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WO2016027813A1 - Inspection/sorting system - Google Patents

Inspection/sorting system Download PDF

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Publication number
WO2016027813A1
WO2016027813A1 PCT/JP2015/073158 JP2015073158W WO2016027813A1 WO 2016027813 A1 WO2016027813 A1 WO 2016027813A1 JP 2015073158 W JP2015073158 W JP 2015073158W WO 2016027813 A1 WO2016027813 A1 WO 2016027813A1
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WO
WIPO (PCT)
Prior art keywords
inspection
inspection object
distribution
article
reference position
Prior art date
Application number
PCT/JP2015/073158
Other languages
French (fr)
Japanese (ja)
Inventor
紘一 牧野
一幸 杉本
Original Assignee
株式会社イシダ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社イシダ filed Critical 株式会社イシダ
Publication of WO2016027813A1 publication Critical patent/WO2016027813A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points

Definitions

  • the present invention relates to an inspection distribution system that inspects an article and distributes an article to be conveyed based on an inspection result.
  • the present invention relates to an inspection distribution system for inspecting / sorting irregular shaped articles.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2002-362729
  • an article conveyed by a conveyor is inspected, and air is injected to the article conveyed on the conveyor based on the inspection result.
  • a sorting inspection distribution system is disclosed.
  • the inspection target is indefinite, depending on the shape of the article, even if a force is applied to the article by the sorting mechanism, the article does not move as desired and a sorting error may occur. In such a case, it is necessary for the worker to take necessary measures such as sorting the articles with the sorting error by hand.
  • An object of the present invention is an inspection distribution system for inspecting and distributing an irregularly shaped article, and a highly reliable inspection distribution system that can easily distribute an article regardless of the outer shape of the article Is to provide.
  • the inspection distribution system inspects an irregularly shaped article and distributes the article based on the inspection result.
  • the inspection distribution system includes a transport mechanism, an imaging mechanism, a distribution mechanism, a determination unit, and a distribution mechanism control unit.
  • the conveying means conveys the article.
  • the imaging mechanism images an article conveyed by the conveyance mechanism and acquires a captured image of the article.
  • the sorting mechanism sorts the articles.
  • the determination unit extracts the outer shape of the article from the captured image, and determines a reference position to which the distribution mechanism distributes the article based on the outer shape of the article.
  • the distribution mechanism control unit controls the distribution mechanism so that the distribution mechanism applies a force to the reference position.
  • the reference position at which the distribution mechanism applies a force to the article is determined based on the outer shape extracted from the captured image of the irregular article. Therefore, it is easy to accurately move and distribute an article regardless of the outer shape of the article, and a highly reliable inspection distribution system can be realized.
  • An inspection distribution system is the inspection distribution system according to the first aspect, wherein the determining unit calculates the centroid of the article based on the outer shape of the article, and the distribution mechanism is The reference position is determined so as to exert a force toward the heart.
  • the distribution mechanism applies a force toward the centroid of the article, it is easy to accurately distribute the article regardless of the outer shape of the article, and a highly reliable inspection distribution system. Minute system can be realized.
  • the inspection distribution system is the inspection distribution system according to the first aspect, and the imaging mechanism acquires an X-ray image of an article as a captured image.
  • the determination unit calculates the center of gravity of the article based on the outer shape of the article, and determines the reference position so that the distribution mechanism exerts a force toward the center of gravity.
  • the distribution mechanism applies a force toward the center of gravity of the article, it is easy to accurately distribute the article regardless of the outer shape of the article, and the inspection distribution with high reliability. A system can be realized.
  • the inspection distribution system is the inspection distribution system according to the third aspect, and further includes a weight estimation unit that estimates the weight of the article based on the captured image.
  • the distribution mechanism distributes the article by applying force to the article by injecting air onto the article.
  • the distribution mechanism control unit further controls the distribution mechanism so that at least one of the air injection time and the injection pressure of the distribution mechanism is adjusted based on the weight of the article estimated by the weight estimation unit.
  • the inspection distribution system in addition to determining the reference position for distributing the article, at least one of the air injection time and the injection pressure is adjusted based on the weight of the article. Therefore, it is easier to accurately distribute the articles, and a highly reliable inspection distribution system can be realized.
  • the inspection distribution system is the inspection distribution system according to the third aspect or the fourth aspect, and further includes a metal detection unit that detects a metal contained in the article.
  • the sorting mechanism sorts the articles based on the inspection result based on the X-ray image of the article and the detection result of the metal detection unit.
  • an article containing metal as a foreign object can be accurately moved and distributed regardless of the outer shape of the article.
  • the distribution mechanism since the distribution mechanism applies a force toward the center of gravity of the article, it is easy to accurately distribute an article containing a metal as a foreign object regardless of the outer shape of the article.
  • the inspection distribution system is configured to sort the article based on the result of the foreign object inspection based on the X-ray image of the article and the detection result of the metal detection unit, for example, in the X-ray inspection of aluminum or iron powder Even when foreign objects that are difficult to detect are mixed in the article, it is easy to detect these foreign substances by the metal detection unit and accurately sort the articles mixed with foreign substances by the sorting mechanism.
  • the inspection distribution system according to the sixth aspect of the present invention is the inspection distribution system according to any one of the first to fifth aspects, and the article is a natural object.
  • the article is a natural product unlike an industrial product, the individual difference in the outer shape of the article is generally large. However, here, since the part where the sorting mechanism applies force to the article is adjusted based on the outer shape extracted from the captured image of the article, it is easy to accurately sort the article even if it is a natural object. .
  • the inspection distribution system according to the seventh aspect of the present invention is an inspection distribution system according to any one of the first to sixth aspects, and the inspection distribution system determines the rank of the article by inspection.
  • the distribution mechanism distributes articles according to rank.
  • the inspection distribution system is the inspection distribution system according to the first aspect, and the imaging mechanism acquires X-ray images of a plurality of articles as captured images.
  • the determining unit calculates a combined center of gravity of the plurality of articles, and determines a reference position so that the distribution mechanism exerts a force toward the combined center of gravity.
  • the inspection distribution system it is easy to accurately distribute the distribution object even when the distribution object includes a plurality of articles.
  • the reference position at which the distribution mechanism exerts a force on the article is determined based on the outline extracted from the captured image of the irregular article. It is easy to accurately move and distribute articles, and a highly reliable inspection distribution system can be realized.
  • FIG. 1 is a schematic diagram of an inspection distribution system according to a first embodiment of the present invention. It is an external appearance perspective view of the X-ray inspection apparatus contained in the inspection distribution system of FIG. It is a simple block diagram inside the shield box of the X-ray inspection apparatus of FIG. It is a block diagram of the inspection distribution system of FIG. It is a graph which shows the example of the detection amount (transmission amount) of the X-ray detected by the X-ray detection element of the X-ray inspection apparatus of FIG. It is a figure for demonstrating the calculation method of the gravity center of the to-be-inspected object by the inspection distribution system of FIG. 1, and the determination method of a reference position.
  • the inspection distribution system 100 is a system that inspects the inspection object P (article) being conveyed and distributes the inspection object P based on the inspection result.
  • the inspection object P here is indefinite.
  • the inspection object P has a different shape for each inspection object P.
  • the inspection object P is a natural product including agricultural products such as fruits and vegetables and marine products such as seafood.
  • the present invention is not limited to this, and the inspection object P may be an industrial product having a different shape for each inspection object P.
  • the inspection distribution system 100 is a system that performs rank inspection of the inspection object P and distributes the inspection object P according to rank based on the inspection result. More specifically, the inspection distribution system 100 estimates the weight of the inspection object P, performs rank determination according to the estimated weight, and distributes the inspection object P by rank.
  • the inspection distribution system 100 mainly includes a transfer device 10, an X-ray inspection device 20, and a distribution device 40 (see FIG. 1).
  • the conveying apparatus 10 receives the inspection object P conveyed by the upstream conveyor unit 60 and conveys the received inspection object P.
  • An arrow in FIG. 1 indicates the transport direction D of the transport device 10.
  • the X-ray inspection apparatus 20 estimates the weight of the inspection object P and classifies the inspection object P into a plurality of ranks (here, three ranks) according to the weight. It should be noted that the rank stage is an example, and is not limited to this. Based on the inspection result of the X-ray inspection apparatus 20, the sorting apparatus 40 distributes the inspection object P transported by the transport apparatus 10 by rank.
  • the transport device 10 is an example of a transport mechanism that transports the inspection object P.
  • the conveying device 10 receives the inspection object P conveyed by the upstream conveyor unit 60 and conveys the inspection object P so as to pass through a shield box 21 described later of the X-ray inspection apparatus 20. Further, the transport apparatus 10 transports the inspection object P that has passed through the shield box 21 to the sorting apparatus 40 on the downstream side of the X-ray inspection apparatus 20. More specifically, the transport device 10 transports the inspection object P that has passed through the shield box 21 so as to pass in the vicinity of a sorting mechanism 41 of the sorting device 40 described later.
  • the transport apparatus 10 mainly includes an endless conveyor belt 11 (see FIG. 3), a driving roller (not shown), and a conveyor motor 12 (see FIG. 4).
  • the driving roller (not shown) is driven by the conveyor motor 12. By driving the driving roller, the conveyor belt 11 rotates, and the inspection object P placed on the conveyor belt 11 is conveyed.
  • the conveyor motor 12 is a motor capable of inverter control.
  • the conveyor motor 12 is inverter-controlled by a command from the controller 30 of the X-ray inspection apparatus 20 described later, and the rotational speed of the drive roller is adjusted. As a result, the conveyance speed of the inspection object P placed on the conveyor belt 11 is finely controlled.
  • the conveyor motor 12 is equipped with an encoder 13 that detects the rotational speed of the conveyor motor 12 and transmits it to the controller 30 of the X-ray inspection apparatus 20 and the controller 50 of the sorting apparatus 40 (see FIG. 4). .
  • the conveying apparatus 10 may have one each of the conveyor belt 11, the driving roller, and the conveyor motor 12, or any one or all of the conveyor belt 11, the driving roller, and the conveyor motor 12, You may have more than one.
  • the X-ray inspection device 20 irradiates the inspection object P continuously transported by the transport device 10 with X-rays and based on the X-ray dose transmitted through the inspection object P.
  • the weight of the inspection object P is estimated.
  • the X-ray inspection apparatus 20 classifies the inspection object P into three ranks based on the weight estimation result of the inspection object P. Further, the X-ray inspection apparatus 20 determines a reference position F to which the sorting mechanism 41 of the sorting apparatus 40 described later sorts the inspection object P, and transmits information on the reference position F to the controller 50 of the sorting apparatus 40. .
  • the reference position F is a position where the sorting mechanism 41 of the sorting device 40 applies a force to the inspection object P.
  • the X-ray inspection apparatus 20 mainly includes a shield box 21 (see FIG. 2), an X-ray irradiator 22 (see FIG. 3), a line sensor 23 (see FIG. 3), and a monitor 25 (see FIG. 2). And a controller 30 (see FIG. 4).
  • the shield box 21 is a housing that houses therein the X-ray irradiator 22, the line sensor 23, the controller 30, and the like. Further, in addition to the monitor 25, a key insertion port, a power switch, and the like are disposed on the upper front portion of the shield box 21 (see FIG. 2). Openings 21a are formed on the left and right side surfaces of the shield box 21 (see FIG. 2).
  • the conveyor belt 11 of the transfer device 10 is arranged inside the shield box 21, the conveyor belt 11 of the transfer device 10 is arranged. Specifically, the conveyor belt 11 is disposed so as to penetrate through the openings 21 a formed on both side surfaces of the shield box 21.
  • the opening 21 a on the upstream side in the transport direction D of the transport device 10 functions as a carry-in entrance to the shield box 21 for the inspection object P transported on the conveyor belt 11.
  • the opening 21 a on the downstream side in the transport direction D of the transport device 10 functions as a carry-out port from the shield box 21 for the inspection object P transported on the conveyor belt 11.
  • the opening 21a is closed by a shield noren 26 in order to prevent leakage of X-rays to the outside of the shield box 21 (see FIG. 2).
  • the shielding nolen 26 is made of rubber containing lead, tungsten and the like. The shield noren 26 is pushed away by the inspection object P when the inspection object P is carried in and out through the opening 21a.
  • the X-ray irradiator 22 is disposed above the conveyor belt 11 in the shield box 21 (see FIG. 3).
  • the X-ray irradiator 22 irradiates the fan-shaped irradiation range Y with X-rays toward the line sensor 23 disposed below the conveying surface of the conveyor belt 11 (see the hatched portion in FIG. 3).
  • the X-ray irradiation range Y of the X-ray irradiator 22 extends so as to be orthogonal to the conveyance surface of the inspection object P of the conveyor belt 11. Further, the irradiation range Y extends in a fan shape in a direction intersecting the transport direction D of the transport device 10. In other words, the X-rays irradiated from the X-ray irradiator 22 spread in the width direction of the conveyor belt 11.
  • the line sensor 23 is disposed below the conveying surface of the conveyor belt 11.
  • the line sensor 23 detects X-rays that pass through the inspection object P and the conveyor belt 11.
  • the line sensor 23 mainly has a large number of X-ray detection elements 23a.
  • the X-ray detection elements 23 a are horizontally arranged in a straight line in a direction orthogonal to the transport direction D of the transport device 10, in other words, in the width direction of the conveyor belt 11.
  • Each X-ray detection element 23a detects X-rays transmitted through the inspection object P and the conveyor belt 11, and outputs an X-ray transmission signal based on the detected X-ray transmission amount (X-ray intensity).
  • the X-ray transmission signal is transmitted to the controller 30 and used to create an X-ray image of the inspection object P.
  • the controller 30 performs weight estimation of the inspection object P based on an X-ray image created based on the X-ray transmission signal, in other words, based on the X-ray transmission amount.
  • FIG. 5 is a graph showing an example of an X-ray detection amount (X-ray transmission amount) detected by the X-ray detection element 23 a of the line sensor 23.
  • the horizontal axis of the graph corresponds to the position of each X-ray detection element 23a.
  • the horizontal axis of the graph corresponds to the distance in the direction orthogonal to the transport direction D of the transport device 10.
  • the vertical axis of the graph indicates the detected amount of X-rays (X-ray transmission amount) detected by the X-ray detection element 23a.
  • a portion with a large detection amount is displayed as a bright (light) pixel, and a portion with a small detection amount is displayed as a dark (dark) pixel.
  • the amount of X-ray transmission decreases as the thickness of the article through which X-rays pass and increases as the thickness of the article through which X-rays pass through increases. Therefore, the brightness (darkness) of the X-ray image is determined by the object P to be inspected. Can be associated with the weight of
  • the line sensor 23 also functions as a sensor for detecting the timing when the inspection object P passes through the fan-shaped X-ray irradiation range Y (see FIG. 3). Specifically, when the inspection object P conveyed on the conveyor belt 11 comes to an upper position (irradiation range Y) of the line sensor 23, the line sensor 23 transmits X-rays indicating a voltage equal to or lower than a predetermined threshold value. A signal (first signal) is output. On the other hand, when the inspection object P does not pass through the irradiation range Y, the line sensor 23 outputs an X-ray transmission signal (second signal) indicating a voltage exceeding a predetermined threshold. By inputting the first signal and the second signal to the controller 30, the presence or absence of the inspection object P in the irradiation range Y is detected.
  • the predetermined threshold is a value appropriately set for determining the presence or absence of the inspection object P.
  • the monitor 25 is a liquid crystal display.
  • the monitor 25 displays an X-ray image of the inspection object P, an inspection result of the inspection object P, and the like.
  • the monitor 25 also has a touch panel function and accepts input of inspection parameters and the like by the operator.
  • the controller 30 is a computer that controls each part of the X-ray inspection apparatus 20.
  • the controller 30 mainly includes a central processing unit (CPU) that performs calculation and control, a read only memory (ROM) that stores information, a random access memory (RAM), and a hard disk.
  • the controller 30 also includes a display control circuit, a key input circuit, and the like (not shown).
  • the display control circuit is a circuit that controls data display on the monitor 25.
  • the key input circuit is a circuit that captures key input data input by an operator via the touch panel of the monitor 25.
  • the controller 30 is electrically connected to the X-ray irradiator 22, the line sensor 23, and the monitor 25.
  • the controller 30 is also electrically connected to the conveyor motor 12 and the encoder 13 of the transport apparatus 10 (see FIG. 4).
  • the controller 30 acquires data related to the rotational speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
  • the controller 30 is connected to the controller 50 of the distribution device 40 via a communication line 90 such as the Internet or a dedicated line in order to transmit distribution information to be described later to the distribution device 40.
  • the controller 30 includes a distribution information transmission unit 31 that transmits distribution information described later to the controller 50 of the distribution device 40 described later (see FIG. 4). Moreover, the controller 30 has the memory
  • the control unit 33 is mainly configured by a CPU, and executes a program stored in the storage unit 32 to generate an X-ray image, and estimate the weight and rank of the inspection object P based on the generated X-ray image. Make a decision.
  • the control unit 33 controls the operation of each component of the X-ray inspection apparatus 20 such as the X-ray irradiator 22 and the line sensor 23.
  • the storage unit 32 stores various inspection parameters used for weight estimation, rank inspection, and the like.
  • the storage unit 32 stores a weight conversion table for converting the gray value of the X-ray image into a weight value, a threshold value for determining the rank of the inspection object P according to the weight, and the inspection object P.
  • An injection time table is stored to determine the time for injecting air.
  • the distribution information transmitting unit 31 transmits distribution information to the controller 50 of the distribution device 40.
  • the distribution information is information used to operate a distribution mechanism 41 of the distribution device 40 (to be described later) and distribute the inspection object P conveyed by the conveyance device 10 to three conveyors (not shown).
  • the distribution information includes information related to the rank of the inspection object P, information related to the reference position F to which the distribution mechanism 41 distributes the inspection object P, and information related to the air injection time for the inspection object P.
  • the rank of the inspection object P is determined based on the weight of the inspection object P by a rank determination unit 33c of the control unit 33 described later. Based on the information about the rank of the inspection object P as the distribution information, any one of the first to third air distribution mechanisms 41a, 41b, 41c of the distribution mechanism 41 described later is operated, and the inspection object P It is decided whether or not to distribute.
  • the reference position F is a position where the distribution mechanism 41 applies a force to the inspection object P.
  • the reference position F is determined by a reference position determination unit 33e of the control unit 33 described later.
  • the information on the reference position F is information on the distance L in the transport direction D from the downstream end E in the transport direction D of the inspection object P to the reference position F (see FIG. 6).
  • the jetting time is information regarding how many seconds the sorting mechanism 41 jets air to the inspection object P.
  • the injection time is determined by an injection time determination unit 33d of the control unit 33 described later.
  • the storage unit 32 stores various programs to be executed by the control unit 33 and inspection parameters.
  • the storage unit 32 mainly includes an X-ray image storage area 32a, a weight conversion information storage area 32b, a rank threshold storage area 32c, and an ejection time information storage area 32d (see FIG. 4).
  • the X-ray image storage area 32a stores an X-ray image of the inspection object P generated by an X-ray image generation unit 33a described later.
  • the weight conversion information storage area 32b stores a weight conversion table used by the weight estimation unit 33b to be described later when estimating the weight of the inspection object P. Yes.
  • the weight conversion table is information that correlates one-to-one the gray value (shading level) of a pixel and the weight value corresponding to the pixel of the gray value. Note that, when the gray value of the pixel is larger than a predetermined threshold value (the pixel is bright), it is considered that the X-rays reach the line sensor 23 without passing through the inspection object P, and thus the weight conversion table. Then, the weight value is set to 0 for the gray value larger than the threshold value.
  • the weight conversion table is information stored in the weight conversion information storage area 32b in advance. Further, for example, the weight conversion table may be information input from the outside via the monitor 25 having a touch panel function. In addition, for example, the weight conversion table generates an X-ray image for a sample whose thickness, weight, etc. are known at the time of a trial run, etc. ).
  • the rank threshold value storage area 32c stores a threshold value used by the rank determination unit 33c described later for determining the rank of the inspection object.
  • threshold values Q1 and Q2 ( ⁇ Q1) are stored in the rank threshold value storage area 32c.
  • the threshold values Q1 and Q2 are information stored in advance in the rank threshold value storage area 32c. Further, for example, the threshold values Q1 and Q2 may be information input from the outside through the monitor 25 having a touch panel function.
  • injection time information storage area 32d In the injection time information storage area 32d, an injection time determination unit 33d, which will be described later, distributes the inspection mechanism P to the inspection object P (first to third air).
  • the injection time determination table used when determining the air injection time of the distribution mechanism 41a, 41b, 41c) is stored.
  • the injection time determination table is information that associates a plurality of weight ranges with air injection times corresponding to the weight ranges on a one-to-one basis.
  • the injection time determination table is information stored in advance in the injection time information storage area 32d.
  • the injection time determination table may be information input from the outside via the monitor 25 having a touch panel function.
  • the control unit 33 mainly executes an X-ray image generation unit 33a, a weight estimation unit 33b, a rank determination unit 33c, by executing a program stored in the storage unit 32. It functions as an injection time determination unit 33d and a reference position determination unit 33e.
  • the X-ray image generation unit 33a and the line sensor 23 capture an image of the inspection object P conveyed by the conveyance device 10, and X-rays of the inspection object P It functions as an imaging mechanism that acquires an image as a captured image of the inspection object P.
  • the X-ray image generation unit 33 a creates an X-ray image based on the X-ray intensity detected by the line sensor 23.
  • the X-ray image generation unit 33a uses the X-ray transmission signal output based on the X-ray transmission amount (X-ray intensity) detected by the X-ray detection element 23a of the line sensor 23 as a captured image. An X-ray image is generated.
  • the X-ray image generation unit 33a outputs the X-ray detection element 23a of the line sensor 23 when the inspection object P passes through the fan-shaped X-ray irradiation range Y (see FIG. 3).
  • X-ray transmission signals are acquired at fine time intervals.
  • the timing at which the inspection object P passes through the fan-shaped X-ray irradiation range Y is determined by a signal from the line sensor 23. That is, the presence / absence of the inspection object P in the irradiation range Y is determined based on the signal output from the line sensor 23.
  • the X-ray image generation unit 33a generates an X-ray image based on the acquired X-ray transmission signal. Specifically, the X-ray image generation unit 33a connects the data for each minute time interval related to the brightness of the X-ray obtained from each X-ray detection element 23a of the line sensor 23 in a matrix form in time series. An X-ray image for the inspection object P is generated. The generated X-ray image is stored in the X-ray image storage area 32a.
  • the weight estimation unit 33b estimates the weight of the inspection object P based on the X-ray image of the inspection object P.
  • the weight estimation unit 33b creates information on the gray value of the X-ray image based on the X-ray image of the inspection object P stored in the X-ray image storage area 32a. Specifically, the weight estimation unit 33b classifies all pixels constituting the X-ray image into grayscale values (tones) having a predetermined width, and counts the number of pixels having each grayscale value. Thereby, a histogram indicating the number of pixels for each gray value is created. Next, the weight estimation unit 33b uses the weight conversion table stored in the weight conversion information storage area 32b to read all the gray values included in the histogram into weight values.
  • the weight estimation unit 33b calculates, for the gray value included in the histogram, the product of the weight value corresponding to the gray value and the number of pixels of the gray value indicated by the histogram. The weight estimation unit 33b calculates the product for all the gray values included in the histogram, and adds these to estimate the weight of the inspection object P (calculates the estimated weight).
  • the rank determination unit 33c determines the rank of the inspection object P based on the estimated weight of the inspection object P calculated by the weight estimation unit 33b. Specifically, the rank determination unit 33c uses the threshold values Q1 and Q2 stored in the rank threshold value storage area 32c, and if the estimated weight is equal to or less than the threshold value Q1, the rank is larger than the first rank, the threshold value Q1, and the threshold value Q2 or less. If there is, the second rank is determined. If it is larger than the threshold value Q2, the third rank and the rank of the inspection object P are determined.
  • the rank of the inspection object P determined by the rank determination unit 33c is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
  • the injection time determination unit 33d is a distribution mechanism 41 for the inspection object P based on the estimated weight of the inspection object P calculated by the weight estimation unit 33b.
  • the air injection time of the (first to third air distribution mechanisms 41a, 41b, 41c) is determined.
  • the injection time determination unit 33d uses the injection time determination table stored in the injection time information storage area 32d, and the estimated weight of the inspection object P is any of the plurality of weight ranges of the injection time determination table.
  • the injection time corresponding to the determined weight range is determined as the air injection time for the object P to be inspected.
  • the air injection time for the inspection object P determined by the injection time determination unit 33d is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
  • the reference position determination unit 33e is an example of a determination unit.
  • the reference position determination unit 33e extracts the outer shape of the inspection object P from the X-ray image, and determines the reference position F to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P.
  • the reference position determination unit 33e calculates the center of gravity G of the inspection object P based on the outer shape of the inspection object P, and distributes the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, The distribution mechanism 41 determines the reference position F to which the inspection object P is distributed so that 41c) exerts a force toward the center of gravity G of the inspection object P.
  • the reference position determination unit 33e first projects the position of the center of gravity G of the inspection object P, more specifically, when the inspection object P is projected onto the transport surface of the conveyor belt 11 as follows. The position of the center of gravity G of the inspection object P is determined.
  • the reference position determination unit 33e sets the conveyance direction D of the inspection object P as the X-axis direction and the conveyance direction of the inspection object P.
  • a coordinate system is set in which the direction perpendicular to the width (the width direction of the conveyor belt 11) is the Y-axis direction (see FIG. 6). The position of the origin of the coordinate system may be determined arbitrarily.
  • the reference position determination unit 33e specifies the coordinates of each pixel in the coordinate system. Here, it is assumed that an image obtained by imaging the inspection object P exists at a position surrounded by a dotted line in FIG.
  • Each pixel of the X-ray image has a gray value as described above, and the gray value can be read as a weight value using the weight conversion table in the weight conversion information storage area 32b.
  • the weight value corresponding to is expressed as mk.
  • the reference position determination unit 33e calculates the coordinates (Xg, Yg) of the center of gravity G of the inspection object P when the inspection object P is projected onto the transport surface of the conveyor belt 11, using the following Expression 1 and Expression 2.
  • M is the estimated weight of the inspection object P calculated by the weight estimation unit 33b.
  • the reference position determination unit 33e thus determines the center of gravity (mass center) in consideration of not only the outer shape of the figure but also the weight of each pixel.
  • the reference position determination unit 33e is configured so that the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) exerts a force on the inspection object P toward the determined center of gravity G.
  • a reference position F for distributing the inspection object P is determined.
  • the first to third air distribution mechanisms 41a, 41b, and 41c eject air in a direction orthogonal to the conveyance direction of the conveyance device 10 as will be described later. That is, the first to third air distribution mechanisms 41a, 41b, and 41c are coordinate systems set by the reference position determination unit 33e in the direction along the Y-axis direction, particularly from below in FIG. A force is applied to the inspection object P.
  • a position where a straight line is drawn downward from the center of gravity G as shown in FIG. 6 and the straight line intersects with a pixel corresponding to the inspection object P (a pixel having a weight value) is determined as a reference position F of the inspection object P.
  • the reference position determination unit 33e generates information on the reference position F that the distribution information transmission unit 31 transmits to the controller 50 of the distribution device 40. Specifically, the reference position determination unit 33e determines a distance L in the transport direction D from the most downstream end E of the inspection object P in the transport direction D of the transport apparatus 10 to the reference position F as the reference position F. It generates as information about. The reference position determination unit 33e determines the coordinates of the pixel having the smallest X coordinate value among the pixels that are determined to have the inspection object P from the gray value of the pixel in the X-ray image of the inspection object P for which coordinates are set. And the distance L is calculated based on the coordinates of the center of gravity G.
  • the information (distance L) related to the reference position F generated by the reference position determination unit 33e is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
  • the sorting device 40 sorts the inspection object P based on the result of the rank inspection performed by the X-ray inspection device 20. Specifically, the distribution device 40 distributes the inspection object P to three conveyors (not shown) according to rank based on the result of the rank inspection of the X-ray inspection device 20.
  • the sorting apparatus 40 mainly includes a sorting mechanism 41 (see FIG. 1), a photoelectric sensor 43 (see FIG. 1), and a controller 50 (see FIG. 4).
  • Distribution Mechanism 41 distributes the inspection object P conveyed by the conveyance device 10.
  • the distribution mechanism 41 includes first to third air distribution mechanisms 41a, 41b, and 41c (see FIG. 1).
  • the first to third air distribution mechanisms 41a, 41b, 41c cause the inspection object P to move by applying a force by injecting air onto the inspection object P conveyed on the conveyor belt 11. Distribute.
  • the operations of the first to third air distribution mechanisms 41a, 41b, and 41c are controlled by the distribution mechanism control unit 53 of the controller 50 independently of the operations of the other air distribution mechanisms 41a, 41b, and 41c, respectively.
  • the in particular, here, the first to third air distribution mechanisms 41a, 41b, and 41c distribute the inspection object P by rank based on the result of the rank inspection of the X-ray inspection apparatus 20.
  • the first air distribution mechanism 41a includes a first nozzle 42a (see FIG. 1) and an electromagnetic valve (not shown) that opens and closes an air path for supplying air (high-pressure air) to the first nozzle 42a.
  • the 2nd air distribution mechanism 41b has the 2nd nozzle 42b (refer FIG. 1) and the solenoid valve (not shown) which opens and closes the air path which supplies air to the 2nd nozzle 42b.
  • the third air distribution mechanism 41c includes a third nozzle 42c (see FIG. 1) and an electromagnetic valve (not shown) that opens and closes an air path for supplying air to the third nozzle 42c.
  • the first to third nozzles 42a, 42b, 42c are attached obliquely above the conveying surface of the conveyor belt 11 of the conveying device 10.
  • the first to third nozzles 42a, 42b, and 42c are attached so as to inject high-pressure air in a direction that intersects the transport direction D of the transport device 10 in a plan view, in particular, a direction that is orthogonal to the transport direction D. Yes.
  • the first to third nozzles 42a, 42b, and 42c are installed in this order from the upstream side to the downstream side in the transport direction D of the transport apparatus 10 (see FIG. 1).
  • the first to third nozzles 42a, 42b, and 42c are separated from the detection position of the photoelectric sensor 43 described later in the transport direction D of the transport device 10 by a distance B1, a distance B2, and a distance B3, respectively (see FIG. 1). .
  • the electromagnetic valve of the first air distribution mechanism 41a, the second air distribution mechanism 41b, or the third air distribution mechanism 41c is opened by a command from the distribution mechanism control unit 53, the first nozzle 42a, High-pressure air blows out from the second nozzle 42b and the third nozzle 42c.
  • Each air distribution mechanism is arranged below the conveyor belt 11 because air is blown to the inspection object P on the conveyor belt 11 so that a force acts on the position where the air of the inspection object P is blown.
  • the inspection object P is distributed to conveyors (not shown) corresponding to 41a, 41b, and 41c.
  • the photoelectric sensor 43 is configured such that the first to third nozzles 42a, 42b, and 42c of the first to third air distribution mechanisms 41a, 41b, and 41c are in the transport direction D of the transport device 10. It arrange
  • the photoelectric sensor 43 includes a pair of light projectors 43a and light receivers 43b arranged with the conveyor belt 11 interposed therebetween (see FIG. 1). Whether or not the photoelectric sensor 43 has detected the inspection object P, in other words, whether or not the light receiver 43b has detected the light emitted from the projector 43a is continuously transmitted to the controller 50.
  • the controller 50 is a computer that controls each part of the sorting apparatus 40.
  • the controller 50 includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like.
  • the controller 50 is connected to the controller 30 of the X-ray inspection apparatus 20 via a communication line 90 (see FIG. 4).
  • the controller 50 includes a distribution information receiving unit 51 that receives distribution information transmitted by the controller 30 of the X-ray inspection apparatus 20 (see FIG. 4).
