Detection system and detection method

Abstract

This invention provides a detection system and method that can accurately detect materials in waste that are difficult to process properly. [Solution] The detection system comprises a transport device for transporting waste, an adjustment device for adjusting the shape of the waste transported by the transport device, an X-ray imaging device for photographing the waste whose shape has been adjusted by the adjustment device, and a detection device for detecting materials that are difficult to properly process in the waste based on the X-ray image obtained from the X-ray imaging device.

Description

Technical Field

[0001] The present invention relates to a detection system and a detection method.

Background Art

[0002] In recent years, there have been many cases where lithium-ion batteries used in mobile batteries and small devices are carried out as waste, and in industrial waste treatment facilities and recycling facilities, lithium-ion batteries in waste expand and explode due to external impact, leading to an increase in fire accidents.

[0003] Patent Document 1 discloses a system that processes imaging data obtained by detecting X-rays irradiated on waste with a sensor to generate three-dimensional data, and selects lithium-ion batteries, which are difficult-to-properly-process objects (inappropriate-to-process objects), from the waste based on the three-dimensional data.

Prior Art Documents

Patent Documents

[0004] Japanese Patent No. 7460473

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in X-ray imaging, when the shape of the waste becomes large and the penetration distance of the X-rays passing through the waste becomes long, it becomes difficult for the X-rays to penetrate, and the detection accuracy of difficult-to-properly-process objects may decrease.

[0006] The present invention has been made in view of such circumstances, and an object thereof is to provide a detection system and a detection method capable of accurately detecting difficult-to-properly-process objects in waste.

Means for Solving the Problems

[0007] The present invention includes several means for solving the above problems, but to give one example, the detection system comprises a transport device for transporting waste, an adjustment device for adjusting the shape of the waste transported by the transport device, an X-ray imaging device for photographing the waste whose shape has been adjusted by the adjustment device, and a detection device for detecting materials that are difficult to properly process in the waste based on the X-ray image obtained by the X-ray imaging device. [Effects of the Invention]

[0008] According to the present invention, it is possible to accurately detect materials in waste that are difficult to process properly. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows an example of the configuration of the detection system in this embodiment. [Figure 2] This figure shows a first example of the configuration of the adjustment device. [Figure 3] This figure shows a second example of the configuration of the adjustment device. [Figure 4] This figure shows a third example of the configuration of the adjustment device. [Figure 5] This figure shows a fourth example of the configuration of the adjustment device. [Figure 6] This figure shows a fifth example of the configuration of the adjustment device. [Figure 7] This figure shows a sixth example of the configuration of the adjustment device. [Figure 8] This figure shows an example of the configuration of a measurement mechanism. [Figure 9] This figure shows an example of lithium-ion battery detection using a learning model. [Figure 10] This figure shows an example of how the detection results screen displayed by the information processing device can be viewed. [Figure 11] This figure shows another example of the direction of X-ray irradiation by an X-ray imaging device. [Figure 12] This is a diagram showing an example of the configuration of an adjustment device. [Figure 13] This figure shows an example of how the detection system works. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a diagram showing an example of the configuration of the detection system 100 of this embodiment. The detection system 100 includes a transport device 10 for transporting waste 1, a bag-breaking mechanism 80 for breaking open the bag containing the waste 1, an adjustment device 20 for adjusting the shape of the waste 1 transported by the transport device 10, measuring mechanisms 61 and 62 for measuring predetermined dimensions (distance) of the waste 1 transported by the transport device 10, an X-ray imaging device 30 for photographing the waste 1 transported by the transport device 10, an information processing device 50 as a detection device for detecting materials 2 that are difficult to process properly contained in the waste 1 based on the X-ray image obtained by the imaging device, an discharge device 40 for discharge, and a monitor 70 for displaying the detection results regarding materials that are difficult to process properly. Materials that are difficult to process properly are also called unsuitable materials, and in this specification, lithium-ion batteries are assumed as an example, but are not limited to lithium-ion batteries and may include small devices containing lithium batteries, etc.

[0011] The conveying device 10 can be composed of a conveyor such as a belt conveyor, apron conveyor, or roller conveyor. There may be one conveyor or multiple conveyors. The upstream side in the conveying direction by the conveying device 10 is the bag breaking mechanism 80 side, and the downstream side is the discharge device 40 side.

