Object imaging device and object recognition device

Abstract

To provide an object imaging device capable of more clearly imaging an object and an object recognition device.SOLUTION: An object imaging device 20 includes a housing 31, a light source 33, a first area R1, a second area R2, and an imaging part 32. The light source 33 is provided in the housing 31. The first area R1 is provided in the housing 31 and diffusively reflects light from the light source 33. The second area R2 is provided in the housing 31 and guides at least a part of the light from the light source 33 to the first area R1. The imaging part 32 images an object 5 irradiated with the light from the first area R1. The diffuse reflectance of the first area R1 is higher than the diffuse reflectance of the second area R2.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The technology of the present disclosure relates to an object imaging device and an object recognition device.

Background Art

[0002] An object recognition device provided in a resource waste automatic sorting device is known. As this type of object recognition device, for example, there is one including an object imaging device that applies light from a light source disposed inside a housing to resource waste conveyed by a belt conveyor and images the resource waste.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this type of object imaging device, it is desirable to be able to image an object more clearly.

[0005] In view of this point, the disclosed technology is made, and one of the problems is to provide an object imaging device and an object recognition device that can image an object more clearly.

Means for Solving the Problems

[0006] An object imaging and recognition device according to an aspect of the present disclosure includes a housing, a light source provided inside the housing, a first region provided inside the housing that diffusely reflects light from the light source, a second region provided inside the housing that guides at least a part of the light from the light source to the first region, and an imaging unit that images an object irradiated with light from the first region, and a diffuse reflectance of the first region is higher than a diffuse reflectance of the second region.

Effects of the Invention

[0007] The disclosed object imaging device and object recognition device can capture an object more clearly.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

[0009] The object imaging apparatus and the object recognition apparatus according to the embodiments disclosed in the present application will be described below with reference to the drawings. Note that the technology of the present disclosure is not limited by the following description. Also, in the following description, the same reference numerals are assigned to the same components, and redundant descriptions are omitted.

[0010] Also, the drawings are schematic, and the dimensional relationships between elements, the ratios of the elements, etc. may be different from reality. Also, there may be parts where the dimensional relationships and ratios between the drawings are different from each other. Also, in this specification, ordinal numbers are used only for distinguishing components, members, parts, positions, directions, etc., and do not indicate order or priority.

[0011] <First Embodiment> FIG. 1 is a cross-sectional view showing a part of the resource waste automatic sorting apparatus 1 in which the object recognition apparatus 3 of the first embodiment is provided. FIG. 2 is a plan view showing a part of the resource waste automatic sorting apparatus 1 in which the object recognition apparatus 3 of the first embodiment is provided.

[0012] As shown in FIGS. 1 and 2, the resource waste automatic sorting apparatus 1 includes a belt conveyor 2, an object recognition apparatus 3, and a removal apparatus (not shown). The belt conveyor 2 conveys an object 5 such as resource waste. Resource waste includes, for example, plastic bottles, glass bottles, etc. The object recognition apparatus 3 images the object 5 conveyed by the belt conveyor 2 and recognizes the object 5 based on the captured image obtained by the imaging. The removal apparatus moves the resource waste of a predetermined material recognized by the object recognition apparatus 3 to a predetermined position. The resource waste automatic sorting apparatus 1 is installed, for example, on the floor surface 4 of a facility such as a resource waste recycling facility. The belt conveyor 2 is an example of a conveying apparatus.

[0013] The belt conveyor 2 includes a belt conveyor frame 11, a belt 12, and a belt driving device (not shown). The belt conveyor 2 is installed on a first installation portion 4a of the floor surface 4. The belt conveyor 2 is an example of a conveying device, and the belt 12 is an example of a conveying body.

[0014] As shown in each drawing, in this specification, for convenience, an X-axis, a Y-axis, and a Z-axis are defined. The X-axis, the Y-axis, and the Z-axis are perpendicular to each other. The X-axis is provided along the conveying direction of the belt conveyor 2. The Y-axis is provided along the width direction of the belt 12 of the belt conveyor 2. The Z-axis is provided along the height direction (vertical direction) of the belt conveyor 2 and the object recognition device 3. Note that the width direction of the belt 12 is also referred to as the left-right direction.

[0015] Furthermore, in this specification, an X-direction, a Y-direction, and a Z-direction are defined. The X-direction is the direction along the X-axis, including the +X direction indicated by the arrow of the X-axis and the -X direction opposite to the arrow of the X-axis. The Y-direction is the direction along the Y-axis, including the +Y direction indicated by the arrow of the Y-axis and the -Y direction opposite to the arrow of the Y-axis. The Z-direction is the direction along the Z-axis, including the +Z direction indicated by the arrow of the Z-axis and the -Z direction opposite to the arrow of the Z-axis. Also, in the following description, the +Z direction is defined as the vertically upward direction, and the -Z direction is defined as the vertically downward direction.