  • the controller 50 has the memory
  • the distribution mechanism control unit 53 is mainly configured by a CPU, executes a program stored in the storage unit 52, and distributes the inspection object P to the first to third air distribution mechanisms 41a, 41b, 41c. Execute the minute operation.
  • the storage unit 52 stores various information in addition to the program executed by the distribution mechanism control unit 53.
  • the controller 50 is electrically connected to the first to third air distribution mechanisms 41a, 41b, 41c and the photoelectric sensor 43.
  • the controller 50 is also electrically connected to the encoder 13 of the transport apparatus 10 (see FIG. 4).
  • the controller 50 acquires data related to the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
  • the distribution information receiving unit 51 transmits the distribution information of the inspection object P transmitted from the distribution information transmitting unit 31 of the controller 30 of the X-ray inspection apparatus 20. Receive.
  • the distribution information includes information regarding the rank of the inspection object P, information regarding the reference position F to which the distribution mechanism 41 distributes the inspection object P, and the distribution mechanism 41 injects air onto the inspection object P. Information on the injection time. How each information is used for controlling the operation of the distribution mechanism 41 will be described later.
  • the storage unit 52 stores various information in addition to the program executed by the distribution mechanism control unit 53.
  • the storage unit 52 includes a distribution information storage area 52a and a nozzle position storage area 52b.
  • Distribution Information Storage Area stores distribution information received by the distribution information receiving unit 51.
  • the distribution information receiving unit 51 receives the distribution information, the received distribution information is written in the distribution information storage area 52a.
  • Nozzle position storage area In the nozzle position storage area 52b, the detection position of the photoelectric sensor 43 and the first to third nozzles 42a, 42b, The distances B1, B2 and B3 (see FIG. 1) with respect to 42c are stored. The values of the distances B1, B2, and B3 may be stored in the nozzle position storage area 52b in advance, or may be written from the outside via an input device (not shown) or the like.
  • the distribution mechanism control unit 53 uses the distribution information stored in the distribution information storage area 52a to determine whether the distribution mechanism 41 is a reference for the inspection object P.
  • the distribution mechanism 41 is controlled to apply a force to the position F.
  • the distribution mechanism control unit 53 grasps the timing when the inspection object P passes the detection position of the photoelectric sensor 43 between the projector 43a and the light receiver 43b based on the detection result of the photoelectric sensor 43. And if the distribution mechanism control part 53 detects that the to-be-inspected object P started passing the detection position of the photoelectric sensor 43, it will be the oldest among the distribution information memorize
  • each distribution information includes information about rank, information about reference position F, and information about injection time.
  • the distribution mechanism control unit 53 determines which of the first to third air distribution mechanisms 41a, 41b, and 41c is to inject air using information about the rank. For example, the distribution mechanism control unit 53 determines the first air distribution mechanism 41a if the rank of the inspection object P is the first rank, and the second air distribution if the rank of the inspection object P is the second rank. If the rank of the inspection object P is the third rank, the mechanism 41b is determined to be the third air distribution mechanism 41c to be controlled.
  • the distribution mechanism control unit 53 determines the inspection object in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled at any timing based on the information about the reference position F. It is calculated whether the reference position F of P passes. Specifically, the distribution mechanism control unit 53 determines the first to third nozzles 42a from the information regarding the reference position F to which the inspection object P is distributed and the detection position of the photoelectric sensor 43 stored in the nozzle position storage area 52b. , 42b, 42c, the air distribution mechanism 41a to be controlled based on the distance information in the conveyance direction D of the conveyance device 10 and the conveyance speed V of the conveyance device 10 based on the data transmitted from the encoder 13.
  • the timing at which the reference position F of the inspection object P passes through the nozzles 42a, 42b, 42c of 41b, 41c is calculated. Note that the information regarding the reference position F for distributing the inspection object P is the distance L in the conveyance direction from the downstream end E in the conveyance direction of the conveyance apparatus 10 to the center of gravity G of the inspection object P as described above. is there.
  • the distribution mechanism control unit 53 uses the distance L, the distance B1 from the detection position of the photoelectric sensor 43 to the first nozzle 42a, and the transport speed V to check the detection position of the photoelectric sensor 43. It is calculated that the reference position F of the inspection object P to be distributed passes in front of the first nozzle 42a after a time of (B1 + L) / V has elapsed after the object P starts to pass.
  • the distribution mechanism control unit 53 determines the timing at which the air distribution mechanisms 41a, 41b, 41c to be controlled start the air injection and the timing at which the air injection stops based on the information about the injection time. And decide.
  • the distribution mechanism control unit 53 when half of the air injection time has passed, passes the front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled to the inspection object P.
  • the injection start timing and the injection stop timing of the air distribution mechanisms 41a, 41b, 41c to be controlled are determined so that the reference position F is passed.
  • the distribution mechanism control unit 53 sets the time for ⁇ (B1 + L) / VT ⁇ 2 ⁇ after the first air distribution mechanism 41a starts passing the detection position of the photoelectric sensor 43. It is determined that the air injection is started when the time elapses, and the air injection is stopped when the time of ⁇ (B1 + L) / V + T / 2 ⁇ has elapsed.
  • the distribution mechanism control unit 53 determines the air distribution mechanisms 41a, 41b, and 41c to be controlled and the timing of the start and stop of the air injection, the distribution mechanism control unit 53 starts the air injection at the determined timing.
  • a control command for the air distribution mechanisms 41a, 41b, 41c to be controlled is generated so as to be stopped.
  • step S1 based on the output of the X-ray transmission signal of the line sensor 23, it is determined whether or not the inspection object P has started to pass through the X-ray irradiation range Y.
  • the line sensor 23 detects the presence of the inspection object P in the X-ray irradiation range Y
  • the process proceeds to step S2.
  • Step S1 is repeated until the presence of the inspection object P in the X-ray irradiation range Y is detected.
  • step S2 the X-ray image generation unit 33a generates an X-ray image based on the X-ray transmission amount of the X-ray detected by the line sensor 23 (based on the X-ray transmission signal output from the X-ray detection element 23a). create.
  • the X-ray image generated by the X-ray image generation unit 33a is stored in the X-ray image storage area 32a.
  • the weight estimation unit 33b estimates the weight of the inspection object P based on the X-ray image of the inspection object P stored in the X-ray image storage area 32a. Specifically, the weight estimation unit 33b creates a histogram indicating the number of pixels for each gray value for the X-ray image, and uses the weight conversion table in the weight conversion information storage area 32b to display all the gray values included in the histogram. , The product of the weight value corresponding to the gray value and the number of pixels of the gray value indicated by the histogram is calculated. The weight estimation unit 33b estimates the weight of the inspection object P by adding the calculated product values for all the gray values included in the histogram.
  • step S4 the rank determination unit 33c determines the rank of the inspection object P based on the weight of the inspection object P estimated in step S3. Specifically, the rank determination unit 33c determines the rank of the inspection object P by comparing the estimated weight of the inspection object P with the threshold values Q1 and Q2 stored in the rank threshold value storage area 32c.
  • step S5 the injection time determination unit 33d determines the air injection time of the sorting mechanism 41 for the inspection object P based on the weight of the inspection object P estimated in step S3. Specifically, the injection time determination unit 33d determines the injection time corresponding to the estimated weight as the air injection time for the inspection object P using the injection time determination table stored in the injection time information storage area 32d. To do.
  • the reference position determination unit 33e generates information on the reference position F to which the distribution mechanism 41 distributes the inspection object P. Specifically, the reference position determination unit 33e sets, in the X-ray image, a coordinate system in which the transport direction D of the transport apparatus 10 is the X-axis direction, and the direction orthogonal to the transport direction D is the Y-axis direction.
  • the object to be inspected when the object P is projected onto the conveying surface of the conveyor belt 11 based on the coordinates and gray value information of each pixel of the image and the weight of the object to be inspected estimated in step S3.
  • the coordinates (Xg, Yg) of the center of gravity G of P are calculated.
  • the reference position determination unit 33e further determines the reference position F using the coordinates of the center of gravity G. Further, the reference position determination unit 33e uses the distance L in the transport direction D from the end E of the object P on the most downstream side in the transport direction D to the reference position F as information on the reference position F of the test object P. Calculate as
  • step S7 distribution information including information related to the rank of the inspection object P, the air injection time for the inspection object P, and the reference position F, calculated in steps S4 to S6, is allocated to the distribution information.
  • the transmission unit 31 transmits to the controller 50 of the sorting device 40. Then, it returns to step S1.
  • step S4, step S5, and step S6 are performed in this order.
  • the process is not limited to this, and may be performed in another order.
  • the process of step S4, step S5, and step S6 may perform any two steps or all the steps in parallel.
  • step S ⁇ b> 11 it is determined from the detection result of the photoelectric sensor 43 whether or not the inspection object P has started to pass the detection position of the photoelectric sensor 43. If it is determined that the inspection object P has started to pass the detection position of the photoelectric sensor 43, the process proceeds to step S12. Step S ⁇ b> 11 is repeated until it is determined that the inspection object P has started to pass through the detection position of the photoelectric sensor 43.
  • step S12 the distribution mechanism control unit 53 controls any of the first to third air distribution mechanisms 41a, 41b, 41c based on the earliest distribution information stored in the distribution information storage area 52a. It is determined whether it is a target (which of the first to third air distribution mechanisms 41a, 41b, 41c is to inject air). Specifically, the distribution mechanism control unit 53 determines which air distribution mechanism 41a, 41b, 41c is to be controlled based on the rank of the inspection object P included in the distribution information.
  • the distribution mechanism control unit 53 calculates the timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled. Specifically, the distribution mechanism control unit 53 includes information on the reference position F included in the earliest distribution information stored in the distribution information storage area 52a, and the control target stored in the nozzle position storage area 52b. Air distribution mechanism 41a, 41b, 41c, and the air distribution mechanism 41a, the control object, based on the information about the nozzle position of the air distribution mechanism 41a, the conveyance speed of the conveyance device 10 based on the data transmitted by the encoder 13 of the conveyance device 10. The timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of 41b, 41c is calculated.
  • step S14 the distribution mechanism control unit 53 determines the air injection start timing and the injection stop timing of the air distribution mechanisms 41a, 41b, 41c to be controlled. Specifically, the distribution mechanism control unit 53 calculates the timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled, calculated in step S13. Based on the injection time for the inspection object P included in the earliest distribution information stored in the distribution information storage area 52a, the injection start and injection of the air distribution mechanisms 41a, 41b, 41c to be controlled Determine the stop timing.
  • step S15 the distribution mechanism control unit 53 controls the control target air distribution mechanisms 41a, 41b, and 41c so that the air injection mechanisms 41a, 41b, and 41c are operated at the timings of starting and stopping the air injection determined in step S14.
  • Control commands for the air distribution mechanisms 41a, 41b and 41c are generated.
  • the earliest distribution information stored in the distribution information storage area 52a used for generating the control command is deleted. Then, it returns to step S11.
  • the inspection distribution system 100 inspects an inspected object P, and distributes the inspection object P based on the inspection result.
  • the inspection distribution system 100 includes a conveyance device 10 as an example of a conveyance mechanism, a line sensor 23 and an X-ray image generation unit 33a as an example of an imaging mechanism, a distribution mechanism 41, and a reference position as an example of a determination unit.
  • a determination unit 33e and a distribution mechanism control unit 53 are provided.
  • the transport device 10 transports the inspection object P.
  • the line sensor 23 included in the imaging mechanism images the inspection object P transported by the transport device 10, and the X-ray image generation unit 33a included in the imaging mechanism captures the captured image (X-ray image) of the inspection object P. get.
  • the distribution mechanism 41 distributes the inspection object P.
  • the reference position determination unit 33e extracts the outer shape of the inspection object P from the X-ray image, and determines the reference position F to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P.
  • the distribution mechanism control unit 53 controls the distribution mechanism 41 so that the distribution mechanism 41 applies a force to the reference position F.
  • the reference position F at which the distribution mechanism 41 applies a force to the inspection object P is determined based on the outer shape extracted from the captured image of the indefinite inspection object P. Therefore, it is easy to accurately move and distribute the inspection object P regardless of the outer shape of the inspection object P, and the inspection distribution system 100 with high reliability can be realized.
  • the line sensor 23 and the X-ray image generation unit 33a as an example of an imaging mechanism acquire an X-ray image of the inspection object P as a captured image.
  • the reference position determination unit 33e calculates the center of gravity G of the inspection object P based on the outer shape of the inspection object P, and determines the reference position F so that the distribution mechanism 41 exerts a force toward the center of gravity G.
  • the distribution mechanism 41 applies a force toward the center of gravity G of the inspection object P, it is easy to accurately distribute the inspection object P regardless of the outer shape of the inspection object P.
  • a highly reliable inspection distribution system 100 can be realized.
  • the inspection distribution system 100 includes a weight estimation unit 33b that estimates the weight of the inspection object P based on a captured image (X-ray image).
  • the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) distributes the inspection object P by applying a force by injecting air onto the inspection object P.
  • the distribution mechanism control unit 53 further controls the distribution mechanism so that the air injection time of the distribution mechanism 41 is adjusted based on the weight of the inspection object P estimated by the weight estimation unit 33b.
  • the first to third air distribution mechanisms 41a, 41b, and 41c determine the reference position F to which the inspection object P is distributed, and in addition, the air injection based on the weight of the inspection object P Time is adjusted. Therefore, it is easier to accurately distribute the inspection object P, and the inspection distribution system 100 with high reliability can be realized.
  • the inspection object P is a natural product such as an agricultural product or a marine product.
  • the object P to be inspected is a natural object, unlike an industrial product, the individual difference in the outer shape of the object P to be inspected is generally large. However, here, since the portion where the distribution mechanism 41 applies a force to the inspection object P is adjusted based on the outer shape extracted from the captured image of the inspection object P, the inspection object even if it is a natural object It is easy to assign P accurately.
  • the inspection distribution system 100 determines the rank of the inspection object P by inspection.
  • the distribution mechanism 41 distributes the inspection object P according to rank.
  • the inspection distribution system 100 it is easy to rank-sort the irregularly shaped inspection objects P and accurately distribute the inspection objects P according to the ranks.
  • the inspection distribution system 200 also inspects an indefinite object P (article) being conveyed.
  • the inspection object P is distributed based on the inspection result.
  • the inspection object P is a natural object, but may be an industrial product.
  • the inspection distribution system 200 mainly includes a transfer device 10, a near infrared inspection device 220, and a distribution device 240 (see FIG. 9).
  • the inspection apparatus is not an X-ray inspection apparatus but a near infrared inspection apparatus 220.
  • the near-infrared inspection apparatus 220 acquires a captured image of the inspection object P conveyed by the conveying apparatus 10, and ranks the inspection object P in a plurality of ranks (in accordance with the size of the inspection object P grasped from the captured image). Here, it is assigned to three ranks).
  • the sorting device 240 sorts the inspection object P transported by the transport device 10 according to rank based on the inspection result of the near-infrared inspection device 220.
  • the transport apparatus 10 is the transport apparatus 10 according to the first embodiment, except that a gap O is formed between the conveyor belts 11 for the passage of the light beam emitted by the light beam irradiator 222 of the near-infrared inspection apparatus 220 described later. Since this is the same, the description is omitted.
  • the near-infrared inspection apparatus 220 captures the inspection object P that is continuously conveyed by the conveying apparatus 10 and determines the size of the inspection object P based on the captured image of the inspection object P. It is divided into three ranks according to Further, the near-infrared inspection apparatus 220 determines a reference position F ′ to which the sorting mechanism 41 of the sorting apparatus 240 (to be described later) sorts the inspection object P, and sends information related to the reference position F ′ to the controller 250 of the sorting apparatus 240. Send.
  • the reference position F ′ is a position where the sorting mechanism 41 of the sorting device 240 applies a force to the inspection object P.
  • the near-infrared inspection apparatus 220 mainly includes a light beam irradiator 222 (see FIG. 10), a camera 223 (see FIG. 10), a monitor 225 (see FIG. 9), and a controller 230 (see FIG. 11).
  • the beam irradiator 222 is disposed above the conveyor belt 11 (see FIG. 10).
  • the beam irradiator 222 has a plurality of LEDs (Light Emitting Diodes) (not shown) that irradiate near infrared rays.
  • the LEDs are horizontally arranged in a straight line in a direction crossing the transport direction D of the transport device 10, in particular, in a direction orthogonal to the transport direction D of the transport device 10 here.
  • the LED of the beam irradiator 222 is installed so that the beam is irradiated on the entire width of the conveyor belt 11.
  • the light beam irradiator 222 is arranged so that the light beam to be irradiated passes through the gap O between the two conveyor belts 11 (see FIG. 10). Specifically, the LED of the light beam irradiator 222 is arranged directly above the gap O between the conveyor belts 11 so that the light beam is irradiated downward.
  • the camera 223 detects a light ray that has passed through the inspection object P, in particular, a near infrared ray (light ray having a wavelength of about 700 to 2500 nanometers) that has passed through the inspection object P here. It is a sensor camera.
  • the camera 223 is disposed below the conveying surface of the conveyor belt 11 (see FIG. 10). Further, the camera 223 is disposed at a position where it can detect near-infrared rays that have passed through the inspection object P and passed through the gap O of the divided conveyor belt 11. Specifically, the camera 223 is arranged below the LED (not shown) of the light irradiator 222 so that the detection unit of the camera 223 faces the LED of the light irradiator 222.
  • the camera 223 detects near infrared rays over the entire width of the conveyor belt 11 in a direction orthogonal to the transport direction D of the transport device 10.
  • the camera 223 detects a near infrared ray by assigning a predetermined number of pixels in a direction orthogonal to the transport direction D of the transport device 10. That is, for each detection, the camera 223 divides the near-infrared transmission amount (near-infrared transmission amount) into a predetermined number of pixels over the entire width of the conveyor belt 11 in a direction orthogonal to the conveyance direction D of the conveyance device 10. To detect.
  • the camera 223 detects the near-infrared transmission amount that has passed through the inspection object P, and outputs a transmission signal based on the near-infrared transmission amount (according to the intensity of the transmitted near-infrared ray) for each pixel.
  • the transmission signal is transmitted to the controller 230 and used to generate a captured image of the inspection object P.
  • the brightness (lightness value) of the captured image is determined by the transmission signal.
  • a portion with a large amount of near-infrared transmission is displayed as a bright (light) pixel, and a portion with a small amount of near-infrared transmission is displayed as a dark (dark) pixel. That is, the brightness (darkness) of the transmission image corresponds to the near-infrared transmission amount.
  • the camera 223 also functions as a sensor for detecting the timing when the inspection object P passes over the gap between the two conveyor belts 11 divided. Specifically, when the inspection object P conveyed on the conveyor belt 11 comes to an upper position of the camera 223 (an upper position of the gap O of the conveyor belt 11), the camera 223 applies a voltage equal to or lower than a predetermined threshold value. A transmitted signal (first signal) is output. On the other hand, when the inspection object P has not passed the upper position of the camera 223, the camera 223 outputs a transmission signal (second signal) indicating a voltage exceeding a predetermined threshold. By inputting the first signal and the second signal to the controller 230, the presence or absence of the inspection object P in the irradiation range Y is detected.
  • the predetermined threshold is a value appropriately set for determining the presence or absence of the inspection object P.
  • the controller 230 is a computer that controls each part of the near-infrared inspection apparatus 220.
  • the controller 230 mainly includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like.
  • the controller 230 also includes a display control circuit, a key input circuit, and the like (not shown).
  • the display control circuit is a circuit that controls data display on the monitor 225.
  • the key input circuit is a circuit that captures key input data input by an operator via the touch panel of the monitor 225.
  • the controller 230 is electrically connected to the beam irradiator 222, the camera 223, and the monitor 225.
  • the controller 230 is also electrically connected to the conveyor motor 12 and the encoder 13 of the transport apparatus 10 (see FIG. 4).
  • the controller 230 acquires data regarding the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
  • the controller 230 is connected to the controller 250 of the distribution device 240 via a communication line 90 such as the Internet or a dedicated line in order to transmit distribution information to be described later to the distribution device 240.
  • the controller 230 has a distribution information transmission unit 231 that transmits distribution information described later to the controller 250 of the distribution device 240 described later (see FIG. 4). Further, the controller 230 includes a storage unit 232 and a control unit 233 (see FIG. 4).
  • the control unit 233 is mainly configured by a CPU, and executes a program stored in the storage unit 232 to generate a captured image, determine the rank of the inspection object P based on the generated captured image, and the like. .
  • the control unit 233 controls the operation of each component of the near-infrared inspection apparatus 220 such as the light beam irradiator 222 and the camera 223.
  • the storage unit 232 stores various inspection parameters used for rank inspection. For example, the storage unit 232 stores a threshold value for determining the rank of the inspection object P according to the size.
  • the distribution information transmission unit 231 transmits distribution information to the controller 250 of the distribution device 240.
  • the distribution information is information used to operate a distribution mechanism 41 of a distribution device 240 (to be described later) and distribute the inspection object P conveyed by the conveyance device 10 to three conveyors (not shown).
  • the distribution information includes information regarding the rank of the inspection object P and information regarding the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P.
  • the rank of the inspection object P is determined based on the size of the inspection object P by a rank determination unit 233c of the control unit 233 described later. Based on the information about the rank of the inspection object P as distribution information, any one of the first to third air distribution mechanisms 41a, 41b, 41c of the distribution mechanism 41 described later is operated, and the inspection object P is moved. It is decided whether to distribute.
  • the reference position F ′ is a position where the distribution mechanism 41 applies a force to the inspection object P.
  • the reference position F ′ is determined by a reference position determination unit 233e of the control unit 233 described later.
  • the information on the reference position F ′ is information on the distance L ′ from the downstream end E in the transport direction D of the inspection object P to the reference position F ′ (see FIG. 12).
  • the storage unit 232 stores various programs to be executed by the control unit 233 and inspection parameters.
  • the storage unit 232 mainly includes an image storage area 232a and a rank threshold storage area 232c.
  • the image storage area 232a stores a captured image of the inspection object P generated by the image generation unit 233a described later.
  • the rank threshold value storage area 232c stores a threshold value used by the rank determination unit 233c, which will be described later, for determining the rank of the inspection object.
  • threshold values R1, R2 ( ⁇ R1) are stored in the rank threshold value storage area 232c.
  • the threshold values R1 and R2 are information stored in advance in the rank threshold value storage area 232c. Further, for example, the threshold values R1 and R2 may be information input from the outside via a monitor 225 having a touch panel function.
  • control unit 233 executes the program stored in the storage unit 232, thereby mainly as an image generation unit 233a, a rank determination unit 233c, and a reference position determination unit 233e. Function.
  • the image generation unit 233a and the camera 223 capture an image of the inspection object P transported by the transport device 10 and acquire an image captured of the inspection object P. Function as.
  • the image generation unit 233a creates a captured image based on the transmitted near-infrared ray amount detected by the camera 223.
  • the image generation unit 233a transmits the transmission signal for each pixel output from the camera 223 when the inspection object P passes over the camera 223 (on the gap O of the divided conveyor belt 11). Get at intervals. Note that the timing at which the inspection object P passes over the camera 223 is determined by a transmission signal from the camera 223. That is, the presence or absence of the inspection object P on the camera 223 is determined based on the transmission signal output from the camera 223.
  • the image generation unit 233a generates a captured image based on the acquired transmission signal. Specifically, the image generation unit 233a connects a captured image of the object P to be inspected by connecting data in fine time intervals related to the brightness of the light beam obtained from the camera 223 in a matrix in time series. Generate. The generated captured image is stored in the image storage area 232a.
  • the rank determination unit 233c calculates the size of the inspection object P using the captured image of the inspection object P stored in the image storage area 232a. Based on the calculation result, the rank of the inspection object P is determined.
  • the rank determination unit 233c calculates, as the size of the inspection object P, the maximum distance between pixels corresponding to the position where the inspection object P exists in the captured image, for example.
  • a certain pixel in the captured image is a pixel corresponding to the position where the inspection object P exists can be determined as follows.
  • the near infrared rays emitted from the light irradiator 222 reach the camera 223 directly.
  • the amount of transmitted near-infrared rays reaching the camera 223 is large, and pixels based on the amount of transmitted near-infrared rays are bright.
  • the light irradiated from the light irradiator 222 may be blocked by the inspection object P and may not reach the camera 223.
  • the rank determination unit 233c determines the rank of the inspection object P using the calculated size of the inspection object P. Specifically, the rank determination unit 233c uses the thresholds R1 and R2 stored in the rank threshold storage area 232c, and is larger than the first rank and the threshold R1 if the size of the inspection object P is equal to or smaller than the threshold R1. If it is less than or equal to the threshold value R2, the rank of the inspection object P is determined as the second rank.
  • the rank of the inspection object P determined by the rank determination unit 233c is transmitted by the distribution information transmission unit 231 to the controller 250 of the distribution device 240 as part of the distribution information.
  • the reference position determination unit 233e is an example of a determination unit.
  • the reference position determination unit 233e extracts the outer shape of the inspection object P from the captured image, and determines the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P.
  • the reference position determination unit 233e calculates the centroid Z of the inspection object P based on the outer shape of the inspection object P, and distributes the distribution mechanism 41 (first to third air distribution mechanisms 41a and 41b).
  • 41c) determines the reference position F ′ to which the sorting mechanism 41 distributes the inspection object P so that the force acts toward the centroid Z of the inspection object P.
  • the reference position determining unit 233e first projects the position of the centroid Z of the inspection object P, more specifically, the inspection object P onto the conveyance surface of the conveyor belt 11 as follows. The position of the centroid Z of the inspection object P at the time is determined.
  • the reference position determination unit 233e uses a captured image of the inspection object P stored in the image storage area 232a as a pixel corresponding to the inspection object P (a pixel whose brightness is greater than a predetermined threshold) and a background portion. And a binarized image (pixels whose brightness is smaller than a predetermined threshold).
  • the reference position determination unit 233e sets the transport direction D of the inspection object P in the X-axis direction and the direction orthogonal to the transport direction D (the width direction of the conveyor belt 11) in the Y-axis.
  • a coordinate system as a direction is set (see FIG. 12). The position of the origin of the coordinate system may be determined arbitrarily.
  • the reference position determination unit 233e specifies the coordinates of each pixel Ui (see FIG. 12) corresponding to the inspection object P.
  • a pixel corresponding to the inspection object P exists at a position surrounded by a dotted line in FIG.
  • the area of one pixel of the captured image is represented by a unit area s.
  • the reference position determination unit 233e calculates the position (Xz, Yz) of the centroid Z of the inspection object P when the inspection object P is projected onto the transport surface of the conveyor belt 11 using the following Expression 3 and Expression 4. .
  • the reference position determination unit 233e causes the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) to exert a force on the inspection object P toward the determined centroid Z.
  • the reference position F ′ to which the inspection object P is distributed is determined.
  • the first to third air distribution mechanisms 41a, 41b, and 41c eject air in a direction orthogonal to the transport direction of the transport apparatus 10. That is, the first to third air distribution mechanisms 41a, 41b, and 41c are coordinate systems set by the reference position determination unit 233e, and in the direction along the Y-axis direction, in particular, from below in FIG. A force is applied to the inspection object P. Therefore, as shown in FIG. 12, a straight line is drawn downward from the centroid Z, and the position where the straight line intersects the corresponding pixel of the inspection object P is determined as the reference position F ′ of the inspection object P.
  • the reference position determination unit 233e generates information on the reference position F ′ that the distribution information transmission unit 231 transmits to the controller 250 of the distribution device 240. Specifically, the reference position determining unit 233e uses the distance L ′ in the transport direction D from the most downstream end E of the inspection object P in the transport direction D of the transport apparatus 10 to the reference position F ′ as a reference. It generates as information regarding the position F ′.
  • the reference position determination unit 233e includes the coordinates of the pixel of the binarized X-ray image having the smallest X coordinate value among the pixels determined to have the inspection object P, the coordinates of the centroid Z, Based on the above, the distance L is calculated.
  • the information (distance L ′) related to the reference position F ′ generated by the reference position determination unit 233 e is transmitted to the controller 250 of the distribution device 240 as part of the distribution information by the distribution information transmission unit 231.
  • the distribution device 240 distributes the inspection object P based on the result of the rank inspection by the near infrared inspection device 220. Specifically, the sorting device 240 sorts the inspection object P into three conveyors (not shown) according to rank based on the result of the rank inspection performed by the near-infrared inspection device 220.
  • the sorting apparatus 240 mainly includes a sorting mechanism 41 (see FIG. 9), a photoelectric sensor 43 (see FIG. 9), and a controller 250 (see FIG. 11) (see FIG. 11).
  • distribution mechanism 41 and the photoelectric sensor 43 are the same as the distribution mechanism 41 and the photoelectric sensor 43 of the first embodiment, description thereof is omitted.
  • the controller 250 is a computer that controls each part of the sorting device 240.
  • the controller 250 includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like.
  • the controller 250 is connected to the controller 230 of the near-infrared inspection apparatus 220 via the communication line 90 in order to receive the distribution information (see FIG. 11).
  • the controller 250 includes a distribution information receiving unit 251 that receives distribution information transmitted by the controller 230 of the near-infrared inspection apparatus 220 (see FIG. 11).
  • the controller 250 includes a storage unit 252 and a distribution mechanism control unit 253 (see FIG. 11).
  • the distribution mechanism control unit 253 is mainly configured by a CPU, executes a program stored in the storage unit 252, and distributes the inspection object P to the first to third air distribution mechanisms 41a, 41b, and 41c. Execute the minute operation.
  • the storage unit 252 stores various information in addition to the program executed by the distribution mechanism control unit 253.
  • the controller 250 is electrically connected to the first to third air distribution mechanisms 41a, 41b, 41c and the photoelectric sensor 43.
  • the controller 250 is also electrically connected to the encoder 13 of the transport apparatus 10 (see FIG. 11).
  • the controller 250 acquires data related to the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
  • the distribution information receiving unit 251 transmits the distribution information of the inspection object P transmitted from the distribution information transmission unit 231 of the controller 230 of the near-infrared inspection apparatus 220. Receive.
  • the distribution information includes information regarding the rank of the inspection object P and information regarding the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P.
  • the storage unit 252 stores various information in addition to the program executed by the distribution mechanism control unit 253.
  • the storage unit 252 includes a distribution information storage area 52a, a nozzle position storage area 52b, and an ejection time storage area 252c. Since the distribution information storage area 52a and the nozzle position storage area 52b are the same as those in the inspection distribution system 100 of the first embodiment, description thereof is omitted here.
  • injection time storage area 252c In the injection time storage area 252c, the injection time Tf for the first to third air distribution mechanisms 41a, 41b, 41c to inject the air into the inspection object P Is remembered.
  • the injection time Tf is common to the first to third air distribution mechanisms 41a, 41b, 41c.
  • the present invention is not limited to this, and different injection times may be stored for each of the air distribution mechanisms 41a, 41b, and 41c.
  • the ejection time Tf may be stored in advance, or may be written from the outside via an input device (not shown) or the like.
  • the distribution mechanism control unit 253 is configured so that the distribution mechanism 41 uses the reference of the inspection object P based on the distribution information stored in the distribution information storage area 52a.
  • the distribution mechanism 41 is controlled to apply a force to the position F ′.
  • the distribution mechanism control unit 253 is different from the distribution mechanism control unit 53 of the first embodiment only in the method for determining the timing of the start and stop of the air injection of the distribution mechanism 41. Specifically, in the distribution mechanism control unit 53 of the first embodiment, the timing of the start and stop of the air injection of the distribution mechanism 41 is determined using the injection time included in the distribution information. On the other hand, the distribution mechanism control unit 253 determines the timing of starting and stopping the injection of air by the distribution mechanism 41 using the injection time Tf stored in the injection time storage area 252c. In other respects, the distribution mechanism control unit 253 is the same as the distribution mechanism control unit 53 of the first embodiment, and a description thereof will be omitted.
