JP7236938B2 - Cutting aid - Google Patents

Description

The present invention relates to a cutting assist device.

In situations such as bulk sales, it is necessary to cut the object at the desired weight. Cutting an object at a desired weight is often at the discretion of the amputee and requires training. However, such training is very time consuming, labor intensive and costly. Depending on the suitability of the trainee, this cost burden can be even greater. Moreover, even an expert may find it difficult to cut the material to a desired weight depending on the situation of the work place or the person's condition.

Japanese Patent Application Laid-Open No. 2001-260081

Accordingly, the present invention provides a cutting assist device that presents a position for cutting an object to have a desired weight.

According to the embodiment, the cutting assisting device includes an appearance inspection unit that is installed on the side of the object to be cut and inspects the side surface of the object to be cut, and a projection unit that projects light onto the object to be cut. and a control unit connected to the visual inspection unit and the projection unit, wherein the control unit cuts the object cut from the object based on the inspected state of the side surface of the object. acquires a cutting position for cutting the object to have a desired weight, and controls the projection unit to project the light onto the acquired cutting position of the object to be cut.

The appearance inspection unit may acquire the distance to the side surface of the object to be cut and the area of the side surface of the object, and the control unit may acquire the area of the side surface of the object to be cut and the area of the side surface of the object to be cut. Based on the density, calculate the thickness for cutting the object so that the object cut from the object has the desired weight, and calculate the distance to the side of the object to be cut and the object to be cut. A cutting position for cutting the object may be obtained based on the thickness of the cutting.

The appearance inspection unit may further acquire information about the color of the side surface of the object to be cut, the control unit determining the density based on the information about the color of the side surface of the object to be cut, A thickness for cutting the object to have the desired weight may be calculated based on the determined density. The "color information" referred to here is, for example, information having each color component of red (R), blue (B), and green (G) as gradation values of 256 gradations.

The controller divides the side surface of the object to be cut into one or a plurality of regions based on the color of the side surface of the object to be cut, and adjusts the side surface of the object to have the desired weight based on the density determined for each divided region. , the thickness for cutting the object to be cut may be calculated.

The control unit may control the projection unit to project the light from the projection unit onto a cutting position on the upper surface of the object.

The visual inspection unit may be a camera capable of distance measurement, a combination of a camera and a distance sensor, a laser measuring instrument, or a stereo camera.

An input unit connected to the control unit for inputting the desired weight may further be provided.

According to the present invention, an object to be cut can be cut so as to have a desired weight regardless of the operator by presenting the cutting position.

FIG. 2 is a block diagram showing functions of a cutting assist device according to one embodiment; 1 is a conceptual diagram of a cutting assist device according to one embodiment; FIG. FIG. 10 illustrates a projection of a cutting position according to one embodiment; FIG. 10 illustrates a projection of a cutting position according to one embodiment; FIG. 10 illustrates a projection of a cutting position according to one embodiment; FIG. 10 illustrates a projection of a cutting position according to one embodiment; FIG. 4 is a diagram illustrating tested densities according to one embodiment. FIG. 4 is a diagram illustrating tested densities according to one embodiment. FIG. 4 is a diagram illustrating tested densities according to one embodiment.

Embodiments will be described below with reference to the drawings. Elements or the like denoted by the same reference numerals in the drawings represent the same items, and description thereof may be omitted. The size, ratio, etc. of each element in the drawings are for explanation, and the present invention is not limited to these sizes, ratios, etc. FIG.

FIG. 1 is a block diagram showing functions of a cutting assist device 1 according to this embodiment. The cutting assist device 1 includes an input unit 10 , an inspection unit 12 , a control unit 14 and a projection unit 16 . The cutting assistance device 1 is a device that assists in cutting an object (hereinafter referred to as an object to be cut). For example, it cuts food such as steak so as to have a desired weight based on a preset density. Present location.

