KR20210057536A - Inspection automatic apparatus and module for agricultural products and livestock products - Google Patents

Abstract

An agricultural products inspection automation device related to an embodiment of the present invention comprises: a light source for generating light; a measuring integrating sphere that diffusely reflects a diffusely reflected light generated by condensing an electromagnetic wave incident from the light source to an object to be inspected; a detector for detecting the diffusely reflected light diffusely reflected inside the measuring integrating sphere; a holder for fixing the object to be inspected; and a rotating motor that is mechanically connected to the holder and rotates.

Description

Inspection automatic apparatus and module for agricultural products and livestock products TECHNICAL FIELD

The present invention relates to an automated agricultural and livestock product inspection apparatus capable of automatically inspecting the entire surface and interior of a subject, as well as accurately performing a large amount of inspection.

Component analysis of agricultural products and livestock products is performed through spectral analysis or image analysis by the diffuse reflection of NIR lighting, and hyperspectral images that are mixed, and most of the diffuse reflection beams of the lights penetrating into the agricultural products and livestock products are observed. Therefore, it is possible to analyze the internal components of agricultural products and livestock products.

Looking at the detector side, it is necessary to reduce the specular beam and increase the diffused beam to accurately grasp the information inside agricultural products and livestock products, and for this purpose, reflective lighting is widely used.

However, in the case of using a portable inspection device to which the spectroscopic analysis technique by reflection method is applied, if the surface of the agricultural product or livestock to be measured and the inspection device are not accurately aligned or contacted, there may be a problem that the measurement result is different depending on the repeat measurement or the measuring person. .

In addition, as the curvature or surface shape of the measurement surface is different for each sample, distortion occurs in the screen as the angle between the illumination incident angle and the fruit and vegetables curve occurs, resulting in a problem of inferior accuracy, so errors may occur according to the shape of the sample. . Various algorithms have been developed to improve this, but problems still exist.

In order to solve this problem, when non-destructive spectral measurement is performed, it is necessary to develop a technology that can minimize measurement errors caused by repetition and measurement errors that may occur in the shape of a subject and improve measurement precision.

The present invention has been conceived to solve the above-mentioned problems, and is to provide an agricultural and livestock product inspection automation device and an inspection automation module capable of improving the accuracy of measurement by inspecting an object to be inspected while rotating it using a rotating motor.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

The apparatus for automated inspection of agricultural and livestock products according to an embodiment of the present invention includes a light source unit for generating light, a measurement integrating sphere for diffusing and reflecting diffusely reflected light generated by condensing electromagnetic waves incident from the light source unit to an object to be inspected, and the measurement A detector configured to detect diffusely reflected light reflected from the inside of the integrating sphere, and a holder to fix the object to be inspected; And a rotary motor that is mechanically connected to the holder and rotates.

The agricultural and livestock inspection automation apparatus may further include a path changing unit disposed between the light source unit and the measurement integrating sphere, and changing a path so that an electromagnetic wave incident from the light source unit is incident on the measurement integrating sphere.

The agricultural and livestock inspection automation apparatus may further include an electromagnetic wave adjusting unit disposed between the light source unit and the path changing unit, forming an electromagnetic wave incident from the light source unit in parallel, and entering the parallel electromagnetic wave to the path changing unit.

The agricultural and livestock inspection automation apparatus may further include a focusing lens disposed between the path changing unit and the measurement integrating sphere, and condensing electromagnetic waves incident from the path changing unit to the measurement integrating sphere.

The agricultural and livestock product inspection automation apparatus includes: a displacement sensor measuring a distance from a reference point to the surface of the lower layer of the object to be inspected; And a moving unit for moving the measurement integrating sphere to maintain a constant distance from the measurement integrating sphere to the upper surface of the object to be inspected based on the distance measured from the displacement sensor.

The rotation motor may be a second motor that rotates the object to be inspected and moves the object to be inspected in a horizontal direction of a rotation axis.

The measurement integrating sphere may have a spherical shape with an empty inside.