  • step S201 based on the transmission signal output from the camera 223, it is determined whether or not the inspection object P has started to pass over the camera 223 (on the gap O between the divided conveyor belts 11).
  • the process proceeds to step S202.
  • Step S201 is repeated until the presence of the inspection object P on the camera 223 is detected.
  • step S202 the image generation unit 233a creates a transmission image based on the transmitted near-infrared amount detected by the camera 223 (based on the transmission signal output from the camera 223).
  • the transmission image generated by the image generation unit 233a is stored in the image storage area 232a.
  • the rank determination unit 233c determines the rank of the inspection object P. Specifically, the rank determination unit 233c first calculates, as the size of the inspection object P, the maximum distance between pixels corresponding to the position of the inspection object P in the captured image. Next, the rank determination unit 233c determines the rank of the inspection object P by comparing the calculated size of the inspection object P with the threshold values R1 and R2 stored in the rank threshold value storage area 232c.
  • the reference position determination unit 233e generates information regarding the reference position F 'to which the inspection object P is distributed. Specifically, the reference position determination unit 233e first uses the transmission image of the inspection object P stored in the image storage area 232a as a predetermined threshold value in order to identify the pixel corresponding to the inspection object P in the captured image. To binarize. Next, the reference position determination unit 233e sets, in the binarized captured image, a coordinate system in which the transport direction D of the transport apparatus 10 is the X-axis direction and the direction orthogonal to the transport direction D is the Y-axis direction.
  • the reference position determination unit 233e based on the coordinates of the pixel corresponding to the inspection object P, the position of the centroid Z of the inspection object P when the inspection object P is projected onto the conveying surface of the conveyor belt 11. (Xz, Yz) is calculated. Further, the reference position determination unit 233e calculates a distance L ′ from the end E of the object P on the most downstream side in the transport direction D to the reference position F ′ as information on the reference position F ′ of the object P. To do.
  • step S205 the distribution information transmission unit 231 uses the controller of the distribution device 240 for the distribution information including the information about the rank of the inspection object P and the reference position F ′ calculated in steps S203 and S204. 250. Thereafter, the process returns to step S201.
  • step S203 and step S204 are performed in this order, but the present invention is not limited to this, and the order may be reversed. Further, the processes of step S203 and step S204 may be executed in parallel.
  • the inspection distribution system 200 of the second embodiment has the same features as (4-1), (4-4), and (4-5) of the first embodiment.
  • the inspection distribution system 200 of the second embodiment has the following features.
  • the reference position determination unit 233e calculates the centroid Z of the inspection object P based on the outer shape of the inspection object P, and the distribution mechanism 41 moves to the centroid Z.
  • the reference position F ′ is determined so as to exert a force toward it.
  • the distribution mechanism 41 applies a force toward the centroid Z of the inspection object P, it is easy to accurately distribute the articles regardless of the outer shape of the inspection object P, and a highly reliable inspection vibration.
  • the minute system 200 can be realized.
  • the X-ray inspection apparatus 20 and the near-infrared inspection apparatus 220 which are inspection apparatuses, execute rank inspection for determining the rank of the inspection object P. It is not limited.
  • the X-ray inspection apparatus 20 and the near-infrared inspection apparatus 220 may execute a foreign substance inspection or the like instead of the rank inspection or in addition to the rank inspection.
  • the sorting devices of the inspection distribution systems 100 and 200 are to be inspected based on the quality of the inspection object P obtained as a result of the foreign matter inspection of the X-ray inspection device 20 and the near-infrared inspection device 220. The thing P may be distributed.
  • the first to third air distribution mechanisms 41a, 41b, and 41c inject air from the direction orthogonal to the conveyance direction of the conveyance apparatus 10, but the air injection direction Is not limited to this.
  • the first to third air distribution mechanisms 41a, 41b, and 41c may inject air in a direction W that intersects the transport direction D of the transport apparatus 10 (a direction that is not orthogonal to the transport direction D) (FIG. 14). reference).
  • the reference position F ′′ may be determined so that the distribution mechanism 41 exerts a force toward the center of gravity G.
  • the side on which the first to third nozzles 42a, 42b, 42c are arranged may be determined as the reference position F ′′.
  • the sorting devices 40 and 240 are the sorting mechanisms 41 (the first to third air sorting mechanisms 41a, 41b, and 41c spray the air to sort the inspection object P.
  • the minute mechanism is not limited to a mechanism that distributes the inspection object P by air.
  • the distribution mechanism may be configured to distribute the inspection object P by driving an arm driven by a motor, an air cylinder, or the like.
  • the arm of the distribution mechanism may be configured to contact the reference positions F and F ′ and apply a force to the inspection object P.
  • the information on the reference positions F and F ′ is the distances L and L ′ in the transport direction D from the end E of the inspection object P on the most downstream side in the transport direction D to the reference positions F and F ′.
  • the present invention is not limited to this.
  • the information regarding the reference positions F and F ′ is calculated by further using the transport speed information of the transport device 10, and the detection position of the photoelectric sensor 43 of the sorting devices 40 and 240 is the most downstream side in the transport direction D. May be information on the time from when the end E of the inspection object P passes through until the reference positions F and F ′ pass through.
  • the X-ray inspection apparatus 20 has the controller 30, and the sorting apparatus 40 has the controller 50.
  • the near-infrared inspection apparatus 220 has the controller 230
  • the sorting apparatus 240 has the controller 250.
  • the inspection distribution system 100 has one controller that controls both the X-ray inspection apparatus 20 and the distribution apparatus 40
  • the inspection distribution system 200 controls both the near-infrared inspection apparatus 220 and the distribution apparatus 240. You may have one controller.
  • the sorting devices 40 and 240 do not need to have the photoelectric sensor 43, and the inspection object P starts to pass through the X-ray irradiation range Y or the camera 223 and then the inspection object.
  • the time until the reference positions F and F ′ of the object P pass in front of the nozzles 42a, 42b and 42c of the air distribution mechanisms 41a, 41b and 41c to be controlled is calculated, and the air distribution mechanisms 41a, 41b, 41c may be controlled.
  • the controller 50 of the sorting device 40 executes a part of the processing executed by the controller 30 of the X-ray inspection apparatus 20 in the first embodiment and / or the controller 50 of the sorting apparatus 40 executes.
  • the controller 30 of the X-ray inspection apparatus 20 may be configured to execute part of the processing that has been performed.
  • the injection time determination part 33d of the controller 30 determines the injection time of the air of the distribution mechanism 41, it replaces with this and the controller 50 is information of the estimated weight of the to-be-inspected object P. May be obtained from the controller 30, and the air injection time of the distribution mechanism 41 may be determined according to the estimated weight.
  • the distribution mechanism 41 has three air distribution mechanisms 41a, 41b, and 41c.
  • the present invention is not limited to this, and the quantity of the air distribution mechanisms 41a, 41b, and 41c is as required. May be determined appropriately.
  • the injection time determination unit 33d determines the injection time for the inspection object P according to the estimated weight of the inspection object P, and transmits the determined injection time to the controller 50 of the sorting device 40.
  • the present invention is not limited to this.
  • the injection time for the inspection object P may be constant regardless of the estimated weight. However, it is easier to accurately distribute the inspection object P by determining the injection time according to the estimated weight of the inspection object P.
  • the distribution mechanism 41 may control the distribution mechanism so that the air injection pressure increases as the estimated weight of the inspection object P increases.
  • the center of gravity G is calculated based on the outer shape of one inspection object P, and the reference position of the inspection object P is determined so that the distribution mechanism 41 exerts a force toward the center of gravity G.
  • the present invention is not limited to this.
  • the line sensor 23 and the X-ray image generation unit 33a as an imaging mechanism are X-ray images transmitted through a plurality of inspection objects P may be acquired as captured images.
  • the container A is a deformable container such as a plastic net or bag.
  • the reference position determination unit 33e calculates the combined center of gravity Gc of the plurality of inspection objects P that have entered the container A, and the reference position F ′ ′′ so that the distribution mechanism 41 exerts a force toward the combined center of gravity Gc. May be determined (see FIG. 15).
  • the air distribution mechanisms 41a, 41b, and 41c are arranged according to the position of the inspection object P on the conveyor belt 11, and particularly according to the position of the inspection object P in the width direction of the conveyor belt 11. It may be configured to change the ejection timing.
  • the width direction of the conveyor belt 11 from the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to the position of the centroid Z or the center of gravity G of the inspection object P (the conveyor belt 11
  • the air ejection timing of the air distribution mechanisms 41a, 41b, and 41c may be set earlier than usual.
  • the air ejection timing of the air distribution mechanisms 41a, 41b, and 41c may be configured to be delayed than usual.
  • the inspection distribution systems 100 and 200 of the embodiment may include a metal detection device as an example of a metal detection unit that detects a metal contained in the inspection object P.
  • the inspection distribution system 100 may further include a metal detection device 70 as shown in FIG.
  • the metal detection device 70 has one transmission coil (not shown) and two reception coils (not shown) as metal detection means, and the inspection object P passes through a magnetic field generated by the transmission coil. In doing so, metal as a foreign substance contained in the inspection object P is detected based on the difference in magnetic field received by the receiving coil.
  • the metal detection apparatus 70 may be configured such that, for example, the entire apparatus or metal detection means is arranged in the shield box 21 of the X-ray inspection apparatus 20. Further, for example, the metal detection device 70 may be provided on the upstream conveyor unit 60 on the upstream side of the X-ray inspection device 20 independently of the X-ray inspection device 20.
  • the distribution mechanism 41 may be configured to distribute the inspection object P based on the inspection result based on the X-ray image of the inspection object P and the detection result of the metal detection device 70.
  • the inspection object P containing metal as a foreign object is accurately moved and distributed regardless of the outer shape of the inspection object P. be able to.
  • the distribution mechanism 41 applies a force toward the center of gravity G of the inspection object P, the inspection object P containing a metal as a foreign object can be used regardless of the outer shape of the inspection object P. It is easy to sort accurately.
  • the inspection distribution system 100 replaces the rank inspection or in addition to the rank inspection, the result of the foreign matter inspection based on the X-ray image of the inspection object P and the detection result of the metal detection device 70 (foreign matter inspection). If the inspection object P is configured to be distributed based on the result), the metal detection device, for example, even when foreign matter that is difficult to detect in the X-ray inspection such as aluminum or iron powder is mixed in the inspection object P. It is easy to detect these foreign matters by 70 and accurately sort the inspection object P in which the foreign matters are mixed by the distribution mechanism 41.
  • the present invention is an inspection distribution system for inspecting and distributing irregularly shaped articles, and is useful as a highly reliable inspection distribution system that can easily distribute articles accurately regardless of the outer shape of the article. It is.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Sorting Of Articles (AREA)
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  • Image Analysis (AREA)

Abstract

Provided is an inspection/sorting system for inspecting and sorting articles of irregular shape, wherein it is easy to correctly sort articles irrespective of the contours of the articles, making the inspection/sorting system highly reliable. This inspection/sorting system (100) for inspecting inspected articles of irregular shape and sorting the inspected articles on the basis of the inspection results is provided with a conveyor device (10) for conveying the inspected articles, a line sensor (23) and an X-ray image generator (33a) that serve as an imaging mechanism, a sorting mechanism (41) for sorting conveyed articles, a reference position determination unit (33e), and a sorting mechanism control unit (53). The line sensor captures images of inspected articles conveyed by the conveyor device, and the X-ray image generation unit acquires X-ray images of the inspected articles. The reference position determination unit extracts the contours of inspected articles from the X-ray images, and on the basis of the contours of the inspected articles, determines a reference position for sorting of the inspected articles by the sorting mechanism. The sorting mechanism controller controls the sorting mechanism such that the force of the sorting mechanism acts on the reference position.

Description

検査振分システムInspection distribution system
　本発明は、物品を検査し、検査結果に基づいて搬送される物品を振り分ける、検査振分システムに関する。特に、本発明は、不定形な物品を検査／振り分けの対象とする検査振分システムに関する。 The present invention relates to an inspection distribution system that inspects an article and distributes an article to be conveyed based on an inspection result. In particular, the present invention relates to an inspection distribution system for inspecting / sorting irregular shaped articles.
　従来、搬送される物品の検査を行い、検査結果に基づいて振分機構で物品を振り分ける検査振分システムが知られている。 2. Description of the Related Art Conventionally, an inspection distribution system that inspects conveyed articles and distributes articles by a distribution mechanism based on inspection results is known.
　例えば、特許文献１（特開２００２－３６２７２９号公報）には、搬送コンベアで搬送される物品の検査を行い、検査結果に基づいて搬送コンベア上を搬送される物品にエアーを噴射して物品を振り分ける検査振分システムが開示されている。 For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2002-362729), an article conveyed by a conveyor is inspected, and air is injected to the article conveyed on the conveyor based on the inspection result. A sorting inspection distribution system is disclosed.
　ところで、このような検査振分システムには、外形が同一の物品ばかりではなく、不定形な（物品毎に外形の異なる）物品を検査対象とすることが求められる場合がある。 By the way, in such an inspection distribution system, it is sometimes required to inspect not only articles having the same outer shape but also indefinite shapes (different outer shapes for each article).
　検査対象が不定形である場合には、物品の形状等によっては、振分機構により物品に力を作用させても、物品が所望の動きをせず、振り分けエラーが発生する場合がある。このような場合には、例えば作業員が振り分けエラーの物品を手で振り分ける等の必要な対応を行う必要がある。 When the inspection target is indefinite, depending on the shape of the article, even if a force is applied to the article by the sorting mechanism, the article does not move as desired and a sorting error may occur. In such a case, it is necessary for the worker to take necessary measures such as sorting the articles with the sorting error by hand.
　本発明の課題は、不定形な物品を検査、振り分けの対象とする検査振分システムであって、物品の外形によらず正確に物品を振り分けることが容易な、信頼性の高い検査振分システムを提供することにある。 An object of the present invention is an inspection distribution system for inspecting and distributing an irregularly shaped article, and a highly reliable inspection distribution system that can easily distribute an article regardless of the outer shape of the article Is to provide.
　本発明の第１観点に係る検査振分システムは、不定形の物品を検査し、検査結果に基づいて物品を振り分ける。検査振分システムは、搬送機構と、撮像機構と、振分機構と、決定部と、振分機構制御部と、を備える。搬送手段は、物品を搬送する。撮像機構は、搬送機構により搬送される物品を撮像し、物品の撮像画像を取得する。振分機構は、物品を振り分ける。決定部は、撮像画像から物品の外形を抽出し、物品の外形に基づいて、振分機構が物品を振り分ける基準位置を決定する。振分機構制御部は、振分機構が、基準位置に力を作用させるよう、振分機構を制御する。 The inspection distribution system according to the first aspect of the present invention inspects an irregularly shaped article and distributes the article based on the inspection result. The inspection distribution system includes a transport mechanism, an imaging mechanism, a distribution mechanism, a determination unit, and a distribution mechanism control unit. The conveying means conveys the article. The imaging mechanism images an article conveyed by the conveyance mechanism and acquires a captured image of the article. The sorting mechanism sorts the articles. The determination unit extracts the outer shape of the article from the captured image, and determines a reference position to which the distribution mechanism distributes the article based on the outer shape of the article. The distribution mechanism control unit controls the distribution mechanism so that the distribution mechanism applies a force to the reference position.
　第１観点に係る検査振分システムでは、不定形な物品の撮像画像から抽出された外形に基づいて、振分機構が物品に力を作用させる基準位置が決定される。そのため、物品の外形によらず正確に物品を移動させて振り分けることが容易で、信頼性の高い検査振分システムを実現できる。 In the inspection distribution system according to the first aspect, the reference position at which the distribution mechanism applies a force to the article is determined based on the outer shape extracted from the captured image of the irregular article. Therefore, it is easy to accurately move and distribute an article regardless of the outer shape of the article, and a highly reliable inspection distribution system can be realized.
　本発明の第２観点に係る検査振分システムは、第１観点に係る検査振分システムであって、決定部は、物品の外形に基づいて物品の図心を算出し、振分機構が図心に向かって力を及ぼすように基準位置を決定する。 An inspection distribution system according to a second aspect of the present invention is the inspection distribution system according to the first aspect, wherein the determining unit calculates the centroid of the article based on the outer shape of the article, and the distribution mechanism is The reference position is determined so as to exert a force toward the heart.
　第２観点に係る検査振分システムでは、振分機構が物品の図心に向かって力を作用させるため、物品の外形によらず正確に物品を振り分けることが容易で、信頼性の高い検査振分システムを実現できる。 In the inspection distribution system according to the second aspect, since the distribution mechanism applies a force toward the centroid of the article, it is easy to accurately distribute the article regardless of the outer shape of the article, and a highly reliable inspection distribution system. Minute system can be realized.
　本発明の第３観点に係る検査振分システムは、第１観点に係る検査振分システムであって、撮像機構は、物品のＸ線画像を撮像画像として取得する。決定部は、物品の外形に基づいて物品の重心を算出し、振分機構が重心に向かって力を及ぼすように基準位置を決定する。 The inspection distribution system according to the third aspect of the present invention is the inspection distribution system according to the first aspect, and the imaging mechanism acquires an X-ray image of an article as a captured image. The determination unit calculates the center of gravity of the article based on the outer shape of the article, and determines the reference position so that the distribution mechanism exerts a force toward the center of gravity.
　第３観点に係る検査振分システムでは、振分機構が物品の重心に向かって力を作用させるため、物品の外形によらず正確に物品を振り分けることが容易で、信頼性の高い検査振分システムを実現できる。 In the inspection distribution system according to the third aspect, since the distribution mechanism applies a force toward the center of gravity of the article, it is easy to accurately distribute the article regardless of the outer shape of the article, and the inspection distribution with high reliability. A system can be realized.
　本発明の第４観点に係る検査振分システムは、第３観点に係る検査振分システムであって、撮像画像に基づいて物品の重量を推定する重量推定部を更に備える。振分機構は、物品にエアーを噴射することで、物品に力を作用させて振り分ける。振分機構制御部は、重量推定部が推定した物品の重量に基づいて、振分機構のエアーの噴射時間および噴射圧の少なくとも一方が調整されるよう、振分機構を更に制御する。 The inspection distribution system according to the fourth aspect of the present invention is the inspection distribution system according to the third aspect, and further includes a weight estimation unit that estimates the weight of the article based on the captured image. The distribution mechanism distributes the article by applying force to the article by injecting air onto the article. The distribution mechanism control unit further controls the distribution mechanism so that at least one of the air injection time and the injection pressure of the distribution mechanism is adjusted based on the weight of the article estimated by the weight estimation unit.
　第４観点に係る検査振分システムでは、物品を振り分ける基準位置が決定されるのに加え、物品の重量に基づいてエアーの噴射時間および噴射圧の少なくとも一方が調整される。そのため、物品を正確に振り分けることが更に容易であり、信頼性の高い検査振分システムを実現できる。 In the inspection distribution system according to the fourth aspect, in addition to determining the reference position for distributing the article, at least one of the air injection time and the injection pressure is adjusted based on the weight of the article. Therefore, it is easier to accurately distribute the articles, and a highly reliable inspection distribution system can be realized.
　本発明の第５観点に係る検査振分システムは、第３観点又は第４観点に係る検査振分システムであって、物品に含まれる金属を検出する金属検出部を更に備える。振分機構は、物品のＸ線画像に基づく検査の結果、および、金属検出部の検出結果に基づいて物品を振り分ける。 The inspection distribution system according to the fifth aspect of the present invention is the inspection distribution system according to the third aspect or the fourth aspect, and further includes a metal detection unit that detects a metal contained in the article. The sorting mechanism sorts the articles based on the inspection result based on the X-ray image of the article and the detection result of the metal detection unit.
　第５観点に係る検査振分システムでは、金属を異物として含む物品を、物品の外形によらず、正確に物品を移動させ振り分けることができる。特に、検査振分システムでは、振分機構が物品の重心に向かって力を作用させるため、金属を異物に含む物品を、物品の外形によらず正確に振り分けることが容易である。 In the inspection distribution system according to the fifth aspect, an article containing metal as a foreign object can be accurately moved and distributed regardless of the outer shape of the article. In particular, in the inspection distribution system, since the distribution mechanism applies a force toward the center of gravity of the article, it is easy to accurately distribute an article containing a metal as a foreign object regardless of the outer shape of the article.
　さらに、検査振分システムが、物品のＸ線画像に基づく異物検査の結果、および、金属検出部の検出結果に基づいて物品を振り分けるよう構成されれば、例えばアルミや鉄粉等Ｘ線検査では検出しにくい異物が物品に混入している場合であっても、金属検出部によってこれらの異物を検知し、異物の混入している物品を振分機構により正確に振り分けることが容易である。 Furthermore, if the inspection distribution system is configured to sort the article based on the result of the foreign object inspection based on the X-ray image of the article and the detection result of the metal detection unit, for example, in the X-ray inspection of aluminum or iron powder Even when foreign objects that are difficult to detect are mixed in the article, it is easy to detect these foreign substances by the metal detection unit and accurately sort the articles mixed with foreign substances by the sorting mechanism.
　本発明の第６観点に係る検査振分システムは、第１観点から第５観点のいずれかに係る検査振分システムであって、物品は自然物である。 The inspection distribution system according to the sixth aspect of the present invention is the inspection distribution system according to any one of the first to fifth aspects, and the article is a natural object.
　ここでは、物品が工業製品等とは異なり、自然物であるため、物品の外形の個体差が一般に大きい。しかし、ここでは、物品の撮像画像から抽出された外形に基づいて、振分機構が物品に力を作用させる部分が調整されるため、自然物であっても物品を正確に振り分けることが容易である。 Here, since the article is a natural product unlike an industrial product, the individual difference in the outer shape of the article is generally large. However, here, since the part where the sorting mechanism applies force to the article is adjusted based on the outer shape extracted from the captured image of the article, it is easy to accurately sort the article even if it is a natural object. .
　本発明の第７観点に係る検査振分システムは、第１観点から第６観点のいずれかに係る検査振分システムであって、当該検査振分システムは、検査により物品のランクを決定する。振分機構は、ランク別に物品を振り分ける。 The inspection distribution system according to the seventh aspect of the present invention is an inspection distribution system according to any one of the first to sixth aspects, and the inspection distribution system determines the rank of the article by inspection. The distribution mechanism distributes articles according to rank.
　本発明の第７観点に係る検査振分システムでは、外形の異なる物品をランク選別し、ランクに応じて物品を正確に振り分けることが容易である。 In the inspection distribution system according to the seventh aspect of the present invention, it is easy to rank select articles having different external shapes and accurately distribute the articles according to the rank.
　本発明の第８観点に係る検査振分システムは、第１観点に係る検査振分システムであって、撮像機構は、複数の物品のＸ線画像を撮像画像として取得する。決定部は、複数の物品の合成重心を算出し、振分機構が合成重心に向かって力を及ぼすように基準位置を決定する。 The inspection distribution system according to the eighth aspect of the present invention is the inspection distribution system according to the first aspect, and the imaging mechanism acquires X-ray images of a plurality of articles as captured images. The determining unit calculates a combined center of gravity of the plurality of articles, and determines a reference position so that the distribution mechanism exerts a force toward the combined center of gravity.
　本発明の第８観点に係る検査振分システムでは、振分対象物が複数の物品からなる場合にも、振分対象物を正確に振り分けることが容易である。 In the inspection distribution system according to the eighth aspect of the present invention, it is easy to accurately distribute the distribution object even when the distribution object includes a plurality of articles.
　本発明に係る検査振分システムでは、不定形な物品の撮像画像から抽出された外形に基づいて、振分機構が物品に力を作用させる基準位置が決定されるため、物品の外形によらず正確に物品を移動させて振り分けることが容易で、信頼性の高い検査振分システムを実現できる。 In the inspection distribution system according to the present invention, the reference position at which the distribution mechanism exerts a force on the article is determined based on the outline extracted from the captured image of the irregular article. It is easy to accurately move and distribute articles, and a highly reliable inspection distribution system can be realized.
本発明の第１実施形態に係る検査振分システムの概略図である。1 is a schematic diagram of an inspection distribution system according to a first embodiment of the present invention. 図１の検査振分システムに含まれるＸ線検査装置の外観斜視図である。It is an external appearance perspective view of the X-ray inspection apparatus contained in the inspection distribution system of FIG. 図２のＸ線検査装置のシールドボックス内部の簡易構成図である。It is a simple block diagram inside the shield box of the X-ray inspection apparatus of FIG. 図１の検査振分システムのブロック図である。It is a block diagram of the inspection distribution system of FIG. 図２のＸ線検査装置のＸ線検出素子によって検出されるＸ線の検出量（透過量）の例を示すグラフである。It is a graph which shows the example of the detection amount (transmission amount) of the X-ray detected by the X-ray detection element of the X-ray inspection apparatus of FIG. 図１の検査振分システムによる被検査物の重心の算出方法および基準位置の決定方法について説明するための図である。It is a figure for demonstrating the calculation method of the gravity center of the to-be-inspected object by the inspection distribution system of FIG. 1, and the determination method of a reference position. 図１の検査振分システムのＸ線検査装置の動作について説明するためのフローチャートである。It is a flowchart for demonstrating operation | movement of the X-ray inspection apparatus of the inspection distribution system of FIG. 図１の検査振分システムの振分装置の動作について説明するためのフローチャートである。It is a flowchart for demonstrating operation | movement of the distribution apparatus of the test | inspection distribution system of FIG. 本発明の第２実施形態に係る検査振分システムの概略図である。It is the schematic of the inspection distribution system which concerns on 2nd Embodiment of this invention. 図９の検査振分システムに含まれる近赤外線検査装置の簡易構成図である。It is a simple block diagram of the near-infrared inspection apparatus contained in the inspection distribution system of FIG. 図９の検査振分システムのブロック図である。It is a block diagram of the inspection distribution system of FIG. 図９の検査振分システムによる被検査物の図心の算出方法および基準位置の決定方法について説明するための図である。It is a figure for demonstrating the calculation method of the centroid of the to-be-inspected object by the inspection distribution system of FIG. 9, and the determination method of a reference | standard position. 図９の検査振分システムの近赤外線検査装置の動作について説明するためのフローチャートである。It is a flowchart for demonstrating operation | movement of the near-infrared inspection apparatus of the inspection distribution system of FIG. 変形例Ｂの、エアー振分機構が、搬送装置の搬送方向と直交しない方向からエアーを噴射する場合の基準位置の決定方法について説明するための図である。It is a figure for demonstrating the determination method of the reference position in case the air distribution mechanism of the modification B injects air from the direction which is not orthogonal to the conveyance direction of a conveying apparatus. 変形例Ｉの、不定形の容器内に、不定形の被検査物が入れられている場合の基準位置の決定方法について説明するための図である。It is a figure for demonstrating the determination method of the reference | standard position in case the amorphous to-be-inspected object is put in the irregular-shaped container of the modification I. 変形例Ｋの検査振分システムのブロック図である。It is a block diagram of the inspection distribution system of the modification K.
　以下、図面を参照して、本発明に係る検査振分システムの実施形態について説明する。なお、下記の実施形態は具体例にすぎず、本発明の趣旨を逸脱しない範囲で適宜変更可能である。 Hereinafter, an embodiment of an inspection distribution system according to the present invention will be described with reference to the drawings. The following embodiment is merely a specific example, and can be appropriately changed without departing from the gist of the present invention.
　＜第１実施形態＞
　本発明の第１実施形態に係る検査振分システム１００について説明する。 <First Embodiment>
The inspection distribution system 100 according to the first embodiment of the present invention will be described.
　（１）全体構成
　第１実施形態に係る検査振分システム１００は、搬送中の被検査物Ｐ（物品）の検査を行い、検査結果に基づいて被検査物Ｐを振り分けるシステムである。ここでの被検査物Ｐは、不定形である。言い換えれば、被検査物Ｐは、被検査物Ｐ毎に形状が異なる。特に、ここでは、被検査物Ｐは、果物や野菜等の農産物や、魚介類等の水産物を含む自然物である。ただし、これに限定されるものではなく、被検査物Ｐは、被検査物Ｐ毎に形状が異なる工業製品であってもよい。 (1) Overall Configuration The inspection distribution system 100 according to the first embodiment is a system that inspects the inspection object P (article) being conveyed and distributes the inspection object P based on the inspection result. The inspection object P here is indefinite. In other words, the inspection object P has a different shape for each inspection object P. In particular, here, the inspection object P is a natural product including agricultural products such as fruits and vegetables and marine products such as seafood. However, the present invention is not limited to this, and the inspection object P may be an industrial product having a different shape for each inspection object P.
　検査振分システム１００は、具体的には、被検査物Ｐのランク検査を行い、検査結果に基づいて、ランク別に被検査物Ｐを振り分けるシステムである。より具体的には、検査振分システム１００は、被検査物Ｐの重量推定を行い、推定した重量に応じてランク判定を行い、ランク別に被検査物Ｐを振り分ける。 Specifically, the inspection distribution system 100 is a system that performs rank inspection of the inspection object P and distributes the inspection object P according to rank based on the inspection result. More specifically, the inspection distribution system 100 estimates the weight of the inspection object P, performs rank determination according to the estimated weight, and distributes the inspection object P by rank.
　検査振分システム１００は、搬送装置１０と、Ｘ線検査装置２０と、振分装置４０と、を主に備える（図１参照）。 The inspection distribution system 100 mainly includes a transfer device 10, an X-ray inspection device 20, and a distribution device 40 (see FIG. 1).
　搬送装置１０は、上流コンベアユニット６０により搬送されてくる被検査物Ｐを受け取り、受け取った被検査物Ｐを搬送する。図１中の矢印が、搬送装置１０の搬送方向Ｄを示す。Ｘ線検査装置２０は、被検査物Ｐの重量推定を行い、重量に応じて被検査物Ｐを複数のランク（ここでは３段階のランク）に区分する。なお、ランクの段階は例示であって、これに限定されるものではない。振分装置４０は、Ｘ線検査装置２０の検査結果に基づき、搬送装置１０により搬送される被検査物Ｐをランク別に振り分ける。 The conveying apparatus 10 receives the inspection object P conveyed by the upstream conveyor unit 60 and conveys the received inspection object P. An arrow in FIG. 1 indicates the transport direction D of the transport device 10. The X-ray inspection apparatus 20 estimates the weight of the inspection object P and classifies the inspection object P into a plurality of ranks (here, three ranks) according to the weight. It should be noted that the rank stage is an example, and is not limited to this. Based on the inspection result of the X-ray inspection apparatus 20, the sorting apparatus 40 distributes the inspection object P transported by the transport apparatus 10 by rank.
　（２）詳細構成
　検査振分システム１００の搬送装置１０、Ｘ線検査装置２０、および振分装置４０について詳細に説明する。 (2) Detailed Configuration The conveyance device 10, the X-ray inspection device 20, and the distribution device 40 of the inspection distribution system 100 will be described in detail.
　（２－１）搬送装置
　搬送装置１０は、被検査物Ｐを搬送する搬送機構の一例である。搬送装置１０は、上流コンベアユニット６０が搬送してくる被検査物Ｐを受け取り、被検査物ＰがＸ線検査装置２０の後述するシールドボックス２１内を通過するように搬送する。また、搬送装置１０は、シールドボックス２１内を通過した被検査物Ｐを、Ｘ線検査装置２０の下流側の振分装置４０へと搬送する。より具体的には、搬送装置１０は、シールドボックス２１内を通過した被検査物Ｐを、後述する振分装置４０の振分機構４１の近傍を通過するよう搬送する。 (2-1) Transport Device The transport device 10 is an example of a transport mechanism that transports the inspection object P. The conveying device 10 receives the inspection object P conveyed by the upstream conveyor unit 60 and conveys the inspection object P so as to pass through a shield box 21 described later of the X-ray inspection apparatus 20. Further, the transport apparatus 10 transports the inspection object P that has passed through the shield box 21 to the sorting apparatus 40 on the downstream side of the X-ray inspection apparatus 20. More specifically, the transport device 10 transports the inspection object P that has passed through the shield box 21 so as to pass in the vicinity of a sorting mechanism 41 of the sorting device 40 described later.