The input unit 10 is a device that is connected to the control unit 14 and inputs a desired weight. The desired weight may be input using a numeric keypad provided on the input unit 10 . As another example, options such as 100g and 200g are prepared and may be selected via the input unit 10 . Moreover, the desired weight may be set in advance in the control section 14 , and in this case, the input section 10 is not an essential component of the cutting assist device 1 . The input unit 10 may include a numeric keypad or buttons having a mechanical structure, or may include a touch panel liquid crystal, as long as the operator (amputee or customer) can input a desired weight. good. Also, instead of the contact type, it may be possible to input a desired weight by voice, gesture, eye movement, or the like.

The inspection unit 12 (appearance inspection unit) is a device that is connected to the control unit 14 and inspects the appearance of the side surface of the object to be cut. The inspection unit 12 transmits information about the cross-sectional area of the side surface of the object to be cut and information about the distance from the reference point to the cross-section to the control unit 14 . Here, the side surface of the object to be cut is, for example, a surface including a surface substantially parallel to the surface on which the object to be cut is cut. For example, the cut surface of the object to be cut may be the side surface. In other words, the object may be cut along the sides. The inspection unit 12 includes an element capable of imaging the condition of the cross section and measuring the distance to the cross section, such as a camera capable of distance measurement, a combination of a camera and a distance sensor, a laser measuring device, or a stereo camera. In the inspection unit 12, the cross-sectional area may be obtained from the photographed image and transmitted to the control unit 14, or the photographed image itself may be transmitted to the control unit 14, and the cross-sectional area may be obtained by the control unit 14. . The reference point may be a point where a distance measuring element exists, or another point from which the distance to the object to be cut can be clearly measured. For example, the distance from the inspection unit 12 to the object to be cut is measured.

The control unit 14 receives data from the input unit 10 and the inspection unit 12, acquires a cutting position for cutting the object, and controls the projection unit 16 to project light onto the cutting position of the object. . For example, the control unit 14 calculates the cross-sectional area of the object to be cut based on the image received from the inspection unit 12 and the distance from the inspection unit 12 to the side cross section of the object. Next, based on the cross-sectional area and the density of the object preset in the control unit 14, what thickness should be used to cut the object from the cross section to obtain the desired weight input from the input unit 10? Calculate Based on the calculated result and information on the distance between the cross section of the object to be cut and the inspection unit 12, the projection unit 16 calculates the cutting position where the light is projected. Then, it transmits to the projection unit 16 a signal for controlling the light to be projected onto the cutting position on the object to be cut.

The projection unit 16 projects light onto the cutting position on the object to be cut based on the control signal from the control unit 14 . Projection unit 16 comprises, for example, a laser liner or a projector. In the case of a laser liner, even if it is equipped with an angle adjustment mechanism for adjusting the angle of light irradiation, or a rectilinear stage that can move the position of light irradiation and is positioned at a substantially right angle to the cut surface of the object to be cut. good. In this case, the angle of the laser liner or the position with respect to the object to be cut is controlled by the control unit 14, so that the projection unit 16 projects light onto the cutting position.

FIG. 2 is a conceptual diagram showing a more specific implementation example of the above configuration. The object T to be cut is mounted on the mounting table 20 in such a state that the cross section of the side surface thereof can be photographed by the inspection unit 12 . More desirably, the cross-section of the side surface is a plane, and the plane to be imaged by the inspection unit 12 is placed in parallel with the cross-section. As an example, the input unit 10 is a numeric keypad, the inspection unit 12 is a camera having a depth sensor and an RGB sensor, the control unit 14 is a computer, and the projection unit 16 is a projector.

The inspecting unit 12 that captures the state of the cross section of the object T and detects the distance d from the inspecting unit 12 to the cross section transmits the acquired information to the control unit 14 . A desired weight is input from the input unit 10 . For example, when 200 g is input as the desired weight, the cross-sectional area obtained by the inspection unit 12 or the control unit 14 is 150 cm ² and the density is 1 g/cm ³ , 200 [g]/150 [cm ² ]/1 [g/cm ³ ]=2 [cm] is calculated as the cutting thickness t.

