Object imaging apparatus and object recognition apparatus

Abstract

To provide an object imaging apparatus and an object recognition apparatus that can be easily installed even if a conveying device is already installed.SOLUTION: An object imaging apparatus 20 includes an imaging device 21, a first supporter 45 and a second supporter 44. The imaging device 21 faces a conveyor 12 that conveys an object 5 to image the object 5 conveyed by the conveyor 12. The first supporter 45 is located on the same side as the imaging device 21 relative to the conveyor 12 with a space from the conveyor 12 and is to support the imaging device 21. A column 44 is located in a second installation portion 4b different from a first installation portion 4a. A conveying device 2 including the conveyor 12 is located in the first installation portion 4a. The second supporter 44 supports the first supporter 45. The second supporter 44 is provided only on one side with respect a width direction of the conveyor 12.SELECTED DRAWING: Figure 1

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 is installed on a frame so as to be height-adjustable with respect to a belt conveyor that is a conveying device, and that images resource waste conveyed by the belt conveyor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since a conventional object imaging device is installed on a belt conveyor, when the belt conveyor is already installed in a facility, it is necessary to check whether the belt conveyor can install the object imaging device, which is troublesome.

[0005] In view of this point, one of the problems of the disclosed technology is to provide an object imaging device and an object recognition device that can be easily installed even when a conveying device is already installed.

Means for Solving the Problems

[0006] An object imaging device according to an aspect of the present disclosure faces a carrier that conveys an object, and includes an imaging device capable of imaging the object conveyed by the carrier, and a first support portion that is positioned at a distance from the carrier on the imaging device side with respect to the carrier and supports the imaging device. The object imaging device is installed in a second installation portion different from a first installation portion where a conveyance device including the carrier is installed, and includes a second support portion that supports the first support portion. The second support portion is provided only on one side in the width direction of the carrier.

Effect of the Invention

[0007] The disclosed object imaging device and object recognition device can be easily installed even when a conveyance device is already installed.

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

Mode for Carrying Out the Invention

[0009] Hereinafter, the object imaging device and the object recognition device according to the embodiments disclosed in the present application will be described 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 given to the same components, and redundant explanations are omitted.

[0010] Also, the drawings are schematic, and the dimensional relationships of the respective elements, the ratios of the respective elements, etc. may be different from the actual ones. Also, there may be parts where the dimensional relationships and ratios are different between the drawings. Also, in this specification, ordinal numbers are used only for distinguishing parts, 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 device 1 in which the object recognition device 3 according to the first embodiment is provided. FIG. 2 is a plan view showing a part of the resource waste automatic sorting device 1 in which the object recognition device 3 according to the first embodiment is provided.

[0012] As shown in FIGS. 1 and 2, the resource waste automatic sorting device 1 includes a belt conveyor 2, an object recognition device 3, and a removal device (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 device 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 device moves the resource waste of a predetermined material recognized by the object recognition device 3 to a predetermined position. The resource waste automatic sorting device 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 device.

[0013] The belt conveyor 2 includes a belt conveyor frame 11, a belt 12, and a belt drive device (not shown). The belt conveyor 2 is installed on the 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, the X-axis, Y-axis, and Z-axis are defined. The X-axis, Y-axis, and 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, the X-direction, Y-direction, and 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 part 4a of the floor surface 4. The belt 12 is formed of a flexible material and is formed into a loop-shaped band. 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 structure part 22, and a pair of side plates 61L, 61R. The opto unit 21 is arranged above the belt 12. The support structure 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 can be adjusted in the vertical direction with respect to the belt 12. The pair of side plates 61L, 61R are provided below the opto unit 21. Hereinafter, the pair of side plates 61L, 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 part 32, and a plurality of light sources 33.

[0020] The housing 31 is arranged 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.

[0021] FIG. 3 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 and 3, 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. The top wall 31a is an example of a base wall. The front wall 31c, the rear wall 31d, the left wall 31e, and the right wall 31f are examples of side walls. Also, 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) that intersects (orthogonal as an example) the vertical direction (Z direction), and are provided substantially parallel to each other with a space therebetween in the vertical direction. 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 that penetrates the top wall 31a in the vertical direction is provided in the top wall 31a. A through hole 31h that penetrates the bottom wall 31b in the vertical direction is provided in the bottom wall 31b.

