Identification device, identification method, and article manufacturing method

Abstract

To more easily identify the types of objects.SOLUTION: An identification device identifies the types of a plurality of objects, and has: a carrying-in and out unit that carries in and out a mounting unit on which the plurality of objects are mounted relative to the device; an imaging unit that photographs the plurality of objects mounted on the mounting unit arranged in the device; a scanning unit that, on the basis of the images photographed by the imaging unit, scans illumination light that illuminates the plurality of objects so as to sequentially illuminate the objects mounted on the mounting unit arranged in the device; a sensor that measures light from the plurality of objects illuminated by the scanning unit; and a processing unit that identifies the types of the plurality of objects on the basis of a result of the measurement performed by the sensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an identification device, an identification method, and a method for manufacturing an article. [Background technology]

[0002] Traditionally, resin molded parts have been widely used for structural and exterior components of automobiles and electrical appliances due to their ease of mass production and component costs. In recent years, the industrial sector has been forced to become more environmentally conscious, and these resin molded parts are also being recycled and reused. In conventional recycling, discarded automobiles and discarded home appliances are crushed to sizes of approximately 10 to 100 mm through various recycling processes, and after recovering iron, aluminum, etc., the residue is recovered, including various types of plastics. Ultimately, the waste is often reused through thermal recycling, where it is burned as fuel.

[0003] Efforts are also being made to recycle these plastic residues horizontally, using them again as materials for resin molded parts, and resin sorting machines have been developed that can identify and separate specific types of plastic from residues containing a variety of plastics.

[0004] As a method for identifying the type of resin, there is a measurement method that identifies the resin type in a non-contact manner by irradiating light.In addition, as a non-contact measurement method, the following techniques have been disclosed that identify the resin type using Raman spectroscopy or infrared spectroscopy.

[0005] Patent Document 1 discloses a technique in which each resin piece is positioned and held by suction, and then transported in sequence to an identification area where an identification process is performed for identification.

[0006] Patent Document 2 discloses a technique in which each resin is positioned by a recess whose internal space narrows toward the bottom, and is transported in sequence to a position where it can be analyzed, and then analyzed. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-113792 [Patent Document 2] International Publication No. 12 / 063535 Brochure Summary of the Invention [Problem to be solved by the invention]

[0008] It is desirable to be able to easily identify the type of resin by sampling a portion of a large quantity of resin pieces supplied. For example, it is desirable to be able to easily check the results of sorting by sampling a portion of a large quantity of resin pieces sorted by a resin sorter.

[0009] The systems described in Patent Documents 1 and 2 are configured to position or grip multiple resin pieces and transport them sequentially to the measurement position, but the configuration is complex and it is expected that they will not function properly for resin pieces with various shapes. For example, it may be impossible to adsorb and hold resin pieces that do not have flat surfaces, or the resin pieces may not slide when positioned in a recess, making it impossible to achieve the intended positioning.

[0010] Therefore, an object of the present invention is to more easily identify the type of object. [Means for solving the problem]

[0011] An identification device as one aspect of the present invention that solves the above-mentioned problem is an identification device that identifies the types of a plurality of objects, and is characterized by having: a loading / unloading section that moves a loading section for loading the plurality of objects into and out of the identification device; an imaging section that photographs the plurality of objects placed on the loading section that is disposed within the identification device; a scanning section that scans illumination light that illuminates the objects so as to sequentially illuminate the plurality of objects placed on the loading section that is disposed within the identification device based on images photographed by the imaging section; a sensor that measures the light from the plurality of objects illuminated by the scanning section; and a processing section that identifies the types of the plurality of objects based on the measurement results by the sensor. [Effects of the Invention]

[0012] According to the present invention, the type of object can be more easily identified. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram illustrating the configuration of an identification device. [Figure 2] 10 is a flowchart of an identification method using an identification device. [Figure 3] FIG. 2 is a schematic diagram of the measurement unit 3. [Figure 4] FIG. 2 is a schematic diagram of an optical spectroscopic section 30. [Figure 5] FIG. 10 is a conceptual diagram showing measurement of resin pieces on a tray. [Figure 6] FIG. 10 is a diagram showing a schematic configuration of a discrimination device according to a second embodiment. [Figure 7] 10 is a flowchart of an identification method performed by an identification device in a second embodiment. [Figure 8] FIG. 10 is a diagram illustrating a partial configuration of a discrimination device according to a third embodiment. [Figure 9] FIG. 10 is a diagram illustrating a partial configuration of a discrimination device according to a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0015] First Embodiment FIG. 1 is a diagram illustrating the schematic configuration of an identification device 1 according to a first embodiment. This identification device uses Raman spectroscopy to identify the type of each resin piece among multiple resin pieces (objects). To identify various resin pieces, it is necessary to measure resin pieces that only emit weak Raman light. For example, even if the resin is made of the same material, a black resin containing carbon black may emit only weak light that is one thousandth of that of a resin that does not contain carbon black. Therefore, we confirmed that by increasing the illumination period for illuminating the resin, even weak Raman light can produce a signal that can identify the resin. To achieve this, the resin piece is held stationary during measurement. Because some resins may deteriorate if exposed to light for a long period of time, the device has a mechanism that can change the position of the illumination light so that the illumination light does not remain in one place on the resin piece during measurement. The device also has a recognition unit that recognizes the position of the resin piece to accurately irradiate the illumination light onto multiple resin pieces loaded into the device. If the resin piece is misaligned from its original position when being loaded into the device, the identification illumination light will not be properly irradiated onto the resin piece. To prevent this, the field of view of the recognition unit is configured to include an illumination light irradiation area for identifying the resin piece so that the position of the resin piece can be recognized after it has come to rest.