The control unit 14 controls the projection unit 16 so as to project light onto a cutting position shifted from the cross section of the object T by the thickness t. For example, based on the distance d from the inspection unit 12 to the cross section and the thickness t, the control unit 14 designates a cutting position where the distance from the inspection unit 12 is d+t, and an image to be projected on the projection unit 16. Automatically generate and irradiate the cutting position with light.

FIG. 3 is a diagram showing how the cutting position is projected in a straight line on the object T on the mounting table 20. As shown in FIG. As shown in this figure, by projecting the light as a straight line L from the cut surface of the object T to the position of the thickness t, the cutting position is clearly presented to the operator. In addition to the cutting position, light may also be projected on the cross-sectional position to present the cross-sectional position to the amputee. By presenting the cross-sectional position in this way, the amputeer can adjust the position of the object T to obtain a more accurate cutting position.

For example, by fixing the positions of the inspection unit 12 and the projection unit 16, the control unit 14 calculates from the distance d and the thickness t to which position the projector, which is the projection unit 16, should project light. can do. When the projection unit 16 is a laser liner, for example, the projection unit 16 is moved parallel to the straight line connecting the object T and the inspection unit 12 so that the inspection unit 12 is positioned at d+t. The cutting position can be presented by projecting light on the cutting surface. Even when controlling the angle of the laser liner, the angle is calculated from the positions of the inspection unit 12 and the projection unit 16, the distance d, and the thickness t so that the light is projected onto the cutting position, and the cutting position is presented.

As described above, according to the present embodiment, it is possible to project light onto a cutting position where a desired weight is obtained on the upper surface of the object to be cut. By cutting the object to be cut at the position of the projected light, the cleaver can obtain a cut object having a desired weight.

FIG. 4 is a diagram showing another example of projection from the projection unit 16. As shown in FIG. As in the previous embodiment, after indicating the cutting position so that the position from the cross section is the thickness t, after confirming that the cutting has been performed, the next thickness t' is continuously obtained so that the desired weight is obtained. may be calculated, the light projection position may be changed as indicated by an arrow so as to overlap with the cutting position, and L′ may be projected as the cutting position. In this case, it may be assumed that the cross-sectional area does not change so much, and for example, it is possible to continuously present the projection positions so that the weight is 200 g.

Further, the weight does not have to be constant, and the input unit 10 may be configured to continuously input a desired weight such as 200 g, 250 g, and so on. In this case, the control unit 14 may calculate the thickness t one after another so as to continuously obtain the desired weight, and cause the projection unit 16 to project. As another example, instead of projecting one after another, L and L' in FIG. 4 may be projected at the same timing.

FIG. 5 is another aspect. The severer may move the object T each time the object T is cut so that the reference line B and the cross section overlap. The implementations of FIGS. 3 and 5 are almost essentially the same, and can be implemented with a design change regarding the calculation of the cutting position within the control unit 14. FIG.

FIG. 6 is yet another aspect. As shown in this figure, instead of presenting the cutting position by projecting light linearly onto the object to be cut, a strip of light having a thickness t may be projected from the current cutting surface.

In FIGS. 2 to 6, since light is projected onto the object T from the side in parallel with the cut surface of the object T from the projection unit 16, the height of the object T is not considered. , the light can be accurately projected onto the cutting position of the object T to be cut. On the other hand, for example, the light from the projection unit 16 may be projected obliquely with respect to the cut surface of the object T based on the information of the object T to be cut. When the light is projected obliquely on such a cutting plane, the position of the light projected onto the object T to be cut may deviate from the position actually designated as the cutting position.

In order to cope with this, the control unit 14 may control the position of the light projected from the projection unit 16 based on the height of the object T after calculating the thickness t. The height of the object T in the cross section is calculated based on the image of the cross section received from the inspection unit 12, and light is projected so as to indicate the cutting position on the upper surface of the object T using this height. The light projection position can be calculated based on the height, the position of the center of the projection element of the projector, the position of the mounting table 20 with respect to the position, and the position of the cross section of the object T to be cut. For example, the light is projected so that the distance from the cross section of the object T is t on a plane whose height from the mounting table 20 is this height.