[0023] Both the front wall 31c and the rear wall 31d extend along a direction (Y-Z plane) that is orthogonal to the conveyance direction (X direction) of the belt conveyor 2, and are provided substantially parallel to each other with a space therebetween in the conveyance direction of the belt conveyor 2. Note that the front wall 31c and the rear wall 31d may be inclined with respect to the conveyance direction of the belt conveyor 2.

[0024] Both the left wall 31e and the right wall 31f extend along a direction (X-Z plane) that is orthogonal to the width direction (Y direction) of the belt 12 of the belt conveyor 2, and are provided substantially parallel to each other with a space therebetween in the width direction of the belt 12. 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] In addition, a space 31i is provided inside the housing 31. The space 31s is surrounded by the 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, respectively. In other words, the 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 in the bottom wall 31b and is open to the outside of the housing 31 through the through-hole 31h. The inner surface 31j is an example of a reflecting surface.

[0026] The 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 are reflecting surfaces that reflect the light from the light source 33. Specifically, the inner surface 31j diffusely reflects (scatters) the light from the light source 33.

[0027] 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 in the top wall 31a. The imaging area 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) 34a at which the imaging unit 32 is focused is located outside the housing 31 by a distance H1 from the lower end of the housing 31. The imaging unit 32 is, for example, a so-called digital camera. That is, the imaging unit 32 is an image sensor. For example, the imaging unit 32 is an area image sensor. The area image sensor can perform imaging (light reception) on a planar imaging surface (light receiving surface) and generate a two-dimensional planar imaging image (frame). Note that the imaging unit 32 may be a line sensor. The imaging unit 32 can image the object 5 placed on the upper surface 12a of the belt 12 and conveyed through the inside (space 31i) of the housing 31. The imaging unit 32 outputs an imaging image that is the result of imaging. The imaging image is formed from a plurality of pixels spread over 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.

[0028] As shown in FIG. 3, the 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. The light source 33 emits light into the interior (space 31i) of the housing 31. The light source 33 emits, for example, visible light as light. The light emitted from the light source 33 is reflected by the inner surface 31j of the housing 31 toward the belt 12.

[0029] As shown in FIG. 1, the support structure 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 different from the first installation portion 4a. The support structure 22 may be installed only at one position at a predetermined distance from the belt 12 in the width direction of the belt 12. The support structure 22 supports the opto-unit 21 such that the position of the opto-unit 21 with respect to the belt 12 in the facing direction (Z direction) between the belt 12 and the opto-unit 21 can be adjusted. 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 structure 22 includes a plurality (two as an example) of structures 41 and a position adjustment portion 40. The two structures 41 are arranged at intervals in the conveying direction (X direction) of the belt conveyor 2.

[0030] FIG. 4 is a cross-sectional view showing the support structure 22 of the object imaging device 20 and the belt conveyor 2 of the first embodiment. As shown in FIG. 4, the structure 41 includes a base 43, a column 44, a beam 45, a coupling portion 46, and a fine adjustment portion 51. The column 44 is an example of the second support portion, and the beam 45 is an example of the first support portion. The support structure 22 is also referred to as a support portion.

[0031] The base 43 is fixed to the second installation portion 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. In other words, the column 44 is provided only on one side with respect to the width direction of the belt 12. The base 43 and the column 44 are composed of, for example, a metal material.

[0032] The beam 45 is coupled to the column 44 by a coupling portion 46. The beam 45 is supported by the column 44 in a cantilever state. In other words, the column 44 supports the beam 45 in a cantilever manner. 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, and the beam 45 supports the opto unit 21. That is, the beam 45 is positioned at a distance from the belt 12 on the opto unit 21 side with respect to the belt 12 and supports the opto unit 21. 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. The two beams 45 of the two structures 41 are spaced apart in the conveyance direction (X direction) of the object 5.

[0033] The coupling portion 46 fixes the beam 45 to the column 44 such that the position of the beam 45 with respect to the column 44 in the direction (Z direction) opposite to the opto unit 21 and the belt 12 can be adjusted.

[0034] FIG. 5 is a diagram showing the coupling portion 46 in the support structure portion 22 of the object imaging device 20 according to the first embodiment. As shown in FIG. 5, the coupling portion 46 includes a column-side coupling portion 44a, a beam-side coupling portion 48, a plurality of male screw members 47, and a female screw member (not shown).