[0012] The bag-breaking mechanism 80 is located upstream of the waste 1 in the conveying direction of the adjustment device 20. The bag-breaking mechanism 80 includes a bag-breaking machine 81 located above it, and a hopper 82 located below the bag-breaking machine 81. The bag-breaking machine 81 has a cylindrical rotating body that rotates around a horizontal axis located in the center, and multiple bag-breaking blades are provided on the outer surface of the rotating body along the direction of rotation. The waste 1 placed on the conveying device 10 is fed into the bag-breaking machine 81 of the bag-breaking mechanism 80 from the front end of the conveying device 10. The bag-breaking blades of the bag-breaking machine 81 bite into the waste 1, breaking the bag containing the waste 1. The waste 1 that has been broken by the bag-breaking machine 81 is fed into the hopper 82. The hopper 82 has a tapered shape such that the distance between opposing side walls decreases towards the bottom, and the waste 1 fed into the hopper 82 moves downwards within the hopper 82 and is fed into the conveying device 10. Furthermore, the shape of the hopper 82 is not limited to a tapered shape; for example, the distance between opposing side walls may be the same from top to bottom, or it may be a shape in which the distance increases from top to bottom.

[0013] The waste 1 (waste 1 after being opened) fed from the bag-breaking mechanism 80 into the transport device 10 is transported downstream along the movement of the transport device 10, and the shape of the waste 1 is adjusted by the adjustment device 20. When photographing the waste 1 with the X-ray imaging device 30, if the shape of the waste 1 is large, the transmission distance of X-rays passing through the waste 1 becomes longer, making it difficult for X-rays to penetrate, which may reduce the detection accuracy of materials that are difficult to process properly. Therefore, the shape of the waste 1 is adjusted by the adjustment device 20. Specifically, by adjusting the shape of the waste 1 to be smaller, the transmission distance of X-rays passing through the waste 1 is shortened, making it easier for X-rays to penetrate and improving the detection accuracy of materials that are difficult to process properly. The specific configuration of the adjustment device 20 will be described later.

[0014] The measurement mechanism 61 can measure the shape of the waste 1 placed on the conveying device 10 between the bag-breaking mechanism 80 and the adjustment device 20. The measurement mechanism 62 can measure the shape of the waste 1 placed on the conveying device 10 between the adjustment device 20 and the X-ray imaging device 30. Note that only one of the measurement mechanisms 61 and 62 may be provided. "Measuring the shape of the waste 1" means measuring the transmission distance inside the waste 1 when the X-ray irradiated by the X-ray imaging device 30 passes through the waste 1. That is, the measurement mechanism is provided on at least one of the upstream side and the downstream side in the conveying direction of the waste 1 of the adjustment device 20, and can measure the transmission distance inside the waste 1 when the X-ray irradiated by the X-ray imaging device 30 passes through the waste 1. The details of the measurement mechanism will be described later.

[0015] The X-ray imaging device 30 includes an X-ray source 31, a shielding box 32, a detector 33, etc. The X-ray source 31 is installed above the conveying device 10. The X-ray source 31 irradiates X-rays from above the conveying device 10 to a predetermined irradiation area on the conveying device 10. The shielding box 32 is installed so as to surround the irradiation area. The shielding box 32 is made of a material with high shielding ability against X-rays, and prevents the leakage of X-rays to the outside of the irradiation area. The detector 33 is installed below the conveying device 10. The detector 33 is, for example, an image sensor such as a CCD (Charge-Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semi-conductor) sensor. The detector 33 generates an X-ray image of the waste 1 by detecting the X-rays (transmitted X-rays that have passed through the waste 1) irradiated by the X-ray source 31 when the waste 1 passes through the irradiation area. The X-ray imaging device 30 outputs the X-ray image of the waste 1 generated by the detector 33 to the information processing device 50.

[0016] The discharging device 40 is arranged on the downstream side of the X-ray imaging device 30. When the information processing device 50 detects a difficult-to-properly-process object, the discharging device 40 discharges the detected difficult-to-properly-process object from the conveying device 10. The discharging device 40 includes a separator 41 for distributing the conveyance destination of the waste 1. In the present embodiment, the discharging device 40 drives the separator 41 according to the detection result of the difficult-to-properly-process object by the information processing device 50, and changes the position of the separator 41 to distribute the conveyance destination of the waste 1 to the crusher or the recovery pit 42.