[0016] The belt conveyor frame 11 is installed on the first installation portion 4a of the floor surface 4. The belt 12 is formed of a flexible material and formed into a loop-shaped belt. The belt 12 is supported by the belt conveyor frame 11 via a plurality of pulleys. An object 5 is placed on the upper surface 12a of the belt 12. The belt driving device rotates a plurality of pulleys so that the upper surface 12a of the belt 12 moves in parallel. Thereby, the upper surface 12a of the belt 12 conveys the object 5 in the conveying direction (+X direction).

[0017] The object recognition device 3 includes an object imaging device 20 and a control device 23. The object imaging device 20 images the object 5 on the belt 12 of the belt conveyor 2. The control device 23 controls each part of the object recognition device 3 and recognizes the object 5 imaged by the object imaging device 20.

[0018] The object imaging device 20 includes an opto unit 21, a support part 22, and a pair of left and right side plates 61L and 61R. The opto unit 21 is disposed above the belt 12. The support part 22 is installed on the second installation part 4b of the floor surface 4 and supports the opto unit 21 so that the position of the opto unit 21 in the downward direction can be adjusted. The pair of left and right side plates 61L and 61R are provided below the opto unit 21. Hereinafter, the pair of left and right side plates 61L and 61R are collectively referred to as a pair of side plates 61. The opto unit 21 is an example of an imaging device, and the side plate 61 is an example of a plate.

[0019] The opto unit 21 faces the belt 12 and can image the object 5 conveyed on the belt 12. The opto unit 21 has a housing 31, an imaging unit 32, and a plurality of light sources 33.

[0020] FIG. 3 is a perspective view showing a part of the resource waste automatic sorting device provided with the object recognition device 3 according to the first embodiment. As shown in FIGS. 1 and 3, the housing 31 is disposed above the upper surface 12a of the belt 12 and faces the upper surface 12a of the belt 12. That is, the housing 31 faces the belt 12 in the vertical direction (Z direction). The housing 31 is made of a material that does not transmit light. The housing 31 houses the light source 33 inside.

[0021] FIG. 4 is a cross-sectional view showing the optical unit 21 of the object imaging device 20 according to the first embodiment. As shown in FIGS. 2 to 4, the housing 31 is formed, for example, in a substantially rectangular parallelepiped box shape. The housing 31 has a plurality of walls such as a top wall 31a, a bottom wall 31b, a front wall 31c, a rear wall 31d, a left wall 31e, and a right wall 31f. These plurality of walls such as the front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f are configured to include, for example, a reflector, and the reflecting surface of the reflector constitutes the inner surface of the housing 31. The top wall 31a is also referred to as a base wall or an upper wall, the bottom wall 31b is also referred to as a lower wall, and the top wall 31a is also referred to as an upper wall. The front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f are also referred to as peripheral walls.

[0022] Both the top wall 31a and the bottom wall 31b extend along a direction (X-Y plane) intersecting (orthogonal as an example) with the vertical direction (Z direction), and are provided at intervals in the vertical direction and substantially parallel to each other. Note that the top wall 31a and the bottom wall 31b may be inclined with respect to the vertical direction (Z direction). A through hole 31g penetrating the top wall 31a in the vertical direction is provided in the top wall 31a. A through hole 31h penetrating the bottom wall 31b in the vertical direction is provided in the bottom wall 31b. The inner surface of the top wall 31a constitutes a base surface 31m. The base surface 31m is arranged at a distance from the belt 12. The inner surface of the bottom wall 31b constitutes a bottom surface 31p.

[0023] Both the front wall 31c and the rear wall 31d extend in a direction (Y-Z plane) orthogonal to the conveying direction (X direction) of the belt conveyor 2, and are provided at intervals in the conveying direction of the belt conveyor 2 and substantially parallel to each other. Note that the front wall 31c and the rear wall 31d may be inclined with respect to the conveying direction of the belt conveyor 2. An eaves 81 (FIG. 3) is provided on the outer surface of the front wall 31c.

[0024] Both the left wall 31e and the right wall 31f extend in a direction (X-Z plane) orthogonal to the width direction (Y direction) of the belt 12 of the belt conveyor 2, and are provided at intervals in the width direction of the belt 12 and substantially parallel to each other. Note that the left wall 31e and the right wall 31f may be inclined with respect to the width direction of the belt 12.