[0035] The column-side coupling portion 44a is included in the wall 44b that constitutes the column 44. A plurality of through holes 44c are provided in the column-side coupling portion 44a. The plurality of through holes 44c are arranged along the vertical direction, that is, the direction (Z direction) in which the belt 12 and the opto-unit 21 face each other. Specifically, the plurality of through holes 44c are arranged in a plurality (two in one example) of columns each along the vertical direction. The two columns of through holes 44c are arranged at intervals in the conveyance direction (X direction) of the belt conveyor 2.

[0036] The beam-side coupling portion 48 is provided at the end portion on the column 44 side in the beam 45. The beam-side coupling portion 48 is, for example, a flange.

[0037] The male screw member 47 passes through the beam-side coupling portion 48 and is inserted into the through hole 44c of the column-side coupling portion 44a, and is coupled to a female screw member (not shown). The male screw member 47 couples (fixes) the beam-side coupling portion 48 to the column-side coupling portion 44a by means of the female screw member. That is, the male screw member 47 couples the beam 45 to the column 44 by means of the female screw member. For example, the male screw member 47 is a bolt and the female screw member is a nut. The position of the beam 45 with respect to the column 44 in the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other is set to a position corresponding to the through hole 44c into which the male screw member 47 is inserted among the plurality of through holes 44c of the column-side coupling portion 44a.

[0038] The two coupling portions 46 of the two structures 41 constitute the first adjustment portion 40A. The first adjustment portion 40A couples the column 44 and the beam 45 in such a manner that the position of the beam 45 with respect to the column 44 in the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other can be adjusted.

[0039] As shown in FIGS. 1 and 2, two fine adjustment portions 51 are provided on one of the two beams 45 of the two structures 41, and one fine adjustment portion 51 is provided on the other of the two beams 45. That is, three fine adjustment portions 51 are provided. That is, the fine adjustment portions 51 support the opto-unit 21 at three points. Thereby, the opto-unit 21 is stably supported.

[0040] FIG. 6 is a view showing a fine adjustment unit 51 in a support structure portion 22 of the object imaging device 20 according to the first embodiment. As shown in FIG. 6, the fine adjustment unit 51 includes a pin 52 and a spacer 53. The pin 52 is fixed to the upper surface of the beam 45 and extends upward from the beam 45. The housing 31 of the opto unit 21 is placed on the tip of the pin 52. A spacer 53 may or may not be inserted between the tip of the pin 52 and the housing 31 as shown in FIG. 6. By adjusting the number of spacers 53 between the pin 52 and the housing 31, the height of the fine adjustment unit 51 in the vertical direction is adjusted, and thus the height of the housing 31 in the vertical direction that contacts the fine adjustment unit 51 is adjusted. Note that a positioning member (not shown) provided on the beam 45 or the housing 31 may be used to limit the movement of the spacer 53 in a direction intersecting the vertical direction.

[0041] The three fine adjustment units 51 constitute a second adjustment unit 40B. The second adjustment unit 40B couples the opto unit 21 to the beam 45 such that the position of the opto unit 21 with respect to the beam 45 in the facing direction (Z direction) between the opto unit 21 and the belt 12 can be adjusted. By adjusting the heights of the three fine adjustment units 51, the flatness of a plane M1 passing through the tips of the three fine adjustment units 51 can be adjusted. That is, by adjusting the heights of the three fine adjustment units 51, the posture of the opto unit 21 can be adjusted.

[0042] The position adjustment unit 40 includes the above-described first adjustment unit 40A and a second adjustment unit 40B. That is, the position adjustment unit 40 can adjust at least one (both in one example) of the position of the beam 45 with respect to the column 44 and the position of the opto-unit 21 with respect to the beam 45 in the facing direction (Z direction) between the opto-unit 21 and the belt 12. Here, the adjustable amount (adjustment interval) of the position of the opto-unit 21 by the second adjustment unit 40B is smaller than the adjustable amount (adjustment interval) of the position of the opto-unit 21 by the first adjustment unit 40A. That is, the first adjustment unit 40A is for rough adjustment of the position of the opto-unit 21, and the second adjustment unit 40B is for fine adjustment of the position of the opto-unit 21. Further, the position adjustment unit 40 can adjust the posture of the opto-unit 21 by the second adjustment unit 40B.

[0043] FIG. 7 is a view showing a side plate 61 of the object imaging device 20 according to the first embodiment. As shown in FIG. 7, a pair of side plates 61 are coupled to the beam 45 and 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.