[0016] The identification device 1 recognizes multiple resin pieces 6 placed on a stationary tray 5 using a recognition unit 2, applies appropriate measurement conditions to each resin piece, and identifies the type of each resin piece based on the measurement results from a measurement unit 3.

[0017] The resin pieces are obtained from industrial waste such as used small home appliances and automobiles through processes such as disassembly, crushing, and metal recovery, and are approximately 5 to 100 mm in size. Here, the term "resin" as used in this specification refers to organic polymers in general, including thermoplastic resins (plastics), thermosetting resins, rubber, elastomers, cellulose, paper, etc. The resin pieces may contain fillers such as glass and fiber, and various additives such as flame retardants and plasticizers.

[0018] The identification device 1 is capable of identifying the type of resin that constitutes the resin piece, that is, the material type (material quality, color, etc.) of the resin piece, as well as the presence or absence and type of these additives.

[0019] Next, a method for identifying multiple resin pieces using the identification device 1 of this embodiment will be described. FIG. 2 shows a flowchart F100 of this method. In step F101, a tray 5 carrying resin pieces is carried from the carry-in / out section 4 into the identification area, and the tray 5 is stopped (placing step). Next, in step F102, the recognition unit 2 recognizes the resin pieces on the tray 5 (imaging step). In step F103, the measurement unit 3 sequentially performs measurements for identification on the resin pieces recognized in step F102 (measurement step). Then, the processing unit 7 identifies each resin piece (processing step). In step F104, the identification results of each resin piece by the processing unit 7 are displayed on the display unit 8 (display step). In step F105, the tray 5 is carried out from the carry-in / out section 4, and the resin pieces are removed from the device (carry-out step). Each step can be performed automatically by automatic control of the control unit of the identification device 1.

[0020] The following describes in detail the configuration and function of each component of the identification device 1. The tray 5 (mounting unit) is designed to accommodate multiple resin pieces. The tray 5 is used to transport multiple resin pieces from the loading / unloading unit 4 to the identification area inside the identification device 1. It may be a dedicated tray for the device or a user-provided tray. Since the identification device 1 uses illumination light from above the tray 5 for measurement, each resin piece must be placed on the tray 5 so that the illumination light can irradiate each piece without obscuring it. To prevent overlapping of the resin pieces, partitions may be provided inside the tray 5 to separate the resin pieces, creating a storage area divided into multiple spaces, and the resin pieces may be stored in the divided spaces. However, because the position of each resin piece is recognized by the recognition unit 2 and the illumination light used for identification can be continuously moved within a certain area using a galvanometer scanner, it is not necessary to position and fix each resin piece at a specific, predetermined position.

[0021] The laser beam used as illumination light for Raman spectroscopy preferably has high energy of 1 W or more, so in consideration of human safety, the inside of the device during measurement must be a closed space that is optically separated from the outside of the device. Furthermore, if ambient light such as room lighting enters the identification device, it will adversely affect the measurement results as unwanted signals, so a closed space is also preferable in this respect.

[0022] The loading / unloading section 4 is configured with a loading / unloading entrance for loading / unloading resin pieces placed on trays 5 into / out of the identification device. The loading / unloading section 4 is also provided with a structure, such as an opening / closing door, to prevent the illumination light used for measurement within the device from leaking out of the device. The opening / closing door is provided with an interlock, ensuring safety by preventing the laser beam, which is the illumination light used for Raman spectroscopy, from being emitted into the area where the trays 5 are placed when the door is open. The identification device 1 is also structured to stop the trays 5, which have been loaded into the identification device 1 via the loading / unloading section 4, in a position (identification area) where the resin pieces can be identified. The identification device 1 may be provided with a structure such as a stopper or recess for positioning the trays 5 in a predetermined position. The trays 5 may be loaded manually by a user, or automatically using a transport mechanism.

[0023] Furthermore, although a configuration in which the resin pieces are placed on a tray and transported into the identification device is used as the transport means for transporting and stopping the multiple resin pieces into the identification area, a tray need not be used. For example, a transport means in which the multiple resin pieces are arranged side by side on a belt conveyor may be used for transporting and stopping the multiple resin pieces into the identification area.