[0025] The front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f constitute the side wall 3k. The inner surface of the side wall 3k constitutes the side surface 31n. The side surface 31n extends from the base surface 31m toward the belt 12.

[0026] Also, a space 31i is provided inside the housing 31. The space 31s is surrounded by the respective inner surfaces 31j of the top wall 31a, the bottom wall 31b, the front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f. In other words, the respective inner surfaces 31j of the top wall 31a, the bottom wall 31b, the front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f form the space 31i. The space 31i communicates with the through-hole 31h of the bottom wall 31b and is open to the outside of the housing 31 on the belt 12 side through the through-hole 31h.

[0027] Also, a first region R1 and a second region R2 are provided inside the housing 31.

[0028] The first region R1 is provided on the base surface 31m. The first region R1 is, for example, the entire base surface 31m. Note that the first region R1 may be a part of the base surface 31m. The first region R1 extends in a direction intersecting the -Z direction from the first region R1 toward the belt 12. The first region R1 may extend in a direction orthogonal to the -Z direction or in a direction inclined with respect to the -Z direction. The first region R1 diffusely reflects the light from the light source 33. The -Z direction is an example of the first direction.

[0029] The second region R2 is provided on the side surface 31n. The second region R2 is, for example, the entire side surface 31n. Note that the second region R2 may be a part of the side surface 31n. The second region R2 extends along the -Z direction with respect to the first region R1. The second region R2 reflects at least a part of the light from the light source 33 to the first region R1. That is, the second region R2 guides at least a part of the light from the light source 33 to the first region R1. The second region R2 may guide only a part of the light from the light source 33 to the first region R1, or may guide all of the light from the light source 33 to the first region R1. The distance L2 (shortest distance) between the second region R2 and the belt 12 is shorter than the distance L1 (shortest distance) between the first region R1 and the belt 12.

[0030] The diffuse reflectance of the first region R1 is higher than that of the second region R2. That is, a plurality of portions having different diffuse reflectances are provided inside the housing 31. The diffuse reflectance generally becomes lower as the surface smoothness and glossiness are higher, and becomes higher as the surface smoothness and glossiness are lower. Therefore, in the present embodiment, the smoothness and glossiness of the first region R1 are lower than those of the second region R2. In other words, the smoothness and glossiness of the second region R2 are higher than those of the first region R1. For example, the glossiness of the first region R1 is 50% or less, and the glossiness of the second region R2 is 80% or more, but it is not limited thereto.

[0031] Here, the reflectance and the diffuse reflectance will be described. The incident light incident on the surface of the material (object) is specularly reflected or diffusely reflected on the surface, or transmitted from the surface into the material. The specularly reflected light is called specular reflection light, the diffusely reflected light is called diffuse reflection light, and the transmitted light is called transmitted absorption light.

[0032] The reflectance is the ratio between the incident light and the light (reflected light) that is not transmitted and absorbed by the material and bounces back on the surface. When the incident light is Ra, the diffuse reflection light is Rb, and the specular reflection light is Rc, the reflectance is expressed by the following formula. Reflectance = (Rb + Rc) / Ra The reflectance is determined by, for example, the smoothness of the surface, the color of the surface, and their combinations.

[0033] The diffuse reflectance is the ratio of the diffused light within the reflected light and is represented by the following formula. Diffuse reflectance = Rb / (Rb + Rc) When the diffuse reflectance is 100%, the surface is a perfect diffusing surface, and when the diffuse reflectance is 0%, the surface is a mirror surface.

[0034] The imaging unit 32 is disposed on the top wall 31a of the housing 31. As an example, the imaging unit 32 is fitted into the through hole 31g of the top wall 31a. The imaging region 34 of the imaging unit 32 reaches the outside of the housing 31 through the through hole 31h in the bottom wall 31b of the housing 31. Here, the imaging surface (focal plane) where the imaging unit 32 is focused is located outside the housing 31 by a predetermined distance from the lower end of the housing 31. The imaging unit 32 is, for example, a so-called digital camera. The imaging unit 32 can image the object 5 placed and conveyed on the upper surface 12a of the belt 12 through the inside (space 31i) of the housing 31. The imaging unit 32 images the object 5 irradiated with light from the first region R1 of the housing 31. The imaging unit 32 outputs an imaging image as an imaging result. The imaging image is formed from a plurality of pixels laid out in the image. The plurality of pixels are associated with a plurality of color information. Each of the plurality of color information indicates, for example, a red gradation value, a green gradation value, and a blue gradation value. Note that the image may be a monochrome image, and in this case, the color information indicates one gradation value.