[0017] For example, when the discharging device 40 obtains a detection result from the information processing device 50 that the waste 1 contains a lithium-ion battery, the discharging device 40 changes the position of the separator 41 from the default position to the recovery position (the position indicated by the broken line in the figure) so that the conveyance destination of the waste 1 becomes the recovery pit 42. As a result, the waste 1 containing the lithium-ion battery is removed from the conveying device 10 and stored in the recovery pit 42. The operator can take out the lithium-ion battery from the waste stored in the recovery pit 42 and deliver the taken-out lithium-ion battery to a recycling business operator or the like.

[0018] On the other hand, when the discharging device 40 obtains a detection result from the information processing device 50 that the waste 1 does not contain a lithium-ion battery, the discharging device 40 keeps the position of the separator 41 at the default position (the position indicated by the solid line in the figure) so that the conveyance destination of the waste 1 becomes the crusher. As a result, the waste 1 that does not contain a lithium-ion battery is conveyed to the crusher and crushed by the crusher.

[0019] The information processing device 50 includes a control unit 51 for controlling the entire device, a communication unit 52, a memory 53, a display unit 54, an operation unit 55, a storage unit 56, a notification unit 59, and the like. The information processing device 50 can be configured by, for example, a computer or the like. Also, the information processing device 50 may be configured by a plurality of information processing devices with functions distributed.

[0020] The control unit 51 may be configured by incorporating a required number of CPUs (Central Processing Units), MPUs (Micro-Processing Units), GPUs (Graphics Processing Units), etc. Alternatively, the control unit 51 may be configured by combining DSPs (Digital Signal Processors), FPGAs (Field-Programmable Gate Arrays), etc.

[0021] The communication unit 52 is equipped with a communication module and has the function of exchanging information and data with the bag-breaking mechanism 80, adjustment device 20, measurement mechanisms 61 and 62, X-ray imaging device 30, discharge device 40, and monitor 70. The communication unit 52 also has the function of communicating with external devices via a communication network (not shown).

[0022] The display unit 54 is composed of a liquid crystal display or an organic EL display, etc., and provides a user interface (UI) to the user by displaying the necessary information. The display unit 54 is equipped with a microphone and a speaker, and can input and output audio. In addition to the display unit 54, a monitor 70 may also be used.

[0023] The operation unit 55 is, for example, configured as a touch panel and can perform operations such as operating icons displayed on the display unit 54, moving and manipulating the cursor, and inputting text. The operation unit 55 may be configured as buttons or switches, or as a keyboard or mouse. The operation unit 55 provides a user interface (UI) to the user by accepting user input. Alternatively, an external terminal device for operation may be provided instead of the operation unit 55.

[0024] The memory unit 56 can be composed of semiconductor memory or a hard disk, and stores a computer program (program product) 57, a learning model 58, and necessary information. Details of the learning model 58 will be described later.

[0025] The computer program 57 can be read by a recording medium (e.g., an optically readable disc storage medium such as a CD-ROM) M using a recording medium reading unit (not shown) and stored in a storage unit 56. The computer program 57 may also be read by a recording medium such as a storage device (semiconductor memory such as an SSD (Solid State Drive)) connected by a standard for connecting to a computer (e.g., USB (Universal Serial Bus) or other standards) and stored in a storage unit 56. Alternatively, the computer program 57 may be downloaded from an external device via a communication unit 52 and stored in a storage unit 56.

[0026] The memory 53 can be composed of semiconductor memory such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), or flash memory. The computer program 57 is loaded into the memory 53, and the control unit 51 can execute the computer program 57. The control unit 51 can execute the processing defined in the computer program 57. In other words, the processing performed by the control unit 51 is also the processing performed by the computer program 57.

[0027] The notification unit 59 can notify workers if it detects material that is difficult to process properly. The notification unit 59 may display the notification result on the monitor 70 or notify them by voice.

[0028] Next, the configuration of the adjustment device 20 will be described. The adjustment device 20 is a device for adjusting (preparing) the shape (state) of the waste 1 so that the X-ray image obtained by the X-ray imaging device 30 becomes an X-ray image suitable for detecting materials that are difficult to process properly (materials unsuitable for processing). In this embodiment, the adjustment device 20 is also referred to as a "pre-processing device" for the X-ray imaging device 30.