　搬送装置１０は、主に、無端状のコンベアベルト１１（図３参照）と、図示しない駆動ローラと、コンベアモータ１２（図４参照）と、を有する。 The transport apparatus 10 mainly includes an endless conveyor belt 11 (see FIG. 3), a driving roller (not shown), and a conveyor motor 12 (see FIG. 4).
　駆動ローラ（図示せず）は、コンベアモータ１２により駆動される。駆動ローラが駆動されることで、コンベアベルト１１が回転し、コンベアベルト１１上に戴置される被検査物Ｐが搬送される。 The driving roller (not shown) is driven by the conveyor motor 12. By driving the driving roller, the conveyor belt 11 rotates, and the inspection object P placed on the conveyor belt 11 is conveyed.
　コンベアモータ１２は、インバータ制御可能なモータである。コンベアモータ１２は、後述するＸ線検査装置２０のコントローラ３０からの指令でインバータ制御され、駆動ローラの回転速度が調整される。その結果、コンベアベルト１１上に戴置される被検査物Ｐの搬送速度が細かく制御される。コンベアモータ１２には、コンベアモータ１２の回転数を検出し、Ｘ線検査装置２０のコントローラ３０、および、振分装置４０のコントローラ５０へと送信するエンコーダ１３が装着されている（図４参照）。 The conveyor motor 12 is a motor capable of inverter control. The conveyor motor 12 is inverter-controlled by a command from the controller 30 of the X-ray inspection apparatus 20 described later, and the rotational speed of the drive roller is adjusted. As a result, the conveyance speed of the inspection object P placed on the conveyor belt 11 is finely controlled. The conveyor motor 12 is equipped with an encoder 13 that detects the rotational speed of the conveyor motor 12 and transmits it to the controller 30 of the X-ray inspection apparatus 20 and the controller 50 of the sorting apparatus 40 (see FIG. 4). .
　なお、搬送装置１０は、コンベアベルト１１、駆動ローラ、およびコンベアモータ１２を、それぞれ１つ有するものであってもよいし、コンベアベルト１１、駆動ローラ、およびコンベアモータ１２のいずれか又は全てを、複数有するものであってもよい。 In addition, the conveying apparatus 10 may have one each of the conveyor belt 11, the driving roller, and the conveyor motor 12, or any one or all of the conveyor belt 11, the driving roller, and the conveyor motor 12, You may have more than one.
　（２－２）Ｘ線検査装置
　Ｘ線検査装置２０は、搬送装置１０により連続的に搬送される被検査物Ｐに対してＸ線を照射し、被検査物Ｐを透過したＸ線量に基づいて被検査物Ｐの重量推定を行う。また、Ｘ線検査装置２０は、被検査物Ｐの重量推定結果に基づき、被検査物Ｐを３段階のランクに区分する。また、Ｘ線検査装置２０は、後述する振分装置４０の振分機構４１が被検査物Ｐを振り分ける基準位置Ｆを決定し、基準位置Ｆに関する情報を振分装置４０のコントローラ５０に送信する。基準位置Ｆは、振分装置４０の振分機構４１が被検査物Ｐに力を作用させる位置である。 (2-2) X-ray Inspection Device The X-ray inspection device 20 irradiates the inspection object P continuously transported by the transport device 10 with X-rays and based on the X-ray dose transmitted through the inspection object P. The weight of the inspection object P is estimated. The X-ray inspection apparatus 20 classifies the inspection object P into three ranks based on the weight estimation result of the inspection object P. Further, the X-ray inspection apparatus 20 determines a reference position F to which the sorting mechanism 41 of the sorting apparatus 40 described later sorts the inspection object P, and transmits information on the reference position F to the controller 50 of the sorting apparatus 40. . The reference position F is a position where the sorting mechanism 41 of the sorting device 40 applies a force to the inspection object P.
　Ｘ線検査装置２０は、主に、シールドボックス２１（図２参照）と、Ｘ線照射器２２（図３参照）と、ラインセンサ２３（図３参照）と、モニタ２５（図２参照）と、コントローラ３０（図４参照）と、を有する。 The X-ray inspection apparatus 20 mainly includes a shield box 21 (see FIG. 2), an X-ray irradiator 22 (see FIG. 3), a line sensor 23 (see FIG. 3), and a monitor 25 (see FIG. 2). And a controller 30 (see FIG. 4).
　以下に、Ｘ線検査装置２０の各構成について説明する。なお、以下のＸ線検査装置２０の説明では、位置関係等を説明する際に「前（正面）」、「後（背面）」、「左」、「右」、「上」、「下」等の表現を用いる場合があるが、特記無き場合には、図２中の矢印に従って「前（正面）」、「後（背面）」、「左」、「右」、「上」、「下」等を表現する。 Hereinafter, each component of the X-ray inspection apparatus 20 will be described. In the following description of the X-ray inspection apparatus 20, “front (front)”, “rear (back)”, “left”, “right”, “up”, and “down” are used when explaining the positional relationship. In the case where there is no special mention, “front (front)”, “rear (back)”, “left”, “right”, “up”, “bottom” are indicated according to the arrows in FIG. ".
　（２－２－１）シールドボックス
　シールドボックス２１は、内部にＸ線照射器２２、ラインセンサ２３、コントローラ３０等を収容する筐体である。また、シールドボックス２１の正面上部には、モニタ２５の他、キーの差込口および電源スイッチ等が配置されている（図２参照）。シールドボックス２１の左右の側面には、開口２１ａが形成されている（図２参照）。 (2-2-1) Shield Box The shield box 21 is a housing that houses therein the X-ray irradiator 22, the line sensor 23, the controller 30, and the like. Further, in addition to the monitor 25, a key insertion port, a power switch, and the like are disposed on the upper front portion of the shield box 21 (see FIG. 2). Openings 21a are formed on the left and right side surfaces of the shield box 21 (see FIG. 2).
　シールドボックス２１の内部には、搬送装置１０のコンベアベルト１１が配置されている。具体的には、コンベアベルト１１は、シールドボックス２１の両側面に形成された開口２１ａを貫通するように配置されている。搬送装置１０の搬送方向Ｄの上流側の開口２１ａは、コンベアベルト１１上を搬送される被検査物Ｐのシールドボックス２１への搬入口として機能する。搬送装置１０の搬送方向Ｄの下流側の開口２１ａは、コンベアベルト１１上を搬送される被検査物Ｐのシールドボックス２１からの搬出口として機能する。なお、開口２１ａは、シールドボックス２１の外部へのＸ線の漏洩を防止するために、遮蔽ノレン２６によって塞がれている（図２参照）。遮蔽ノレン２６は、鉛やタングステン等を含むゴム製である。遮蔽ノレン２６は、開口２１ａを通過して被検査物Ｐが搬出入される時に、被検査物Ｐによって押しのけられる。 Inside the shield box 21, the conveyor belt 11 of the transfer device 10 is arranged. Specifically, the conveyor belt 11 is disposed so as to penetrate through the openings 21 a formed on both side surfaces of the shield box 21. The opening 21 a on the upstream side in the transport direction D of the transport device 10 functions as a carry-in entrance to the shield box 21 for the inspection object P transported on the conveyor belt 11. The opening 21 a on the downstream side in the transport direction D of the transport device 10 functions as a carry-out port from the shield box 21 for the inspection object P transported on the conveyor belt 11. Note that the opening 21a is closed by a shield noren 26 in order to prevent leakage of X-rays to the outside of the shield box 21 (see FIG. 2). The shielding nolen 26 is made of rubber containing lead, tungsten and the like. The shield noren 26 is pushed away by the inspection object P when the inspection object P is carried in and out through the opening 21a.
　（２－２－２）Ｘ線照射器
　Ｘ線照射器２２は、シールドボックス２１内の、コンベアベルト１１の上方に配置されている（図３参照）。Ｘ線照射器２２は、コンベアベルト１１の搬送面の下方に配置されるラインセンサ２３に向かって、扇形状の照射範囲ＹにＸ線を照射する（図３のハッチング部参照）。Ｘ線照射器２２のＸ線の照射範囲Ｙは、コンベアベルト１１の被検査物Ｐの搬送面に対して直交するように延びる。また、照射範囲Ｙは、搬送装置１０の搬送方向Ｄに対して交差する方向に扇形状に広がる。言い換えれば、Ｘ線照射器２２から照射されるＸ線は、コンベアベルト１１の幅方向に広がる。 (2-2-2) X-ray irradiator The X-ray irradiator 22 is disposed above the conveyor belt 11 in the shield box 21 (see FIG. 3). The X-ray irradiator 22 irradiates the fan-shaped irradiation range Y with X-rays toward the line sensor 23 disposed below the conveying surface of the conveyor belt 11 (see the hatched portion in FIG. 3). The X-ray irradiation range Y of the X-ray irradiator 22 extends so as to be orthogonal to the conveyance surface of the inspection object P of the conveyor belt 11. Further, the irradiation range Y extends in a fan shape in a direction intersecting the transport direction D of the transport device 10. In other words, the X-rays irradiated from the X-ray irradiator 22 spread in the width direction of the conveyor belt 11.
　（２－２－３）ラインセンサ
　ラインセンサ２３は、コンベアベルト１１の搬送面の下方に配置されている。ラインセンサ２３は、被検査物Ｐやコンベアベルト１１を透過してくるＸ線を検出する。ラインセンサ２３は、主に多数のＸ線検出素子２３ａを有する。Ｘ線検出素子２３ａは、搬送装置１０の搬送方向Ｄに直交する向きに、言い換えればコンベアベルト１１の幅方向に、一直線に水平配置されている。 (2-2-3) Line Sensor The line sensor 23 is disposed below the conveying surface of the conveyor belt 11. The line sensor 23 detects X-rays that pass through the inspection object P and the conveyor belt 11. The line sensor 23 mainly has a large number of X-ray detection elements 23a. The X-ray detection elements 23 a are horizontally arranged in a straight line in a direction orthogonal to the transport direction D of the transport device 10, in other words, in the width direction of the conveyor belt 11.
　各Ｘ線検出素子２３ａは、被検査物Ｐやコンベアベルト１１を透過したＸ線を検出し、検出したＸ線透過量（Ｘ線の強度）に基づくＸ線透過信号を出力する。Ｘ線透過信号は、コントローラ３０に送信され、被検査物ＰのＸ線画像を作成するために用いられる。コントローラ３０は、Ｘ線透過信号に基づいて作成される、言い換えればＸ線透過量に基づいて作成されるＸ線画像に基づいて、被検査物Ｐの重量推定を行う。 Each X-ray detection element 23a detects X-rays transmitted through the inspection object P and the conveyor belt 11, and outputs an X-ray transmission signal based on the detected X-ray transmission amount (X-ray intensity). The X-ray transmission signal is transmitted to the controller 30 and used to create an X-ray image of the inspection object P. The controller 30 performs weight estimation of the inspection object P based on an X-ray image created based on the X-ray transmission signal, in other words, based on the X-ray transmission amount.
　なお、Ｘ線透過信号に基づいて作成されるＸ線画像では、Ｘ線透過信号によって、Ｘ線画像の明るさ（濃淡値）が決定される。図５は、ラインセンサ２３のＸ線検出素子２３ａによって検出されるＸ線の検出量（Ｘ線透過量）の例を示すグラフである。グラフの横軸は、各Ｘ線検出素子２３ａの位置に対応する。また、グラフの横軸は、搬送装置１０の搬送方向Ｄに直交する方向の距離に対応する。また、グラフの縦軸は、Ｘ線検出素子２３ａで検出されたＸ線の検出量（Ｘ線透過量）を示す。Ｘ線画像では、検出量の多いところが明るい（淡い）画素として表示され、検出量が少ないところが暗い（濃い）画素として表示される。Ｘ線透過量は、Ｘ線が通過した物品の厚みが厚いほど減少し、Ｘ線が通過した物品の厚みが薄いほど増加することから、Ｘ線画像の明暗（濃淡）は、被検査物Ｐの重量と対応づけできる。 In addition, in the X-ray image created based on the X-ray transmission signal, the brightness (gray value) of the X-ray image is determined by the X-ray transmission signal. FIG. 5 is a graph showing an example of an X-ray detection amount (X-ray transmission amount) detected by the X-ray detection element 23 a of the line sensor 23. The horizontal axis of the graph corresponds to the position of each X-ray detection element 23a. The horizontal axis of the graph corresponds to the distance in the direction orthogonal to the transport direction D of the transport device 10. The vertical axis of the graph indicates the detected amount of X-rays (X-ray transmission amount) detected by the X-ray detection element 23a. In an X-ray image, a portion with a large detection amount is displayed as a bright (light) pixel, and a portion with a small detection amount is displayed as a dark (dark) pixel. The amount of X-ray transmission decreases as the thickness of the article through which X-rays pass and increases as the thickness of the article through which X-rays pass through increases. Therefore, the brightness (darkness) of the X-ray image is determined by the object P to be inspected. Can be associated with the weight of
　ラインセンサ２３は、被検査物Ｐが扇状のＸ線の照射範囲Ｙ（図３参照）を通過するタイミングを検知するためのセンサとしても機能する。具体的には、コンベアベルト１１上で搬送される被検査物Ｐがラインセンサ２３の上方位置（照射範囲Ｙ）に来た時、ラインセンサ２３は、所定の閾値以下の電圧を示すＸ線透過信号（第１信号）を出力する。一方、被検査物Ｐが照射範囲Ｙを通過していない場合には、ラインセンサ２３は、所定の閾値を上回る電圧を示すＸ線透過信号（第２信号）を出力する。第１信号および第２信号がコントローラ３０に入力されることで、照射範囲Ｙにおける被検査物Ｐの有無が検出される。なお、所定の閾値は、被検査物Ｐの有無を判定するために適切に設定された値である。 The line sensor 23 also functions as a sensor for detecting the timing when the inspection object P passes through the fan-shaped X-ray irradiation range Y (see FIG. 3). Specifically, when the inspection object P conveyed on the conveyor belt 11 comes to an upper position (irradiation range Y) of the line sensor 23, the line sensor 23 transmits X-rays indicating a voltage equal to or lower than a predetermined threshold value. A signal (first signal) is output. On the other hand, when the inspection object P does not pass through the irradiation range Y, the line sensor 23 outputs an X-ray transmission signal (second signal) indicating a voltage exceeding a predetermined threshold. By inputting the first signal and the second signal to the controller 30, the presence or absence of the inspection object P in the irradiation range Y is detected. The predetermined threshold is a value appropriately set for determining the presence or absence of the inspection object P.
　（２－２－４）モニタ
　モニタ２５は、液晶ディスプレイである。モニタ２５は、被検査物ＰのＸ線画像や、被検査物Ｐの検査結果等を表示する。モニタ２５は、タッチパネル機能も有しており、オペレータによる検査パラメータ等の入力を受け付ける。 (2-2-4) Monitor The monitor 25 is a liquid crystal display. The monitor 25 displays an X-ray image of the inspection object P, an inspection result of the inspection object P, and the like. The monitor 25 also has a touch panel function and accepts input of inspection parameters and the like by the operator.
　（２－２－５）コントローラ
　コントローラ３０は、Ｘ線検査装置２０の各部を制御するコンピュータである。コントローラ３０は、演算や制御を行うＣＰＵ（Central Processing Unit）や、情報を記憶するＲＯＭ（Read Only Memory）、ＲＡＭ（Random Access Memory）、およびハードディスク等を主に有する。また、コントローラ３０は、図示しない表示制御回路、キー入力回路等も備えている。表示制御回路は、モニタ２５でのデータ表示を制御する回路である。キー入力回路は、モニタ２５のタッチパネルを介してオペレータにより入力されたキー入力データを取り込む回路である。 (2-2-5) Controller The controller 30 is a computer that controls each part of the X-ray inspection apparatus 20. The controller 30 mainly includes a central processing unit (CPU) that performs calculation and control, a read only memory (ROM) that stores information, a random access memory (RAM), and a hard disk. The controller 30 also includes a display control circuit, a key input circuit, and the like (not shown). The display control circuit is a circuit that controls data display on the monitor 25. The key input circuit is a circuit that captures key input data input by an operator via the touch panel of the monitor 25.
　コントローラ３０は、Ｘ線照射器２２、ラインセンサ２３、およびモニタ２５と電気的に接続されている。また、コントローラ３０は、搬送装置１０のコンベアモータ１２およびエンコーダ１３とも電気的に接続されている（図４参照）。コントローラ３０は、エンコーダ１３からコンベアモータ１２の回転数に関するデータを取得し、取得したデータに基づき被検査物Ｐの搬送距離や搬送速度を把握する。また、コントローラ３０は、振分装置４０に対して後述する振分情報を送信するために、振分装置４０のコントローラ５０と、インターネットや専用回線等の通信回線９０により接続されている。 The controller 30 is electrically connected to the X-ray irradiator 22, the line sensor 23, and the monitor 25. The controller 30 is also electrically connected to the conveyor motor 12 and the encoder 13 of the transport apparatus 10 (see FIG. 4). The controller 30 acquires data related to the rotational speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data. In addition, the controller 30 is connected to the controller 50 of the distribution device 40 via a communication line 90 such as the Internet or a dedicated line in order to transmit distribution information to be described later to the distribution device 40.
　コントローラ３０は、後述する振分装置４０のコントローラ５０に、後述する振分情報を送信する振分情報送信部３１を有する（図４参照）。また、コントローラ３０は、記憶部３２および制御部３３を有する（図４参照）。制御部３３は、主にＣＰＵにより構成され、記憶部３２に記憶されたプログラムを実行することで、Ｘ線画像の生成や、生成したＸ線画像に基づいた被検査物Ｐの重量推定およびランク判定等を行う。また、制御部３３は、Ｘ線照射器２２やラインセンサ２３等の、Ｘ線検査装置２０の各構成の動作を制御する。記憶部３２には、制御部３３により実行されるプログラムの他、重量推定やランク検査等に用いられる各種検査パラメータが記憶される。例えば、記憶部３２には、Ｘ線画像の濃淡値を重量値に変換するための重量変換テーブルや、重量に応じて被検査物Ｐのランクを判定するための閾値や、被検査物Ｐにエアーを噴射する時間を決定するため噴射時間テーブルが記憶されている。 The controller 30 includes a distribution information transmission unit 31 that transmits distribution information described later to the controller 50 of the distribution device 40 described later (see FIG. 4). Moreover, the controller 30 has the memory | storage part 32 and the control part 33 (refer FIG. 4). The control unit 33 is mainly configured by a CPU, and executes a program stored in the storage unit 32 to generate an X-ray image, and estimate the weight and rank of the inspection object P based on the generated X-ray image. Make a decision. The control unit 33 controls the operation of each component of the X-ray inspection apparatus 20 such as the X-ray irradiator 22 and the line sensor 23. In addition to the program executed by the control unit 33, the storage unit 32 stores various inspection parameters used for weight estimation, rank inspection, and the like. For example, the storage unit 32 stores a weight conversion table for converting the gray value of the X-ray image into a weight value, a threshold value for determining the rank of the inspection object P according to the weight, and the inspection object P. An injection time table is stored to determine the time for injecting air.
　（２－２－５－１）振分情報送信部
　振分情報送信部３１は、振分装置４０のコントローラ５０に振分情報を送信する。振分情報は、後述する振分装置４０の振分機構４１を動作させ、搬送装置１０により搬送される被検査物Ｐを、図示しない３つのコンベアに振り分けるために使用される情報である。 (2-2-5-1) Distribution Information Transmitting Unit The distribution information transmitting unit 31 transmits distribution information to the controller 50 of the distribution device 40. The distribution information is information used to operate a distribution mechanism 41 of the distribution device 40 (to be described later) and distribute the inspection object P conveyed by the conveyance device 10 to three conveyors (not shown).
　振分情報には、被検査物Ｐのランクに関する情報と、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆに関する情報と、被検査物Ｐに対するエアーの噴射時間に関する情報と、を含む。 The distribution information includes information related to the rank of the inspection object P, information related to the reference position F to which the distribution mechanism 41 distributes the inspection object P, and information related to the air injection time for the inspection object P.
　被検査物Ｐのランクは、後述する制御部３３のランク判定部３３ｃにより、被検査物Ｐの重量に基づいて判定される。振分情報としての被検査物Ｐのランクに関する情報に基づいて、後述する振分機構４１の第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれを動作させて、その被検査物Ｐを振り分けるかが決定される。 The rank of the inspection object P is determined based on the weight of the inspection object P by a rank determination unit 33c of the control unit 33 described later. Based on the information about the rank of the inspection object P as the distribution information, any one of the first to third air distribution mechanisms 41a, 41b, 41c of the distribution mechanism 41 described later is operated, and the inspection object P It is decided whether or not to distribute.
　基準位置Ｆは、振分機構４１が被検査物Ｐに力を作用させる位置である。基準位置Ｆは、後述する制御部３３の基準位置決定部３３ｅにより決定される。基準位置Ｆに関する情報は、被検査物Ｐの搬送方向Ｄにおける下流側の端部Ｅから基準位置Ｆまでの、搬送方向Ｄにおける距離Ｌに関する情報である（図６参照）。 The reference position F is a position where the distribution mechanism 41 applies a force to the inspection object P. The reference position F is determined by a reference position determination unit 33e of the control unit 33 described later. The information on the reference position F is information on the distance L in the transport direction D from the downstream end E in the transport direction D of the inspection object P to the reference position F (see FIG. 6).
　噴射時間は、被検査物Ｐに対して、振分機構４１がエアーを何秒間噴射するかに関する情報である。噴射時間は、後述する制御部３３の噴射時間決定部３３ｄにより決定される。 The jetting time is information regarding how many seconds the sorting mechanism 41 jets air to the inspection object P. The injection time is determined by an injection time determination unit 33d of the control unit 33 described later.
　（２－２－５－２）記憶部
　記憶部３２は、制御部３３に実行させる各種プログラムや検査パラメータを記憶する。記憶部３２は、主として、Ｘ線画像記憶領域３２ａ、重量変換情報記憶領域３２ｂ、ランク閾値記憶領域３２ｃ、噴射時間情報記憶領域３２ｄを有する（図４参照）。 (2-2-5-2) Storage Unit The storage unit 32 stores various programs to be executed by the control unit 33 and inspection parameters. The storage unit 32 mainly includes an X-ray image storage area 32a, a weight conversion information storage area 32b, a rank threshold storage area 32c, and an ejection time information storage area 32d (see FIG. 4).
　（２－２－５－２－１）Ｘ線画像記憶領域
　Ｘ線画像記憶領域３２ａには、後述するＸ線画像生成部３３ａによって生成された被検査物ＰのＸ線画像が記憶される。 (2-2-5-2-1) X-ray image storage area The X-ray image storage area 32a stores an X-ray image of the inspection object P generated by an X-ray image generation unit 33a described later.
　（２－２－５－２－２）重量変換情報記憶領域
　重量変換情報記憶領域３２ｂは、後述する重量推定部３３ｂが被検査物Ｐの重量推定の際に用いる、重量変換テーブルが記憶されている。重量変換テーブルは、画素の濃淡値（濃淡レベル）と、その濃淡値の画素に対応する重量値とを一対一で対応付ける情報である。なお、画素の濃淡値が所定の閾値より大きい（画素が明るい）場合には、Ｘ線が被検査物Ｐを透過せずにラインセンサ２３に到達していると考えられることから、重量変換テーブルでは、閾値より大きい濃淡値については、重量値は０と設定されている。 (2-2-5-2-2) Weight Conversion Information Storage Area The weight conversion information storage area 32b stores a weight conversion table used by the weight estimation unit 33b to be described later when estimating the weight of the inspection object P. Yes. The weight conversion table is information that correlates one-to-one the gray value (shading level) of a pixel and the weight value corresponding to the pixel of the gray value. Note that, when the gray value of the pixel is larger than a predetermined threshold value (the pixel is bright), it is considered that the X-rays reach the line sensor 23 without passing through the inspection object P, and thus the weight conversion table. Then, the weight value is set to 0 for the gray value larger than the threshold value.
　例えば、重量変換テーブルは、予め重量変換情報記憶領域３２ｂに記憶されている情報である。また例えば、重量変換テーブルは、タッチパネル機能を有するモニタ２５等を介して外部から入力される情報であってもよい。また例えば、重量変換テーブルは、試運転時等に、厚みや重量等が既知のサンプルについてＸ線画像を生成し、生成されたＸ線画像の画素の濃淡値と、既知の情報（厚みや重量等）とに基づいて生成されてもよい。 For example, the weight conversion table is information stored in the weight conversion information storage area 32b in advance. Further, for example, the weight conversion table may be information input from the outside via the monitor 25 having a touch panel function. In addition, for example, the weight conversion table generates an X-ray image for a sample whose thickness, weight, etc. are known at the time of a trial run, etc. ).
　（２－２－５－２－３）ランク閾値記憶領域
　ランク閾値記憶領域３２ｃには、後述するランク判定部３３ｃが用いる、被検査物のランクを判定するための閾値が記憶されている。ここでは、閾値Ｑ１，Ｑ２（＜Ｑ１）が、ランク閾値記憶領域３２ｃに記憶されている。 (2-2-5-2-3) Rank threshold value storage area The rank threshold value storage area 32c stores a threshold value used by the rank determination unit 33c described later for determining the rank of the inspection object. Here, threshold values Q1 and Q2 (<Q1) are stored in the rank threshold value storage area 32c.
　例えば、閾値Ｑ１，Ｑ２は、予めランク閾値記憶領域３２ｃに記憶されている情報である。また例えば、閾値Ｑ１，Ｑ２は、タッチパネル機能を有するモニタ２５等を介して外部から入力される情報であってもよい。 For example, the threshold values Q1 and Q2 are information stored in advance in the rank threshold value storage area 32c. Further, for example, the threshold values Q1 and Q2 may be information input from the outside through the monitor 25 having a touch panel function.
　（２－２－５－２－４）噴射時間情報記憶領域
　噴射時間情報記憶領域３２ｄには、後述する噴射時間決定部３３ｄが、被検査物Ｐに対する振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）のエアーの噴射時間を決定する際に用いる噴射時間決定テーブルが記憶されている。噴射時間決定テーブルは、複数の重量範囲と、その重量範囲に対応するエアーの噴射時間とを一対一で対応付ける情報である。 (2-2-5-2-4) Injection time information storage area In the injection time information storage area 32d, an injection time determination unit 33d, which will be described later, distributes the inspection mechanism P to the inspection object P (first to third air). The injection time determination table used when determining the air injection time of the distribution mechanism 41a, 41b, 41c) is stored. The injection time determination table is information that associates a plurality of weight ranges with air injection times corresponding to the weight ranges on a one-to-one basis.
　例えば、噴射時間決定テーブルは、予め噴射時間情報記憶領域３２ｄに記憶されている情報である。また例えば、噴射時間決定テーブルは、タッチパネル機能を有するモニタ２５等を介して外部から入力される情報であってもよい。 For example, the injection time determination table is information stored in advance in the injection time information storage area 32d. For example, the injection time determination table may be information input from the outside via the monitor 25 having a touch panel function.
　（２－２－５－３）制御部
　制御部３３は、記憶部３２に記憶されたプログラムを実行することにより、主に、Ｘ線画像生成部３３ａ、重量推定部３３ｂ、ランク判定部３３ｃ、噴射時間決定部３３ｄ、基準位置決定部３３ｅ、として機能する。 (2-2-5-3) Control Unit The control unit 33 mainly executes an X-ray image generation unit 33a, a weight estimation unit 33b, a rank determination unit 33c, by executing a program stored in the storage unit 32. It functions as an injection time determination unit 33d and a reference position determination unit 33e.
　（２－２－５－３－１）Ｘ線画像生成部
　Ｘ線画像生成部３３ａおよびラインセンサ２３は、搬送装置１０により搬送される被検査物Ｐを撮像し、被検査物ＰのＸ線画像を、被検査物Ｐの撮像画像として取得する撮像機構として機能する。 (2-2-5-3-1) X-ray image generation unit The X-ray image generation unit 33a and the line sensor 23 capture an image of the inspection object P conveyed by the conveyance device 10, and X-rays of the inspection object P It functions as an imaging mechanism that acquires an image as a captured image of the inspection object P.
　Ｘ線画像生成部３３ａは、ラインセンサ２３によって検出されたＸ線の強度に基づいてＸ線画像を作成する。言い換えれば、Ｘ線画像生成部３３ａは、ラインセンサ２３のＸ線検出素子２３ａが検出したＸ線透過量（Ｘ線の強度）に基づいて出力するＸ線透過信号に基づいて、撮像画像としてのＸ線画像を生成する。 The X-ray image generation unit 33 a creates an X-ray image based on the X-ray intensity detected by the line sensor 23. In other words, the X-ray image generation unit 33a uses the X-ray transmission signal output based on the X-ray transmission amount (X-ray intensity) detected by the X-ray detection element 23a of the line sensor 23 as a captured image. An X-ray image is generated.
　具体的には、Ｘ線画像生成部３３ａは、扇状のＸ線の照射範囲Ｙ（図３参照）を被検査物Ｐが通過する時、ラインセンサ２３の各Ｘ線検出素子２３ａから出力されるＸ線透過信号を細かい時間間隔で取得する。なお、被検査物Ｐが扇状のＸ線の照射範囲Ｙを通過するタイミングは、ラインセンサ２３からの信号により判断される。すなわち、ラインセンサ２３が出力する信号により照射範囲Ｙにおける被検査物Ｐの有無が判断される。 Specifically, the X-ray image generation unit 33a outputs the X-ray detection element 23a of the line sensor 23 when the inspection object P passes through the fan-shaped X-ray irradiation range Y (see FIG. 3). X-ray transmission signals are acquired at fine time intervals. The timing at which the inspection object P passes through the fan-shaped X-ray irradiation range Y is determined by a signal from the line sensor 23. That is, the presence / absence of the inspection object P in the irradiation range Y is determined based on the signal output from the line sensor 23.
　Ｘ線画像生成部３３ａは、取得したＸ線透過信号に基づいてＸ線画像を生成する。具体的には、Ｘ線画像生成部３３ａは、ラインセンサ２３の各Ｘ線検出素子２３ａから得られるＸ線の明るさに関する細かい時間間隔毎のデータをマトリクス状に時系列につなぎ合わせることにより、被検査物Ｐを対象とするＸ線画像を生成する。生成されたＸ線画像は、Ｘ線画像記憶領域３２ａに記憶される。 The X-ray image generation unit 33a generates an X-ray image based on the acquired X-ray transmission signal. Specifically, the X-ray image generation unit 33a connects the data for each minute time interval related to the brightness of the X-ray obtained from each X-ray detection element 23a of the line sensor 23 in a matrix form in time series. An X-ray image for the inspection object P is generated. The generated X-ray image is stored in the X-ray image storage area 32a.
　（２－２－５－３－２）重量推定部
　重量推定部３３ｂは、被検査物ＰのＸ線画像に基づいて、その被検査物Ｐの重量を推定する。 (2-2-5-3-2) Weight Estimation Unit The weight estimation unit 33b estimates the weight of the inspection object P based on the X-ray image of the inspection object P.