[0035] As shown in FIG. 4, a plurality of light sources 33 are arranged in the space 31i of the housing 31, that is, inside the housing 31. Specifically, the plurality of light sources 33 are arranged on the lower side close to the belt 12 inside the housing 31 and fixed to the side wall 31k. The light source 33 emits light into the interior (space 31i) of the housing 31. For example, the light source 33 emits light upward in the interior (space 31i) of the housing 31. A part of the light emitted from the light source 33 is reflected in the second region R2 of the housing 31 and enters the first region R1, and a part of the light emitted from the light source 33 directly enters the first region R1 of the housing 31. The light incident on the first region R1 is diffusely reflected in the first region R1 to illuminate the upper surface 12a of the belt 12 and the object 5 placed on the upper surface 12a. At least a part of the light incident on the object 5 is reflected by the object 5 and reaches the imaging unit 32. The light source 33 emits visible light as light, for example. The light emitted from the light source 33 is reflected toward the belt 12 by the inner surface 31j of the housing 31.

[0036] As shown in FIGS. 1 and 2, the support portion 22 is installed on the second installation portion 4b of the floor surface 4. The second installation portion 4b is a portion different from the first installation portion 4a where the belt conveyor 2 is installed on the floor surface 4. That is, the second installation portion 4b is a portion separate from the first installation portion 4a. The support portion 22 supports the opto-unit 21. Hereinafter, unless otherwise specified, the facing direction is the facing direction between the belt 12 and the opto-unit 21. As shown in FIGS. 1 and 2, the support portion 22 has a plurality (two as an example) of structures 41. The two structures 41 are arranged at intervals in the conveying direction (X direction) of the belt conveyor 2.

[0037] The structure 41 has a base 43, a column 44, a beam 45, a joint portion 46, and a joint portion 51.

[0038] The base 43 is fixed to the second installation part 4b of the floor surface 4. The column 44 is fixed to the base 43 and extends upward from the base 43. That is, the column 44 extends in the direction (Z direction) opposite to the opto unit 21 and the belt 12. The column 44 is composed of, for example, H-shaped steel, T-shaped steel, etc., but is not limited thereto. The base 43 and the column 44 are arranged side by side with the belt conveyor 2 in the width direction (Y direction) of the belt conveyor 2. That is, the base 43 and the column 44 are arranged beside the belt conveyor 2. The base 43 and the column 44 are composed of, for example, a metal material.

[0039] The beam 45 is coupled to the column 44 by a coupling part 46. The beam 45 is supported by the column 44 in a cantilever state. The beam 45 is located above the belt 12 and faces the upper surface 12a of the belt 12. The opto unit 21 is placed on the beam 45. The beam 45 supports the opto unit 21 via a coupling part 51. That is, the opto unit 21 is located on the side opposite to the belt 12 with respect to the beam 45 and is supported by the beam 45.

[0040] FIG. 5 is a perspective view showing a part of the object imaging device 20 of the first embodiment and the belt conveyor 2, and is a view in a state where the distance between a pair of side plates 61 is widened. FIG. 6 is a perspective view showing a part of the object imaging device 20 of the first embodiment and the belt conveyor 2, and is a view in a state where the distance between a pair of side plates 60 is narrowed. FIG. 7 is a view showing the side plate 61 of the object imaging device 20 of the first embodiment.

[0041] As shown in FIGS. 5 to 7, a pair of side plates 61 are coupled to the beam 45 and are arranged at intervals in the width direction (Y direction) of the belt 12. The pair of side plates 61 are not coupled to the belt conveyor frame 11 of the belt conveyor 2. The pair of side plates 61 sandwich the space 100 between the opto unit 21 and the belt 12. The opto unit 21 can image the object 5 between the pair of side plates 61.

[0042] As shown in FIG. 7, the side plate 61 is composed of a combination of a plurality of members. As an example, the side plate 61 has a first plate member 62 and a second plate member 63. The first plate member 62 includes the upper end portion 61a of the side plate 61, and the second plate member 63 includes the lower end portion 61b of the side plate 61. The first plate member 62 is coupled to the beam 45. The second plate member 63 is coupled to the first plate member 62 in a state where a part thereof overlaps the first plate member 62. The second plate member 63 is coupled to the first plate member 62 so as to be slidable in the upward direction with respect to the first plate member 62. The second plate member 63 is, for example, a black acrylic plate, but is not limited thereto.

[0043] The pair of side plates 61 can adjust at least one (both in one example) of the interval in the width direction of the belt 12 and the position of the pair of side plates 61 in the direction (Z direction) in which the belt 12 and the opto-unit 21 face each other in the pair of side plates 61 by the plate position adjuster 70.