[0024] The recognition unit 2 recognizes the resin pieces on the tray 5 placed in the recognition area. The recognition unit 2 has an area camera (imaging unit) capable of capturing two-dimensional images all at once, and an image processing unit. The area camera captures the storage area of ​​the tray 5 and the resin pieces on the tray 5. The image processing unit of the recognition unit 2 has a GPU as a processing unit and memory as a storage device, and performs image processing on the image captured by the area camera to determine and output the number of resin pieces, the position, shape, brightness, color, and any attached material or printed characters on the surface of each resin piece. The area that the recognition unit 2 can recognize is set as an area that includes the recognition area, so that resin pieces included in the recognition area can be recognized. This is because obtaining the recognition results in the same area before measurement eliminates the need for transportation between recognition and measurement and prevents the resin pieces on the tray from moving after recognition. The imaging unit captures images of multiple objects placed on the placement unit located within the recognition device 1.

[0025] The processing unit 7 has a processor such as a CPU, GPU, or FPGA as an arithmetic unit that performs various arithmetic processing, a memory as a storage device, and a control unit that controls each part of the identification device. The processing unit 7 acquires information on the recognition results from the recognition unit 2 and determines measurement conditions for identifying each resin piece based on the recognition results. The measurement conditions include the measurement order in which each resin piece is illuminated with illumination light for measurement, the measurement position where the illumination light is applied to each resin piece, and the measurement time (exposure time to the illumination light). Since any adhesions or printed marks on the surface of the resin piece reduce measurement accuracy, they are set to be excluded from the measurement position. The processing unit 7 determines the positions of multiple resins based on images captured by the camera of the recognition unit 2 and controls the scanning unit (described below) to sequentially illuminate the multiple resins based on the positions of the multiple resins.

[0026] The measurement unit 3 sequentially performs measurements for identification according to the measurement conditions determined by the processing unit 7. Figure 3 shows a schematic diagram of the measurement unit 3. The measurement unit 3 includes a scanning unit that scans the object by reflecting illumination light 50 from a light source on a mirror and moving the illumination light over the object. The scanning unit may be, for example, a galvanometer scanner 41 or a galvanometer scanner 42. The measurement unit 3 also includes an optical spectrometer 30 that measures Raman scattered light (light, reflected light) from the object. The control unit of the processing unit 7 controls the angles of the mirror 41m of the galvanometer scanner 41 and the mirror 42m of the galvanometer scanner 42 to tilt the chief ray of the illumination light 50, thereby enabling the position of the illumination light and the illuminated measurement point on the object to be measured to be moved. The movable range of the illumination light (the maximum scanning range of the scanning unit) is the identification region 9 (measurement range) in which resin can be identified, and is determined by the allowable rotation angle range of the galvanometer scanner. The scanning unit may be configured other than a galvanometer scanner and may be a polygon mirror. Furthermore, the scanning unit may be configured to change the irradiation direction of the illumination light 50 by changing the attitude of the light source itself, without including a mirror.

[0027] In the identification device 1, the identification area 9 is configured to have one side measuring approximately 50 mm or more and 300 mm or less so that multiple resin pieces can be included in the identification area 9. To enlarge the identification area 9, it is necessary to increase the rotation angle of the galvanometer scanner or increase the distance from the resin piece to the measurement unit 3.

[0028] By calibrating the coordinate system of the identification area 9 of the measurement unit 3 and the coordinate system of the recognition unit 2 in advance, it is possible to measure each resin piece sequentially by moving the illumination light to the measurement position for each resin determined by the recognition unit 2. The galvano scanner can move the illumination light between resin pieces in about 10 msec or less, allowing for high-speed movement between the resin pieces to be measured.

[0029] 4 shows a schematic configuration diagram of the optical spectroscopic unit 30. The optical spectroscopic unit 30 has a light source 301 that emits laser light. The optical spectroscopic unit 30 irradiates the laser light from the light source 301 as illumination light 50 via lenses 302 and 304 onto a mirror 41m that is configured in the galvano scanner 41. A dichroic mirror 303 is disposed between the lenses 302 and 304 and is configured to transmit the wavelength of light of the light source 301. The illumination light 50 is reflected by mirrors 41m and 42m of the galvano scanners 41 and 42, and then irradiates the resin piece.

[0030] Figure 5 illustrates a conceptual diagram of measurement of resin pieces 62 and 63 on tray 5 placed in the identification area 9. The spiral pattern on the resin piece represents the trajectory of illumination light 50 moved by the galvanometer scanner. While measuring a single resin piece, the illumination light traces a spiral trajectory as shown in Figure 5 so that the illumination light 50 does not remain in one place on the resin piece. This disperses the energy of the illumination light over a wide area of ​​the resin piece, preventing the resin piece from melting during measurement. Since the size of the spiral must be smaller than the size of the resin piece, the galvanometer scanner is controlled so that it is 10 mm or less, preferably 5 mm or less. Furthermore, the trajectory can be any shape as long as it does not remain in one place, and can be circular, polygonal, or other.