Although the density is assumed to be constant in the above embodiment, it is not limited to this. For example, when the object T to be cut is meat, as shown in FIGS. 7 to 9, the ratio of lean meat to fat differs depending on the type. Lean meat and fat generally have different densities, so the simple calculation above is not possible. Therefore, the inspection unit 12 may acquire images to the extent that the lean meat and the fat can be seen, and the control unit 14 may calculate the thickness t based on the areas of the lean meat and the fat.

The control unit 14 calculates the areas of the lean area and the fat area in the image acquired by the inspection unit 12 . Calculation of the area is the same as in the previous embodiment. Lean meat and fat meat may be separated, for example, by the ratio of RGB in the image. It is also assumed that the densities of lean meat and fat are set in the control unit 14 in advance. In this way, the side surface of the object T is divided into one or a plurality of regions according to the color of the side surface of the object T, and the object to be cut has a desired weight based on the density determined for each divided region. may be calculated.

For example, consider the case where the desired weight is 300g. In FIG. 7, assume that the area of lean meat is 140 cm ² and the area of fat is 40 cm ² . Assuming that the densities of lean meat and fat are respectively 1.1 g/cm ³ and 0.9 g/cm ³ , the desired thickness t is 300 [g]/(140 [cm ² ]×1.1 [g/cm ³ ]+40 [cm ² ]×0.9 [g/cm ³ ])=1.58 [cm].

In FIG. 8, for example, assume that the area of lean meat is 140 cm ² and the area of fat is 60 cm ² . In this case, the thickness t to be obtained is 300 [g]/(140 [cm ² ]×1.1 [g/cm ³ ]+60 [cm ² ]×0.9 [g/cm ³ ])=1.45. [cm] can be obtained.

In FIG. 9, for example, assume that the area of lean meat is 130 cm ² . In this case, the desired thickness t can be obtained as 300 [g]/(130 [cm ² ]×1.1 [g/cm ³ ])=2.10 [cm].

Thus, based on the density of lean meat and fat, it is possible to present the position for cutting the object T to have a desired weight regardless of the type of meat. Moreover, although the densities are all the same in the above description, the present invention is not limited to this. For example, the densities may be set separately depending on the color. In this case, it is possible to set a finer density depending on the type of meat. Also, although the weight is calculated based on two types of density, the number of types is not limited to two types, and more types of regions may be set and the density of each region may be set.

Although the input unit 10, the inspection unit 12, the control unit 14, and the projection unit 16 are separate devices, the present invention is not limited to this, and the same device may have at least two functions. For example, a simple computer with a camera or the like may be used as both the inspection unit 12 and the control unit 14 .

Also, all or part of the functions according to this embodiment may be implemented by a program. In this case, all or part of the functions are specifically realized by software information processing using hardware resources. These functions may be realized by a CPU (Central Processing Unit), or may be realized by an analog circuit or a digital circuit such as an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or the like. Moreover, a memory may be provided as necessary.

Aspects of the present invention are not limited to the individual embodiments described above, but include various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the above-described contents. That is, various additions, changes, and partial deletions are possible without departing from the conceptual idea and spirit of the present invention derived from the content defined in the claims and equivalents thereof.

1: Cutting auxiliary device,
10: input unit, 12: inspection unit, 14: control unit, 16: projection unit,
20: Mounting table

Claims (3)

a visual inspection unit installed on the side of an object to be cut and inspecting the side surface of the object to be cut;
a projection unit that projects light onto the object to be cut;
a control unit connected to the visual inspection unit and the projection unit;
with
The control unit acquires a cutting position for cutting the object so that the object cut from the object has a desired weight, based on the inspected side surface condition of the object. controlling the projection unit to project the light onto the obtained cutting position of the object to be cut;
The visual inspection unit is a camera capable of distance measurement, a combination of a camera and a distance sensor, a laser measuring instrument, or a stereo camera.
Cutting aid. wherein the control unit controls the projection unit to project the light from the projection unit onto a cutting position on the upper surface of the object to be cut;
The cutting assist device according to claim 1 . an input unit connected to the control unit for inputting the desired weight;
3. The cutting aid device according to claim 1 or claim 2 , further comprising:

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