[0044] FIG. 8 is a diagram showing the vertical adjuster 64 in the plate position adjuster 70 of the object imaging device 20 according to the first embodiment. FIG. 9 is a diagram showing the width adjuster 67 in the plate position adjuster 70 of the object imaging device 20 according to the first embodiment. As shown in FIGS. 7 to 9, the plate position adjuster 70 has a vertical adjuster 64 (FIGS. 7 and 8) and a width adjuster 67 (FIG. 9).

[0045] As shown in FIGS. 7 and 8, the vertical adjuster 64 has a first plate member side coupling portion 62b, a second plate member side coupling portion 63b, a male screw member 65, and a female screw member 66.

[0046] The first plate member side coupling portion 62b is a part of the first plate member 62. A through hole 62a is provided in the first plate member side coupling portion 62b.

[0047] The second plate member side coupling portion 63b is a part of the second plate member 63. The second plate member side coupling portion 63b is provided with a long hole 63a having a longitudinal direction in the vertical direction, that is, the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other. The long hole 63a penetrates the second plate member 63 in the width direction (Y direction) of the belt 12.

[0048] The male screw member 65 is inserted into the through hole 62a of the first plate member side coupling portion 62b and the long hole 63a of the second plate member side coupling portion 63b, and is coupled to the female screw member 66. The male screw member 65 couples (fixes) the second plate member 63 to the first plate member 62 by the female screw member 66. For example, the male screw member 65 is a bolt, and the female screw member 66 is a nut. In this configuration, in a state where the male screw member 65 is loosened, the first plate member 62 can be moved in the vertical direction, that is, the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other, with respect to the first plate member 62. Thereby, as an example of the position of the side plate 61 in the vertical direction, that is, the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other, the position of the lower end portion 61b of the side plate 61 can be adjusted.

[0049] As shown in FIG. 9, the width direction adjustment portion 67 includes a beam side coupling portion 45a, a plate side coupling portion 68, a plurality of male screw members 69, and a female screw member (not shown).

[0050] The beam side coupling portion 45a is included in the wall 45b that constitutes the beam 45. The beam side coupling portion 45a is provided with a plurality of through holes 45c. The plurality of through holes 45c are arranged along the width direction (Y direction) of the belt 12.

[0051] The plate side coupling portion 68 is provided at the upper end portion 61a of the side plate 61. The plate side coupling portion 68 is, for example, a metal fitting (bracket).

[0052] The male screw member 69 passes through the plate-side connecting portion 68 and is inserted into the through-hole 45c of the beam-side connecting portion 45a, and is coupled to a female screw member (not shown). The male screw member 69 couples (fixes) the plate-side connecting portion 68 to the beam-side connecting portion 45a by means of the female screw member. That is, the male screw member 69 couples the side plate 61 to the beam 45 by means of the female screw member. For example, the male screw member 69 is a bolt, and the female screw member is a nut. The position of the side plate 61 in the width direction of the belt 12 is set to a position corresponding to the through-hole 45c into which the male screw member 69 is inserted among the plurality of through-holes 45c of the beam-side connecting portion 45a. Thereby, the interval between the two side plates 61 in the width direction of the belt 12 can be adjusted.

[0053] As shown in FIG. 7, the surface 61c of the side plate 61 facing the space 100 has a first portion 61ca and a second portion 61cb. The first portion 61ca is arranged to be spaced apart from the belt 12. The second portion 61cb is located on the belt 12 side with respect to the first portion 61ca. The second portion 61cb is in the range of a predetermined height T1 from the lower end portion 61b of the side plate 61. In the present embodiment, the second portion 61cb is the entire surface 61c of the second plate member 63. Note that the second portion 61cb may be a part of the surface 61c of the second plate member 63, or may be the entire surface 61c of the second plate member 63 and a part of the surface 61c of the first plate member 62. The height T1 of the second portion 61cb in the direction facing the housing 31 and the belt 12 is set based on the shape of the object 5. The height T1 is set, for example, based on the shape of the object 5 in a predetermined posture. For example, when the object 5 is a PET bottle, a bottle, a can, etc., since the object 5 is placed in a state of being laid down on the upper surface 12a of the belt 12, the height T1 is set to be larger than the maximum diameter of the object 5. As an example, when the object 5 is a bottle, the height T1 is the diameter of the bottle with the largest size (for example, 100 mm), plus the vertical movement amount of the side plate 61 during installation (for example, 33 mm), the height deviation amount due to the unevenness of the upper surface 12a of the belt 12 (for example, 10 mm), the deviation amount of the viewing angle of the imaging unit 32 (for example, 10 mm), and a margin (for example, 30 mm). Thereby, the second portion 61cb faces the entire object 5 in a state of being laid down on the upper surface 12a of the belt 12 in the width direction of the belt 12. The reflectance of the second portion 61cb is lower than the reflectance of the first portion 61ca.