The measurement integrating sphere includes an incidence hole into which an electromagnetic wave incident from the light source unit is incident, a detection hole through which a part of the object to be inspected enters, and a diffusely reflected light diffusely reflected from a part of the object to be inspected entering the detection hole to the detection unit. It may include an incident exit hole.

The detection unit may be mechanically connected to the emission hole.

According to another embodiment of the present invention, an automated module for inspection of agricultural and livestock products includes a measurement integrating sphere that diffuses and reflects the diffusely reflected light generated by condensing an incident electromagnetic wave into an object to be inspected, and a diffusion-reflected diffusion inside the measurement integrating sphere. A detector for detecting reflected light, and a holder for fixing the object to be inspected; And a rotary motor that is mechanically connected to the holder and rotates.

The agricultural and livestock product inspection automation module includes: a displacement sensor measuring a distance from a reference point to the surface of the lower layer of the object to be inspected; And a moving unit for moving the measurement integrating sphere to maintain a constant distance from the measurement integrating sphere to the upper surface of the object to be inspected based on the distance measured from the displacement sensor.

The rotation motor may be a second motor that rotates the object to be inspected and moves the object to be inspected in a horizontal direction of a rotation axis.

The measurement integrating sphere may have a spherical shape with an empty inside.

The measurement integrating sphere includes: an incident hole through which an electromagnetic wave incident from the light source unit is incident, and a detection hole through which a part of the object to be inspected is introduced; And an emission hole through which diffusely reflected light, which is diffusely reflected from a part of the object to be inspected, introduced into the detection hole is incident on the detection unit.

The detection unit may be mechanically connected to the emission hole.

According to the disclosed invention, the present invention can improve the accuracy of measurement by inspecting an object to be inspected while rotating it using a rotating motor.

In addition, since the diffusely reflected reflected light is condensed using a measurement integrating sphere, measurement can be performed without being significantly affected by the angle or surface shape of the incident light incident on the sample surface.

In addition, by using the displacement sensor to maintain a constant distance between the measurement integrating sphere and the object to be inspected, even if the object to be inspected has a rough surface, the inspection can be performed while maintaining a constant distance.

1 is a block diagram illustrating an agricultural and livestock product inspection automation apparatus related to an embodiment of the present invention.
2 and 3 are views for explaining in detail an agricultural and livestock product inspection automation apparatus related to an embodiment of the present invention.
4, 5, and 6 are views for explaining driving of a holder and a rotary motor according to an embodiment of the present invention.
7 is a view for explaining a measurement integrating sphere according to an embodiment of the present invention.
8 to 11 are views for explaining in detail a light collecting unit according to an embodiment of the present invention.

Hereinafter, specific contents for carrying out the invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating an agricultural and livestock product inspection automation apparatus related to an embodiment of the present invention.

1, the agricultural and livestock inspection automation apparatus 100 includes a light source 110, an electromagnetic wave control unit 120, a path change unit 130, a focusing lens 140, a measurement integrating sphere 150, and a moving unit ( 155, a light collecting unit 156, an object to be inspected 160, a holder 170, a rotation motor 180, a displacement sensor 190, and a detection unit 200. The agricultural and livestock inspection automation module may include a measurement integrating sphere 150, a moving unit 155, a holder 170, a rotation motor 180, a displacement sensor 190, and a detection unit 200.

The light source 110 may be a device of various types capable of generating electromagnetic waves. For example, the light source 110 may be a near-infrared ray or a mid-infrared ray from visible light, and may generate a millimeter wave or a terra wave. The millimeter wave is an electromagnetic wave in an extremely high frequency region, and preferably has a frequency in the 30 GHz to 300 GHz band. The terahertz refers to an electromagnetic wave in a terahertz region, and may preferably have a frequency of 0.1 THz to 10 THz. However, even if it is slightly out of this range, as long as it is a range that can be easily conceived by a person skilled in the art to which the present invention belongs, it is a matter of course that it may be recognized as a terra wave in the present invention.