[0029] Figure 2 shows a first example of the configuration of the adjustment device 20. The adjustment device 20 includes a cylindrical rotating member 23 positioned opposite the conveying device 10, a plurality of metal pressing members 21 arranged on the outer circumferential surface of the rotating member 23 along the rotational direction of the rotating member 23, and an adjustment unit 22 that can adjust the position of the pressing members 21 relative to the waste (in the example of Figure 2, the "height"). That is, the adjustment device 20 includes a distance adjustment mechanism that adjusts the transmission distance within the waste 1 when the X-rays irradiated by the X-ray imaging device 30 pass through the waste 1, and the distance adjustment mechanism includes an adjustment unit 22. The distance adjustment mechanism may also include the pressing members 21 and the rotating member 23. The adjustment unit 22 is composed of, for example, a hydraulic cylinder or an air cylinder, and can adjust the position of the rotating member 23 and the pressing members 21 relative to the conveying device 10 (the position can be adjusted along the direction indicated by the symbol c in Figure 2).

[0030] The direction of X-ray transmission within waste 1 varies depending on the direction from which the X-rays are irradiated onto waste 1. The shape of waste 1 can be roughly defined by its length, width, and height. "Length" is the distance (dimension) along the transport direction of waste 1, "width" is the distance (dimension) along the direction perpendicular to the transport direction, and "height" is the distance (dimension) along the direction perpendicular to the transport direction. When the direction of X-rays irradiated onto waste 1 is perpendicular to the transport direction, the X-ray transmission distance corresponds to "height". Also, when the direction of X-rays irradiated onto waste 1 is perpendicular to the transport direction, the X-ray transmission distance corresponds to "width". Furthermore, the direction of X-ray transmission is not limited to the "height" direction or the "width" direction; for example, it may be an oblique direction between the "height" direction and the "width" direction.

[0031] The control unit 51 of the information processing device 50 can adjust the position of the pressing member 21. The control unit 51 can also control the rotation speed of the rotating member 23.

[0032] As the waste 1 placed on the conveying device 10 is conveyed along the conveying direction (indicated by the symbol a in Figure 2), the rotating member 23 rotates in the direction indicated by the symbol b, causing the tips of the pressing members 21 provided on the outer circumference of the rotating member 23 to press against the waste 1. This adjusts the distance of the waste 1 in the height direction to be shortened and the shape of the waste 1 to be reduced. As a result, the transmission distance of X-rays in the height direction within the waste 1 can be shortened.

[0033] By shortening the X-ray transmission distance within waste 1, X-rays can penetrate more easily, improving the accuracy of detecting difficult-to-process materials within waste 1. Furthermore, the shorter X-ray transmission distance eliminates the need for high-intensity X-ray sources, thus eliminating restrictions on X-ray handling qualifications and work classifications.

[0034] Figure 3 shows a second example of the configuration of the adjustment device 20. The difference from the first example illustrated in Figure 2 is that it is equipped with an endless track 24 instead of a rotating member 23. The endless track 24 can be made of, for example, a belt conveyor. Multiple pressing members 21 are provided on the outer surface of the endless track 24 along the direction of movement of the endless track 24 (the direction indicated by the reference numeral b in Figure 3). The other configurations are the same as those of the first example illustrated in Figure 2, so their explanation is omitted.

[0035] The control unit 51 can adjust the position of the pressing member 21. The control unit 51 can also control the movement speed of the track 24.

[0036] As the waste 1 placed on the transport device 10 is transported along the transport direction (indicated by the symbol a in Figure 3), the continuous track 24 moves in the direction indicated by the symbol b, causing the tips of the pressing members 21 provided on the outer circumference of the continuous track 24 to press against the waste 1. This adjusts the distance of the waste 1 in the height direction to be shortened and the shape of the waste 1 to be reduced. As a result, the transmission distance of X-rays in the height direction within the waste 1 can be shortened.

[0037] By shortening the X-ray transmission distance within waste 1, X-rays can penetrate more easily, improving the accuracy of detecting difficult-to-process materials within waste 1. Furthermore, the shorter X-ray transmission distance eliminates the need for high-intensity X-ray sources, thus eliminating restrictions on X-ray handling qualifications and work classifications.

