to send them to a general control member in order to detect fluorescences associated to the rot effect. The identified fruit is automatically expelled from the conveyor in an expulsion unit, the position of the defective fruit being determined with the aid of an encoder associated to the conveyor. The general control member is a PC type computer, equipped with specific application software.
1. A system for the automatic selective separation of rotten pieces of fruit, comprising:
a conveyor for moving said pieces of fruit along a path through a processing line, with simultaneous rotation of the pieces of fruit at least in a portion of the path corresponding to an observation and viewing member;
illumination sets configured for illuminating the pieces of fruit using light comprised in UV-A band of the spectrum to produce florescence on rotten portions of the fruit, if any;
a computer vision unit for scanning the illuminated pieces of fruit conveyed in order to identify emitted fluorescences, wherein the computer vision unit comprises a compartment closed to the outside within which the conveyor runs, the illumination sets and two MAF cameras each with two monochromatic sensors are positioned and wherein the two MAF cameras capture the fluorescences emitted by the illuminated pieces of fruit including rotten portions;
an automatic expulsion unit for expelling the pieces of fruit identified as rotten based on the viewed fluorescences;
a device for controlling the position of each of the pieces of fruit identified as rotten; and
a general system control member, connected to each and every one of the operative elements integrating the latter;
wherein the fluorescences emitted by rotten portions of the illuminated pieces of fruit inside the computer vision unit are yellow, wherein at least one of the sensors is equipped with a filter that allows a passage of light corresponding to the yellow light spectral band and another of the sensors is equipped with a near infrared (NIR) filter to detect an infrared (IR) component associated to the emission of UV light and to allow observing a slight loss in an image generated with the sensor with the filter facing a rotten portion of one of the illuminated pieces of fruit.
2. The system according to claim 1 , wherein the camera is equipped with an image acquisition card for sending images captured by said camera to the general control member.
3. The system according to claim 1 , wherein the automatic expulsion unit for expelling the pieces of fruit in which rot has been detected comprises an electronic circuit controlled from the general control member, and wherein said electronic circuit activates the expelling elements associated to the conveyor.
4. The system according to claim 1 , wherein the control member for controlling the position of each piece of fruit is an encoder connected to the general control member.
5. The system according to claim 1 , wherein the general control member is a computer equipped with specific application software adapted to system requirements.
6. The system according to claim 1 , wherein the illumination sets are located in a centered position within said computer vision unit in order to project a considerable light power directed in a concentrated manner towards a forced passage area of the fruits; wherein one of the two MAF cameras is located on a left side and the other of the two MAF cameras is located on a right side of the passage area, with vision overlap towards a common passage area, and aligned in opposite positions of a transverse passage line to allow observing broad surface portions of the fruits conveyed through the unit.
7. The system according to claim 1 , wherein both cameras generate images synchronized with one and the same signal of pulses proportional to the speed of the fruit conveyor, susceptible of being interpreted with application software incorporated in a suitable control device.