　重量推定部３３ｂは、Ｘ線画像記憶領域３２ａに記憶された被検査物ＰのＸ線画像に基づき、Ｘ線画像の濃淡値に関する情報を作成する。具体的には、重量推定部３３ｂは、Ｘ線画像を構成する全画素を所定幅の濃淡値（階調）に分類し、各濃淡値を有する画素数をカウントする。これにより、濃淡値毎の画素数を示すヒストグラムを作成する。次に、重量推定部３３ｂは、重量変換情報記憶領域３２ｂに記憶された重量変換テーブルを用いて、ヒストグラムに含まれる全ての濃淡値を重量値に読み替える。そして、重量推定部３３ｂは、ヒストグラムに含まれる濃淡値ついて、その濃淡値に対応する重量値と、ヒストグラムが示す、その濃淡値の画素数との積を算出する。重量推定部３３ｂは、ヒストグラムに含まれる全ての濃淡値について積を算出し、これらを足し合わせることで、被検査物Ｐの重量を推定する（推定重量を算出する）。 The weight estimation unit 33b creates information on the gray value of the X-ray image based on the X-ray image of the inspection object P stored in the X-ray image storage area 32a. Specifically, the weight estimation unit 33b classifies all pixels constituting the X-ray image into grayscale values (tones) having a predetermined width, and counts the number of pixels having each grayscale value. Thereby, a histogram indicating the number of pixels for each gray value is created. Next, the weight estimation unit 33b uses the weight conversion table stored in the weight conversion information storage area 32b to read all the gray values included in the histogram into weight values. Then, the weight estimation unit 33b calculates, for the gray value included in the histogram, the product of the weight value corresponding to the gray value and the number of pixels of the gray value indicated by the histogram. The weight estimation unit 33b calculates the product for all the gray values included in the histogram, and adds these to estimate the weight of the inspection object P (calculates the estimated weight).
　（２－２－５－３－３）ランク判定部
　ランク判定部３３ｃは、重量推定部３３ｂが算出した被検査物Ｐの推定重量に基づいて、その被検査物Ｐのランクを判定する。具体的には、ランク判定部３３ｃは、ランク閾値記憶領域３２ｃに記憶された閾値Ｑ１，Ｑ２を用いて、推定重量が、閾値Ｑ１以下であれば第１ランク、閾値Ｑ１より大きく閾値Ｑ２以下であれば第２ランク、閾値Ｑ２より大きければ第３ランクと、被検査物Ｐのランクを判定する。 (2-2-5-3-3) Rank Determination Unit The rank determination unit 33c determines the rank of the inspection object P based on the estimated weight of the inspection object P calculated by the weight estimation unit 33b. Specifically, the rank determination unit 33c uses the threshold values Q1 and Q2 stored in the rank threshold value storage area 32c, and if the estimated weight is equal to or less than the threshold value Q1, the rank is larger than the first rank, the threshold value Q1, and the threshold value Q2 or less. If there is, the second rank is determined. If it is larger than the threshold value Q2, the third rank and the rank of the inspection object P are determined.
　ランク判定部３３ｃにより判定された被検査物Ｐのランクは、振分情報送信部３１により、振分情報の一部として振分装置４０のコントローラ５０に送信される。 The rank of the inspection object P determined by the rank determination unit 33c is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
　（２－２－５－３－４）噴射時間決定部
　噴射時間決定部３３ｄは、重量推定部３３ｂが算出した被検査物Ｐの推定重量に基づいて、その被検査物Ｐに対する振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）のエアーの噴射時間を決定する。具体的には、噴射時間決定部３３ｄは、噴射時間情報記憶領域３２ｄに記憶された噴射時間決定テーブルを用いて、被検査物Ｐの推定重量が、噴射時間決定テーブルの複数の重量範囲のいずれの中に含まれるかを判定し、判定した重量範囲に対応する噴射時間を、被検査物Ｐに対するエアーの噴射時間と決定する。 (2-2-5-3-4) Injection Time Determination Unit The injection time determination unit 33d is a distribution mechanism 41 for the inspection object P based on the estimated weight of the inspection object P calculated by the weight estimation unit 33b. The air injection time of the (first to third air distribution mechanisms 41a, 41b, 41c) is determined. Specifically, the injection time determination unit 33d uses the injection time determination table stored in the injection time information storage area 32d, and the estimated weight of the inspection object P is any of the plurality of weight ranges of the injection time determination table. The injection time corresponding to the determined weight range is determined as the air injection time for the object P to be inspected.
　なお、噴射時間決定部３３ｄにより決定された被検査物Ｐに対するエアーの噴射時間は、振分情報送信部３１により、振分情報の一部として振分装置４０のコントローラ５０に送信される。 The air injection time for the inspection object P determined by the injection time determination unit 33d is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
　（２－２－５－３－５）基準位置決定部
　基準位置決定部３３ｅは、決定部の一例である。基準位置決定部３３ｅは、Ｘ線画像から被検査物Ｐの外形を抽出し、被検査物Ｐの外形に基づいて、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆを決定する。具体的には、基準位置決定部３３ｅは、被検査物Ｐの外形に基づいて被検査物Ｐの重心Ｇを算出し、振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）が被検査物Ｐの重心Ｇに向かって力を及ぼすように、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆを決定する。 (2-2-5-3-5) Reference Position Determination Unit The reference position determination unit 33e is an example of a determination unit. The reference position determination unit 33e extracts the outer shape of the inspection object P from the X-ray image, and determines the reference position F to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P. Specifically, the reference position determination unit 33e calculates the center of gravity G of the inspection object P based on the outer shape of the inspection object P, and distributes the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, The distribution mechanism 41 determines the reference position F to which the inspection object P is distributed so that 41c) exerts a force toward the center of gravity G of the inspection object P.
　具体的には、基準位置決定部３３ｅは、まず以下のようにして、被検査物Ｐの重心Ｇの位置、より具体的には、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの重心Ｇの位置を決定する。 More specifically, the reference position determination unit 33e first projects the position of the center of gravity G of the inspection object P, more specifically, when the inspection object P is projected onto the transport surface of the conveyor belt 11 as follows. The position of the center of gravity G of the inspection object P is determined.
　初めに、基準位置決定部３３ｅは、Ｘ線画像記憶領域３２ａに記憶された被検査物ＰのＸ線画像において、被検査物Ｐの搬送方向ＤをＸ軸方向、被検査物Ｐの搬送方向と直交する方向（コンベアベルト１１の幅方向）をＹ軸方向とする座標系を設定する（図６参照）。座標系の原点の位置は任意に定められればよい。基準位置決定部３３ｅは、その座標系における各画素の座標を特定する。ここでは、図６の点線で囲まれた位置に被検査物Ｐを撮像した画像が存在するものとする。Ｘ線画像の各画素は上記のように濃淡値を有しており、その濃淡値は重量変換情報記憶領域３２ｂの重量変換テーブルを用いて重量値に読み替えることができる。ここでは、被検査物ＰのＸ線画像がＮ個の画素Ｃｋ（ｋ＝１～Ｎ）からなるものとし、各画素Ｃｋの座標が（Ｘｋ，Ｙｋ）で表され、その画素Ｃｋの濃淡値に対応する重量値がｍｋと表されるとする。基準位置決定部３３ｅは、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの重心Ｇの座標（Ｘｇ，Ｙｇ）を、以下の数式１および数式２により算出する。なお、数式１および数式２中の、Ｍは、重量推定部３３ｂにより算出されるその被検査物Ｐの推定重量である。 First, in the X-ray image of the inspection object P stored in the X-ray image storage area 32a, the reference position determination unit 33e sets the conveyance direction D of the inspection object P as the X-axis direction and the conveyance direction of the inspection object P. A coordinate system is set in which the direction perpendicular to the width (the width direction of the conveyor belt 11) is the Y-axis direction (see FIG. 6). The position of the origin of the coordinate system may be determined arbitrarily. The reference position determination unit 33e specifies the coordinates of each pixel in the coordinate system. Here, it is assumed that an image obtained by imaging the inspection object P exists at a position surrounded by a dotted line in FIG. Each pixel of the X-ray image has a gray value as described above, and the gray value can be read as a weight value using the weight conversion table in the weight conversion information storage area 32b. Here, it is assumed that the X-ray image of the inspection object P is composed of N pixels Ck (k = 1 to N), the coordinates of each pixel Ck are represented by (Xk, Yk), and the gray value of the pixel Ck. The weight value corresponding to is expressed as mk. The reference position determination unit 33e calculates the coordinates (Xg, Yg) of the center of gravity G of the inspection object P when the inspection object P is projected onto the transport surface of the conveyor belt 11, using the following Expression 1 and Expression 2. In Equations 1 and 2, M is the estimated weight of the inspection object P calculated by the weight estimation unit 33b.
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　基準位置決定部３３ｅは、このようにして、図形の外形だけではなく、各画素の重量も考慮した、重心（質量中心）を決定する。 The reference position determination unit 33e thus determines the center of gravity (mass center) in consideration of not only the outer shape of the figure but also the weight of each pixel.
　さらに、基準位置決定部３３ｅは、決定された重心Ｇに向かって、振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）が被検査物Ｐに力を及ぼすように、被検査物Ｐを振り分ける基準位置Ｆを決定する。ここでは、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、後述するように搬送装置１０の搬送方向に直交する向きにエアーを噴出する。つまり、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、基準位置決定部３３ｅが設定した座標系で、Ｙ軸方向に沿った方向に、特に、ここでは図６における下方から、被検査物Ｐに力を作用させる。そのため、図６のように重心Ｇから下方に直線を下ろし、その直線が被検査物Ｐに対応する画素（重量値を有する画素）と交わる位置が、被検査物Ｐの基準位置Ｆと決定される。 Further, the reference position determination unit 33e is configured so that the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) exerts a force on the inspection object P toward the determined center of gravity G. A reference position F for distributing the inspection object P is determined. Here, the first to third air distribution mechanisms 41a, 41b, and 41c eject air in a direction orthogonal to the conveyance direction of the conveyance device 10 as will be described later. That is, the first to third air distribution mechanisms 41a, 41b, and 41c are coordinate systems set by the reference position determination unit 33e in the direction along the Y-axis direction, particularly from below in FIG. A force is applied to the inspection object P. Therefore, a position where a straight line is drawn downward from the center of gravity G as shown in FIG. 6 and the straight line intersects with a pixel corresponding to the inspection object P (a pixel having a weight value) is determined as a reference position F of the inspection object P. The
　また、基準位置決定部３３ｅは、振分情報送信部３１が振分装置４０のコントローラ５０に送信する基準位置Ｆに関する情報を生成する。具体的には、基準位置決定部３３ｅは、搬送装置１０の搬送方向Ｄにおける被検査物Ｐの最下流側の端部Ｅから、基準位置Ｆまでの、搬送方向Ｄにおける距離Ｌを基準位置Ｆに関する情報として生成する。基準位置決定部３３ｅは、座標を設定した被検査物ＰのＸ線画像の、画素の濃淡値から被検査物Ｐが存在すると判定される画素の中でＸ座標の値が最も小さい画素の座標と、重心Ｇの座標と、に基づいて、距離Ｌを算出する。 Further, the reference position determination unit 33e generates information on the reference position F that the distribution information transmission unit 31 transmits to the controller 50 of the distribution device 40. Specifically, the reference position determination unit 33e determines a distance L in the transport direction D from the most downstream end E of the inspection object P in the transport direction D of the transport apparatus 10 to the reference position F as the reference position F. It generates as information about. The reference position determination unit 33e determines the coordinates of the pixel having the smallest X coordinate value among the pixels that are determined to have the inspection object P from the gray value of the pixel in the X-ray image of the inspection object P for which coordinates are set. And the distance L is calculated based on the coordinates of the center of gravity G.
　基準位置決定部３３ｅにより生成された基準位置Ｆに関する情報（距離Ｌ）は、振分情報送信部３１により、振分情報の一部として、振分装置４０のコントローラ５０に送信される。 The information (distance L) related to the reference position F generated by the reference position determination unit 33e is transmitted by the distribution information transmission unit 31 to the controller 50 of the distribution device 40 as part of the distribution information.
　（２－３）振分装置
　振分装置４０は、Ｘ線検査装置２０でのランク検査の結果に基づいて、被検査物Ｐの振り分けを行う。具体的には、振分装置４０は、Ｘ線検査装置２０のランク検査の結果に基づいて、被検査物Ｐを図示しない３つのコンベアにランク別に振り分ける。 (2-3) Sorting Device The sorting device 40 sorts the inspection object P based on the result of the rank inspection performed by the X-ray inspection device 20. Specifically, the distribution device 40 distributes the inspection object P to three conveyors (not shown) according to rank based on the result of the rank inspection of the X-ray inspection device 20.
　振分装置４０は、振分機構４１（図１参照）と、光電センサ４３（図１参照）と、コントローラ５０（図４参照）と、を主に有する。 The sorting apparatus 40 mainly includes a sorting mechanism 41 (see FIG. 1), a photoelectric sensor 43 (see FIG. 1), and a controller 50 (see FIG. 4).
　（２－３－１）振分機構
　振分機構４１は、搬送装置１０により搬送される被検査物Ｐを振り分ける。 (2-3-1) Distribution Mechanism The distribution mechanism 41 distributes the inspection object P conveyed by the conveyance device 10.
　振分機構４１は、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃを有する（図１参照）。第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、コンベアベルト１１上を搬送されてくる被検査物Ｐにエアーを噴射することで力を作用させて動かすことで、被検査物Ｐを振り分ける。第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃの動作は、コントローラ５０の振分機構制御部５３により、それぞれ他のエアー振分機構４１ａ，４１ｂ，４１ｃの動作とは独立して制御される。特に、ここでは、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、Ｘ線検査装置２０のランク検査の結果に基づいて、被検査物Ｐをランク別に振り分ける。 The distribution mechanism 41 includes first to third air distribution mechanisms 41a, 41b, and 41c (see FIG. 1). The first to third air distribution mechanisms 41a, 41b, 41c cause the inspection object P to move by applying a force by injecting air onto the inspection object P conveyed on the conveyor belt 11. Distribute. The operations of the first to third air distribution mechanisms 41a, 41b, and 41c are controlled by the distribution mechanism control unit 53 of the controller 50 independently of the operations of the other air distribution mechanisms 41a, 41b, and 41c, respectively. The In particular, here, the first to third air distribution mechanisms 41a, 41b, and 41c distribute the inspection object P by rank based on the result of the rank inspection of the X-ray inspection apparatus 20.
　第１エアー振分機構４１ａは、第１ノズル４２ａ（図１参照）と、第１ノズル４２ａにエアー（高圧空気）を供給するエアー経路を開閉する電磁弁（図示せず）と、を有する。第２エアー振分機構４１ｂは、第２ノズル４２ｂ（図１参照）と、第２ノズル４２ｂにエアーを供給するエアー経路を開閉する電磁弁（図示せず）と、を有する。第３エアー振分機構４１ｃは、第３ノズル４２ｃ（図１参照）と、第３ノズル４２ｃにエアーを供給するエアー経路を開閉する電磁弁（図示せず）と、を有する。 The first air distribution mechanism 41a includes a first nozzle 42a (see FIG. 1) and an electromagnetic valve (not shown) that opens and closes an air path for supplying air (high-pressure air) to the first nozzle 42a. The 2nd air distribution mechanism 41b has the 2nd nozzle 42b (refer FIG. 1) and the solenoid valve (not shown) which opens and closes the air path which supplies air to the 2nd nozzle 42b. The third air distribution mechanism 41c includes a third nozzle 42c (see FIG. 1) and an electromagnetic valve (not shown) that opens and closes an air path for supplying air to the third nozzle 42c.
　第１～第３ノズル４２ａ，４２ｂ，４２ｃは、搬送装置１０のコンベアベルト１１の搬送面の斜め上方に取り付けられている。第１～第３ノズル４２ａ，４２ｂ，４２ｃは、平面視において、搬送装置１０の搬送方向Ｄと交差する方向、特には搬送方向Ｄと直交する方向に高圧のエアーを噴射するように取り付けられている。第１～第３ノズル４２ａ，４２ｂ，４２ｃは、搬送装置１０の搬送方向Ｄの上流側から下流側に向かって、この順番に設置されている（図１参照）。第１～第３ノズル４２ａ，４２ｂ，４２ｃは、後述する光電センサ４３の検知位置から、搬送装置１０の搬送方向Ｄに、それぞれ、距離Ｂ１、距離Ｂ２、距離Ｂ３離れている（図１参照）。振分機構制御部５３からの指令により第１エアー振分機構４１ａ、第２エアー振分機構４１ｂ、又は第３エアー振分機構４１ｃの電磁弁が開かれると、それぞれ、第１ノズル４２ａ、第２ノズル４２ｂ、第３ノズル４２ｃから高圧のエアーが吹き出す。コンベアベルト１１上の被検査物Ｐにエアーが吹き付けられることで、被検査物Ｐのエアーが吹きつけられた位置に力が作用し、コンベアベルト１１の下方に配置された、各エアー振分機構４１ａ，４１ｂ，４１ｃに対応する図示しないコンベアに、被検査物Ｐが振り分けられる。 The first to third nozzles 42a, 42b, 42c are attached obliquely above the conveying surface of the conveyor belt 11 of the conveying device 10. The first to third nozzles 42a, 42b, and 42c are attached so as to inject high-pressure air in a direction that intersects the transport direction D of the transport device 10 in a plan view, in particular, a direction that is orthogonal to the transport direction D. Yes. The first to third nozzles 42a, 42b, and 42c are installed in this order from the upstream side to the downstream side in the transport direction D of the transport apparatus 10 (see FIG. 1). The first to third nozzles 42a, 42b, and 42c are separated from the detection position of the photoelectric sensor 43 described later in the transport direction D of the transport device 10 by a distance B1, a distance B2, and a distance B3, respectively (see FIG. 1). . When the electromagnetic valve of the first air distribution mechanism 41a, the second air distribution mechanism 41b, or the third air distribution mechanism 41c is opened by a command from the distribution mechanism control unit 53, the first nozzle 42a, High-pressure air blows out from the second nozzle 42b and the third nozzle 42c. Each air distribution mechanism is arranged below the conveyor belt 11 because air is blown to the inspection object P on the conveyor belt 11 so that a force acts on the position where the air of the inspection object P is blown. The inspection object P is distributed to conveyors (not shown) corresponding to 41a, 41b, and 41c.
　（２－３－２）光電センサ
　光電センサ４３は、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃの第１～第３ノズル４２ａ，４２ｂ，４２ｃの、搬送装置１０の搬送方向Ｄにおける上流側に配置されている（図１参照）。光電センサ４３は、コンベアベルト１１を挟んで配置される一対の投光器４３ａおよび受光器４３ｂから構成されている（図１参照）。光電センサ４３が被検査物Ｐを検知したか否か、言い換えれば、投光器４３ａが発した光を受光器４３ｂが検出したか否かは、連続的にコントローラ５０に送信される。 (2-3-2) Photoelectric Sensor The photoelectric sensor 43 is configured such that the first to third nozzles 42a, 42b, and 42c of the first to third air distribution mechanisms 41a, 41b, and 41c are in the transport direction D of the transport device 10. It arrange | positions upstream (refer FIG. 1). The photoelectric sensor 43 includes a pair of light projectors 43a and light receivers 43b arranged with the conveyor belt 11 interposed therebetween (see FIG. 1). Whether or not the photoelectric sensor 43 has detected the inspection object P, in other words, whether or not the light receiver 43b has detected the light emitted from the projector 43a is continuously transmitted to the controller 50.
　（２－３－３）コントローラ
　コントローラ５０は、振分装置４０の各部を制御するコンピュータである。コントローラ５０は、演算や制御を行うＣＰＵや、情報を記憶するＲＯＭ、ＲＡＭ、およびハードディスク等を有する。 (2-3-3) Controller The controller 50 is a computer that controls each part of the sorting apparatus 40. The controller 50 includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like.
　コントローラ５０は、Ｘ線検査装置２０のコントローラ３０と通信回線９０により接続されている（図４参照）。コントローラ５０は、Ｘ線検査装置２０のコントローラ３０が送信する振分情報を受信する振分情報受信部５１を有する（図４参照）。また、コントローラ５０は、記憶部５２および振分機構制御部５３を有する（図４参照）。振分機構制御部５３は、主にＣＰＵにより構成され、記憶部５２に記憶されたプログラムを実行して、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃに被検査物Ｐを振り分ける振分動作を実行させる。記憶部５２は、振分機構制御部５３が実行するプログラムの他、各種情報を記憶する。 The controller 50 is connected to the controller 30 of the X-ray inspection apparatus 20 via a communication line 90 (see FIG. 4). The controller 50 includes a distribution information receiving unit 51 that receives distribution information transmitted by the controller 30 of the X-ray inspection apparatus 20 (see FIG. 4). Moreover, the controller 50 has the memory | storage part 52 and the distribution mechanism control part 53 (refer FIG. 4). The distribution mechanism control unit 53 is mainly configured by a CPU, executes a program stored in the storage unit 52, and distributes the inspection object P to the first to third air distribution mechanisms 41a, 41b, 41c. Execute the minute operation. The storage unit 52 stores various information in addition to the program executed by the distribution mechanism control unit 53.
　コントローラ５０は、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ、光電センサ４３と電気的に接続されている。また、コントローラ５０は、搬送装置１０のエンコーダ１３とも電気的に接続されている（図４参照）。コントローラ５０は、エンコーダ１３からコンベアモータ１２の回転数に関するデータを取得し、取得したデータに基づき被検査物Ｐの搬送距離や搬送速度を把握する。 The controller 50 is electrically connected to the first to third air distribution mechanisms 41a, 41b, 41c and the photoelectric sensor 43. The controller 50 is also electrically connected to the encoder 13 of the transport apparatus 10 (see FIG. 4). The controller 50 acquires data related to the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
　（２－３－３－１）振分情報受信部
　振分情報受信部５１は、Ｘ線検査装置２０のコントローラ３０の振分情報送信部３１が送信する、被検査物Ｐの振分情報を受信する。 (2-3-3-1) Distribution Information Receiving Unit The distribution information receiving unit 51 transmits the distribution information of the inspection object P transmitted from the distribution information transmitting unit 31 of the controller 30 of the X-ray inspection apparatus 20. Receive.
　振分情報には、被検査物Ｐのランクに関する情報と、振分機構４１がその被検査物Ｐを振り分ける基準位置Ｆに関する情報と、その被検査物Ｐに振分機構４１がエアーを噴射する噴射時間に関する情報と、を含む。各情報が、振分機構４１の動作の制御にどのように利用されるかについては後述する。 The distribution information includes information regarding the rank of the inspection object P, information regarding the reference position F to which the distribution mechanism 41 distributes the inspection object P, and the distribution mechanism 41 injects air onto the inspection object P. Information on the injection time. How each information is used for controlling the operation of the distribution mechanism 41 will be described later.
　（２－３－３－２）記憶部
　記憶部５２は、振分機構制御部５３が実行するプログラムの他、各種情報を記憶する。記憶部５２には、振分情報記憶領域５２ａと、ノズル位置記憶領域５２ｂとを含む。 (2-3-3-2) Storage Unit The storage unit 52 stores various information in addition to the program executed by the distribution mechanism control unit 53. The storage unit 52 includes a distribution information storage area 52a and a nozzle position storage area 52b.
　（２－３－３－２－１）振分情報記憶領域
　振分情報記憶領域５２ａは、振分情報受信部５１が受信した振分情報を記憶する。振分情報受信部５１が振分情報を受信すると、受信した振分情報が、振分情報記憶領域５２ａに書き込まれる。 (2-3-3-2-1) Distribution Information Storage Area The distribution information storage area 52a stores distribution information received by the distribution information receiving unit 51. When the distribution information receiving unit 51 receives the distribution information, the received distribution information is written in the distribution information storage area 52a.
　（２－３－３－２－２）ノズル位置記憶領域
　ノズル位置記憶領域５２ｂには、搬送装置１０の搬送方向Ｄにおける、光電センサ４３の検知位置と、第１～第３ノズル４２ａ，４２ｂ，４２ｃとの距離Ｂ１，Ｂ２，Ｂ３（図１参照）が記憶されている。距離Ｂ１，Ｂ２，Ｂ３の値は、予めノズル位置記憶領域５２ｂに記憶されていてもよいし、図示しない入力装置等を介して外部から書き込まれてもよい。 (2-3-3-2-2) Nozzle position storage area In the nozzle position storage area 52b, the detection position of the photoelectric sensor 43 and the first to third nozzles 42a, 42b, The distances B1, B2 and B3 (see FIG. 1) with respect to 42c are stored. The values of the distances B1, B2, and B3 may be stored in the nozzle position storage area 52b in advance, or may be written from the outside via an input device (not shown) or the like.
　（２－３－３－３）振分機構制御部
　振分機構制御部５３は、振分情報記憶領域５２ａに記憶された振分情報に基づいて、振分機構４１が被検査物Ｐの基準位置Ｆに力を作用させるよう、振分機構４１を制御する。 (2-3-3-3) Distribution Mechanism Control Unit The distribution mechanism control unit 53 uses the distribution information stored in the distribution information storage area 52a to determine whether the distribution mechanism 41 is a reference for the inspection object P. The distribution mechanism 41 is controlled to apply a force to the position F.
　振分機構制御部５３は、光電センサ４３の検知結果により、被検査物Ｐが投光器４３ａと受光器４３ｂとの間の光電センサ４３の検知位置を通過したタイミングを把握する。そして、振分機構制御部５３は、光電センサ４３の検知位置を被検査物Ｐが通過し始めたことを検知すると、振分情報記憶領域５２ａに記憶された振分情報のうち、最も古い（最先に振分情報記憶領域５２ａに書き込まれた）振分情報に基づいて、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれかにエアーの噴射を指示する。 The distribution mechanism control unit 53 grasps the timing when the inspection object P passes the detection position of the photoelectric sensor 43 between the projector 43a and the light receiver 43b based on the detection result of the photoelectric sensor 43. And if the distribution mechanism control part 53 detects that the to-be-inspected object P started passing the detection position of the photoelectric sensor 43, it will be the oldest among the distribution information memorize | stored in the distribution information storage area 52a ( Based on the distribution information (written first in the distribution information storage area 52a), the air injection is instructed to one of the first to third air distribution mechanisms 41a, 41b, 41c.
　振分機構制御部５３が、振分情報に基づいて、どのように第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃを制御するかを説明する。 How the distribution mechanism control unit 53 controls the first to third air distribution mechanisms 41a, 41b, and 41c based on the distribution information will be described.
　各振分情報には、上記のように、ランクに関する情報と、基準位置Ｆに関する情報と、噴射時間に関する情報と、が含まれている。 As described above, each distribution information includes information about rank, information about reference position F, and information about injection time.
　まず、振分機構制御部５３は、ランクに関する情報を用いて、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれにエアーを噴射させるのかを決定する。振分機構制御部５３は、例えば、被検査物Ｐのランクが第１ランクであれば第１エアー振分機構４１ａを、被検査物Ｐのランクが第２ランクであれば第２エアー振分機構４１ｂを、被検査物Ｐのランクが第３ランクであれば第３エアー振分機構４１ｃを、制御対象と決定する。 First, the distribution mechanism control unit 53 determines which of the first to third air distribution mechanisms 41a, 41b, and 41c is to inject air using information about the rank. For example, the distribution mechanism control unit 53 determines the first air distribution mechanism 41a if the rank of the inspection object P is the first rank, and the second air distribution if the rank of the inspection object P is the second rank. If the rank of the inspection object P is the third rank, the mechanism 41b is determined to be the third air distribution mechanism 41c to be controlled.
　次に、振分機構制御部５３は、基準位置Ｆに関する情報に基づいて、どのタイミングで、制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を被検査物Ｐの基準位置Ｆが通過するかを算出する。具体的には、振分機構制御部５３は、被検査物Ｐを振り分ける基準位置Ｆに関する情報と、ノズル位置記憶領域５２ｂに記憶されている光電センサ４３の検知位置から第１～第３ノズル４２ａ，４２ｂ，４２ｃまでの搬送装置１０の搬送方向Ｄにおける距離の情報と、エンコーダ１３から送信されるデータに基づく搬送装置１０の搬送速度Ｖと、に基づき、制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を被検査物Ｐの基準位置Ｆが通過するタイミングを算出する。なお、被検査物Ｐを振り分ける基準位置Ｆに関する情報は、前述のように、搬送装置１０の搬送方向の下流側の端部Ｅから被検査物Ｐの重心Ｇまでの、搬送方向における距離Ｌである。 Next, the distribution mechanism control unit 53 determines the inspection object in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled at any timing based on the information about the reference position F. It is calculated whether the reference position F of P passes. Specifically, the distribution mechanism control unit 53 determines the first to third nozzles 42a from the information regarding the reference position F to which the inspection object P is distributed and the detection position of the photoelectric sensor 43 stored in the nozzle position storage area 52b. , 42b, 42c, the air distribution mechanism 41a to be controlled based on the distance information in the conveyance direction D of the conveyance device 10 and the conveyance speed V of the conveyance device 10 based on the data transmitted from the encoder 13. The timing at which the reference position F of the inspection object P passes through the nozzles 42a, 42b, 42c of 41b, 41c is calculated. Note that the information regarding the reference position F for distributing the inspection object P is the distance L in the conveyance direction from the downstream end E in the conveyance direction of the conveyance apparatus 10 to the center of gravity G of the inspection object P as described above. is there.
　具体例を上げて説明する。例えば第１ノズル４２ａが制御対象であると仮定する。この場合、振分機構制御部５３は、この距離Ｌと、光電センサ４３の検知位置から第１ノズル４２ａまでの距離Ｂ１と、搬送速度Ｖとを用いて、光電センサ４３の検知位置を被検査物Ｐが通過し始めてから、（Ｂ１＋Ｌ）／Ｖだけ時間が経過した後に、振分対象の被検査物Ｐの基準位置Ｆが第１ノズル４２ａの前を通過することを算出する。 * Explain with specific examples. For example, it is assumed that the first nozzle 42a is a control target. In this case, the distribution mechanism control unit 53 uses the distance L, the distance B1 from the detection position of the photoelectric sensor 43 to the first nozzle 42a, and the transport speed V to check the detection position of the photoelectric sensor 43. It is calculated that the reference position F of the inspection object P to be distributed passes in front of the first nozzle 42a after a time of (B1 + L) / V has elapsed after the object P starts to pass.
　次に、振分機構制御部５３は、噴射時間に関する情報に基づいて、制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃが、エアーの噴射を開始するタイミングと、エアーの噴射を停止するタイミングと、を決定する。ここでは、振分機構制御部５３は、エアーの噴射時間の半分が経過した時点で、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を、被検査物Ｐの基準位置Ｆが通過するよう、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃの噴射開始および噴射停止のタイミングを決定する。 Next, the distribution mechanism control unit 53 determines the timing at which the air distribution mechanisms 41a, 41b, 41c to be controlled start the air injection and the timing at which the air injection stops based on the information about the injection time. And decide. Here, the distribution mechanism control unit 53, when half of the air injection time has passed, passes the front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled to the inspection object P. The injection start timing and the injection stop timing of the air distribution mechanisms 41a, 41b, 41c to be controlled are determined so that the reference position F is passed.
　具体例を上げて説明する。例えば第１ノズル４２ａが制御対象であり、振分時間に含まれていた噴射時間がＴであると仮定する。この場合、振分機構制御部５３は、第１エアー振分機構４１ａが、光電センサ４３の検知位置を被検査物Ｐが通過し始めてから、｛（Ｂ１＋Ｌ）／Ｖ－Ｔ／２｝だけ時間が経過した時点でエアーの噴射を開始し、｛（Ｂ１＋Ｌ）／Ｖ＋Ｔ／２｝だけ時間が経過した時点でエアーの噴射を停止すると決定する。 * Explain with specific examples. For example, it is assumed that the first nozzle 42a is a control target and the injection time included in the distribution time is T. In this case, the distribution mechanism control unit 53 sets the time for {(B1 + L) / VT−2} after the first air distribution mechanism 41a starts passing the detection position of the photoelectric sensor 43. It is determined that the air injection is started when the time elapses, and the air injection is stopped when the time of {(B1 + L) / V + T / 2} has elapsed.
　振分機構制御部５３は、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃと、エアーの噴射開始および噴射停止のタイミングと、が決定されると、決定されたタイミングでエアーの噴射を開始／中止するよう、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃに対する制御指令を生成する。 When the distribution mechanism control unit 53 determines the air distribution mechanisms 41a, 41b, and 41c to be controlled and the timing of the start and stop of the air injection, the distribution mechanism control unit 53 starts the air injection at the determined timing. A control command for the air distribution mechanisms 41a, 41b, 41c to be controlled is generated so as to be stopped.