[0054] FIG. 10 is a block diagram showing a control device 23 of the object recognition device 3 according to the first embodiment. As shown in FIG. 10, the control device 23 is a computer and includes a storage device 72 and a CPU 73 (Central Processing Unit). The storage device 72 records computer programs installed in the control device 23 and records information used by the CPU 73. Examples of the storage device 72 include memories such as RAM and ROM, fixed disk devices such as hard disks, and SSDs (Solid State Drives). The control device 23 may be fixed to the support portion 22, for example (FIG. 1).

[0055] The CPU 73 performs various processes and controls by executing computer programs installed in the storage device 72. The computer programs installed in the storage device 72 include one or more computer programs for causing the control device 23 to realize a plurality of functions respectively. The above functions include at least a recognition unit 73a. In other words, the CPU 73 realizes the recognition unit 73a by executing a computer program installed in the storage device 72.

[0056] The recognition unit 73a recognizes the object 5 based on the captured image obtained by capturing the object 5 by the opto unit 21. For example, the recognition unit 73a recognizes the shape, position, color, material, etc. of the object 5 by performing image processing on the captured image.

[0057] Next, the influence of the reflectivity of the surface 61c of the side plate 61 on the captured image will be described with reference to FIGS. 11 and 12. FIG. 11 is a diagram showing an example of a captured image of a comparative example. FIG. 12 is a diagram showing an example of a captured image of the first embodiment. In the comparative example, the reflectivity of the second portion 61cb of the surface 61c of the side plate 61 is the same as the reflectivity of the first portion 61ca of the surface 61c, and the reflectivity of the entire surface 61c is relatively high.

[0058] As shown in FIG. 11, in the comparative example, there may be a phenomenon that the object image 5A, which is an image of the object 5 in the captured image G1, does not clearly show the contour facing the side plate 61. This is presumably because the reflectance of the side plate 61 is generally high, so a large amount of light is reflected from the side plate 61 to the object 5.

[0059] On the other hand, as shown in FIG. 12, the object image 5B, which is an image of the object 5 in the captured image G2 of the present embodiment, clearly shows the overall contour including the portion facing the side plate 61. This is because the reflectance of the second portion 61cb of the side plate 61 facing the object 5 is lower than the reflectance of the first portion 61ca, so the amount of light reflected from the second portion 61cb to the object 5 is small.

[0060] As described above, the object imaging device 20 of the present embodiment includes a housing 31, a light source 33, a first region R1, a second region R2, and an imaging unit 32. The light source 33 is provided inside the housing 31. The first region R1 is provided inside the housing 31 and diffusely reflects the light from the light source 33. The second region R2 is provided inside the housing 31 and guides at least a part of the light from the light source 33 to the first region R1. The imaging unit 32 images the object 5 irradiated with the light from the first region R1. The diffuse reflectance of the first region R1 is higher than the diffuse reflectance of the second region R2.

[0061] According to such a configuration, since the second region R2 guides at least a part of the light from the light source 33 to the first region R1, compared with a configuration in which the second region R2 does not guide the light from the light source 33 to the first region R1, the light from the light source is more concentrated in the first region R1. And since the diffuse reflectance of the first region R1 is higher than the diffuse reflectance of the second region R2, compared with the case where the diffuse reflectance of the first region R1 is less than or equal to the diffuse reflectance of the second region R2, light spreading from the first region R1, that is, light like that of a surface light source, can irradiate the object 5. Thereby, the occurrence of bright spots on the object 5 is suppressed. Therefore, compared with the case where the diffuse reflectance of the first region R1 is less than or equal to the diffuse reflectance of the second region R2, the object 5 can be imaged more clearly.

[0062] Further, the housing 31 is arranged to face the belt 12 that conveys the object 5. The inside of the housing 31 is open to the side of the belt 12 (conveyor). The distance L2 between the second region R2 and the belt 12 is shorter than the distance L1 between the first region R1 and the belt 12.

[0063] According to such a configuration, dust or the like on the belt 12 may enter the inside of the housing and reach the second region R2 close to the belt 12. In contrast, in this embodiment, the diffuse reflectance of the first region R1 is higher than that of the second region R2, that is, the diffuse reflectance of the second region R2 is lower and smoother than that of the first region R1. Therefore, it is difficult for dirt to adhere to the second region R2. Further, since the diffuse reflectance of the second region R2 is lower and the smoothness is higher than that of the first region R1, even if dirt adheres to the second region R2, it is easy to wipe off the dirt. Therefore, the cleanability of the housing 31 is improved.