The electromagnetic wave control unit 120 may be disposed between the light source 110 and the path change unit 130. The electromagnetic wave control unit 120 may collimating, converging, or diverging the electromagnetic wave incident from the light source 110. Here, collimating means forming incident electromagnetic waves in parallel. Converging refers to a case in which the area of the electromagnetic wave is reduced compared to the area of the electromagnetic wave incident on the path change unit 130 when collimating is performed. Diverging refers to a case in which the area of the electromagnetic wave is enlarged compared to the area of the electromagnetic wave incident on the path change unit 130 when collimating is performed.

The path change unit 130 is disposed between the electromagnetic wave control unit 120 and the measurement integrating sphere 150, and can change the path so that the electromagnetic wave incident from the electromagnetic wave control unit 120 is incident to the measurement integrating sphere 150. have.

The focusing lens 140 is disposed between the path change unit 130 and the measurement integrating sphere 150, and may condense an electromagnetic wave incident from the path change unit 130 to be incident on the measurement integrating sphere 150.

The measurement integrating sphere 150 may diffusely reflect diffusely reflected light generated by condensing an electromagnetic wave incident from the focusing lens 140 onto the object 160 to be inspected.

The moving unit 155 may move the measurement integrating sphere 150.

The condensing unit 156 is disposed between the measurement integrating sphere 150 and the object to be inspected 160, and may condense the diffusely reflected light diffusely reflected from the object to be inspected 160 to the measurement integrating sphere 150. In this way, if the light condensing unit 156 is used, even if an inspection is performed on an object to be inspected having an uneven surface, diffused reflected light reflected at various angles according to the uneven surface can be condensed and incident on the measurement integrating sphere. The precision of the measurement can be improved.

The object to be inspected 160 refers to an object to be inspected and may be disposed under the measurement integrating sphere 150.

The holder 170 may fix the object to be inspected 160.

The rotation motor 180 may be mechanically connected to the holder to rotate. For example, the rotation motor 180 rotates the holder 170 to rotate the object to be inspected 160, and can move the holders 170 on both sides of the object to be inspected 160 in the left-right direction of the rotation axis. It may be a two-axis rotation motor.

The displacement sensor 190 may measure a distance from the reference point to the surface of the lower layer of the object to be inspected 160.

The moving unit 155 moves the measurement integrating sphere 150 to maintain a constant distance from the measurement integrating sphere 150 to the upper surface of the object to be inspected 160 based on the distance measured from the displacement sensor 190 I can make it. In this way, by using a displacement sensor to maintain a constant distance between the measurement integrating sphere and the object to be inspected, even if the object to be inspected has an uneven surface, the inspection can be carried out while maintaining a constant distance.

The detection unit 200 may detect diffusely reflected light that is diffusely reflected in the measurement integrating sphere 150. The detection unit 200 may measure a component of agricultural and livestock products based on the diffusely reflected light.

The image generator (not shown) may generate an image image using the beam detected through the detector 160. The generated image may be displayed on a display unit (not shown).

2, 3, and 4 are diagrams for explaining in detail an agricultural and livestock product inspection automation apparatus related to an embodiment of the present invention.

2 and 3, the agricultural and livestock inspection automation apparatus includes a light source 110, an electromagnetic wave control unit 120, a path change unit 130, a focusing lens 140, a measurement integrating sphere 150, and a moving unit ( 155, a light collecting unit 156, an object to be inspected 160, a holder 170, a rotation motor 180, a displacement sensor 190, and a detection unit 200.

The light source 110 may be a device of various types capable of generating electromagnetic waves.

The electromagnetic wave control unit 120 may be disposed between the light source 110 and the path change unit 130.

The path change unit 130 is disposed between the electromagnetic wave control unit 120 and the measurement integrating sphere 150, and can change the path so that the electromagnetic wave incident from the electromagnetic wave control unit 120 is incident to the measurement integrating sphere 150. have.

The focusing lens 140 is disposed between the path change unit 130 and the measurement integrating sphere 150, and may condense an electromagnetic wave incident from the path change unit 130 to be incident on the measurement integrating sphere 150.