　なお、このようにして制御指令が生成されると、制御指令の生成のために利用された振分情報は、振分情報記憶領域５２ａから消去される。 When the control command is generated in this way, the distribution information used for generating the control command is deleted from the distribution information storage area 52a.
　（３）検査振分システムの動作
　（３－１）Ｘ線検査装置の動作
　以下、図７を参照して、Ｘ線検査装置２０の動作を説明する。 (3) Operation of Inspection Distribution System (3-1) Operation of X-ray Inspection Apparatus Hereinafter, the operation of the X-ray inspection apparatus 20 will be described with reference to FIG.
　まず、ステップＳ１では、ラインセンサ２３のＸ線透過信号の出力に基づいて、Ｘ線の照射範囲Ｙを被検査物Ｐが通過し始めたか否かが判断される。ラインセンサ２３がＸ線の照射範囲Ｙにおける被検査物Ｐの存在を検知すると、ステップＳ２に進む。ステップＳ１は、Ｘ線の照射範囲Ｙにおける被検査物Ｐの存在が検知されるまで繰り返される。 First, in step S1, based on the output of the X-ray transmission signal of the line sensor 23, it is determined whether or not the inspection object P has started to pass through the X-ray irradiation range Y. When the line sensor 23 detects the presence of the inspection object P in the X-ray irradiation range Y, the process proceeds to step S2. Step S1 is repeated until the presence of the inspection object P in the X-ray irradiation range Y is detected.
　ステップＳ２では、Ｘ線画像生成部３３ａが、ラインセンサ２３によって検出されたＸ線のＸ線透過量に基づいて（Ｘ線検出素子２３ａが出力するＸ線透過信号に基づいて）Ｘ線画像を作成する。Ｘ線画像生成部３３ａによって生成されたＸ線画像は、Ｘ線画像記憶領域３２ａに記憶される。 In step S2, the X-ray image generation unit 33a generates an X-ray image based on the X-ray transmission amount of the X-ray detected by the line sensor 23 (based on the X-ray transmission signal output from the X-ray detection element 23a). create. The X-ray image generated by the X-ray image generation unit 33a is stored in the X-ray image storage area 32a.
　次に、ステップＳ３では、重量推定部３３ｂが、Ｘ線画像記憶領域３２ａに記憶された被検査物ＰのＸ線画像に基づいて、被検査物Ｐの重量を推定する。具体的には、重量推定部３３ｂは、Ｘ線画像について濃淡値毎の画素数を示すヒストグラムを作成し、重量変換情報記憶領域３２ｂの重量変換テーブルを用いて、ヒストグラムに含まれる全ての濃淡値について、濃淡値に対応する重量値と、ヒストグラムが示す、その濃淡値の画素数と、の積を算出する。重量推定部３３ｂは、ヒストグラムに含まれる全ての濃淡値について、算出された積の値を足し合わせることで、被検査物Ｐの重量を推定する。 Next, in step S3, the weight estimation unit 33b estimates the weight of the inspection object P based on the X-ray image of the inspection object P stored in the X-ray image storage area 32a. Specifically, the weight estimation unit 33b creates a histogram indicating the number of pixels for each gray value for the X-ray image, and uses the weight conversion table in the weight conversion information storage area 32b to display all the gray values included in the histogram. , The product of the weight value corresponding to the gray value and the number of pixels of the gray value indicated by the histogram is calculated. The weight estimation unit 33b estimates the weight of the inspection object P by adding the calculated product values for all the gray values included in the histogram.
　次に、ステップＳ４では、ランク判定部３３ｃが、ステップＳ３で推定された被検査物Ｐの重量に基づいて、被検査物Ｐのランクを判定する。具体的には、ランク判定部３３ｃは、被検査物Ｐの推定重量と、ランク閾値記憶領域３２ｃに記憶された閾値Ｑ１，Ｑ２とを比較することで、被検査物Ｐのランクを判定する。 Next, in step S4, the rank determination unit 33c determines the rank of the inspection object P based on the weight of the inspection object P estimated in step S3. Specifically, the rank determination unit 33c determines the rank of the inspection object P by comparing the estimated weight of the inspection object P with the threshold values Q1 and Q2 stored in the rank threshold value storage area 32c.
　次に、ステップＳ５では、噴射時間決定部３３ｄが、ステップＳ３で推定された被検査物Ｐの重量に基づいて、その被検査物Ｐに対する振分機構４１のエアーの噴射時間を決定する。具体的には、噴射時間決定部３３ｄは、噴射時間情報記憶領域３２ｄに記憶された噴射時間決定テーブルを用いて、推定重量に対応する噴射時間を、被検査物Ｐに対するエアーの噴射時間と決定する。 Next, in step S5, the injection time determination unit 33d determines the air injection time of the sorting mechanism 41 for the inspection object P based on the weight of the inspection object P estimated in step S3. Specifically, the injection time determination unit 33d determines the injection time corresponding to the estimated weight as the air injection time for the inspection object P using the injection time determination table stored in the injection time information storage area 32d. To do.
　次に、ステップＳ６では、基準位置決定部３３ｅは、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆに関する情報を生成する。具体的には、基準位置決定部３３ｅは、Ｘ線画像に、搬送装置１０の搬送方向ＤをＸ軸方向、搬送方向Ｄと直交する方向をＹ軸方向とする座標系を設定し、Ｘ線画像の各画素の、座標および濃淡値の情報と、ステップＳ３で推定された被検査物の重量と、に基づいて、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの重心Ｇの座標（Ｘｇ，Ｙｇ）を算出する。基準位置決定部３３ｅは、更に重心Ｇの座標を用いて、基準位置Ｆを決定する。さらに、基準位置決定部３３ｅは、搬送方向Ｄにおける最下流側の被検査物Ｐの端部Ｅから基準位置Ｆまでの、搬送方向Ｄにおける距離Ｌを、被検査物Ｐの基準位置Ｆに関する情報として算出する。 Next, in step S6, the reference position determination unit 33e generates information on the reference position F to which the distribution mechanism 41 distributes the inspection object P. Specifically, the reference position determination unit 33e sets, in the X-ray image, a coordinate system in which the transport direction D of the transport apparatus 10 is the X-axis direction, and the direction orthogonal to the transport direction D is the Y-axis direction. The object to be inspected when the object P is projected onto the conveying surface of the conveyor belt 11 based on the coordinates and gray value information of each pixel of the image and the weight of the object to be inspected estimated in step S3. The coordinates (Xg, Yg) of the center of gravity G of P are calculated. The reference position determination unit 33e further determines the reference position F using the coordinates of the center of gravity G. Further, the reference position determination unit 33e uses the distance L in the transport direction D from the end E of the object P on the most downstream side in the transport direction D to the reference position F as information on the reference position F of the test object P. Calculate as
　次に、ステップＳ７では、ステップＳ４からステップＳ６で算出された、被検査物Ｐのランク、被検査物Ｐに対するエアーの噴射時間、および基準位置Ｆに関する情報を含む振分情報を、振分情報送信部３１が振分装置４０のコントローラ５０に送信する。その後、ステップＳ１に戻る。 Next, in step S7, distribution information including information related to the rank of the inspection object P, the air injection time for the inspection object P, and the reference position F, calculated in steps S4 to S6, is allocated to the distribution information. The transmission unit 31 transmits to the controller 50 of the sorting device 40. Then, it returns to step S1.
　なお、以上の処理では、ステップＳ４、ステップＳ５、ステップＳ６の処理がこの順番で実施されたが、これに限定されるものではなく、他の順番で実行されてもよい。また、ステップＳ４、ステップＳ５、ステップＳ６の処理は、いずれか２つのステップ、あるいは、全てのステップが、並列で実行されてもよい。 In the above process, the processes of step S4, step S5, and step S6 are performed in this order. However, the process is not limited to this, and may be performed in another order. Moreover, the process of step S4, step S5, and step S6 may perform any two steps or all the steps in parallel.
　（３－２）振分装置の動作
　以下、図８を参照して、振分装置４０の動作を説明する。 (3-2) Operation of Sorting Device Hereinafter, the operation of the sorting device 40 will be described with reference to FIG.
　まず、ステップＳ１１では、光電センサ４３の検知結果により、被検査物Ｐが光電センサ４３の検知位置を通過し始めたか否かが判断される。被検査物Ｐが光電センサ４３の検知位置を通過し始めたと判断されると、ステップＳ１２に進む。ステップＳ１１は、被検査物Ｐが光電センサ４３の検知位置を通過し始めたと判断されるまで繰り返される。 First, in step S <b> 11, it is determined from the detection result of the photoelectric sensor 43 whether or not the inspection object P has started to pass the detection position of the photoelectric sensor 43. If it is determined that the inspection object P has started to pass the detection position of the photoelectric sensor 43, the process proceeds to step S12. Step S <b> 11 is repeated until it is determined that the inspection object P has started to pass through the detection position of the photoelectric sensor 43.
　ステップＳ１２では、振分機構制御部５３が、振分情報記憶領域５２ａに記憶された最先の振分情報に基づいて、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれを制御対象とするか（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれからエアーを噴射させるか）を決定する。具体的には、振分機構制御部５３が、振分情報に含まれる被検査物Ｐのランクに基づいて、いずれのエアー振分機構４１ａ，４１ｂ，４１ｃを制御対象とするかを決定する。 In step S12, the distribution mechanism control unit 53 controls any of the first to third air distribution mechanisms 41a, 41b, 41c based on the earliest distribution information stored in the distribution information storage area 52a. It is determined whether it is a target (which of the first to third air distribution mechanisms 41a, 41b, 41c is to inject air). Specifically, the distribution mechanism control unit 53 determines which air distribution mechanism 41a, 41b, 41c is to be controlled based on the rank of the inspection object P included in the distribution information.
　次に、ステップＳ１３では、振分機構制御部５３が、制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を基準位置Ｆが通過するタイミングを算出する。具体的には、振分機構制御部５３は、振分情報記憶領域５２ａに記憶された最先の振分情報に含まれる基準位置Ｆに関する情報と、ノズル位置記憶領域５２ｂに記憶された制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃのノズル位置に関する情報と、搬送装置１０のエンコーダ１３が送信するデータに基づく搬送装置１０の搬送速度と、に基づき、制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を基準位置Ｆが通過するタイミングを算出する。 Next, in step S13, the distribution mechanism control unit 53 calculates the timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled. Specifically, the distribution mechanism control unit 53 includes information on the reference position F included in the earliest distribution information stored in the distribution information storage area 52a, and the control target stored in the nozzle position storage area 52b. Air distribution mechanism 41a, 41b, 41c, and the air distribution mechanism 41a, the control object, based on the information about the nozzle position of the air distribution mechanism 41a, the conveyance speed of the conveyance device 10 based on the data transmitted by the encoder 13 of the conveyance device 10. The timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of 41b, 41c is calculated.
　次にステップＳ１４では、振分機構制御部５３は、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃのエアーの噴射開始タイミングと、噴射停止タイミングとを決定する。具体的には、振分機構制御部５３は、ステップＳ１３で算出された制御対象となるエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を基準位置Ｆが通過するタイミングと、振分情報記憶領域５２ａに記憶された最先の振分情報に含まれる被検査物Ｐに対する噴射時間と、に基づいて、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃの噴射開始および噴射停止のタイミングを決定する。 Next, in step S14, the distribution mechanism control unit 53 determines the air injection start timing and the injection stop timing of the air distribution mechanisms 41a, 41b, 41c to be controlled. Specifically, the distribution mechanism control unit 53 calculates the timing at which the reference position F passes in front of the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to be controlled, calculated in step S13. Based on the injection time for the inspection object P included in the earliest distribution information stored in the distribution information storage area 52a, the injection start and injection of the air distribution mechanisms 41a, 41b, 41c to be controlled Determine the stop timing.
　次にステップＳ１５では、振分機構制御部５３は、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃが、ステップＳ１４で決定されたエアーの噴射開始および噴射停止のタイミングで動作するよう、制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃに対する制御指令を生成する。この時、制御指令を生成するために用いられた、振分情報記憶領域５２ａに記憶された最先の振分情報は消去される。その後、ステップＳ１１に戻る。 Next, in step S15, the distribution mechanism control unit 53 controls the control target air distribution mechanisms 41a, 41b, and 41c so that the air injection mechanisms 41a, 41b, and 41c are operated at the timings of starting and stopping the air injection determined in step S14. Control commands for the air distribution mechanisms 41a, 41b and 41c are generated. At this time, the earliest distribution information stored in the distribution information storage area 52a used for generating the control command is deleted. Then, it returns to step S11.
　（４）特徴
　（４－１）
　第１実施形態に係る検査振分システム１００は、不定形の被検査物Ｐを検査し、検査結果に基づいて被検査物Ｐを振り分ける。検査振分システム１００は、搬送機構の一例としての搬送装置１０と、撮像機構の一例としてのラインセンサ２３およびＸ線画像生成部３３ａと、振分機構４１と、決定部の一例としての基準位置決定部３３ｅと、振分機構制御部５３と、を備える。搬送装置１０は、被検査物Ｐを搬送する。撮像機構に含まれるラインセンサ２３は、搬送装置１０により搬送される被検査物Ｐを撮像し、撮像機構に含まれるＸ線画像生成部３３ａは被検査物Ｐの撮像画像（Ｘ線画像）を取得する。振分機構４１は、被検査物Ｐを振り分ける。基準位置決定部３３ｅは、Ｘ線画像から被検査物Ｐの外形を抽出し、被検査物Ｐの外形に基づいて、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆを決定する。振分機構制御部５３は、振分機構４１が、基準位置Ｆに力を作用させるよう、振分機構４１を制御する。 (4) Features (4-1)
The inspection distribution system 100 according to the first embodiment inspects an inspected object P, and distributes the inspection object P based on the inspection result. The inspection distribution system 100 includes a conveyance device 10 as an example of a conveyance mechanism, a line sensor 23 and an X-ray image generation unit 33a as an example of an imaging mechanism, a distribution mechanism 41, and a reference position as an example of a determination unit. A determination unit 33e and a distribution mechanism control unit 53 are provided. The transport device 10 transports the inspection object P. The line sensor 23 included in the imaging mechanism images the inspection object P transported by the transport device 10, and the X-ray image generation unit 33a included in the imaging mechanism captures the captured image (X-ray image) of the inspection object P. get. The distribution mechanism 41 distributes the inspection object P. The reference position determination unit 33e extracts the outer shape of the inspection object P from the X-ray image, and determines the reference position F to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P. The distribution mechanism control unit 53 controls the distribution mechanism 41 so that the distribution mechanism 41 applies a force to the reference position F.
　検査振分システム１００では、不定形な被検査物Ｐの撮像画像から抽出された外形に基づいて、振分機構４１が被検査物Ｐに力を作用させる基準位置Ｆが決定される。そのため、被検査物Ｐの外形によらず正確に被検査物Ｐを移動させて振り分けることが容易で、信頼性の高い検査振分システム１００を実現できる。 In the inspection distribution system 100, the reference position F at which the distribution mechanism 41 applies a force to the inspection object P is determined based on the outer shape extracted from the captured image of the indefinite inspection object P. Therefore, it is easy to accurately move and distribute the inspection object P regardless of the outer shape of the inspection object P, and the inspection distribution system 100 with high reliability can be realized.
　（４－２）
　第１実施形態に係る検査振分システム１００では、撮像機構の一例としてのラインセンサ２３およびＸ線画像生成部３３ａは、被検査物ＰのＸ線画像を撮像画像として取得する。基準位置決定部３３ｅは、被検査物Ｐの外形に基づいて被検査物Ｐの重心Ｇを算出し、振分機構４１が重心Ｇに向かって力を及ぼすように基準位置Ｆを決定する。 (4-2)
In the inspection distribution system 100 according to the first embodiment, the line sensor 23 and the X-ray image generation unit 33a as an example of an imaging mechanism acquire an X-ray image of the inspection object P as a captured image. The reference position determination unit 33e calculates the center of gravity G of the inspection object P based on the outer shape of the inspection object P, and determines the reference position F so that the distribution mechanism 41 exerts a force toward the center of gravity G.
　検査振分システム１００では、振分機構４１が被検査物Ｐの重心Ｇに向かって力を作用させるため、被検査物Ｐの外形によらず正確に被検査物Ｐを振り分けることが容易で、信頼性の高い検査振分システム１００を実現できる。 In the inspection distribution system 100, since the distribution mechanism 41 applies a force toward the center of gravity G of the inspection object P, it is easy to accurately distribute the inspection object P regardless of the outer shape of the inspection object P. A highly reliable inspection distribution system 100 can be realized.
　（４－３）
　第１実施形態に係る検査振分システム１００では、撮像画像（Ｘ線画像）に基づいて被検査物Ｐの重量を推定する重量推定部３３ｂを備える。振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）は、被検査物Ｐにエアーを噴射することで、被検査物Ｐに力を作用させて振り分ける。振分機構制御部５３は、重量推定部３３ｂが推定した被検査物Ｐの重量に基づいて、振分機構４１のエアーの噴射時間が調整されるよう、振分機構を更に制御する。 (4-3)
The inspection distribution system 100 according to the first embodiment includes a weight estimation unit 33b that estimates the weight of the inspection object P based on a captured image (X-ray image). The distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) distributes the inspection object P by applying a force by injecting air onto the inspection object P. The distribution mechanism control unit 53 further controls the distribution mechanism so that the air injection time of the distribution mechanism 41 is adjusted based on the weight of the inspection object P estimated by the weight estimation unit 33b.
　検査振分システム１００では、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃが被検査物Ｐを振り分ける基準位置Ｆを決定するのに加え、被検査物Ｐの重量に基づいてエアーの噴射時間が調整される。そのため、被検査物Ｐを正確に振り分けることが更に容易であり、信頼性の高い検査振分システム１００を実現できる。 In the inspection distribution system 100, the first to third air distribution mechanisms 41a, 41b, and 41c determine the reference position F to which the inspection object P is distributed, and in addition, the air injection based on the weight of the inspection object P Time is adjusted. Therefore, it is easier to accurately distribute the inspection object P, and the inspection distribution system 100 with high reliability can be realized.
　（４－４）
　第１実施形態に係る検査振分システム１００では、被検査物Ｐは、農産物や水産物等の自然物である。 (4-4)
In the inspection distribution system 100 according to the first embodiment, the inspection object P is a natural product such as an agricultural product or a marine product.
　ここでは、被検査物Ｐが工業製品等とは異なり、自然物であるため、被検査物Ｐの外形の個体差が一般に大きい。しかし、ここでは、被検査物Ｐの撮像画像から抽出された外形に基づいて、振分機構４１が被検査物Ｐに力を作用させる部分が調整されるため、自然物であっても被検査物Ｐを正確に振り分けることが容易である。 Here, since the object P to be inspected is a natural object, unlike an industrial product, the individual difference in the outer shape of the object P to be inspected is generally large. However, here, since the portion where the distribution mechanism 41 applies a force to the inspection object P is adjusted based on the outer shape extracted from the captured image of the inspection object P, the inspection object even if it is a natural object It is easy to assign P accurately.
　（４－５）
　第１実施形態に係る検査振分システム１００は、検査により被検査物Ｐのランクを決定する。振分機構４１は、ランク別に被検査物Ｐを振り分ける。 (4-5)
The inspection distribution system 100 according to the first embodiment determines the rank of the inspection object P by inspection. The distribution mechanism 41 distributes the inspection object P according to rank.
　検査振分システム１００では、不定形の被検査物Ｐをランク選別し、ランクに応じて被検査物Ｐを正確に振り分けることが容易である。 In the inspection distribution system 100, it is easy to rank-sort the irregularly shaped inspection objects P and accurately distribute the inspection objects P according to the ranks.
　＜第２実施形態＞
　本発明の第２実施形態に係る検査振分システム２００について説明する。 Second Embodiment
An inspection distribution system 200 according to the second embodiment of the present invention will be described.
　（１）全体構成
　第２実施形態に係る検査振分システム２００も、第１実施形態に係る検査振分システム１００と同様に、搬送中の不定形の被検査物Ｐ（物品）の検査を行い、検査結果に基づいて被検査物Ｐを振り分けるシステムである。被検査物Ｐは自然物であるが、工業製品であってもよい。 (1) Overall Configuration Similarly to the inspection distribution system 100 according to the first embodiment, the inspection distribution system 200 according to the second embodiment also inspects an indefinite object P (article) being conveyed. In this system, the inspection object P is distributed based on the inspection result. The inspection object P is a natural object, but may be an industrial product.
　検査振分システム２００は、搬送装置１０と、近赤外線検査装置２２０と、振分装置２４０と、を主に備える（図９参照）。検査振分システム２００では、検査装置がＸ線検査装置ではなく、近赤外線検査装置２２０である。 The inspection distribution system 200 mainly includes a transfer device 10, a near infrared inspection device 220, and a distribution device 240 (see FIG. 9). In the inspection distribution system 200, the inspection apparatus is not an X-ray inspection apparatus but a near infrared inspection apparatus 220.
　近赤外線検査装置２２０は、搬送装置１０により搬送される被検査物Ｐの撮像画像を取得し、撮像画像から把握される被検査物Ｐの大きさに応じて被検査物Ｐを複数のランク（ここでは３段階のランク）に振り分ける。振分装置２４０は、近赤外線検査装置２２０の検査結果に基づき、搬送装置１０により搬送される被検査物Ｐをランク別に振り分ける。 The near-infrared inspection apparatus 220 acquires a captured image of the inspection object P conveyed by the conveying apparatus 10, and ranks the inspection object P in a plurality of ranks (in accordance with the size of the inspection object P grasped from the captured image). Here, it is assigned to three ranks). The sorting device 240 sorts the inspection object P transported by the transport device 10 according to rank based on the inspection result of the near-infrared inspection device 220.
　（２）詳細構成
　検査振分システム２００の近赤外線検査装置２２０および振分装置２４０について詳細を説明する。搬送装置１０は、後述する近赤外線検査装置２２０の光線照射器２２２が照射する光線が通過するための隙間Ｏがコンベアベルト１１間に形成されている点を除き第１実施形態に係る搬送装置１０と同様であるので、説明は省略する。 (2) Detailed Configuration Details of the near-infrared inspection device 220 and the distribution device 240 of the inspection distribution system 200 will be described. The transport apparatus 10 is the transport apparatus 10 according to the first embodiment, except that a gap O is formed between the conveyor belts 11 for the passage of the light beam emitted by the light beam irradiator 222 of the near-infrared inspection apparatus 220 described later. Since this is the same, the description is omitted.
　（２－１）近赤外線検査装置
　近赤外線検査装置２２０は、搬送装置１０により連続的に搬送される被検査物Ｐを撮像し、被検査物Ｐの撮像画像に基づき、被検査物Ｐのサイズに応じて３段階のランクに区分する。また、近赤外線検査装置２２０は、後述する振分装置２４０の振分機構４１が被検査物Ｐを振り分ける基準位置Ｆ'を決定し、基準位置Ｆ'に関する情報を振分装置２４０のコントローラ２５０に送信する。基準位置Ｆ’は、振分装置２４０の振分機構４１が被検査物Ｐに力を作用させる位置である。 (2-1) Near-infrared inspection apparatus The near-infrared inspection apparatus 220 captures the inspection object P that is continuously conveyed by the conveying apparatus 10 and determines the size of the inspection object P based on the captured image of the inspection object P. It is divided into three ranks according to Further, the near-infrared inspection apparatus 220 determines a reference position F ′ to which the sorting mechanism 41 of the sorting apparatus 240 (to be described later) sorts the inspection object P, and sends information related to the reference position F ′ to the controller 250 of the sorting apparatus 240. Send. The reference position F ′ is a position where the sorting mechanism 41 of the sorting device 240 applies a force to the inspection object P.
　近赤外線検査装置２２０は、光線照射器２２２（図１０参照）と、カメラ２２３（図１０参照）と、モニタ２２５（図９参照）と、コントローラ２３０（図１１参照）と、を主に有する。 The near-infrared inspection apparatus 220 mainly includes a light beam irradiator 222 (see FIG. 10), a camera 223 (see FIG. 10), a monitor 225 (see FIG. 9), and a controller 230 (see FIG. 11).
　（２－１－１）光線照射器
　光線照射器２２２は、コンベアベルト１１の上方に配置されている（図１０参照）。光線照射器２２２は、近赤外線を照射する複数の図示しないＬＥＤ（Light Emitting Diode）を有する。ＬＥＤは、搬送装置１０の搬送方向Ｄと交差する向き、特にここでは、搬送装置１０の搬送方向Ｄと直交する向きに、一直線に水平配置されている。光線照射器２２２のＬＥＤは、コンベアベルト１１の幅方向全体に、光線が照射されるよう設置されている。 (2-1-1) Beam Irradiator The beam irradiator 222 is disposed above the conveyor belt 11 (see FIG. 10). The beam irradiator 222 has a plurality of LEDs (Light Emitting Diodes) (not shown) that irradiate near infrared rays. The LEDs are horizontally arranged in a straight line in a direction crossing the transport direction D of the transport device 10, in particular, in a direction orthogonal to the transport direction D of the transport device 10 here. The LED of the beam irradiator 222 is installed so that the beam is irradiated on the entire width of the conveyor belt 11.
　光線照射器２２２は、照射する光線が、分割された２つのコンベアベルト１１間の隙間Ｏを通過するように配置されている（図１０参照）。具体的には、光線照射器２２２のＬＥＤは、コンベアベルト１１間の隙間Ｏの直上に、光線が下方に照射されるように配置されている。 The light beam irradiator 222 is arranged so that the light beam to be irradiated passes through the gap O between the two conveyor belts 11 (see FIG. 10). Specifically, the LED of the light beam irradiator 222 is arranged directly above the gap O between the conveyor belts 11 so that the light beam is irradiated downward.
　（２－１－２）カメラ
　カメラ２２３は、被検査物Ｐを透過した光線、特にここでは被検査物Ｐを透過した近赤外線（波長が７００～２５００ナノメートル程度の光線）を検出する、ラインセンサカメラである。 (2-1-2) Camera The camera 223 detects a light ray that has passed through the inspection object P, in particular, a near infrared ray (light ray having a wavelength of about 700 to 2500 nanometers) that has passed through the inspection object P here. It is a sensor camera.
　カメラ２２３は、コンベアベルト１１の搬送面の下方に配置されている（図１０参照）。また、カメラ２２３は、被検査物Ｐを透過し、分割されたコンベアベルト１１の隙間Ｏを通過した近赤外線を検出可能な位置に配置されている。具体的には、カメラ２２３は、光線照射器２２２のＬＥＤ（図示せず）の下方に、カメラ２２３の検出部が光線照射器２２２のＬＥＤと対向するように配置されている。 The camera 223 is disposed below the conveying surface of the conveyor belt 11 (see FIG. 10). Further, the camera 223 is disposed at a position where it can detect near-infrared rays that have passed through the inspection object P and passed through the gap O of the divided conveyor belt 11. Specifically, the camera 223 is arranged below the LED (not shown) of the light irradiator 222 so that the detection unit of the camera 223 faces the LED of the light irradiator 222.
　カメラ２２３は、搬送装置１０の搬送方向Ｄに直交する向きに、コンベアベルト１１の幅全体にわたって近赤外線を検出する。カメラ２２３は、搬送装置１０の搬送方向Ｄに直交する向きに、所定の画素数を割りつけて近赤外線を検出する。つまり、カメラ２２３は、検出毎に、搬送装置１０の搬送方向Ｄに直交する向きに、コンベアベルト１１の幅全体にわたって、所定の画素数に分けて近赤外線透過量（近赤外線の透過量）を検出する。カメラ２２３は、被検査物Ｐを透過した近赤外線透過量を検出し、近赤外線透過量に基づく（透過した近赤外線の強度に応じた）透過信号を画素毎に出力する。透過信号は、コントローラ２３０に送信され、被検査物Ｐの撮像画像を生成するために用いられる。 The camera 223 detects near infrared rays over the entire width of the conveyor belt 11 in a direction orthogonal to the transport direction D of the transport device 10. The camera 223 detects a near infrared ray by assigning a predetermined number of pixels in a direction orthogonal to the transport direction D of the transport device 10. That is, for each detection, the camera 223 divides the near-infrared transmission amount (near-infrared transmission amount) into a predetermined number of pixels over the entire width of the conveyor belt 11 in a direction orthogonal to the conveyance direction D of the conveyance device 10. To detect. The camera 223 detects the near-infrared transmission amount that has passed through the inspection object P, and outputs a transmission signal based on the near-infrared transmission amount (according to the intensity of the transmitted near-infrared ray) for each pixel. The transmission signal is transmitted to the controller 230 and used to generate a captured image of the inspection object P.
　なお、生成される撮像画像では、透過信号により、撮像画像の明るさ（濃淡値）が決定される。撮像画像では、近赤外線透過量の多いところが明るい（淡い）画素として表示され、近赤外線透過量が少ないところが暗い（濃い）画素として表示される。すなわち、透過画像の明暗（濃淡）は、近赤外線透過量に対応する。 In the generated captured image, the brightness (lightness value) of the captured image is determined by the transmission signal. In the captured image, a portion with a large amount of near-infrared transmission is displayed as a bright (light) pixel, and a portion with a small amount of near-infrared transmission is displayed as a dark (dark) pixel. That is, the brightness (darkness) of the transmission image corresponds to the near-infrared transmission amount.
　また、カメラ２２３は、被検査物Ｐが分割された２つのコンベアベルト１１の隙間の上方を通過するタイミングを検知するためのセンサとしても機能する。具体的には、コンベアベルト１１上で搬送される被検査物Ｐがカメラ２２３の上方位置（コンベアベルト１１の隙間Ｏの上方位置）に来た時、カメラ２２３は、所定の閾値以下の電圧を示す透過信号（第１信号）を出力する。一方、被検査物Ｐがカメラ２２３の上方位置を通過していない場合には、カメラ２２３は、所定の閾値を上回る電圧を示す透過信号（第２信号）を出力する。第１信号および第２信号がコントローラ２３０に入力されることにより、照射範囲Ｙにおける被検査物Ｐの有無が検出される。なお、所定の閾値は、被検査物Ｐの有無を判定するために適切に設定された値である。 The camera 223 also functions as a sensor for detecting the timing when the inspection object P passes over the gap between the two conveyor belts 11 divided. Specifically, when the inspection object P conveyed on the conveyor belt 11 comes to an upper position of the camera 223 (an upper position of the gap O of the conveyor belt 11), the camera 223 applies a voltage equal to or lower than a predetermined threshold value. A transmitted signal (first signal) is output. On the other hand, when the inspection object P has not passed the upper position of the camera 223, the camera 223 outputs a transmission signal (second signal) indicating a voltage exceeding a predetermined threshold. By inputting the first signal and the second signal to the controller 230, the presence or absence of the inspection object P in the irradiation range Y is detected. The predetermined threshold is a value appropriately set for determining the presence or absence of the inspection object P.
　（２－１－３）モニタ
　モニタ２２５は、第１実施形態のＸ線検査装置２０のモニタ２５と同様であるので、説明は省略する。 (2-1-3) Monitor Since the monitor 225 is the same as the monitor 25 of the X-ray inspection apparatus 20 of the first embodiment, description thereof is omitted.
　（２－１－４）コントローラ
　コントローラ２３０は、近赤外線検査装置２２０の各部を制御するコンピュータである。コントローラ２３０は、演算や制御を行うＣＰＵや、情報を記憶するＲＯＭ、ＲＡＭ、およびハードディスク等を主に有する。また、コントローラ２３０は、図示しない表示制御回路、キー入力回路等も備えている。表示制御回路は、モニタ２２５でのデータ表示を制御する回路である。キー入力回路は、モニタ２２５のタッチパネルを介してオペレータにより入力されたキー入力データを取り込む回路である。 (2-1-4) Controller The controller 230 is a computer that controls each part of the near-infrared inspection apparatus 220. The controller 230 mainly includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like. The controller 230 also includes a display control circuit, a key input circuit, and the like (not shown). The display control circuit is a circuit that controls data display on the monitor 225. The key input circuit is a circuit that captures key input data input by an operator via the touch panel of the monitor 225.