[0031] As described above, the identification device 1 can achieve highly accurate identification by keeping the resin pieces stationary during measurement and extending the exposure time for continuing illumination of resin pieces that only produce weak Raman light. Furthermore, by keeping multiple resin pieces stationary in the identification area 9 and using a galvanometer scanner to quickly move the illumination light between the resin pieces being measured, the measurement time for multiple resins, including the movement of the illumination light, can be shortened. The exposure time may be determined by the processing unit 7 based on the brightness and color of each resin piece recognized by the recognition unit 2, or may be determined based on the signal intensity during measurement. Furthermore, while it is preferable to keep the resin pieces stationary during measurement, they do not need to be completely stationary.

[0032] When the illumination light 50 is reflected by the resin piece, the Raman scattered light is reflected isotropically. The Raman scattered light is reflected by the mirror of the galvanometer scanner and returns to the optical spectroscopic unit 30. The Raman scattered light undergoes a Raman shift depending on the material of the resin piece, and therefore has a different wavelength from the illumination light 50. Therefore, the light reflected by the resin piece is reflected by the dichroic mirror 303, and only the Raman scattered light component is transmitted by the bandpass filter 305, which acts as an excitation light cut filter, and then dispersed by the spectroscopic element 306 (spectroscopic unit). The light beam dispersed by the spectroscopic element 306 and diffracted at different diffraction angles for each wavelength is re-condensed by the lens 307, and the Raman-shifted light for each wavelength is received by the sensor array 308 (sensor, light-receiving element). The measurement signal output from the sensor array 308 has a characteristic signal depending on the material of the resin piece being measured.

[0033] The processing unit 7 acquires the measurement signal received and output by the sensor array 308 and compares the waveform of the measurement signal with the waveforms of reference signals for multiple types of resin. The reference signals are waveform signals acquired by actually measuring resin samples of known materials and are obtained in advance for multiple types of resin materials that can be measured. By comparing these signal waveforms, the processing unit 7 determines the type of resin corresponding to the reference signal whose waveform matches or closely matches the measurement signal, thereby identifying and determining the type of resin to be measured. The processing unit 7 associates the positions of the multiple resins on the tray obtained based on the images captured by the camera of the recognition unit 2 with the types of multiple resins obtained based on the measurement results by the sensor of the optical spectroscopy unit 30, and outputs the results.

[0034] The display unit 8 is a liquid crystal display, an organic electroluminescence display, or the like, and is used to display information required for the identification device 1. The display unit 8 displays information on the types of resins identified by the processing unit 7 as the identification result. The display unit 8 may also display the positions of the resins on the tray in association with the types of resins, as output by the processing unit 7. The display unit 8 may also display information on the types of resins identified by the processing unit 7 in an image of the resins placed on the tray captured by the camera of the recognition unit 2. The display unit 8 can display an image of the resin pieces on the tray 5 captured by the recognition unit 2, as well as whether or not each resin piece has been identified and the identification result. This allows the user to visually confirm the location of each resin, whether or not it has been identified, and the identification result.

[0035] As described above, according to the identification device and identification method of this embodiment, even for a variety of resins, the type of resin piece can be easily identified by simply placing the resin on a tray, transporting it into the device, and measuring it. The identification method of this embodiment includes a placing step of placing the plurality of objects on a placing section, and an imaging step of photographing the plurality of objects. It also includes a measurement step of scanning the plurality of objects with illumination light to sequentially illuminate the objects and measuring the light from the plurality of objects, and a processing step of identifying the types of the plurality of objects.

[0036] The above description has been given of the basic configuration of the identification device 1, and it is also effective for the device to have other functions such as those described below.

[0037] For example, for a resin piece recognized by the recognition unit 2 as being large, such as the resin piece 63 shown in FIG. 5, multiple locations on the resin piece can be irradiated with illumination light and measured depending on the size. That is, the scanning unit measures light from multiple resins illuminated by the scanning unit at multiple locations on a single object placed on a tray. Identifying the resin based on the measurement results at multiple locations on the resin can improve identification accuracy. FIG. 5 shows an example in which measurements were performed by irradiating five locations on the resin piece 63 with illumination light, with the five spiral patterns conceptually representing the measurement locations. For example, the processing unit 7 performs statistical processing, such as averaging the signals acquired by measuring five areas using the measurement unit 3. This enables robust identification of the resin piece even when the distribution of characteristics varies from location to location due to surface conditions such as localized dirt or adhesions on the surface. Furthermore, the processing unit 7 compares the identification results from multiple locations and verifies whether the identification results match across multiple locations, thereby providing the function of verifying or outputting the reliability of the identification. That is, based on the measurement results obtained by the sensor at multiple positions, the identification results of the resin type at multiple positions are obtained, and an index indicating the agreement of the identification results at multiple positions is output. For example, if a different resin type is identified at one of the measurement results at five positions, the result can be determined to be less reliable than a resin piece identified as the same resin type at all five positions and output. When measuring multiple positions, the positions and number of measurement positions can be determined not simply based on the size of the resin piece recognized by the recognition unit 2, but by extracting parts suitable for measurement, excluding any adhesions or printed parts on the resin piece.