[0044] As shown in FIG. 7, the side plate 61 is constituted by a combination of a plurality of members. As an example, the side plate 61 includes 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. Note that the side plate 61 may be attached to the lower end portion of the housing 31 of the opto-unit 21. Also, the coupling method and connection method of the side plate 61 to the beam 45 and the housing 31 are not limited. 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 vertical direction with respect to the first plate member 62.

[0045] The pair of side plates 61 can be adjusted by the plate position adjustment unit 70 for at least one (in one example, both) 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.

[0046] FIG. 8 is a diagram showing the vertical adjustment unit 64 in the plate position adjustment unit 70 of the object imaging device 20 according to the first embodiment. FIG. 9 is a diagram showing the width direction adjustment unit 67 in the plate position adjustment unit 70 of the object imaging device 20 according to the first embodiment. As shown in FIGS. 7 to 9, the plate position adjustment unit 70 includes a vertical adjustment unit 64 (FIGS. 7 and 8) and a width direction adjustment unit 67 (FIG. 9).

[0047] As shown in FIGS. 7 and 8, the vertical adjustment unit 64 includes 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.

[0048] 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.

[0049] The second plate member side coupling portion 63b is a part of the second plate member 63. A long hole 63a having the vertical direction, that is, the direction (Z direction) in which the opto unit 21 and the belt 12 face each other as the longitudinal direction is provided in the second plate member side coupling portion 63b. The long hole 63a penetrates the second plate member 63 in the width direction (Y direction) of the belt 12.

[0050] 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 means of 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, with the male screw member 65 loosened, the second plate member 63 can be moved relative to the first plate member 62 in the vertical direction, that is, in the direction (Z direction) in which the opto-unit 21 and the belt 12 face each other. As a result, as an example of the position of the side plate 61 in the vertical direction, that is, in 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.

[0051] 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).

[0052] The beam side coupling portion 45a is included in the wall 45b that constitutes the beam 45. A plurality of through holes 45c are provided in the beam side coupling portion 45a. The plurality of through holes 45c are arranged along the width direction (Y direction) of the belt 12.

[0053] 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).

[0054] The male screw member 69 passes through the plate side coupling portion 68 and is inserted into the through hole 45c of the beam side coupling portion 45a, and is coupled to a female screw member (not shown). The male screw member 69 couples (fixes) the plate side coupling portion 68 to the beam side coupling 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 coupling portion 45a. As a result, the interval between the two side plates 61 in the width direction of the belt 12 can be adjusted.

[0055] 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 a computer program installed in the control device 23 and records information used by the CPU 73. Examples of the storage device 72 include a memory such as a RAM or a ROM, a fixed disk device such as a hard disk, and an SSD (Solid State Drive). The control device 23 may be fixed to the support structure 22, for example (FIG. 1). Further, as shown in FIG. 1, it is desirable to provide the control device 23 on the side opposite to the belt 12 which is a conveying means with respect to the support structure 22 in terms of operation or checking a display screen. However, in order to eliminate the protrusion in the width direction of the belt 12, the control device 23 can be provided on the belt 12 side with respect to the support structure 22, or the control device 23 can be provided on the side surface of the support structure 22. Further, in order to increase the degree of freedom of the installation location of the control device 23, the control device 23 can be provided separately from the support structure 22.

[0056] The CPU 73 performs various processes and controls by executing a computer program installed in the storage device 72. The computer program installed in the storage device 72 includes one or a plurality of computer programs for realizing a plurality of functions in the control device 23 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.

[0057] 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.

[0058] As described above, the object imaging device 20 of the present embodiment includes an opto unit 21 (imaging device), a beam 45 (first support portion), and a column 44 (second support portion). The opto unit 21 faces a belt 12 (carrier) that conveys an object 5 and can image the object 5 conveyed on the belt 12. The beam 45 is positioned at a distance from the belt 12 on the opto unit 21 side with respect to the belt 12 and supports the opto unit 21. The column 44 is installed in a second installation portion 4b that is different from the first installation portion 4a. The first installation portion 4a is where a belt conveyor 2 (conveying device) including the belt 12 is installed. The column 44 supports the beam 45. The column 44 is provided only on one side in the width direction of the belt 12.

[0059] According to such a configuration, since the column 44 is installed in the second installation portion 4b that is different from the first installation portion 4a, even when the belt conveyor 2 is already installed in the facility, the object imaging device 20 can be easily installed.

[0060] Further, the column 44 supports the beam 45 in a cantilever manner.