[0038] Figure 4 shows a third example of the configuration of the adjustment device 20. The adjustment device 20 includes a pressing member 21 that presses against the waste being transported by the transport device 10, and an adjustment unit 22 that can adjust the position of the pressing member 21 relative to the waste 1. In the example of Figure 4, the pressing member 21 is attached to the adjustment unit 22, and the position of the pressing member 21 relative to the transport device 10 can be adjusted. The control unit 51 can adjust the position of the adjustment unit 22.

[0039] As the waste 1 placed on the transport device 10 is transported along the transport direction (indicated by the symbol a in Figure 4), the tip of the pressing member 21 attached to the adjustment unit 22 presses against the waste 1. This adjusts the waste 1 so that its height is shortened and its shape is reduced. As a result, the transmission distance of X-rays in the height direction within the waste 1 can be shortened.

[0040] Figure 5 shows a fourth example of the configuration of the adjustment device 20. The adjustment device 20 includes a pressing member 21, a support part 25 that rotatably supports the pressing member 21, and a spring member 26 that restricts rotation around the support part 25. The spring member 26 can release the restriction on the rotation of the pressing member 21 when the pressing member 21 receives a force exceeding a predetermined value from the waste 1 being transported by the transport device 10.

[0041] When the waste 1 placed on the conveying device 10 is conveyed in the conveying direction (indicated by the symbol a in Figure 5) and comes into contact with the pressing member 21, the waste 1 is pressed by the pressing member 21, adjusting the distance of the waste 1 in the height direction to be shortened and adjusting the shape of the waste 1 to be smaller. If the force that the pressing member 21 receives from the waste 1 is within a predetermined value, the rotation of the pressing member 21 can be restricted by the elastic force of the spring member 26. If the force that the pressing member 21 receives from the waste 1 exceeds the predetermined value, the spring member 26 tilts backward in the direction indicated by the symbol d, releasing the restriction on the rotation of the pressing member 21. This prevents the pressing member 21 from being subjected to a force exceeding the predetermined value. Although not shown in Figure 5, an adjustment unit 22 may be provided to adjust the position of the pressing member 21 relative to the conveying device 10.

[0042] Figure 6 shows a fifth example of the configuration of the adjustment device 20. In the fifth example, the pressing member 21 is a metal plate. In the example of Figure 6A, the width dimension of the pressing member 21 (the direction perpendicular to the horizontal direction with respect to the conveying direction indicated by symbol a) is approximately the same as the width dimension of the conveying device 10, and the pressing member 21 is positioned above the conveying device 10 at a required distance from the conveying device 10. The distance between the pressing member 21 and the conveying device 10 can be adjusted in the height direction.

[0043] In the example shown in Figure 6B, multiple plate-shaped pressing members 21, as shown in Figure 6A, are arranged at intervals along the conveying direction a of the conveying device 10. The height dimensions of the multiple pressing members 21 may be the same or different.

[0044] In the example shown in Figure 6C, the width dimension of the pressing member 21 is smaller than the width dimension of the conveying device 10. Multiple pressing members 21 are arranged spaced apart along the width direction of the conveying device 10, and multiple pressing members 21 are also arranged spaced apart along the conveying direction a of the conveying device 10. The height dimensions of the multiple pressing members 21 may be the same or different.

[0045] In the example shown in Figure 6D, multiple pressing members 21 are arranged such that the width direction of each plate-shaped pressing member 21 coincides with the conveying direction a of the conveying device 10. The height dimensions of the multiple pressing members 21 may be the same or different.

[0046] In the example shown in Figure 6E, multiple pressing members 21 are arranged such that their width direction coincides with the conveying direction a of the conveying device 10, and also such that their width direction coincides with the width direction of the conveying device 10. The height dimensions of the multiple pressing members 21 may be the same or different.