[0064] Further, the housing 31 has a base surface 31m and side surfaces 31n. The base surface 31m is arranged at a distance from the belt 12. The side surfaces 31n extend from the base surface 31m toward the belt 12. The first region R1 is provided on the base surface 31m, and the second region R2 is provided on the side surfaces 31n.

[0065] According to such a configuration, it is difficult for dirt to adhere to the base surface 31m.

[0066] Further, the first region R1 extends in a direction intersecting the -Z direction (first direction) from the first region R1 toward the belt 12. The second region R2 extends along the -Z direction with respect to the first region R1.

[0067] According to such a configuration, according to such a configuration, the first region R1 can be further separated from the belt 12, and it is difficult for dirt to adhere to the first region R1.

[0068] In addition, the object imaging device 20 includes a pair of side plates 61 (plates). The pair of side plates 61 (plates) are provided at intervals in the width direction of the belt 12 and sandwich the space 100 between the housing 31 and the belt 12. The imaging unit 32 can image the object 5 between the pair of side plates 61. The surface 61c facing the space 100 in the side plates 61, 61R, 61L has a first portion 61ca and a second portion 61cb. The first portion 61ca is arranged to be spaced apart from the belt 12. The second portion 61cb is located on the belt 12 side with respect to the first portion 61ca. The reflectance of the second portion 61cb is lower than the reflectance of the first portion 61ca.

[0069] According to such a configuration, since the reflectance of the second portion 61cb is lower than the reflectance of the first portion 61ca, even an object 5 made of a transparent material can be imaged more clearly. Therefore, it is possible to improve the recognition accuracy by stabilizing the shape recognition of the transparent object 5. In addition, according to the above configuration, the pair of side plates 61 can suppress external light.

[0070] In addition, in the present embodiment, the height of the second portion 61cb in the direction facing the housing 31 and the belt 12 is set based on the shape of the object 5.

[0071] According to such a configuration, the height of the second portion 61cb can be set to an appropriate height.

[0072] In addition, the object imaging device 20 includes a plate position adjustment unit 70. The plate position adjustment unit 70 can adjust at least one of the interval in the width direction between the pair of side plates 61 and the position of the pair of side plates 61 in the direction facing the housing 31 and the belt 12.

[0073] According to such a configuration, the position of the pair of side plates 61 can be adjusted according to the arrangement of the belt conveyor 2, the width and height of the belt conveyor 2.

[0074] The object recognition device 3 includes an object imaging device 20 and a recognition unit 73a. The recognition unit 73a recognizes the object 5 based on the captured image obtained by imaging the object 5 by the imaging unit 32.

[0075] According to such a configuration, the object imaging device 20 can image the object 5 more clearly.

[0076] <Second Embodiment> FIG. 13 is a cross-sectional view showing the opto-unit 21 of the second embodiment.

[0077] As shown in FIG. 13, in this embodiment, the shape of the housing 31 of the opto-unit 21 and the shapes of the first region R1 and the second region R2 are different from those of the first embodiment. In FIG. 13, the range Ha of the first region R1 and the range Hb of the second region R2 in the cross-section of the housing 31 are indicated by dimension lines.

[0078] The housing 31 is formed such that its upper part is substantially dome-shaped. According to the shape of this housing 31, the base surface 31m has a flat surface 31ma and a concave surface 31mb. Also, the first region R1 has a flat surface R1a and a concave surface R1b. The flat surface R1a of the first region R1 is all or part of the flat surface 31ma of the base surface 31m. The concave surface R1b of the first region R1 is all or part of the concave surface 31mb of the base surface 31m. The flat surfaces 31ma, R1a extend in a direction intersecting the -Z direction. The flat surfaces 31ma, R1a may extend in a direction perpendicular to the -Z direction or in a direction inclined with respect to the -Z direction. The concave surfaces 31mb, R1b move away from the flat surfaces 31ma, R1a in a direction intersecting the -Z direction (direction along the X-Y plane) as they go in the -Z direction.