[0061] According to such a configuration, it is easy to simplify the configuration of the column 44 (support structure portion 22).

[0062] Further, the first support portion is the beam 45, and two beams 45 are provided at intervals in the conveyance direction of the object 5.

[0063] According to such a configuration, the opto unit 21 can be stably supported by the two beams 45.

[0064] Further, the object imaging device 20 includes a support structure portion 22. The support structure portion 22 includes the beam 45 and the column 44, and can adjust the position of the opto unit 21 with respect to the belt 12 in the facing direction between the belt 12 and the opto unit 21.

[0065] According to such a configuration, the position adjustment of the opto unit 21 can be performed at the facility. Therefore, the distance between the opto unit 21 and the upper surface 12a of the belt 12 can be set to a predetermined distance. That is, the imaging surface 34a of the imaging unit 32 can be made to coincide with a predetermined imaging surface. Here, the imaging surface is, for example, a surface located a predetermined distance above the upper surface 12a of the belt 12. Further, according to the above configuration, the object imaging device 20 can be installed for belt conveyors 2 of various shapes and sizes.

[0066] Further, the support structure portion 22 includes a position adjustment portion 40. The column 44 extends in the above-described facing direction (Z direction). The beam 45 is coupled to the column 44 and faces the belt 12, and supports the opto unit 21. The position adjustment portion 40 can adjust at least one of the position of the beam 45 with respect to the column 44 in the above-described facing direction and the position of the opto unit 21 with respect to the beam 45 in the facing direction (Z direction).

[0067] According to such a configuration, at the facility, at least one of the position of the beam 45 with respect to the column 44 in the facing direction and the position of the opto unit 21 with respect to the beam 45 in the facing direction (Z direction) can be adjusted.

[0068] Further, the support structure portion 22 can adjust the attitude of the opto unit 21.

[0069] According to such a configuration, the attitude of the opto unit 21 can be adjusted at the facility.

[0070] Further, the position adjustment portion 40 includes a first adjustment portion 40A and a second adjustment portion 40B. The first adjustment portion 40A couples the column 44 and the beam 45 so as to be able to adjust the position of the beam 45 with respect to the column 44 in the facing direction (Z direction). The second adjustment portion 40B couples the opto unit 21 to the beam 45 so as to be able to adjust the position of the opto unit 21 with respect to the beam 45 in the facing direction (Z direction). The adjustable amount of the position of the opto unit 21 by the second adjustment portion 40B is smaller than the adjustable amount of the position of the opto unit 21 by the first adjustment portion 40A.

[0071] According to such a configuration, after the position of the opto-unit 21 with respect to the beam 45 in the opposite direction (Z direction) is roughly adjusted (coarse adjustment) by the first adjustment unit 40A, the position of the opto-unit 21 with respect to the beam 45 in the opposite direction (Z direction) can be finely adjusted by the second adjustment unit 40B.

[0072] Further, 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.

[0073] According to such a configuration, it is easy to suppress dust on the belt 12 from adhering to the opto-unit 21.

[0074] The object imaging device 20 further includes a pair of side plates 61 (plates) and a plate position adjustment unit 70. The pair of side plates 61 are provided at intervals in the width direction of the belt 12 and sandwich the space 100 between the opto-unit 21 and the belt 12. 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 opposite direction (Z direction). The opto-unit 21 can image the object 5 between the pair of side plates 61.

[0075] According to such a configuration, the positions 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. Further, according to the above configuration, external disturbance light can be suppressed by the pair of side plates 61. For example, by bringing the belt 12 and the side plate 61 into close contact, external disturbance light entering the inside of the opto-unit 21 from the gap between the belt 12 and the side plate 61 can be suppressed.

[0076] The opto-unit 21 includes a housing 31, an imaging unit 32, and a light source 33. The housing 31 faces the belt 12. The light source 33 can image the object 5 conveyed on the belt 12 through the inside of the housing 31. The light source 33 emits light inside the housing 31. The housing 31 has an inner surface 31j (reflective surface) that reflects the light from the light source 33 toward the belt 12.

[0077] According to such a configuration, the light from the light source 33 can irradiate the object 5 even more.

[0078] In addition, the imaging unit 32 is an area image sensor.

[0079] According to such a configuration, a wide range can be imaged in one imaging (frame).

[0080] Moreover, the object recognition device 3 of the present embodiment 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 opto unit 21.