[0047] In the example shown in Figure 6F, a cylindrical rotating member 23 is provided. The width dimension of the rotating member 23 is approximately the same as the width dimension of the conveying device 10. Multiple plate-shaped pressing members 21 are arranged on the outer circumference of the rotating member 23. The width dimension of the pressing members 21 is smaller than the width dimension of the conveying device 10. Multiple pressing members 21 are arranged spaced apart along the width direction of the rotating member 23, and multiple pressing members 21 are arranged spaced apart along the rotation direction of the rotating member 23. The height dimensions of the multiple pressing members 21 may be the same or different. Furthermore, the arrangement direction of the pressing members 21 is not limited to the conveying direction or width direction of the conveying device 10, but may be diagonal, and the arrangement direction of each pressing member 21 may be different.

[0048] Although not shown in Figure 6, an adjustment unit 22 may be provided to adjust the position of the pressing member 21 relative to the conveying device 10.

[0049] Figure 7 shows a sixth example of the configuration of the adjustment device 20. In the sixth example, the pressing member 21 is a metal rod or chain. In the example in Figure 7A, multiple rod-shaped pressing members 21 are arranged at intervals along the conveying direction a and the width direction of the conveying device 10. The pressing member 21 is also positioned above the conveying device 10 at a required distance from it. The distance between the pressing member 21 and the conveying device 10 can be adjusted in the height direction.

[0050] In the example shown in Figure 7B, multiple chain-shaped pressing members 21 are arranged at intervals along the conveying direction a and the width direction of the conveying device 10. Additionally, the pressing members 21 are positioned above the conveying device 10 at a required distance from it.

[0051] In the example shown in Figure 7C, multiple plate-shaped, rod-shaped, and chain-shaped pressing members 21 are arranged at intervals along the conveying direction a and width direction of the conveying device 10, respectively. Furthermore, the pressing members 21 are positioned above the conveying device 10 at a required distance from it.

[0052] Although not shown in Figure 7, an adjustment unit 22 may be provided to adjust the position of the pressing member 21 relative to the conveying device 10.

[0053] As shown in Figures 6 and 7, the adjustment device 20 is provided with one or more pressing members 21 along at least one of the directions of transport of the waste 1 and the direction perpendicular to the transport direction.

[0054] As mentioned above, Figures 2 to 7 illustrate different configurations of the adjustment device 20. In this embodiment, the different configurations illustrated in Figures 2 to 7 may be combined and arranged on the conveying device 10. For example, the configuration shown in Figure 2 and the configuration shown in Figure 6 (for example, the configuration shown in Figure 6A) may be arranged side by side along the conveying direction. Furthermore, the types of configurations to be combined may be changed depending on the expected amount and type of waste.

[0055] Next, we will explain the measurement mechanisms 61 and 62.

[0056] The measurement mechanisms 61 and 62 can be configured, for example, with LiDAR (Light Detection and Ranging), and can measure the distance to waste 1 and its shape based on the information of the reflected light from waste 1 by irradiating waste 1 with laser light. The LiDAR may be a two-dimensional LiDAR that grasps two dimensions by rotating a single laser horizontally, or a three-dimensional LiDAR that obtains three-dimensional information by overlapping multiple lasers vertically and rotating them horizontally. In addition, the measurement mechanisms 61 and 62 may be optical sensors that detect the intensity of transmitted or reflected light.

[0057] Figure 8 shows an example of the configuration of the measurement mechanism 61. While Figure 8 illustrates the configuration of the measurement mechanism 61 upstream of the adjustment device 20, the configuration of the measurement mechanism 62 downstream of the adjustment device 20 is similar. In the example of Figure 8A, multiple (three in the example of Figure 8) measurement mechanisms 61 are spaced apart along the width direction of the transport device 10 (the direction perpendicular to the transport direction a). The measurement mechanisms 61 can be, for example, LiDAR. Each measurement mechanism 61 is positioned above the transport device 10 and can irradiate laser light perpendicularly toward the transport device 10. The measurement mechanisms 61 can measure the distance to the waste 1 and the shape of the waste 1. This allows the measurement mechanisms 61 to measure the transmission distance within the waste 1 when the X-rays irradiated by the X-ray imaging device 30 pass through the waste 1.

[0058] In the example shown in Figure 8B, the measuring mechanism 61 is positioned above the transport device 10, and the measuring mechanism 61 can irradiate laser light along the width direction of the transport device 10. The measuring mechanism 61 can measure the distance to the waste 1 and the shape of the waste 1. As a result, the measuring mechanism 61 can measure the transmission distance within the waste 1 when the X-rays irradiated by the X-ray imaging device 30 pass through the waste 1.