[0038] It is also possible to identify the resin for an individual resin piece specified by the user. For this reason, the identification device may be provided with a user interface (UI) that allows the user to select an object to be identified by the identification device from among multiple resins placed on a tray. For example, the display unit 8 may be provided with a touch panel as the UI, and information on a position specified by the user in an image of multiple resins placed on a tray may be acquired. The identification device may then identify the type of object located at the position specified by the user. A mouse may be provided as an input unit for the UI, and a pointer may be displayed on the display unit 8. The resin to be identified may be selected by pressing the mouse at the position of the identified resin on the image.

[0039] The system may also have a user interface for setting the order or illumination time for illuminating multiple resins placed on a tray using the scanning unit. The illumination order and illumination time can also be set using the UI. As will be described in detail in the third embodiment, the UI can also be used to set whether or not to use the function for evaporating the resin surface. In this way, the user can individually set the measurement order, exposure time, whether or not to use the function for evaporating the surface, and the like for each resin piece or each measurement position using the UI.

[0040] Although the above description has been given of identifying the type of object by performing spectroscopy using Raman scattered light, the present invention is not limited to this. The identification device 1 may also be a device that identifies the type of object by using infrared light.

[0041] Second Embodiment 6 is a diagram showing a schematic configuration of an identification device 20 according to the second embodiment. The identification device 20 is different from the identification device 1 of the first embodiment in that a stage 10 (drive unit) capable of moving a tray 501 horizontally two-dimensionally inside the device is added.

[0042] If a tray 501 with a resin placement area larger than the size of the identification area 9 of the identification device 20 is loaded, the resin placed outside the identification area cannot be measured. Therefore, by driving the stage 10 to change the relative position between the resin placement area of ​​the tray 501 and the identification area 9 of the measurement unit 3, the resin that was outside the identification area can be moved into the identification area, allowing more resin pieces to be measured and identified. This makes it possible to automatically measure more resin pieces with one tray load.

[0043] However, as with the identification device of the first embodiment, the stage 10 is kept stationary during measurement in order to achieve high-precision identification by keeping the resin piece 6 stationary. The identification area 9 is included in the recognition area of ​​the recognition unit 2, and when the stage 10 is stopped after being driven, it is possible to recognize the resin pieces included in the identification area 9. Therefore, even if the resin pieces on the tray move due to the stage driving and stopping operations, it is possible to obtain correct recognition results for measurement.

[0044] FIG. 7 shows a flowchart F200 for identifying multiple resin pieces using the identification device 20. Flowchart F200 differs from the aforementioned flowchart F100 in that it adds steps F201 and F202. In flowchart F200, the tray is divided into multiple regions each equal to or smaller than the size of the identification region 9, and steps F102, F103, and F104 are performed to recognize and identify each resin contained in each region. To sequentially include each divided region in the identification region 9, step F201 drives the stage 10 to change the relative position between the tray and the identification region, thereby changing the measurement region within the tray. Furthermore, step F202 determines whether identification of all regions of the tray has been completed. Steps F201, F102, F103, and F104 are then repeated to drive the stage and identify the regions within the identification region until identification of all regions of the tray has been completed. Note that the display of the identification results in F104 may be performed all at once once identification of all regions of the tray has been completed, rather than one by one as each region is identified.

[0045] As described above, the identification device 20 of the second embodiment uses a tray that allows resins to be placed in an area larger than the identification area, and can identify a larger number of resins at once.

[0046] <Third embodiment> The identification device according to the third embodiment further has a function of measuring the weight of each resin piece so that it can calculate and output the total weight for each type of identified resin piece.

[0047] The identification results of the identification device are sometimes used to tally the weight of each resin type for multiple resin pieces. From the identification results of the identification device, it is also possible to estimate the weight and weight ratio from the number ratio of each resin type and the area taking into account the size (area) recognized by the recognition unit. One method is to use a 3D camera in the recognition unit to obtain 3D information about the resin pieces and calculate the weight.

[0048] If it is desired to further improve the accuracy of the weight estimation, the weight of the resin can be measured. Fig. 8 is a diagram showing how the resin pieces are placed on a tray 502 to be carried into the identification device of the third embodiment. As shown in Fig. 8, the tray 502 has partitions, making it easy to associate the resin pieces placed on the tray with the partitioned addresses of the tray.