The measurement integrating sphere 150 may diffusely reflect diffusely reflected light generated by condensing an electromagnetic wave incident from the focusing lens 140 onto the object 160 to be inspected. In FIG. 2, a cross-sectional view of the measurement integrating sphere 150 is shown, and in FIG. 3, a housing ('hexahedron') capable of enclosing the measurement integrating sphere 150 is shown as a reference.

The moving unit 155 is mechanically connected to the measurement integrating sphere 150 to move the measurement integrating sphere 150. For example, in FIG. 3, the moving unit 155 may move the measurement integrating sphere 150 in the vertical direction.

The condensing unit 156 is disposed between the measurement integrating sphere 150 and the object to be inspected 160, and may condense the diffusely reflected light diffusely reflected from the object to be inspected 160 to the measurement integrating sphere 150.

The object to be inspected 160 refers to an object to be inspected and may be disposed under the measurement integrating sphere 150.

The holder 170 may fix the object to be inspected 160.

The rotation motor 180 may be mechanically connected to the holder to rotate. For example, the rotation motor 180 rotates the holder 170 to rotate the object to be inspected 160, and can move the holders 170 on both sides of the object to be inspected 160 in the left-right direction of the rotation axis. It may be a two-axis rotation motor. As another example, the rotation motor 180 is a first motor that rotates the object to be inspected 160 with respect to the front side, and the holder 170 is rotated to rotate the object to be inspected 160 ) May be a two-axis rotation motor implemented as a second motor to rotate. The rotation motor 180 may be implemented in various other forms.

The displacement sensor 190 may measure a distance from the reference point to the surface of the lower layer of the object to be inspected 160.

The moving unit 155 moves the measurement integrating sphere 150 to maintain a constant distance from the measurement integrating sphere 150 to the upper surface of the object to be inspected 160 based on the distance measured from the displacement sensor 190 I can make it. In this way, by using a displacement sensor to maintain a constant distance between the measurement integrating sphere and the object to be inspected, even if the object to be inspected has an uneven surface, the inspection can be carried out while maintaining a constant distance.

The detection unit 200 may detect diffusely reflected light that is diffusely reflected in the measurement integrating sphere 150. The detection unit 200 may measure a component of agricultural and livestock products based on the diffusely reflected light.

4, 5, and 6 are views for explaining driving of a holder and a rotary motor according to an embodiment of the present invention.

Referring to FIGS. 1 and 4, the holder 170 may have various shapes capable of easily contacting the object to be inspected 160. For example, the holder 170 may have a concave shape or a convex shape.

1 and 5, the rotation motor 180 may be mechanically connected to the holder 170 to rotate. For example, the rotation motor 180 rotates the holder 170 to rotate the object to be inspected 160, and can move the holders 170 on both sides of the object to be inspected 160 in the left-right direction of the rotation axis. It may be a two-axis rotation motor.

Specifically, for example, the rotation motor 180 may gradually move the holder 170 on the left side in the right direction of the rotation axis and at the same time gradually move the holder 170 on the right side in the right direction of the rotation axis. Accordingly, the object to be inspected 160 can be moved to the right and rotated at the same time for inspection.

Referring to FIG. 6, by using the rotation motor 180 described in the present embodiment, it is possible to easily perform a two-dimensional line scan of an object to be inspected, such as a dotted line.

7 is a view for explaining a measurement integrating sphere according to an embodiment of the present invention.

1 and 7, the measurement integrating sphere 150 may include an incidence hole 600, an emission hole 610 and 620, and a detection hole 630.

In the incident hole 600, an electromagnetic wave incident from the light source 110 may be incident.

A part of the object to be inspected 160 may be introduced into the detection hole 630.

The emission holes 610 and 620 may allow diffusely reflected light that is diffusely reflected from a portion of the object to be inspected 160 introduced into the detection hole 630 to be transmitted and incident on the detection unit 200.

As above, the measurement integrating sphere 150 converts the diffusely reflected light reflected from the object to be inspected 160 to the detection unit 200, regardless of the angle of the incident ring beam or the angle of the diffusely reflected light reflected from the object to be inspected 160. By allowing it to be incident, there is no difference in detection performance according to the angle of incidence or reflection, so that the measurement can be performed consistently with high sensitivity.