[0081] According to such a configuration, since the object recognition device 3 includes the object imaging device 20 that can be easily installed, the installation of the object recognition device 3 is easy.

[0082] <Second Embodiment> FIG. 11 is a cross-sectional view showing a part of the resource waste automatic sorting device 1 in which the object recognition device 3 of the second embodiment is provided. FIG. 12 is a plan view showing a part of the resource waste automatic sorting device 1 in which the object recognition device 3 of the second embodiment is provided.

[0083] As shown in FIGS. 11 and 12, in the present embodiment, a plurality (two as an example) of beams 45 are provided on each structure 41, and the point that the beam 45 is supported in a two-span state by two columns 44 and column 144 is different from the first embodiment.

[0084] The two columns 44 and column 144 in the structure 41 are arranged on both sides in the width direction of the belt 12 with respect to the belt 12. That is, the structure 41 is formed in a gate shape. The two columns 44 and column 144 are fixed to the second installation portion 4b of the floor surface 4 via the base 43 and the base 143, respectively. In addition, a coupling portion 46 is provided for each of the two columns 44 and column 144.

[0085] As described above, in the present embodiment, a plurality of columns 44 and 144 are provided. The beam 45 is supported in a state of being held by both the plurality of columns 44 and 144.

[0086] According to such a configuration, the opto-unit 21 can be firmly supported.

[0087] <The Third Embodiment> FIG. 13 is a cross-sectional view showing a part of the resource waste automatic sorting device 1 in which the object recognition device 3 of the third embodiment is provided.

[0088] As shown in FIG. 13, this embodiment is different from the first embodiment in that the opto-unit 21 is located on the lower side, that is, the belt 12 side, with respect to the beam 45 and is supported by the beam 45.

[0089] Specifically, the opto-unit 21 is suspended by a suspension part 49 provided on the beam 45. The suspension part 49 has a connection part 49a connected to the beam 45 and extending downward from the beam 45, and a support structure part 49b extending in a direction intersecting (orthogonal as an example) with the vertical direction from the connection part 49a. The support structure part 49b is also referred to as a support part. Note that the support structure part 49b may be inclined with respect to the vertical direction. A fine adjustment part 51 is provided on the support structure part 49b. Since the fine adjustment part 51 has the same configuration and function as those in the first embodiment, detailed description thereof is omitted.

[0090] The housing 31 of the opto unit 21 is provided with a suspended lower part 35, and this suspended lower part 35 is supported by a suspension lower part 49 via a fine adjustment unit 51. The suspended lower part 35 has a connection part 35a connected to the housing 31 and extending upward from the housing 31, and a supported structure part 35b extending in a direction intersecting (orthogonal as an example) with the vertical direction from the connection part 35a. Note that the supported structure part 35b may be inclined with respect to the vertical direction. That is, the plurality of fine adjustment units 51 do not have to be arranged on the same horizontal plane parallel to the upper surface 12a of the belt 12, and may be arranged on an inclined surface with respect to the upper surface 12a of the belt 12. In other words, the positions of the plurality of fine adjustment units 51 in the height direction (vertical direction) may be different. Thereby, design constraints are reduced, and a simpler structure may be obtained. Note that the arrangement of the above-described fine adjustment unit 51 is not limited to the third embodiment, and may be applied to the first and second embodiments. The supported structure part 35b is supported by the fine adjustment unit 51.

[0091] As described above, in the present embodiment, the opto unit 21 is located on the belt 12 side with respect to the beam 45 and is supported by the beam 45.

[0092] According to such a configuration, it is easy to bring the opto unit 21 closer to the belt 12.

[0093] Note that, in the above embodiment, as the first adjustment unit 40A of the support structure part 22, an example in which the position adjustment (height adjustment) of the beam 45 with respect to the column 44 is performed by selecting a plurality of through holes 44c is shown, but it is not limited thereto. For example, the first adjustment unit 40A may be configured to adjust the position of the beam 45 by moving the beam 45 in the vertical direction with respect to the column 44 using a worm gear, and screwing the beam 45 after the position adjustment to the column 44. Further, the column 44 may have a two-stage structure that can expand and contract vertically, and the position of the beam 45 may be adjusted by expanding and contracting the column 44.

[0094] Also, in the above embodiment, an example in which a spacer 53 is used as the second adjustment unit 40B of the support structure part 22 is shown, but it is not limited thereto. For example, the second adjustment unit 40B may have a configuration having a screw-type pin and double nuts, or a pantograph-type configuration.