[0049] The mounting table 503 has a weight measuring unit that measures weight. A tray 502 is placed on the mounting table 503, and resin pieces 61 are placed on the tray 502 in address order, and the weight is measured before and after placing the resin pieces 61. Then, weight information of the resin pieces for each address is obtained from the difference in weight before and after placing the resin pieces 61, and is stored in the processing unit 7 of the recognition device.

[0050] After the type of each resin piece is identified in the same manner as in step F100 of the first embodiment, the processing unit 7 can calculate and determine the weight of each type of resin piece by correlating the resin type identification result with the resin weight information. The processing unit 7 can also display the weight of each type of resin piece on the display unit 8. The processing unit 7 may output the type and weight of each resin piece and display them on the display unit 8.

[0051] In addition, instead of the identification device measuring the weight of each resin piece, the identification device may have a function capable of retaining the weight of each resin piece input into the identification device, and may calculate the weight and weight ratio using weight information input from an external source such as a user.

[0052] Since crushed resin pieces have complex shapes and cavities that make it difficult to obtain 3D information, weight accuracy can be improved by measuring weight information or obtaining it externally rather than estimating it.

[0053] <Fourth embodiment> In the first embodiment, the measurement unit 3 traced a trajectory of illumination light so that the illumination light did not stay in one place in order to prevent the resin piece from melting. On the other hand, if the surface of the resin piece is contaminated or oxidized, the accuracy of resin identification may decrease due to the contamination or oxide film on the surface of the resin piece.

[0054] Therefore, in this embodiment, the contamination and oxidized layer are removed by evaporating a portion of the surface of the resin piece using the energy of the illumination light, and the removed portion is measured. The identification device of this embodiment has the function of controlling the scanning unit to adjust the speed at which the illumination light moves over the resin piece and lengthen the time the illumination light stays on the resin surface, causing the thermal energy of the illumination light to remain locally and evaporate the resin surface. In other words, the scanning unit is controlled so that the resin is illuminated under lighting conditions that evaporate the surface of the resin with the illumination light from the scanning unit.

[0055] In addition, it is preferable to provide an exhaust unit for exhausting gas from inside the device so that the inside of the identification device 1 is not contaminated with evaporated resin pieces. Also, instead of the illumination light source of the measurement unit 3, a light source (laser beam) installed separately from the measurement unit 3 may be used to evaporate part of the surface of the resin piece.

[0056] According to the identification device of this embodiment, even if the surface of the resin piece is contaminated or oxidized, the resin can be identified with high accuracy.

[0057] Fifth Embodiment 9 is a diagram showing the configuration of an identification device 400 according to the fifth embodiment. The identification device 400 differs from the identification device 1 of the first embodiment in that it adds a stage 105 that can move a tray 501 horizontally in one dimension, but the measurement unit 3 is configured in the same way. Also, the recognition unit 200 for recognizing the position of the resin piece has a recognition area separate from the recognition area. Furthermore, it has a carry-in unit 402 and a carry-out unit 403, and has the function of carrying resin pieces in and out of the device.

[0058] The stage 105 allows the position of the resin piece to be switched between the recognition area and the identification area, and the position in the recognition area is recognized by the recognition unit 200, and the resin piece can be stopped in the identification area and then identified by irradiating it with illumination light by the measurement unit 3.

[0059] As mentioned above, if the resin piece is misaligned from the location where it was placed when it is brought to rest in the identification area, the identification illumination light cannot be properly applied to the resin piece. To prevent the resin piece from moving during transport, it is desirable to place the resin piece on a member with high frictional force, or to bring the resin piece to rest with an acceleration that will prevent the resin piece from moving.

[0060] Furthermore, if the material on which the resin piece is placed is a material that can be distinguished from a resin piece, and it is determined that the resin piece is not present in the position recognized during measurement by the measurement unit 3, it is possible to transport the resin piece to the recognition area again and recognize its position. Then, by bringing the resin piece to rest in the recognition area with a smaller acceleration, it is possible to perform remeasurement in a state where deviation when the piece is stationary is reduced.

[0061] While preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and various modifications and variations are possible within the scope of the present invention. In the above embodiments, the measurement object is resin, but metals, various waste materials, and other materials can also be measured. For example, while the above describes a configuration in which resin pieces are transported on a tray using a stage, this configuration is not limited to this as long as multiple resin pieces can be placed stationary in the identification area. For example, instead of using a tray, multiple resin pieces can be arranged side by side on the top plate of the stage 10, and the transport means can be used to transport the resin pieces to the identification area and place them stationary. Alternatively, a conveyor belt capable of stationary resin pieces in the identification area can be used, and the resin pieces can be placed on the belt and transported thereon.