The object to be inspected 160 refers to an object to be inspected and may be disposed under the measurement integrating sphere 150.

The detection unit 200 may detect diffusely reflected light that is diffusely reflected in the measurement integrating sphere 150.

8 to 11 are views for explaining in detail a light collecting unit according to an embodiment of the present invention.

The condensing unit is disposed between the detection hole and the object to be inspected, and further comprises a condensing unit for condensing the diffusely reflected light diffusely reflected from a part of the object to be inspected to the detection hole.

2 and 8, a first plane 810 disposed on the detection hole side of the light condensing unit,

A second plane 830 disposed on the side of the object to be inspected and having a size larger than the first plane 810; And a lens having a reflective layer 820 on the outer surface of the curved line. The lens has a full internal shape, and the reflective layer 820 may reflect the diffusely reflected light diffused and reflected from the object to be inspected and condensed into the measurement integrating sphere.

2 and 9, a first plane 910 disposed on the detection hole side, a curved surface 930 disposed on the object to be inspected, and having a shape retracted in the first plane direction 910, and It may be composed of a lens having a reflective layer 920 on the outer surface of the curve. The lens has a full internal shape, and the reflective layer 920 may reflect the diffusely reflected light diffusely reflected from the object to be inspected and condensed it to the measurement integrating sphere.

Referring to FIGS. 2 and 10, the condensing unit includes a first hole 1010 disposed in a straight line with the detection hole, a second hole 1020 disposed on the side of the object to be inspected, and having a size larger than the first hole 1010. ), has a curved shape, and is disposed in the first hole 1010 and the reflective surface 1030 that reflects the diffusely reflected light diffusely reflected from a part of the object to be inspected and condenses it into the detection hole, and transmits electromagnetic waves incident from the light source. Or it may be composed of a condensing lens 1040 that transmits diffusely reflected light.

Referring to FIGS. 2 and 11, the condensing unit includes a first hole 1110 disposed in a straight line with the detection hole, a second hole 1120 disposed on the side of the object to be inspected, and having a larger size than the first hole 1110. ), has a curved shape, and may include a reflective surface 1130 that reflects diffusely reflected light that is diffusely reflected from a part of the object to be inspected and condenses it into the detection hole.

The described embodiments may be configured by selectively combining all or part of each of the embodiments so that various modifications may be made.

In addition, it should be noted that the examples are for the purpose of explanation and not for the limitation thereof. In addition, those of ordinary skill in the technical field of the present invention will understand that various embodiments are possible within the scope of the technical idea of the present invention.

Claims (20)