[0079] Further, the side surface 31n of the housing 31 has a concave surface 31na and a vertical surface 31nb. Also, the second region R2 has a concave surface R2a. The concave surface R2a of the second region R2 is all or part of the concave surface 31na of the side surface 31n. The flat surfaces 31ma, R1a extend in a direction intersecting the -Z direction. The flat surfaces 31ma, R1a may extend in a direction perpendicular to the -Z direction or in a direction inclined with respect to the -Z direction. The concave surfaces 31na, R2a move away from the base surface 31m and the first region R1 in a direction intersecting the -Z direction (a direction along the X-Y plane) as they go in the -Z direction. The vertical surface 31nb of the side surface 31n extends along the -Z direction from the concave surface 31na of the side surface 31n.

[0080] According to such a configuration, it is easy to reduce the width of the upper part of the housing 31, so it is easy to improve the installability of the opto-unit 21.

[0081] <Third Embodiment> FIG. 14 is a cross-sectional view showing the opto-unit 21 of the third embodiment.

[0082] As shown in FIG. 14, in the present embodiment, the shape of the housing 31 of the opto-unit 21 and the shapes of the first region R1 and the second region R2 are different from those of the second embodiment. In FIG. 14, the range Ha of the first region R1 and the range Hb of the second region R2 in the cross-section of the housing 31 are indicated by dimension lines.

[0083] In the present embodiment, the base surface 31m has a flat surface 31ma but does not have a concave surface 31mb (FIG. 13). Also, the first region R1 has a flat surface R1a but does not have a concave surface R1b. The side surface 31n and the second region R2 are the same as those of the second embodiment.

[0084] According to such a configuration, it is easy to reduce the width of the upper part of the housing 31, so it is easy to improve the installability of the opto-unit 21.

[0085] In addition, the object to be imaged or recognized in the above-described embodiment is not limited to general waste. The object to be imaged or recognized in the above-described embodiment may be, for example, an object to be inspected for inspection or an object to be sorted for sorting. The object to be inspected and the object to be sorted may be products such as manufactured goods, agricultural products, and fishery products.

[0086] Although the embodiments have been described above, the embodiments are not limited by the foregoing content. In addition, the foregoing components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those within the so-called equivalent range. Furthermore, the foregoing components can be combined as appropriate. Furthermore, at least one of various omissions, substitutions, and changes of the components can be made without departing from the gist of the embodiments.

Explanation of Reference Numerals

[0087] 2…Belt conveyor (transport device) 3…Object recognition device 5…Object 12…Belt (transport body) 20…Object imaging device 21…Optical unit (imaging device) 31…Housing 31m…Base surface 31n…Side surface 32…Imaging unit 33…Light source 61, 61L, 61R…Side plate (plate) 61c…Surface 61ca…First portion 61cb…Second portion 73a…Recognition unit 100…Space G2…Imaging image L1, L2…Distance R1…First region R1b…Concave surface R2…Second region R2a…Concave surface T1…Height

Claims

1. A housing, a light source provided inside the housing, a first region provided inside the housing and diffusely reflecting light from the light source, a second region provided inside the housing and guiding at least part of the light from the light source to the first region, an imaging unit that images an object irradiated with light from the first region, comprising: wherein a diffuse reflectance of the first region is higher than a diffuse reflectance of the second region, an object imaging device.

2. The housing is disposed to face a carrier that conveys an object, an interior of the housing is open to the carrier side, a distance between the second region and the carrier is shorter than a distance between the first region and the carrier, The object imaging device according to claim 1.

3. The housing has a base surface spaced apart from the carrier, a side surface extending from the base surface toward the carrier, and has the first region is provided on the base surface, the second region is provided on the side surface, The object imaging device according to claim 2.

4. The first region extends in a direction intersecting a first direction from the first region toward the carrier, the second region extends along the first direction with respect to the first region, The object imaging device according to claim 2.

5. The second region is recessed toward the outside of the housing and has a concave surface that moves away from the first region in a direction intersecting the first direction as it goes in the first direction from the first region toward the carrier, The object imaging device according to claim 2.

6. A pair of plates provided at intervals in the width direction of the carrier and sandwiching a space between the housing and the carrier are provided, the imaging unit can image an object between the pair of plates, a surface of the plate facing the space has a first portion spaced apart from the carrier and a second portion located on the carrier side with respect to the first portion, a reflectance of the second portion is lower than a reflectance of the first portion, The object imaging device according to claim 2.

7. A height of the second portion in a direction facing the housing and the carrier is set based on a shape of the object, The object imaging device according to claim 6.

8. A plate position adjustment unit is provided that can adjust at least one of a distance in the width direction between the pair of plates and a position of the pair of plates in a direction facing the housing and the carrier, The object imaging device according to claim 6.

9. The object imaging device according to any one of claims 1 to 8, and a recognition unit that recognizes the object based on an imaging image obtained by imaging the object by the imaging unit. An object recognition device comprising the same.

Images