[0062] <Embodiments of manufacturing methods of articles> The identification device according to the above embodiment can be used in an article manufacturing method for identifying the type of object (plastic piece) and manufacturing an article such as a plastic product from the identified object. This article manufacturing method includes, for example, an identification step of identifying the type using the above identification device and a processing step of processing the plastic piece identified in the identification step. The article is then manufactured by this processing step. The processing of the plastic piece can include, for example, at least one of melting, molding, cutting, assembly, inspection, etc. The article manufacturing method according to this embodiment is advantageous over conventional methods in at least one of the performance, quality, productivity, and production cost of the article.

[0063] The technology described in this specification can contribute to the realization of a sustainable society, such as a decarbonized / recycling-based society.

[0064] The disclosure of the present specification includes the following identification device, identification method, and article manufacturing method.

[0065] (Item 1) An identification device for identifying a plurality of object types, a carry-in / out unit that moves a placement unit for placing the plurality of objects into and out of the identification device; an imaging unit that is disposed within the identification device and that captures images of the plurality of objects placed on the placement unit; a scanning unit that scans the plurality of objects placed on the placement unit in the identification device with illumination light to sequentially illuminate the objects based on the image captured by the imaging unit; a sensor for measuring light from the plurality of objects illuminated by the scanning unit; a processing unit for identifying the types of the plurality of objects based on the measurement results of the sensor.

[0066] (Item 2) The processing unit outputs the positions of the plurality of objects in the placement unit, which are obtained based on the images captured by the imaging unit, and the types of the plurality of objects, which are obtained based on the measurement results by the sensor, in association with each other.

[0067] (Item 3) 3. The identification device according to item 1 or 2, further comprising a display unit that displays information on the types of the plurality of objects identified by the processing unit.

[0068] (Item 4) The identification device described in item 3, characterized in that the display unit displays information about the types of the plurality of objects identified by the processing unit in an image of the plurality of objects placed on the placement unit obtained by photographing the image of the plurality of objects.

[0069] (Item 5) 5. The identification device according to any one of items 1 to 4, further comprising a user interface for a user to select an object to be identified by the identification device from among the plurality of objects placed on the placement section.

[0070] (Item 6) the user interface acquires information about a position designated by a user in an image of the plurality of objects placed on the placement unit, the image being captured by the imaging unit; 6. The identification device according to item 5, characterized in that the identification device identifies the type of object located at the position specified by the user.

[0071] (Item 7) 7. The identification device according to any one of items 1 to 6, further comprising a user interface for setting the order or illumination time for illuminating the plurality of objects placed on the placement unit by the scanning unit.

[0072] (Item 8) a stage for moving the placement unit; 8. The identification device according to any one of items 1 to 7, characterized in that the stage moves the placement unit to change a measurement range on the placement unit for measuring light from the plurality of objects illuminated by the scanning unit.

[0073] (Item 9) 9. The identification device according to any one of items 1 to 8, characterized in that the light from the plurality of objects illuminated by the scanning unit is measured at a plurality of positions on a single object placed on the mounting unit in a plurality of times.

[0074] (Item 10) 10. The identification device according to item 9, characterized in that it determines an identification result of the type of object at the multiple positions based on the measurement results by the sensor measured at the multiple positions, and outputs an index indicating a match of the identification results at the multiple positions.

[0075] (Item 11) 11. The identification device according to any one of items 1 to 10, further comprising an illumination light source that evaporates the surface of the object placed on the placement section with heat.

[0076] (Item 12) 12. The identification device according to any one of items 1 to 11, characterized in that the scanning unit is controlled to illuminate the object under illumination conditions that evaporate the surface of the object with illumination light from the scanning unit.

[0077] (Item 13) 13. The identification device according to any one of items 1 to 12, further comprising a measuring unit that measures the weight of each of the plurality of objects placed on the placement unit.

[0078] (Item 14) 14. The identification device according to any one of items 1 to 13, wherein the processing unit outputs the weights of the plurality of objects placed on the placement unit.

[0079] (Item 15) 15. The identification device according to any one of items 1 to 14, wherein the processing unit outputs a weight for each type of identified object.

[0080] (Item 16) the placement unit for placing the plurality of objects; 16. The identification device according to any one of items 1 to 15, further comprising: a drive unit that drives the placement unit.

[0081] (Item 17) 17. The identification device according to any one of items 1 to 16, wherein the scanning unit is controlled so that the light illuminating the object does not remain at one point on the object.

[0082] (Item 18) 18. The identification device according to any one of items 1 to 17, wherein the sensor measures Raman scattered light from the plurality of objects illuminated by the scanning unit.

[0083] (Item 19) 18. The identification device according to any one of items 1 to 17, wherein the sensor measures infrared light from the plurality of objects illuminated by the scanning unit.