[0095] Further, in the above-described embodiment, the surface M1, the imaging surface 34a, and the object surface may be parallel to each other, or may be inclined to each other. Further, the surface M1, the imaging surface 34a, and the object surface may be set at predetermined heights, respectively.

[0096] Further, the imaging surface 34a may be adjusted in position with respect to the object surface by using a caliper or a scale. Further, the height adjustment box may be placed on the belt conveyor 2, a transparent plate may be placed on the second adjustment unit 40B, and the height of the second adjustment unit 40B may be adjusted so that the upper surface of the adjustment box and the lower surface of the transparent plate are in contact with each other.

[0097] Further, 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 inspection object for inspection or a sorting object for sorting. The inspection object and the sorting object may be products such as products, agricultural products, and fishery products.

[0098] As described above, the embodiments have been described, but the embodiments are not limited by the foregoing content. Further, 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.

Description of Reference Numerals

[0099] 2... Belt conveyor (transport device) 3... Object recognition device 4a... First installation part 4b... Second installation part 5... Object 12... Belt (transport body) 20... Object imaging device 21... Opto unit (imaging device) 22... Support structure part 31... Housing 31j…Inner surface (reflective surface) 32…Imaging unit 33…Light source 40…Position adjuster 40A…First adjuster 40B…Second adjuster 44…Column (second support part) 45…Beam (first support part) 61, 61L, 61R…Side plate (plate) 70…Plate position adjuster 73a…Recognition part 100…Space

Claims

1. An imaging device that faces a carrier for transporting an object and is capable of imaging the object transported by the carrier; A first support portion that is positioned at a distance from the carrier on the imaging device side with respect to the carrier and supports the imaging device; A second support portion that is installed in a second installation portion different from a first installation portion where a transport device including the carrier is installed and supports the first support portion; Comprising: The second support portion is provided only on one side in the width direction of the carrier; Object imaging device.

2. The second support portion supports the first support portion in a cantilever manner; The object imaging device according to Claim 1.

3. The first support portion is a beam, and two beams are provided at intervals in the transport direction of the object; The object imaging device according to Claim 1.

4. Having the first support portion and the second support portion, and comprising a support structure portion capable of adjusting the position of the imaging device with respect to the carrier in the facing direction between the carrier and the imaging device; The object imaging device according to Claim 1.

5. The support structure portion has a position adjustment portion capable of adjusting at least one of the position of the first support portion with respect to the second support portion in the facing direction between the carrier and the imaging device and the position of the imaging device with respect to the first support portion in the facing direction; The object imaging device according to Claim 4.

6. The support structure portion is capable of adjusting the posture of the imaging device; The object imaging device according to Claim 4.

7. The position adjustment portion: A first adjustment portion that couples the second support portion and the first support portion so as to be capable of adjusting the position of the first support portion with respect to the second support portion in the facing direction; A second adjustment portion that couples the imaging device to the first support portion so as to be capable of adjusting the position of the imaging device with respect to the first support portion in the facing direction; Having: The adjustable amount of the position of the imaging device by the second adjustment portion is smaller than the adjustable amount of the position of the imaging device by the first adjustment portion; The object imaging device according to Claim 5.

8. The imaging device is positioned on the side opposite to the carrier with respect to the first support portion and is supported by the first support portion; The object imaging device according to Claim 1.

9. The imaging device is positioned on the carrier side with respect to the first support portion and is supported by the first support portion; The object imaging device according to Claim 1.

10. A pair of plates provided at intervals in the width direction of the carrier and sandwiching the space between the imaging device and the carrier; A plate position adjustment unit capable of adjusting at least one of the interval in the width direction between the pair of plates and the position of the pair of plates in the facing direction between the carrier and the imaging device; Comprising; The imaging device is capable of imaging the object between the pair of plates. The object imaging device according to claim 1.

11. The imaging device includes: A housing facing the carrier; An imaging unit capable of imaging the object conveyed by the carrier through the inside of the housing; A light source that emits light inside the housing; Having; The housing has a reflecting surface that reflects the light from the light source toward the carrier. The object imaging device according to claim 1.

12. The imaging unit is an area image sensor. The object imaging device according to claim 11.

13. An object imaging device according to any one of claims 1 to 12; And a recognition unit that recognizes the object based on an imaging image obtained by imaging the object by the imaging device. An object recognition device comprising.

Images