A light source that generates light;
A measurement integrating sphere for diffusely reflecting diffusely reflected light generated by condensing electromagnetic waves incident from the light source onto an object to be inspected;
A detector configured to detect diffusely reflected light diffusely reflected in the measurement integrating sphere;
A holder for fixing the object to be inspected; And
Automated apparatus for inspection of agricultural and livestock products comprising a rotating motor that is mechanically connected to the holder and rotates.
The method of claim 1,
Arranged between the light source and the measurement integrating sphere, further comprising a path changing unit for changing a path so that the electromagnetic wave incident from the light source is incident to the measurement integrating sphere, agricultural and livestock inspection automation apparatus.
The method of claim 2,
Arranged between the light source and the path change unit, further comprising an electromagnetic wave control unit for forming an electromagnetic wave incident from the light source in parallel, and causing the parallel electromagnetic wave to be incident to the path change unit.
The method of claim 2,
Arranged between the path changing unit and the measurement integrating sphere, further comprising a focusing lens for condensing the electromagnetic wave incident from the path changing unit to be incident to the measurement integrating sphere, agricultural and livestock inspection automation apparatus.
The method of claim 1,
Arranged between the measurement integrating sphere and the object to be inspected, further comprising a condensing unit for condensing the diffusely reflected light diffusely reflected from the object to be inspected to the measuring integrating sphere.
The method of claim 1,
A displacement sensor measuring a distance from a reference point to a surface of the lower layer of the object to be inspected; And
A moving unit for moving the measurement integrating sphere so as to maintain a constant distance from the measurement integrating sphere to the upper surface of the object to be inspected based on the distance measured from the displacement sensor; further comprising, an automated apparatus for inspecting agricultural and livestock products. .
The method of claim 1,
The rotation motor,
A second motor that rotates the object to be inspected and moves the object to be inspected in a left-right direction of a rotation axis, an automated apparatus for inspecting agricultural and livestock products.
The method of claim 1,
The measurement integrating sphere,
An automated device for inspection of agricultural and livestock products, with a spherical shape with an empty inside.
The method of claim 8,
The measurement integrating sphere,
An incidence hole into which the electromagnetic wave incident from the light source is incident;
A detection hole through which a part of the object to be inspected is introduced; And
Containing, an automated apparatus for inspection of agricultural and livestock products, including; an emission hole through which diffusely reflected light, which is diffusely reflected from a part of the object to be inspected, introduced into the detection hole is incident on the detection unit.
The method of claim 9,
Arranged between the detection hole and the object to be inspected, further comprising a condensing unit for condensing the diffusely reflected light diffusely reflected from a part of the object to be inspected to the detection hole.
The method of claim 10,
The condensing part,
A first hole disposed in line with the detection hole;
A second hole disposed on the side of the object to be inspected and having a size larger than that of the first hole; And
The apparatus for automated inspection of agricultural and livestock products having a curved shape and comprising a reflective surface that reflects diffusely reflected light diffusely reflected from a part of the object to be inspected and condenses it into the detection hole.
The method of claim 11,
The condensing part,
Arranged in the first hole, further comprising a condensing lens for transmitting an electromagnetic wave incident from the light source or transmitting diffusely reflected light, agricultural and livestock inspection automation apparatus.
The method of claim 10,
The condensing part,
A first plane disposed on the side of the detection hole;
A second plane disposed on the side of the object to be inspected and having a size larger than that of the first plane; And
An automated apparatus for inspecting agricultural and livestock products, further comprising a lens disposed on an outer surface of the curve and including a reflective layer for reflecting diffusely reflected light diffusely reflected from the object to be inspected.
The method of claim 10,
The condensing unit,
A first plane disposed on the detection hole side;
A curved surface disposed on the side of the object to be inspected and having a shape retracted in the first plane direction; And
An automated apparatus for inspecting agricultural and livestock products, further comprising a lens disposed on an outer surface of the curve and including a reflective layer for reflecting diffusely reflected light diffusely reflected from the object to be inspected.
A measurement integrating sphere for diffusely reflecting the diffusely reflected light generated by condensing the incident electromagnetic wave onto the object to be inspected;
A detector configured to detect diffusely reflected light diffusely reflected in the measurement integrating sphere;
A holder for fixing the object to be inspected; And
Automated module for inspection of agricultural and livestock products comprising a rotating motor that is mechanically connected to the holder and rotates.
The method of claim 15,
A displacement sensor measuring a distance from a reference point to a surface of the lower layer of the object to be inspected; And
A moving unit for moving the measurement integrating sphere so as to maintain a constant distance from the measurement integrating sphere to the upper surface of the object to be inspected based on the distance measured from the displacement sensor; further comprising, an agricultural and livestock inspection automation module .
The method of claim 15,
The rotation motor,
A second motor that rotates the object to be inspected and moves the object to be inspected in a left-right direction of a rotation axis, an automated module for inspection of agricultural and livestock products.
The method of claim 15,
The measurement integrating sphere,
Automated module for inspection of agricultural and livestock products with a hollow spherical shape.
The method of claim 18,
The measurement integrating sphere,
An incidence hole into which the electromagnetic wave incident from the light source is incident;
A detection hole through which a part of the object to be inspected is introduced; And
Containing, an outgoing hole through which diffusely reflected light, which is diffusely reflected from a part of the object to be inspected, introduced into the detection hole is incident to the detection unit.
The method of claim 19,
The detection unit
An automated module for inspection of agricultural and livestock products that is mechanically connected to the exit hole.

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