　コントローラ２３０は、光線照射器２２２、カメラ２２３、およびモニタ２２５と電気的に接続されている。また、コントローラ２３０は、搬送装置１０のコンベアモータ１２およびエンコーダ１３とも電気的に接続されている（図４参照）。コントローラ２３０は、エンコーダ１３からコンベアモータ１２の回転数に関するデータを取得し、取得したデータに基づき被検査物Ｐの搬送距離や搬送速度を把握する。また、コントローラ２３０は、振分装置２４０に対して後述する振分情報を送信するために、振分装置２４０のコントローラ２５０と、インターネットや専用回線等の通信回線９０により接続されている。 The controller 230 is electrically connected to the beam irradiator 222, the camera 223, and the monitor 225. The controller 230 is also electrically connected to the conveyor motor 12 and the encoder 13 of the transport apparatus 10 (see FIG. 4). The controller 230 acquires data regarding the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data. In addition, the controller 230 is connected to the controller 250 of the distribution device 240 via a communication line 90 such as the Internet or a dedicated line in order to transmit distribution information to be described later to the distribution device 240.
　コントローラ２３０は、後述する振分装置２４０のコントローラ２５０に、後述する振分情報を送信する振分情報送信部２３１を有する（図４参照）。また、コントローラ２３０は、記憶部２３２および制御部２３３を有する（図４参照）。制御部２３３は、主にＣＰＵにより構成され、記憶部２３２に記憶されたプログラムを実行することで、撮像画像の生成や、生成した撮像画像に基づいた被検査物Ｐのランクの判定等を行う。また、制御部２３３は、光線照射器２２２やカメラ２２３等の、近赤外線検査装置２２０の各構成の動作を制御する。記憶部２３２には、制御部２３３により実行されるプログラムの他、ランクの検査に用いられる各種検査パラメータが記憶される。例えば、記憶部２３２には、サイズに応じて被検査物Ｐのランクを判定するための閾値が記憶されている。 The controller 230 has a distribution information transmission unit 231 that transmits distribution information described later to the controller 250 of the distribution device 240 described later (see FIG. 4). Further, the controller 230 includes a storage unit 232 and a control unit 233 (see FIG. 4). The control unit 233 is mainly configured by a CPU, and executes a program stored in the storage unit 232 to generate a captured image, determine the rank of the inspection object P based on the generated captured image, and the like. . In addition, the control unit 233 controls the operation of each component of the near-infrared inspection apparatus 220 such as the light beam irradiator 222 and the camera 223. In addition to the program executed by the control unit 233, the storage unit 232 stores various inspection parameters used for rank inspection. For example, the storage unit 232 stores a threshold value for determining the rank of the inspection object P according to the size.
　（２－１－４－１）振分情報送信部
　振分情報送信部２３１は、振分装置２４０のコントローラ２５０に振分情報を送信する。振分情報は、後述する振分装置２４０の振分機構４１を動作させ、搬送装置１０により搬送される被検査物Ｐを、図示しない３つのコンベアに振り分けるために使用される情報である。 (2-1-4-1) Distribution Information Transmission Unit The distribution information transmission unit 231 transmits distribution information to the controller 250 of the distribution device 240. The distribution information is information used to operate a distribution mechanism 41 of a distribution device 240 (to be described later) and distribute the inspection object P conveyed by the conveyance device 10 to three conveyors (not shown).
　振分情報には、被検査物Ｐのランクに関する情報と、振分機構４１がその被検査物Ｐを振り分ける基準位置Ｆ’に関する情報とを含む。 The distribution information includes information regarding the rank of the inspection object P and information regarding the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P.
　被検査物Ｐのランクは、後述する制御部２３３のランク判定部２３３ｃにより、被検査物Ｐのサイズに基づいて判定される。振分情報として被検査物Ｐのランクに関する情報に基づいて、後述する振分機構４１の第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃのいずれを動作させて、その被検査物Ｐを振り分けるかが決定される。 The rank of the inspection object P is determined based on the size of the inspection object P by a rank determination unit 233c of the control unit 233 described later. Based on the information about the rank of the inspection object P as distribution information, any one of the first to third air distribution mechanisms 41a, 41b, 41c of the distribution mechanism 41 described later is operated, and the inspection object P is moved. It is decided whether to distribute.
　基準位置Ｆ’は、振分機構４１が被検査物Ｐに力を作用させる位置である。基準位置Ｆ’は、後述する制御部２３３の基準位置決定部２３３ｅにより決定される。基準位置Ｆ’に関する情報は、被検査物Ｐの搬送方向Ｄにおける下流側の端部Ｅから基準位置Ｆ'までの距離Ｌ'に関する情報である（図１２参照）。 The reference position F ′ is a position where the distribution mechanism 41 applies a force to the inspection object P. The reference position F ′ is determined by a reference position determination unit 233e of the control unit 233 described later. The information on the reference position F ′ is information on the distance L ′ from the downstream end E in the transport direction D of the inspection object P to the reference position F ′ (see FIG. 12).
　（２－１－４－２）記憶部
　記憶部２３２は、制御部２３３に実行させる各種プログラムや検査パラメータを記憶する。記憶部２３２は、主として、画像記憶領域２３２ａおよびランク閾値記憶領域２３２ｃを有する。 (2-1-4-2) Storage Unit The storage unit 232 stores various programs to be executed by the control unit 233 and inspection parameters. The storage unit 232 mainly includes an image storage area 232a and a rank threshold storage area 232c.
　（２－１－４－２－１）画像記憶領域
　画像記憶領域２３２ａには、後述する画像生成部２３３ａによって生成された被検査物Ｐの撮像画像が記憶される。 (2-1-4-2-1) Image Storage Area The image storage area 232a stores a captured image of the inspection object P generated by the image generation unit 233a described later.
　（２－１－４－２－２）ランク閾値記憶領域
　ランク閾値記憶領域２３２ｃには、後述するランク判定部２３３ｃが用いる、被検査物のランクを判定するための閾値が記憶されている。ここでは、閾値Ｒ１，Ｒ２（＜Ｒ１）がランク閾値記憶領域２３２ｃに記憶されている。 (2-1-4-2-2) Rank threshold value storage area The rank threshold value storage area 232c stores a threshold value used by the rank determination unit 233c, which will be described later, for determining the rank of the inspection object. Here, threshold values R1, R2 (<R1) are stored in the rank threshold value storage area 232c.
　例えば、閾値Ｒ１，Ｒ２は、予めランク閾値記憶領域２３２ｃに記憶されている情報である。また例えば、閾値Ｒ１，Ｒ２は、タッチパネル機能を有するモニタ２２５等を介して外部から入力される情報であってもよい。 For example, the threshold values R1 and R2 are information stored in advance in the rank threshold value storage area 232c. Further, for example, the threshold values R1 and R2 may be information input from the outside via a monitor 225 having a touch panel function.
　（２－１－４－３）制御部
　制御部２３３は、記憶部２３２に記憶されたプログラムを実行することにより、主に、画像生成部２３３ａ、ランク判定部２３３ｃ、基準位置決定部２３３ｅ、として機能する。 (2-1-4-3) Control Unit The control unit 233 executes the program stored in the storage unit 232, thereby mainly as an image generation unit 233a, a rank determination unit 233c, and a reference position determination unit 233e. Function.
　（２－１－４－３－１）画像生成部
　画像生成部２３３ａおよびカメラ２２３は、搬送装置１０により搬送される被検査物Ｐを撮像し、被検査物Ｐの撮像画像を取得する撮像機構として機能する。 (2-1-4-3-1) Image Generation Unit The image generation unit 233a and the camera 223 capture an image of the inspection object P transported by the transport device 10 and acquire an image captured of the inspection object P. Function as.
　画像生成部２３３ａは、カメラ２２３によって検出された透過近赤外線量に基づいて撮像画像を作成する。 The image generation unit 233a creates a captured image based on the transmitted near-infrared ray amount detected by the camera 223.
　具体的には、画像生成部２３３ａは、カメラ２２３上（分割されたコンベアベルト１１の隙間Ｏ上）を被検査物Ｐが通過する時、カメラ２２３から出力される画素別の透過信号を細かい時間間隔で取得する。なお、被検査物Ｐがカメラ２２３上を通過するタイミングは、カメラ２２３からの透過信号により判断される。すなわち、カメラ２２３が出力する透過信号によりカメラ２２３上の被検査物Ｐの有無が判断される。 Specifically, the image generation unit 233a transmits the transmission signal for each pixel output from the camera 223 when the inspection object P passes over the camera 223 (on the gap O of the divided conveyor belt 11). Get at intervals. Note that the timing at which the inspection object P passes over the camera 223 is determined by a transmission signal from the camera 223. That is, the presence or absence of the inspection object P on the camera 223 is determined based on the transmission signal output from the camera 223.
　画像生成部２３３ａは、取得した透過信号に基づいて撮像画像を生成する。具体的には、画像生成部２３３ａは、カメラ２２３から得られる光線の明るさに関する細かい時間間隔毎のデータをマトリクス状に時系列につなぎ合わせることにより、被検査物Ｐを対象とする撮像画像を生成する。生成された撮像画像は画像記憶領域２３２ａに記憶される。 The image generation unit 233a generates a captured image based on the acquired transmission signal. Specifically, the image generation unit 233a connects a captured image of the object P to be inspected by connecting data in fine time intervals related to the brightness of the light beam obtained from the camera 223 in a matrix in time series. Generate. The generated captured image is stored in the image storage area 232a.
　（２－１－４－３－２）ランク判定部
　ランク判定部２３３ｃは、画像記憶領域２３２ａに記憶されている被検査物Ｐの撮像画像を用いて、その被検査物Ｐのサイズを算出し、算出結果に基づいて、その被検査物Ｐのランクを判定する。 (2-1-4-3-3-2) Rank determination unit The rank determination unit 233c calculates the size of the inspection object P using the captured image of the inspection object P stored in the image storage area 232a. Based on the calculation result, the rank of the inspection object P is determined.
　具体的には、ランク判定部２３３ｃは、例えば、撮像画像の、被検査物Ｐの存在位置に対応する画素間の最大距離を、被検査物Ｐのサイズとして算出する。 Specifically, for example, the rank determination unit 233c calculates, as the size of the inspection object P, the maximum distance between pixels corresponding to the position where the inspection object P exists in the captured image, for example.
　なお、撮像画像中のある画素が、被検査物Ｐの存在する位置に対応する画素であるか否かは、以下のようにして決定できる。被検査物Ｐが存在しない部分では、光線照射器２２２から照射された近赤外線は、カメラ２２３に直接到達する。そのため、被検査物Ｐが存在しない部分では、カメラ２２３に到達する透過近赤外線量が大きく、その透過近赤外線量に基づく画素は明るい。一方、被検査物Ｐが存在する部分では、光線照射器２２２から照射される光線は、被検査物Ｐにより遮られ、カメラ２２３に到達しない場合がある。また、光線が被検査物Ｐを透過する場合にも、光線照射器２２２から照射される光線の一部しかカメラ２２３には到達しない。そのため、被検査物Ｐが存在する部分では、カメラ２２３に到達する透過近赤外線量が比較的小さく、その透過近赤外線量に基づく画素は比較的暗い。そこで、画素の明るさ（濃淡値）が所定の閾値よりも大きいか否かにより、その部分に被検査物Ｐが存在しているのか、あるいは、被検査物Ｐが存在していないのか（背景なのか）を決定できる。 It should be noted that whether or not a certain pixel in the captured image is a pixel corresponding to the position where the inspection object P exists can be determined as follows. In a portion where the inspection object P does not exist, the near infrared rays emitted from the light irradiator 222 reach the camera 223 directly. For this reason, in the portion where the inspection object P does not exist, the amount of transmitted near-infrared rays reaching the camera 223 is large, and pixels based on the amount of transmitted near-infrared rays are bright. On the other hand, in a portion where the inspection object P exists, the light irradiated from the light irradiator 222 may be blocked by the inspection object P and may not reach the camera 223. Even when the light beam passes through the inspection object P, only a part of the light beam irradiated from the light beam irradiator 222 reaches the camera 223. Therefore, in the portion where the inspection object P exists, the amount of transmitted near infrared rays reaching the camera 223 is relatively small, and the pixels based on the amount of transmitted near infrared rays are relatively dark. Therefore, depending on whether or not the brightness (shading value) of the pixel is larger than a predetermined threshold value, whether the inspection object P exists in that portion or whether the inspection object P does not exist (background) It can be decided.
　次に、ランク判定部２３３ｃは、算出した被検査物Ｐのサイズを用いて、その被検査物Ｐのランクを判定する。具体的には、ランク判定部２３３ｃは、ランク閾値記憶領域２３２ｃに記憶された閾値Ｒ１，Ｒ２を用いて、被検査物Ｐのサイズが、閾値Ｒ１以下であれば第１ランク、閾値Ｒ１より大きく閾値Ｒ２以下であれば第２ランク、閾値Ｒ２より大きければ第３ランクと、被検査物Ｐのランクを判定する。 Next, the rank determination unit 233c determines the rank of the inspection object P using the calculated size of the inspection object P. Specifically, the rank determination unit 233c uses the thresholds R1 and R2 stored in the rank threshold storage area 232c, and is larger than the first rank and the threshold R1 if the size of the inspection object P is equal to or smaller than the threshold R1. If it is less than or equal to the threshold value R2, the rank of the inspection object P is determined as the second rank.
　なお、ランク判定部２３３ｃにより判定された被検査物Ｐのランクは、振分情報送信部２３１により、振分情報の一部として振分装置２４０のコントローラ２５０に送信される。 Note that the rank of the inspection object P determined by the rank determination unit 233c is transmitted by the distribution information transmission unit 231 to the controller 250 of the distribution device 240 as part of the distribution information.
　（２－１－４－３－３）基準位置決定部
　基準位置決定部２３３ｅは、決定部の一例である。基準位置決定部２３３ｅは、撮像画像から被検査物Ｐの外形を抽出し、被検査物Ｐの外形に基づいて、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆ’を決定する。具体的には、基準位置決定部２３３ｅは、被検査物Ｐの外形に基づいて被検査物Ｐの図心Ｚを算出し、振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）が被検査物Ｐの図心Ｚに向かって力を及ぼすように、振分機構４１が被検査物Ｐを振り分ける基準位置Ｆ’を決定する。 (2-1-4-3-3) Reference Position Determination Unit The reference position determination unit 233e is an example of a determination unit. The reference position determination unit 233e extracts the outer shape of the inspection object P from the captured image, and determines the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P based on the outer shape of the inspection object P. Specifically, the reference position determination unit 233e calculates the centroid Z of the inspection object P based on the outer shape of the inspection object P, and distributes the distribution mechanism 41 (first to third air distribution mechanisms 41a and 41b). , 41c) determines the reference position F ′ to which the sorting mechanism 41 distributes the inspection object P so that the force acts toward the centroid Z of the inspection object P.
　具体的には、基準位置決定部２３３ｅは、まず以下のようにして、被検査物Ｐの図心Ｚの位置、より具体的には、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの図心Ｚの位置を決定する。 Specifically, the reference position determining unit 233e first projects the position of the centroid Z of the inspection object P, more specifically, the inspection object P onto the conveyance surface of the conveyor belt 11 as follows. The position of the centroid Z of the inspection object P at the time is determined.
　初めに、基準位置決定部２３３ｅは、画像記憶領域２３２ａに記憶された被検査物Ｐの撮像画像を、被検査物Ｐに対応する画素（明るさが所定の閾値より大きい画素）と、背景部分の画素（明るさが所定の閾値より小さい画素）と、に二値化した画像を生成する。 First, the reference position determination unit 233e uses a captured image of the inspection object P stored in the image storage area 232a as a pixel corresponding to the inspection object P (a pixel whose brightness is greater than a predetermined threshold) and a background portion. And a binarized image (pixels whose brightness is smaller than a predetermined threshold).
　次に、基準位置決定部２３３ｅは、二値化された撮像画像において、被検査物Ｐの搬送方向ＤをＸ軸方向、搬送方向Ｄと直交する方向（コンベアベルト１１の幅方向）をＹ軸方向とする座標系を設定する（図１２参照）。座標系の原点の位置は任意に定められればよい。そして、基準位置決定部２３３ｅは、被検査物Ｐに対応する各画素Ｕｉ（図１２参照）の座標を特定する。ここでは、図１２の点線で囲まれた位置に被検査物Ｐに対応する画素が存在するものとする。また、被検査物Ｐの二値化された撮像画像の中で、被検査物Ｐに対応する画素Ｕｉ（ｉ＝１～Ｈ）の数はＨ個であり、各画素Ｕｉの座標が（Ｘｉ，Ｙｉ）で表されるとする。また、撮像画像の１つの画素の面積は、単位面積sで表されるとする。基準位置決定部２３３ｅは、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの図心Ｚの位置（Ｘｚ，Ｙｚ）を、以下の数式３および数式４により算出する。 Next, in the binarized captured image, the reference position determination unit 233e sets the transport direction D of the inspection object P in the X-axis direction and the direction orthogonal to the transport direction D (the width direction of the conveyor belt 11) in the Y-axis. A coordinate system as a direction is set (see FIG. 12). The position of the origin of the coordinate system may be determined arbitrarily. Then, the reference position determination unit 233e specifies the coordinates of each pixel Ui (see FIG. 12) corresponding to the inspection object P. Here, it is assumed that a pixel corresponding to the inspection object P exists at a position surrounded by a dotted line in FIG. In the binarized captured image of the inspection object P, the number of pixels Ui (i = 1 to H) corresponding to the inspection object P is H, and the coordinates of each pixel Ui are (Xi). , Yi). In addition, the area of one pixel of the captured image is represented by a unit area s. The reference position determination unit 233e calculates the position (Xz, Yz) of the centroid Z of the inspection object P when the inspection object P is projected onto the transport surface of the conveyor belt 11 using the following Expression 3 and Expression 4. .
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　さらに、基準位置決定部２３３ｅは、決定された図心Ｚに向かって、振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ）が被検査物Ｐに力を及ぼすように、被検査物Ｐを振り分ける基準位置Ｆ’を決定する。ここでは、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、搬送装置１０の搬送方向に直交する向きにエアーを噴出する。つまり、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、基準位置決定部２３３ｅが設定した座標系で、Ｙ軸方向に沿った方向に、特に、ここでは図１２における下方から、被検査物Ｐに力を作用させる。そのため、図１２のように、図心Ｚから下方に直線を下ろし、その直線が被検査物Ｐの対応する画素と交わる位置が、被検査物Ｐの基準位置Ｆ’と決定される。 Further, the reference position determination unit 233e causes the distribution mechanism 41 (first to third air distribution mechanisms 41a, 41b, 41c) to exert a force on the inspection object P toward the determined centroid Z. The reference position F ′ to which the inspection object P is distributed is determined. Here, the first to third air distribution mechanisms 41a, 41b, and 41c eject air in a direction orthogonal to the transport direction of the transport apparatus 10. That is, the first to third air distribution mechanisms 41a, 41b, and 41c are coordinate systems set by the reference position determination unit 233e, and in the direction along the Y-axis direction, in particular, from below in FIG. A force is applied to the inspection object P. Therefore, as shown in FIG. 12, a straight line is drawn downward from the centroid Z, and the position where the straight line intersects the corresponding pixel of the inspection object P is determined as the reference position F ′ of the inspection object P.
　また、基準位置決定部２３３ｅは、振分情報送信部２３１が振分装置２４０のコントローラ２５０に送信する基準位置Ｆ’に関する情報を生成する。具体的には、基準位置決定部２３３ｅは、搬送装置１０の搬送方向Ｄにおける被検査物Ｐの最下流側の端部Ｅから、基準位置Ｆ’までの、搬送方向Ｄにおける距離Ｌ’を基準位置Ｆ’に関する情報として生成する。基準位置決定部２３３ｅは、二値化されたＸ線画像の、被検査物Ｐが存在すると判定される画素の中でＸ座標の値が最も小さい画素の座標と、図心Ｚの座標と、に基づいて、距離Ｌを算出する。 Also, the reference position determination unit 233e generates information on the reference position F ′ that the distribution information transmission unit 231 transmits to the controller 250 of the distribution device 240. Specifically, the reference position determining unit 233e uses the distance L ′ in the transport direction D from the most downstream end E of the inspection object P in the transport direction D of the transport apparatus 10 to the reference position F ′ as a reference. It generates as information regarding the position F ′. The reference position determination unit 233e includes the coordinates of the pixel of the binarized X-ray image having the smallest X coordinate value among the pixels determined to have the inspection object P, the coordinates of the centroid Z, Based on the above, the distance L is calculated.
　基準位置決定部２３３ｅにより生成された基準位置Ｆ’に関する情報（距離Ｌ’）は、振分情報送信部２３１により、振分情報の一部として、振分装置２４０のコントローラ２５０に送信される。 The information (distance L ′) related to the reference position F ′ generated by the reference position determination unit 233 e is transmitted to the controller 250 of the distribution device 240 as part of the distribution information by the distribution information transmission unit 231.
　（２－２）振分装置
　振分装置２４０は、近赤外線検査装置２２０でのランク検査の結果に基づいて、被検査物Ｐの振り分けを行う。具体的には、振分装置２４０は、近赤外線検査装置２２０のランク検査の結果に基づいて、被検査物Ｐを図示しない３つのコンベアにランク別に振り分ける。 (2-2) Distribution Device The distribution device 240 distributes the inspection object P based on the result of the rank inspection by the near infrared inspection device 220. Specifically, the sorting device 240 sorts the inspection object P into three conveyors (not shown) according to rank based on the result of the rank inspection performed by the near-infrared inspection device 220.
　振分装置２４０は、振分機構４１（図９参照）と、光電センサ４３（図９参照）と、コントローラ２５０（図１１参照）と、を主に有する（図１１参照）。 The sorting apparatus 240 mainly includes a sorting mechanism 41 (see FIG. 9), a photoelectric sensor 43 (see FIG. 9), and a controller 250 (see FIG. 11) (see FIG. 11).
　振分機構４１および光電センサ４３は、第１実施形態の振分機構４１および光電センサ４３と同様であるので説明は省略する。 Since the distribution mechanism 41 and the photoelectric sensor 43 are the same as the distribution mechanism 41 and the photoelectric sensor 43 of the first embodiment, description thereof is omitted.
　（２－２－１）コントローラ
　コントローラ２５０は、振分装置２４０の各部を制御するコンピュータである。コントローラ２５０は、演算や制御を行うＣＰＵや、情報を記憶するＲＯＭ、ＲＡＭ、およびハードディスク等を有する。 (2-2-1) Controller The controller 250 is a computer that controls each part of the sorting device 240. The controller 250 includes a CPU that performs calculation and control, a ROM that stores information, a RAM, a hard disk, and the like.
　コントローラ２５０は、振分情報を受信するため、近赤外線検査装置２２０のコントローラ２３０と通信回線９０により接続されている（図１１参照）。コントローラ２５０は、近赤外線検査装置２２０のコントローラ２３０が送信する振分情報を受信する振分情報受信部２５１を有する（図１１参照）。また、コントローラ２５０は、記憶部２５２および振分機構制御部２５３を有する（図１１参照）。振分機構制御部２５３は、主にＣＰＵにより構成され、記憶部２５２に記憶されたプログラムを実行して、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃに被検査物Ｐを振り分ける振分動作を実行させる。記憶部２５２は、振分機構制御部２５３が実行するプログラムの他、各種情報を記憶する。 The controller 250 is connected to the controller 230 of the near-infrared inspection apparatus 220 via the communication line 90 in order to receive the distribution information (see FIG. 11). The controller 250 includes a distribution information receiving unit 251 that receives distribution information transmitted by the controller 230 of the near-infrared inspection apparatus 220 (see FIG. 11). Further, the controller 250 includes a storage unit 252 and a distribution mechanism control unit 253 (see FIG. 11). The distribution mechanism control unit 253 is mainly configured by a CPU, executes a program stored in the storage unit 252, and distributes the inspection object P to the first to third air distribution mechanisms 41a, 41b, and 41c. Execute the minute operation. The storage unit 252 stores various information in addition to the program executed by the distribution mechanism control unit 253.
　コントローラ２５０は、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃ、光電センサ４３と電気的に接続されている。また、コントローラ２５０は、搬送装置１０のエンコーダ１３とも電気的に接続されている（図１１参照）。コントローラ２５０は、エンコーダ１３からコンベアモータ１２の回転数に関するデータを取得し、取得したデータに基づき被検査物Ｐの搬送距離や搬送速度を把握する。 The controller 250 is electrically connected to the first to third air distribution mechanisms 41a, 41b, 41c and the photoelectric sensor 43. The controller 250 is also electrically connected to the encoder 13 of the transport apparatus 10 (see FIG. 11). The controller 250 acquires data related to the rotation speed of the conveyor motor 12 from the encoder 13 and grasps the transport distance and transport speed of the inspection object P based on the acquired data.
　（２－２－１－１）振分情報受信部
　振分情報受信部２５１は、近赤外線検査装置２２０のコントローラ２３０の振分情報送信部２３１が送信する、被検査物Ｐの振分情報を受信する。 (2-2-1-1) Distribution Information Receiving Unit The distribution information receiving unit 251 transmits the distribution information of the inspection object P transmitted from the distribution information transmission unit 231 of the controller 230 of the near-infrared inspection apparatus 220. Receive.
　振分情報には、被検査物Ｐのランクに関する情報と、振分機構４１がその被検査物Ｐを振り分ける基準位置Ｆ’に関する情報と、を含む。 The distribution information includes information regarding the rank of the inspection object P and information regarding the reference position F ′ to which the distribution mechanism 41 distributes the inspection object P.
　（２－２－１－２）記憶部
　記憶部２５２は、振分機構制御部２５３が実行するプログラムの他、各種情報を記憶する。記憶部２５２には、振分情報記憶領域５２ａと、ノズル位置記憶領域５２ｂと、噴射時間記憶領域２５２ｃとを含む。振分情報記憶領域５２ａおよびノズル位置記憶領域５２ｂは、第１実施形態の検査振分システム１００と同様であるので、ここでは説明を省略する。 (2-2-1-2) Storage Unit The storage unit 252 stores various information in addition to the program executed by the distribution mechanism control unit 253. The storage unit 252 includes a distribution information storage area 52a, a nozzle position storage area 52b, and an ejection time storage area 252c. Since the distribution information storage area 52a and the nozzle position storage area 52b are the same as those in the inspection distribution system 100 of the first embodiment, description thereof is omitted here.
　（２－２－１－２－１）噴射時間記憶領域
　噴射時間記憶領域２５２ｃには、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃが被検査物Ｐにエアーを噴射する噴射時間Ｔｆが記憶されている。ここでは、噴射時間Ｔｆは、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃに共通である。ただし、これに限定されるものではなく、各エアー振分機構４１ａ，４１ｂ，４１ｃに対してそれぞれ異なる噴射時間が記憶されてもよい。ノズル位置記憶領域５２ｂには、予め噴射時間Ｔｆが記憶されていてもよいし、図示しない入力装置等を介して外部から書き込まれてもよい。 (2-2-1-2-1) Injection time storage area In the injection time storage area 252c, the injection time Tf for the first to third air distribution mechanisms 41a, 41b, 41c to inject the air into the inspection object P Is remembered. Here, the injection time Tf is common to the first to third air distribution mechanisms 41a, 41b, 41c. However, the present invention is not limited to this, and different injection times may be stored for each of the air distribution mechanisms 41a, 41b, and 41c. In the nozzle position storage area 52b, the ejection time Tf may be stored in advance, or may be written from the outside via an input device (not shown) or the like.
　（２－２－１－３）振分機構制御部
　振分機構制御部２５３は、振分情報記憶領域５２ａに記憶された振分情報に基づいて、振分機構４１が被検査物Ｐの基準位置Ｆ’に力を作用させるよう、振分機構４１を制御する。 (2-2-1-3) Distribution Mechanism Control Unit The distribution mechanism control unit 253 is configured so that the distribution mechanism 41 uses the reference of the inspection object P based on the distribution information stored in the distribution information storage area 52a. The distribution mechanism 41 is controlled to apply a force to the position F ′.
　振分機構制御部２５３は、振分機構４１のエアーの噴射開始および噴射停止のタイミングの決定方法だけが、第１実施形態の振分機構制御部５３と異なる。具体的には、第１実施形態の振分機構制御部５３では、振分情報に含まれる噴射時間を用いて振分機構４１のエアーの噴射開始および噴射停止のタイミングが決定される。一方、振分機構制御部２５３では、噴射時間記憶領域２５２ｃに記憶されている噴射時間Ｔｆを用いて、振分機構４１のエアーの噴射開始および噴射停止のタイミングが決定される。その他の点について、振分機構制御部２５３は第１実施形態の振分機構制御部５３と同様であるので、説明は省略する。 The distribution mechanism control unit 253 is different from the distribution mechanism control unit 53 of the first embodiment only in the method for determining the timing of the start and stop of the air injection of the distribution mechanism 41. Specifically, in the distribution mechanism control unit 53 of the first embodiment, the timing of the start and stop of the air injection of the distribution mechanism 41 is determined using the injection time included in the distribution information. On the other hand, the distribution mechanism control unit 253 determines the timing of starting and stopping the injection of air by the distribution mechanism 41 using the injection time Tf stored in the injection time storage area 252c. In other respects, the distribution mechanism control unit 253 is the same as the distribution mechanism control unit 53 of the first embodiment, and a description thereof will be omitted.
　（３）検査振分システムの動作
　検査振分システム２００の動作について説明する。なお、振分装置２４０の動作については、振分機構４１のエアーの噴射開始および噴射停止のタイミングの決定のために用いられる噴射時間Ｔｆが、噴射時間記憶領域２５２ｃから読み出される点を除いて第１実施形態の振分装置４０の動作と同様であるので、ここでは説明を省略する。 (3) Operation of Inspection Distribution System The operation of the inspection distribution system 200 will be described. Note that the operation of the sorting device 240 is the same except that the injection time Tf used for determining the timing of starting and stopping the air injection of the distribution mechanism 41 is read from the injection time storage area 252c. Since it is the same as that of the distribution apparatus 40 of 1 embodiment, description is abbreviate | omitted here.
　（３－１）近赤外線検査装置の動作
　以下、図１３を参照して、近赤外線検査装置２２０の動作を説明する。 (3-1) Operation of Near Infrared Inspection Device Hereinafter, the operation of the near infrared inspection device 220 will be described with reference to FIG.
　まず、ステップＳ２０１では、カメラ２２３の透過信号の出力に基づいて、カメラ２２３上（分割されたコンベアベルト１１の隙間Ｏ上）を被検査物Ｐが通過し始めたか否かが判断される。カメラ２２３が、カメラ２２３上の被検査物Ｐの存在を検知すると、ステップＳ２０２に進む。ステップＳ２０１は、カメラ２２３上の被検査物Ｐの存在が検知されるまで繰り返される。 First, in step S201, based on the transmission signal output from the camera 223, it is determined whether or not the inspection object P has started to pass over the camera 223 (on the gap O between the divided conveyor belts 11). When the camera 223 detects the presence of the inspection object P on the camera 223, the process proceeds to step S202. Step S201 is repeated until the presence of the inspection object P on the camera 223 is detected.
　ステップＳ２０２では、画像生成部２３３ａが、カメラ２２３によって検出された透過近赤外線量に基づいて（カメラ２２３が出力する透過信号に基づいて）透過画像を作成する。画像生成部２３３ａによって生成された透過画像は、画像記憶領域２３２ａに記憶される。 In step S202, the image generation unit 233a creates a transmission image based on the transmitted near-infrared amount detected by the camera 223 (based on the transmission signal output from the camera 223). The transmission image generated by the image generation unit 233a is stored in the image storage area 232a.