[0084] (Item 20) 1. A method for identifying a plurality of object types, comprising: a placing step of placing the plurality of objects on the placing unit via a carry-in / out unit that moves the placing unit into and out of the identification device; an imaging step of imaging the plurality of objects placed on the placement unit disposed within the identification device; a measuring step of scanning the illumination light illuminating the objects so as to sequentially illuminate the plurality of objects placed on the placement unit disposed within the identification device based on the images captured by the imaging step, and measuring the light from the illuminated plurality of objects; a processing step of identifying the types of the plurality of objects based on the measurement results from the measuring step; 10. A method for identifying a target object, comprising:

[0085] (Item 21) An identification step of identifying the type of object using the identification device according to any one of items 1 to 19; a processing step of processing the object identified in the identifying step; Including, A method for manufacturing an article, comprising manufacturing an article from the object processed in the processing step.

Claims

1. An identification device for identifying a plurality of object types, a carry-in / out unit that moves a placement unit for placing the plurality of objects into and out of the identification device; an imaging unit that is disposed within the identification device and that captures images of the plurality of objects placed on the placement unit; a scanning unit that scans the plurality of objects placed on the placement unit in the identification device with illumination light to sequentially illuminate the objects based on the image captured by the imaging unit; a sensor for measuring light from the plurality of objects illuminated by the scanning unit; a processing unit for identifying the types of the plurality of objects based on the measurement results of the sensor.

2. 2. The identification device according to claim 1, wherein the processing unit outputs the positions of the plurality of objects in the placement unit, which are obtained based on the images captured by the imaging unit, and the types of the plurality of objects, which are obtained based on the measurement results by the sensor, in association with each other.

3. The identification device according to claim 1 , further comprising a display unit that displays information about the types of the plurality of objects identified by the processing unit.

4. The identification device according to claim 3, characterized in that the display unit displays information on the types of the plurality of objects identified by the processing unit in an image of the plurality of objects placed on the placement unit obtained by photographing the image of the plurality of objects.

5. The identification device according to claim 1 , further comprising a user interface for a user to select an object to be identified by the identification device from among the plurality of objects placed on the placement section.

6. the user interface acquires information about a position designated by a user in an image of the plurality of objects placed on the placement unit, the image being captured by the imaging unit; The identification device according to claim 5, wherein the identification device identifies the type of object present at the position designated by the user.

7. 2. The identification device according to claim 1, further comprising a user interface for setting an order or an illumination time for illuminating the plurality of objects placed on the placement unit by the scanning unit.

8. a stage for moving the placement unit; 2. The identification device according to claim 1, wherein the stage moves the placement unit to change a measurement range on the placement unit for measuring light from the plurality of objects illuminated by the scanning unit.

9. 2. The identification device according to claim 1, wherein the light from the plurality of objects illuminated by the scanning unit is measured at a plurality of positions on a single object placed on the placement unit in a plurality of times.

10. The identification device according to claim 9, characterized in that an identification result of the type of object at the plurality of positions is obtained based on the measurement results obtained by the sensor at the plurality of positions, and an index indicating a match between the identification results at the plurality of positions is output.

11. 2. The identification device according to claim 1, further comprising an illumination light source that evaporates the surface of the object placed on the placement section with heat.

12. 2. The identification device according to claim 1, wherein the scanning unit is controlled to illuminate the object under illumination conditions that evaporate the surface of the object with illumination light from the scanning unit.

13. 2. The identification device according to claim 1, further comprising a measuring unit that measures the weight of each of the plurality of objects placed on the placement unit.

14. 2. The identification device according to claim 1, wherein the processing unit outputs the weights of the plurality of objects placed on the placement unit.

15. The identification device according to claim 1 , wherein the processing unit outputs a weight for each type of identified object.

16. the placement unit for placing the plurality of objects; The identification device according to claim 1 , further comprising: a drive unit that drives the mounting unit.

17. 2. The identification device according to claim 1, wherein the scanning unit is controlled so that the light illuminating the object does not remain at one point on the object.

18. 2. The identification device according to claim 1, wherein the sensor measures Raman scattered light from the plurality of objects illuminated by the scanning unit.

19. 2. The identification device according to claim 1, wherein the sensor measures infrared light from the plurality of objects illuminated by the scanning unit.

20. 1. A method for identifying a plurality of object types, comprising: a placing step of placing the plurality of objects on the placing unit via a carry-in / out unit that moves the placing unit into and out of the identification device; an imaging step of imaging the plurality of objects placed on the placement unit disposed within the identification device; a scanning step of scanning the plurality of objects placed on the placement unit disposed in the identification device with illumination light to sequentially illuminate the objects based on the image captured by the imaging step; a measuring step of measuring light from the plurality of objects illuminated by the scanning step; a processing step of identifying the types of the plurality of objects based on the measurement results from the measuring step; 10. A method for identifying a target object, comprising:

21. an identification step of identifying a type of object using the identification device according to any one of claims 1 to 19; a processing step of processing the object identified in the identifying step; Including, A method for manufacturing an article, comprising manufacturing an article from the object processed in the processing step.

Images