　次に、ステップＳ２０３では、ランク判定部２３３ｃが、被検査物Ｐのランクを判定する。具体的には、ランク判定部２３３ｃは、まず、撮像画像の、被検査物Ｐの存在位置に対応する画素間の最大距離を、被検査物Ｐのサイズとして算出する。次に、ランク判定部２３３ｃは、算出した被検査物Ｐのサイズと、ランク閾値記憶領域２３２ｃに記憶された閾値Ｒ１，Ｒ２とを比較することで、被検査物Ｐのランクを判定する。 Next, in step S203, the rank determination unit 233c determines the rank of the inspection object P. Specifically, the rank determination unit 233c first calculates, as the size of the inspection object P, the maximum distance between pixels corresponding to the position of the inspection object P in the captured image. Next, the rank determination unit 233c determines the rank of the inspection object P by comparing the calculated size of the inspection object P with the threshold values R1 and R2 stored in the rank threshold value storage area 232c.
　次に、ステップＳ２０４では、基準位置決定部２３３ｅは、被検査物Ｐを振り分ける基準位置Ｆ’に関する情報を生成する。具体的には、基準位置決定部２３３ｅは、まず、撮像画像内の被検査物Ｐに対応する画素を特定するため、画像記憶領域２３２ａに記憶された被検査物Ｐの透過画像を所定の閾値で二値化する。次に、基準位置決定部２３３ｅは、二値化した撮像画像に、搬送装置１０の搬送方向ＤをＸ軸方向、搬送方向Ｄと直交する方向をＹ軸方向とする座標系を設定する。次に、基準位置決定部２３３ｅは、被検査物Ｐに対応する画素の座標に基づいて、被検査物Ｐをコンベアベルト１１の搬送面に投影した時の被検査物Ｐの図心Ｚの位置（Ｘｚ，Ｙｚ）を算出する。さらに、基準位置決定部２３３ｅは、搬送方向Ｄにおける最下流側の被検査物Ｐの端部Ｅから基準位置Ｆ’までの距離Ｌ’を、被検査物Ｐの基準位置Ｆ'に関する情報として算出する。 Next, in step S204, the reference position determination unit 233e generates information regarding the reference position F 'to which the inspection object P is distributed. Specifically, the reference position determination unit 233e first uses the transmission image of the inspection object P stored in the image storage area 232a as a predetermined threshold value in order to identify the pixel corresponding to the inspection object P in the captured image. To binarize. Next, the reference position determination unit 233e sets, in the binarized captured image, a coordinate system in which the transport direction D of the transport apparatus 10 is the X-axis direction and the direction orthogonal to the transport direction D is the Y-axis direction. Next, the reference position determination unit 233e, based on the coordinates of the pixel corresponding to the inspection object P, the position of the centroid Z of the inspection object P when the inspection object P is projected onto the conveying surface of the conveyor belt 11. (Xz, Yz) is calculated. Further, the reference position determination unit 233e calculates a distance L ′ from the end E of the object P on the most downstream side in the transport direction D to the reference position F ′ as information on the reference position F ′ of the object P. To do.
　次に、ステップＳ２０５では、ステップＳ２０３およびステップＳ２０４で算出された、被検査物Ｐのランクおよび基準位置Ｆ'に関する情報を含む振分情報を、振分情報送信部２３１が振分装置２４０のコントローラ２５０に送信する。その後、ステップＳ２０１に戻る。 Next, in step S205, the distribution information transmission unit 231 uses the controller of the distribution device 240 for the distribution information including the information about the rank of the inspection object P and the reference position F ′ calculated in steps S203 and S204. 250. Thereafter, the process returns to step S201.
　なお、以上の処理では、ステップＳ２０３およびステップＳ２０４の処理がこの順番で実施されるが、これに限定されるものではなく、順番は逆であってもよい。また、ステップＳ２０３およびステップＳ２０４の処理は並列で実行されてもよい。 In the above process, the processes of step S203 and step S204 are performed in this order, but the present invention is not limited to this, and the order may be reversed. Further, the processes of step S203 and step S204 may be executed in parallel.
　（４）特徴
　第２実施形態の検査振分システム２００は、第１実施形態の（４－１）、（４－４）、および（４－５）と同様の特徴を有する。その他、第２実施形態の検査振分システム２００は、以下の特徴を有する。 (4) Features The inspection distribution system 200 of the second embodiment has the same features as (4-1), (4-4), and (4-5) of the first embodiment. In addition, the inspection distribution system 200 of the second embodiment has the following features.
　（４－１）
　第２実施形態に係る検査振分システム２００では、基準位置決定部２３３ｅは、被検査物Ｐの外形に基づいて被検査物Ｐの図心Ｚを算出し、振分機構４１が図心Ｚに向かって力を及ぼすように基準位置Ｆ'を決定する。 (4-1)
In the inspection distribution system 200 according to the second embodiment, the reference position determination unit 233e calculates the centroid Z of the inspection object P based on the outer shape of the inspection object P, and the distribution mechanism 41 moves to the centroid Z. The reference position F ′ is determined so as to exert a force toward it.
　ここでは、振分機構４１が被検査物Ｐの図心Ｚに向かって力を作用させるため、被検査物Ｐの外形によらず正確に物品を振り分けることが容易で、信頼性の高い検査振分システム２００を実現できる。 Here, since the distribution mechanism 41 applies a force toward the centroid Z of the inspection object P, it is easy to accurately distribute the articles regardless of the outer shape of the inspection object P, and a highly reliable inspection vibration. The minute system 200 can be realized.
　＜変形例＞
　以下に上記実施形態の変形例を示す。なお、変形例は、互いに矛盾のない範囲で適宜組み合わされてもよい。 <Modification>
The modification of the said embodiment is shown below. Note that the modified examples may be appropriately combined within a range that is consistent with each other.
　（１）変形例Ａ
　上記実施形態の検査振分システム１００，２００は、いずれも検査装置であるＸ線検査装置２０および近赤外線検査装置２２０が、被検査物Ｐのランクを決定するランク検査を実行するが、これに限定されるものではない。例えば、Ｘ線検査装置２０および近赤外線検査装置２２０は、ランク検査に代えて、あるいは、ランク検査に加えて、異物検査等を実行するものであってもよい。そして、検査振分システム１００，２００の振分装置は、Ｘ線検査装置２０および近赤外線検査装置２２０の異物検査等の結果得られた、被検査物Ｐの良／不良に基づいて、被検査物Ｐを振り分けるものであってもよい。 (1) Modification A
In the inspection distribution systems 100 and 200 of the above embodiment, the X-ray inspection apparatus 20 and the near-infrared inspection apparatus 220, which are inspection apparatuses, execute rank inspection for determining the rank of the inspection object P. It is not limited. For example, the X-ray inspection apparatus 20 and the near-infrared inspection apparatus 220 may execute a foreign substance inspection or the like instead of the rank inspection or in addition to the rank inspection. The sorting devices of the inspection distribution systems 100 and 200 are to be inspected based on the quality of the inspection object P obtained as a result of the foreign matter inspection of the X-ray inspection device 20 and the near-infrared inspection device 220. The thing P may be distributed.
　（２）変形例Ｂ
　上記実施形態の検査振分システム１００，２００では、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、搬送装置１０の搬送方向に直交する方向からエアーを噴射するが、エアーの噴射方向はこれに限定されるものではない。 (2) Modification B
In the inspection distribution systems 100 and 200 of the above-described embodiment, the first to third air distribution mechanisms 41a, 41b, and 41c inject air from the direction orthogonal to the conveyance direction of the conveyance apparatus 10, but the air injection direction Is not limited to this.
　例えば、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃは、搬送装置１０の搬送方向Ｄに交差する方向Ｗ（搬送方向Ｄに直交しない方向）にエアーを噴射してもよい（図１４参照）。この場合には、例えば重心Ｇを算出する検査振分システム１００であれば、振分機構４１が重心Ｇに向かって力を及ぼすように基準位置Ｆ’’が決定されればよい。つまり、図１４のように、重心Ｇを通過する方向Ｗに平行に延びる直線と、被検査物Ｐとが交わる位置であって、第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃの第１～第３ノズル４２ａ，４２ｂ，４２ｃが配置された側が、基準位置Ｆ’’として決定されればよい。 For example, the first to third air distribution mechanisms 41a, 41b, and 41c may inject air in a direction W that intersects the transport direction D of the transport apparatus 10 (a direction that is not orthogonal to the transport direction D) (FIG. 14). reference). In this case, for example, in the inspection distribution system 100 that calculates the center of gravity G, the reference position F ″ may be determined so that the distribution mechanism 41 exerts a force toward the center of gravity G. In other words, as shown in FIG. 14, the straight line extending in parallel with the direction W passing through the center of gravity G and the inspection object P intersect with each other, and the first to third air distribution mechanisms 41a, 41b, 41c The side on which the first to third nozzles 42a, 42b, 42c are arranged may be determined as the reference position F ″.
　（３）変形例Ｃ
　上記実施形態では、振分装置４０，２４０は、振分機構４１（第１～第３エアー振分機構４１ａ，４１ｂ，４１ｃがエアーを噴射して被検査物Ｐを振り分けるものであるが、振分機構はエアーにより被検査物Ｐを振り分ける機構に限定されるものではない。 (3) Modification C
In the above embodiment, the sorting devices 40 and 240 are the sorting mechanisms 41 (the first to third air sorting mechanisms 41a, 41b, and 41c spray the air to sort the inspection object P. The minute mechanism is not limited to a mechanism that distributes the inspection object P by air.
　例えば、振分機構は、モータやエアシリンダ等により駆動されるアームを駆動して、被検査物Ｐを振り分けるものであってもよい。この場合には、振分機構のアームが、基準位置Ｆ，Ｆ’に接触して、被検査物Ｐに力を作用させるよう構成されればよい。 For example, the distribution mechanism may be configured to distribute the inspection object P by driving an arm driven by a motor, an air cylinder, or the like. In this case, the arm of the distribution mechanism may be configured to contact the reference positions F and F ′ and apply a force to the inspection object P.
　（４）変形例Ｄ
　上記実施形態では、基準位置Ｆ，Ｆ'に関する情報は、搬送方向Ｄにおける最下流側の被検査物Ｐの端部Ｅから基準位置Ｆ，Ｆ'までの、搬送方向Ｄにおける距離Ｌ，Ｌ'であるが、これに限定されるものではない。例えば、基準位置Ｆ，Ｆ'に関する情報は、搬送装置１０の搬送速度の情報を更に用いて算出される、振分装置４０，２４０の光電センサ４３の検知位置を、搬送方向Ｄにおける最下流側の被検査物Ｐの端部Ｅが通過してから、基準位置Ｆ，Ｆ'が通過するまでの時間の情報であってもよい。 (4) Modification D
In the above embodiment, the information on the reference positions F and F ′ is the distances L and L ′ in the transport direction D from the end E of the inspection object P on the most downstream side in the transport direction D to the reference positions F and F ′. However, the present invention is not limited to this. For example, the information regarding the reference positions F and F ′ is calculated by further using the transport speed information of the transport device 10, and the detection position of the photoelectric sensor 43 of the sorting devices 40 and 240 is the most downstream side in the transport direction D. May be information on the time from when the end E of the inspection object P passes through until the reference positions F and F ′ pass through.
　（５）変形例Ｅ
　上記第１実施形態では、Ｘ線検査装置２０がコントローラ３０を有し、振分装置４０がコントローラ５０を有している。また、上記第２実施形態では、近赤外線検査装置２２０がコントローラ２３０を有し、振分装置２４０がコントローラ２５０を有している。ただし、これに限定されるものではない。検査振分システム１００は、Ｘ線検査装置２０および振分装置４０の両方を制御する１つのコントローラを有し、検査振分システム２００は、近赤外線検査装置２２０および振分装置２４０の両方を制御する１つのコントローラを有してもよい。このように構成される場合には、振分装置４０，２４０は光電センサ４３を有する必要はなく、Ｘ線の照射範囲Ｙ又はカメラ２２３の上方を被検査物Ｐが通過し始めてから、被検査物Ｐの基準位置Ｆ，Ｆ’が制御対象のエアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃの前を通過するまでの時間を算出して、エアー振分機構４１ａ，４１ｂ，４１ｃを制御してもよい。 (5) Modification E
In the first embodiment, the X-ray inspection apparatus 20 has the controller 30, and the sorting apparatus 40 has the controller 50. In the second embodiment, the near-infrared inspection apparatus 220 has the controller 230, and the sorting apparatus 240 has the controller 250. However, it is not limited to this. The inspection distribution system 100 has one controller that controls both the X-ray inspection apparatus 20 and the distribution apparatus 40, and the inspection distribution system 200 controls both the near-infrared inspection apparatus 220 and the distribution apparatus 240. You may have one controller. In the case of such a configuration, the sorting devices 40 and 240 do not need to have the photoelectric sensor 43, and the inspection object P starts to pass through the X-ray irradiation range Y or the camera 223 and then the inspection object. The time until the reference positions F and F ′ of the object P pass in front of the nozzles 42a, 42b and 42c of the air distribution mechanisms 41a, 41b and 41c to be controlled is calculated, and the air distribution mechanisms 41a, 41b, 41c may be controlled.
　（６）変形例Ｆ
　また、上記第１実施形態でＸ線検査装置２０のコントローラ３０の実行していた処理の一部を振分装置４０のコントローラ５０が実行し、および／又は、振分装置４０のコントローラ５０が実行していた処理の一部をＸ線検査装置２０のコントローラ３０が実行するように構成されてもよい。例えば、上記第１実施形態では、コントローラ３０の噴射時間決定部３３ｄが振分機構４１のエアーの噴射時間を決定するが、これに代えて、コントローラ５０が、被検査物Ｐの推定重量の情報をコントローラ３０から得て、推定重量に応じて振分機構４１のエアーの噴射時間を決定するよう構成されてもよい。 (6) Modification F
In addition, the controller 50 of the sorting device 40 executes a part of the processing executed by the controller 30 of the X-ray inspection apparatus 20 in the first embodiment and / or the controller 50 of the sorting apparatus 40 executes. The controller 30 of the X-ray inspection apparatus 20 may be configured to execute part of the processing that has been performed. For example, in the said 1st Embodiment, although the injection time determination part 33d of the controller 30 determines the injection time of the air of the distribution mechanism 41, it replaces with this and the controller 50 is information of the estimated weight of the to-be-inspected object P. May be obtained from the controller 30, and the air injection time of the distribution mechanism 41 may be determined according to the estimated weight.
　第２実施形態についても同様である。 The same applies to the second embodiment.
　（７）変形例Ｇ
　上記実施形態では、振分機構４１は、エアー振分機構４１ａ，４１ｂ，４１ｃを３つ有するが、これに限定されるものではなく、エアー振分機構４１ａ，４１ｂ，４１ｃの数量は必要に応じて適宜決定されればよい。 (7) Modification G
In the above-described embodiment, the distribution mechanism 41 has three air distribution mechanisms 41a, 41b, and 41c. However, the present invention is not limited to this, and the quantity of the air distribution mechanisms 41a, 41b, and 41c is as required. May be determined appropriately.
　（８）変形例Ｈ
　上記第１実施形態では、噴射時間決定部３３ｄが、被検査物Ｐの推定重量に応じて被検査物Ｐに対する噴射時間を決定し、決定した噴射時間を振分装置４０のコントローラ５０に送信するが、これに限定されるものではない。例えば、第２実施形態のように、被検査物Ｐに対する噴射時間は、推定重量によらず一定としてもよい。ただし、被検査物Ｐの推定重量に応じて噴射時間を決定することで、被検査物Ｐを正確に振り分けることが、より容易である。 (8) Modification H
In the first embodiment, the injection time determination unit 33d determines the injection time for the inspection object P according to the estimated weight of the inspection object P, and transmits the determined injection time to the controller 50 of the sorting device 40. However, the present invention is not limited to this. For example, as in the second embodiment, the injection time for the inspection object P may be constant regardless of the estimated weight. However, it is easier to accurately distribute the inspection object P by determining the injection time according to the estimated weight of the inspection object P.
　また、上記第１実施形態では、被検査物Ｐの推定重量に基づいて振分機構４１のエアーの噴出時間が変更されているが、これに代えて、又は、これに加えて、振分機構制御部５３は、被検査物Ｐの推定重量が重いほどエアーの噴射圧が大きくなるように、振分機構を制御するものであってもよい。 Moreover, in the said 1st Embodiment, although the ejection time of the air of the distribution mechanism 41 is changed based on the estimated weight of the to-be-inspected object P, it replaces with this or in addition to this, the distribution mechanism The control unit 53 may control the distribution mechanism so that the air injection pressure increases as the estimated weight of the inspection object P increases.
　（９）変形例Ｉ
　上記第１実施形態では、１の被検査物Ｐの外形に基づいて重心Ｇを算出し、振分機構４１が重心Ｇに向かって力を及ぼすように被検査物Ｐの基準位置が決定されるが、これに限定されるものではない。 (9) Modification I
In the first embodiment, the center of gravity G is calculated based on the outer shape of one inspection object P, and the reference position of the inspection object P is determined so that the distribution mechanism 41 exerts a force toward the center of gravity G. However, the present invention is not limited to this.
　例えば、容器Ａに複数の被検査物Ｐが入れられているような場合（例えば、袋に入れられた農水産物等）には、撮像機構としてのラインセンサ２３およびＸ線画像生成部３３ａは、複数の被検査物Ｐを透過したＸ線画像を撮像画像して取得してもよい。容器Ａは、例えば、プラスチック製のネットや袋等の変形する容器である。そして、基準位置決定部３３ｅは、容器Ａに入った複数の被検査物Ｐの合成重心Ｇｃを算出し、振分機構４１が合成重心Ｇｃに向かって力を及ぼすように基準位置Ｆ’’’を決定してもよい（図１５参照）。このように構成されることで、振分対象物が複数の被検査物Ｐからなる場合にも、振分対象物を正確に振り分けることが容易である。 For example, when a plurality of inspection objects P are put in the container A (for example, agricultural and fishery products put in a bag), the line sensor 23 and the X-ray image generation unit 33a as an imaging mechanism are X-ray images transmitted through a plurality of inspection objects P may be acquired as captured images. The container A is a deformable container such as a plastic net or bag. Then, the reference position determination unit 33e calculates the combined center of gravity Gc of the plurality of inspection objects P that have entered the container A, and the reference position F ′ ″ so that the distribution mechanism 41 exerts a force toward the combined center of gravity Gc. May be determined (see FIG. 15). By being configured in this way, even when the distribution target is composed of a plurality of inspection objects P, it is easy to accurately distribute the distribution target.
　（１０）変形例Ｊ
　上記実施形態において、エアー振分機構４１ａ，４１ｂ，４１ｃは、被検査物Ｐのコンベアベルト１１上の位置に応じて、特に被検査物Ｐのコンベアベルト１１の幅方向における位置に応じて、エアーの噴出タイミングを変更するように構成されてもよい。 (10) Modification J
In the above-described embodiment, the air distribution mechanisms 41a, 41b, and 41c are arranged according to the position of the inspection object P on the conveyor belt 11, and particularly according to the position of the inspection object P in the width direction of the conveyor belt 11. It may be configured to change the ejection timing.
　例えば、具体的には、エアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃから被検査物Ｐの図心Ｚ又は重心Ｇの位置までの、コンベアベルト１１の幅方向（コンベアベルト１１の搬送方向Ｄと直交する方向）の距離が所定距離より長い場合には、エアー振分機構４１ａ，４１ｂ，４１ｃのエアーの噴出タイミングを通常より早めるよう構成されてもよい。また、逆に、エアー振分機構４１ａ，４１ｂ，４１ｃのノズル４２ａ，４２ｂ，４２ｃから被検査物Ｐの図心Ｚ又は重心Ｇの位置までの、コンベアベルト１１の幅方向（コンベアベルト１１の搬送方向Ｄと直交する方向）の距離が所定距離より短い場合には、エアー振分機構４１ａ，４１ｂ，４１ｃのエアーの噴出タイミングを通常より遅らせるよう構成されてもよい。 For example, specifically, the width direction of the conveyor belt 11 from the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to the position of the centroid Z or the center of gravity G of the inspection object P (the conveyor belt 11 If the distance in the direction orthogonal to the transport direction D is longer than a predetermined distance, the air ejection timing of the air distribution mechanisms 41a, 41b, and 41c may be set earlier than usual. Conversely, the width direction of the conveyor belt 11 (conveyance of the conveyor belt 11) from the nozzles 42a, 42b, 42c of the air distribution mechanisms 41a, 41b, 41c to the position of the centroid Z or the center of gravity G of the object P to be inspected. When the distance in the direction orthogonal to the direction D is shorter than a predetermined distance, the air ejection timing of the air distribution mechanisms 41a, 41b, and 41c may be configured to be delayed than usual.
　これにより、被検査物Ｐがノズル４２ａ，４２ｂ，４２ｃの近くに戴置されているか、あるいは、遠くに戴置されているかによらず、被検査物Ｐにエアーを吹き付けて、被検査物Ｐを振り分けることが容易である。 Thus, regardless of whether the inspection object P is placed near the nozzles 42a, 42b, and 42c or placed far away, air is blown to the inspection object P, and the inspection object P It is easy to sort.
　（１１）変形例Ｋ
　上記実施形態の検査振分システム１００，２００は、被検査物Ｐに含まれる金属を検出する金属検出部の一例としての金属検出装置を備えるものであってもよい。 (11) Modification K
The inspection distribution systems 100 and 200 of the embodiment may include a metal detection device as an example of a metal detection unit that detects a metal contained in the inspection object P.
　例えば、具体的には、検査振分システム１００は、図１６のように、金属検出装置７０を更に備えるものであってもよい。例えば、金属検出装置７０は、金属検出手段としての１つの発信コイル（図示せず）および２つの受信コイル（図示せず）を有し、発信コイルの発生させる磁界中を被検査物Ｐが通過する際に、受信コイルが受信する磁界の差に基づいて被検査物Ｐに含まれる異物としての金属を検出する。金属検出装置７０は、例えば、Ｘ線検査装置２０のシールドボックス２１内に、装置全体が、あるいは金属検出手段が、配置されるよう構成されてもよい。また、例えば、金属検出装置７０は、Ｘ線検査装置２０の上流側の上流コンベアユニット６０に、Ｘ線検査装置２０とは独立して設けられてもよい。振分機構４１は、被検査物ＰのＸ線画像に基づく検査の結果、および、金属検出装置７０の検出結果に基づいて被検査物Ｐを振り分けるよう構成されてもよい。 For example, specifically, the inspection distribution system 100 may further include a metal detection device 70 as shown in FIG. For example, the metal detection device 70 has one transmission coil (not shown) and two reception coils (not shown) as metal detection means, and the inspection object P passes through a magnetic field generated by the transmission coil. In doing so, metal as a foreign substance contained in the inspection object P is detected based on the difference in magnetic field received by the receiving coil. The metal detection apparatus 70 may be configured such that, for example, the entire apparatus or metal detection means is arranged in the shield box 21 of the X-ray inspection apparatus 20. Further, for example, the metal detection device 70 may be provided on the upstream conveyor unit 60 on the upstream side of the X-ray inspection device 20 independently of the X-ray inspection device 20. The distribution mechanism 41 may be configured to distribute the inspection object P based on the inspection result based on the X-ray image of the inspection object P and the detection result of the metal detection device 70.
　この様に構成されることで、図１６の検査振分システム１００では、金属を異物として含む被検査物Ｐを、被検査物Ｐの外形によらず、正確に被検査物Ｐを移動させ振り分けることができる。特に、検査振分システム１００では、振分機構４１が被検査物Ｐの重心Ｇに向かって力を作用させるため、金属を異物に含む被検査物Ｐを、被検査物Ｐの外形によらず正確に振り分けることが容易である。 With this configuration, in the inspection distribution system 100 of FIG. 16, the inspection object P containing metal as a foreign object is accurately moved and distributed regardless of the outer shape of the inspection object P. be able to. In particular, in the inspection distribution system 100, since the distribution mechanism 41 applies a force toward the center of gravity G of the inspection object P, the inspection object P containing a metal as a foreign object can be used regardless of the outer shape of the inspection object P. It is easy to sort accurately.
　さらに、検査振分システム１００が、ランク検査に代えて、あるいは、ランク検査に加えて、被検査物ＰのＸ線画像に基づく異物検査の結果、および、金属検出装置７０の検出結果（異物検査結果）に基づいて被検査物Ｐを振り分けるよう構成されれば、例えばアルミや鉄粉等Ｘ線検査では検出しにくい異物が被検査物Ｐに混入している場合であっても、金属検出装置７０によってこれらの異物を検知し、異物の混入している被検査物Ｐを振分機構４１により正確に振り分けることが容易である。 Further, the inspection distribution system 100 replaces the rank inspection or in addition to the rank inspection, the result of the foreign matter inspection based on the X-ray image of the inspection object P and the detection result of the metal detection device 70 (foreign matter inspection). If the inspection object P is configured to be distributed based on the result), the metal detection device, for example, even when foreign matter that is difficult to detect in the X-ray inspection such as aluminum or iron powder is mixed in the inspection object P. It is easy to detect these foreign matters by 70 and accurately sort the inspection object P in which the foreign matters are mixed by the distribution mechanism 41.
　本発明は、不定形な物品を検査、振り分けの対象とする検査振分システムであって、物品の外形によらず正確に物品を振り分けることが容易な、信頼性の高い検査振分システムとして有用である。 INDUSTRIAL APPLICABILITY The present invention is an inspection distribution system for inspecting and distributing irregularly shaped articles, and is useful as a highly reliable inspection distribution system that can easily distribute articles accurately regardless of the outer shape of the article. It is.
１０　搬送装置（搬送機構）
２３　ラインセンサ（撮像機構）
３３ａ　Ｘ線画像生成部（撮像機構）
３３ｂ　重量推定部
３３ｅ　基準位置決定部（決定部）
４１　振分機構
５３，２５３　振分機構制御部
７０　金属検出装置（金属検出部）
１００，２００　検査振分システム
２２３　カメラ（撮像機構）
２３３ａ　画像生成部（撮像機構）
Ｆ，Ｆ’，Ｆ’’，Ｆ’’’　基準位置
Ｇ　重心
Ｇｃ　合成重心
Ｐ　被検査物（物品）
Ｚ　図心 10 Conveying device (conveying mechanism)
23 Line sensor (imaging mechanism)
33a X-ray image generation unit (imaging mechanism)
33b Weight estimation unit 33e Reference position determination unit (determination unit)
41 Distributing Mechanism 53, 253 Distributing Mechanism Control Unit 70 Metal Detection Device (Metal Detection Unit)
100, 200 Inspection distribution system 223 Camera (imaging mechanism)
233a Image generation unit (imaging mechanism)
F, F ′, F ″, F ′ ″ Reference position G Center of gravity Gc Composite center of gravity P Inspection object (article)
Z centroid
特開２００２－３６２７２９号公報JP 2002-362729 A

Claims (8)

  1. 　不定形の物品を検査し、検査結果に基づいて前記物品を振り分ける検査振分システムであって、
    　前記物品を搬送する搬送機構と、
    　前記搬送機構により搬送される前記物品を撮像し、前記物品の撮像画像を取得する撮像機構と、
    　前記物品を振り分ける振分機構と、
    　前記撮像画像から前記物品の外形を抽出し、前記物品の前記外形に基づいて、前記振分機構が前記物品を振り分ける基準位置を決定する決定部と、
    　前記振分機構が、前記基準位置に力を作用させるよう、前記振分機構を制御する振分機構制御部と、
    を備えた、検査振分システム。     An inspection distribution system that inspects irregularly shaped articles and distributes the articles based on inspection results,
    A transport mechanism for transporting the article;
    An imaging mechanism that images the article conveyed by the conveyance mechanism and acquires a captured image of the article;
    A sorting mechanism for sorting the articles;
    A determination unit that extracts an outer shape of the article from the captured image, and determines a reference position to which the distribution mechanism distributes the article based on the outer shape of the article;
    A distribution mechanism control unit that controls the distribution mechanism so that the distribution mechanism applies a force to the reference position;
    Inspection distribution system with
  2. 　前記決定部は、前記物品の前記外形に基づいて前記物品の図心を算出し、前記振分機構が前記図心に向かって力を及ぼすように前記基準位置を決定する、
    請求項１に記載の検査振分システム。     The determining unit calculates a centroid of the article based on the outer shape of the article, and determines the reference position so that the distribution mechanism exerts a force toward the centroid;
    The inspection distribution system according to claim 1.
  3. 　前記撮像機構は、前記物品のＸ線画像を前記撮像画像として取得し、
    　前記決定部は、前記物品の前記外形に基づいて前記物品の重心を算出し、前記振分機構が前記重心に向かって力を及ぼすように前記基準位置を決定する、
    請求項１に記載の検査振分システム。     The imaging mechanism acquires an X-ray image of the article as the captured image,
    The determining unit calculates the center of gravity of the article based on the outer shape of the article, and determines the reference position so that the distribution mechanism exerts a force toward the center of gravity.
    The inspection distribution system according to claim 1.
  4. 　前記撮像画像に基づいて前記物品の重量を推定する重量推定部、
    を更に備え、
    　前記振分機構は、前記物品にエアーを噴射することで、前記物品に力を作用させて振り分け、
    　前記振分機構制御部は、前記重量推定部が推定した前記物品の前記重量に基づいて、前記振分機構のエアーの噴射時間および噴射圧の少なくとも一方が調整されるよう、前記振分機構を更に制御する、
    請求項３に記載の検査振分システム。     A weight estimation unit for estimating the weight of the article based on the captured image;
    Further comprising
    The distribution mechanism distributes by applying force to the article by injecting air to the article,
    The distribution mechanism control unit controls the distribution mechanism so that at least one of air injection time and injection pressure of the distribution mechanism is adjusted based on the weight of the article estimated by the weight estimation unit. Further control,
    The inspection distribution system according to claim 3.
  5. 　前記物品に含まれる金属を検出する金属検出部、
    を更に備え、
    　前記振分機構は、前記物品のＸ線画像に基づく検査の結果、および、前記金属検出部の検出結果に基づいて前記物品を振り分ける、
    請求項３又は４に記載の検査振分システム。     A metal detection unit for detecting a metal contained in the article,
    Further comprising
    The distribution mechanism distributes the article based on a result of an inspection based on an X-ray image of the article and a detection result of the metal detection unit,
    The inspection distribution system according to claim 3 or 4.
  6. 　前記物品は自然物である、
    請求項１から５のいずれか１項に記載の検査振分システム。     The article is a natural object,
    The inspection distribution system according to any one of claims 1 to 5.
  7. 　当該検査振分システムは、検査により前記物品のランクを決定し、
    　前記振分機構は、前記ランク別に前記物品を振り分ける、
    請求項１から６のいずれか１項に記載の検査振分システム。     The inspection distribution system determines the rank of the article by inspection,
    The sorting mechanism sorts the articles by rank.
    The inspection distribution system according to any one of claims 1 to 6.
  8. 　前記撮像機構は、複数の前記物品のＸ線画像を前記撮像画像として取得し、
    　前記決定部は、複数の前記物品の合成重心を算出し、前記振分機構が前記合成重心に向かって力を及ぼすように前記基準位置を決定する、
    請求項１に記載の検査振分システム。     The imaging mechanism acquires X-ray images of a plurality of the articles as the captured images,
    The determining unit calculates a composite gravity center of the plurality of articles, and determines the reference position so that the distribution mechanism exerts a force toward the composite gravity center;
    The inspection distribution system according to claim 1.
PCT/JP2015/073158 2014-08-19 2015-08-18 Inspection/sorting system WO2016027813A1 (en)

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CN113671891A (en) * 2021-08-03 2021-11-19 合肥友高物联网标识设备有限公司 Online detection rejection control method
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