[0059] In the example shown in Figure 8C, the measuring mechanism 61 is positioned above the transport device 10, and the measuring mechanism 61 can irradiate laser light into an area defined by the transport direction and width direction of the transport device 10. The measuring mechanism 61 can measure the distance to the waste 1 and the shape of the waste 1. As a result, the measuring mechanism 61 can measure the transmission distance within the waste 1 when the X-rays irradiated by the X-ray imaging device 30 pass through the waste 1.

[0060] In the example shown in Figure 8D, the measurement mechanism 61 can be an optical sensor. Multiple measurement mechanisms 61 are arranged at appropriate intervals along the height direction of the transport device 10. The measurement mechanisms 61 are located beside the transport device 10. If reflected light emitted from a measurement mechanism 61 cannot be received, it can be determined that there is no waste 1 at a height corresponding to the height of that measurement mechanism 61. On the other hand, if reflected light emitted from a measurement mechanism 61 can be received, it can be determined that there is waste 1 at a height corresponding to the height of that measurement mechanism 61. Based on the determination results obtained from each measurement mechanism 61, the height of the waste 1 can be measured.

[0061] Next, we will explain how to detect materials that are difficult to process properly (unsuitable for processing) contained in waste 1. Below, we will explain how to detect lithium-ion batteries as materials that are difficult to process properly (unsuitable for processing).

[0062] Figure 9 shows an example of lithium-ion battery detection using the learning model 58. The learning model 58 can be constructed using, for example, R-CNN (Region-based Convolutional Neural Network), but is not limited to this; it may also be constructed using, for example, YOLO (You Only Look Once), SSD (Single Shot Multibox Detector), SegNet, U-Net (U-Shaped Network), FCN (Fully Convolutional Network), and PSPNet (Pyramid Scene Parsing Network).

[0063] The learning model 58 is trained (generates) to output whether or not a lithium-ion battery is present in the input X-ray image, and the probability of such presence or absence, when an X-ray image is input. For example, if the learning model 58 outputs "Lithium-ion battery present" as the detection result, it can also output the probability of "Lithium-ion battery present". Similarly, if the learning model 58 outputs "Lithium-ion battery absent" as the detection result, it can also output the probability of "Lithium-ion battery absent".

[0064] More specifically, the learning model 58 outputs, as detection results, a bounding box surrounding the detected lithium-ion battery, and an identification name (a class name, for example, lithium-ion battery) that identifies the lithium-ion battery within the bounding box.

[0065] Training data is prepared in advance, including X-ray images of waste containing lithium-ion batteries and corresponding ground truth labels (for example, "Lithium-ion battery present"), as well as X-ray images of waste that do not contain lithium-ion batteries and corresponding ground truth labels (for example, "Lithium-ion battery absent"). Training data including the coordinate values ​​of the bounding box surrounding the lithium-ion battery may also be prepared. The control unit 51 acquires this training data and, based on the acquired training data, can generate a learning model 58 that outputs whether or not a lithium-ion battery is present in the input X-ray image, and the probability of such presence or absence, when an X-ray image is input.

[0066] As described above, the trained model 58, upon receiving an X-ray image of the waste, outputs a detection result including the presence or absence of lithium-ion batteries and the probability of such presence or absence. Note that the process of detecting lithium-ion batteries in waste based on X-ray images of the waste is not limited to using the trained model 58; existing detection methods such as template matching may also be used.

[0067] Figure 10 shows an example of the display of the detection result screen 200 by the information processing device 50. The detection result screen 200 may be displayed on, for example, the display unit 54, or on the monitor 70. By displaying it on the monitor 70, the detection result can be notified to an operator working next to the transport device 10.

[0068] As shown in Figure 10, the detection result screen 200 displays the detection result 201 and the X-ray image 202 associated with the detection result. In the example in Figure 10, the detection result 201 displays a message such as, "A lithium-ion battery has been detected. Discharge to the recovery pit." This message may also be output as audio. In addition, a series of X-ray images 202 obtained by X-ray imaging the waste 1 being transported by the transport device 10 is displayed, and if the waste contains a lithium-ion battery, an image 203 of the lithium-ion battery is displayed together with the X-ray image 202. The series of X-ray images may be a video or a series of still images taken consecutively. This allows the operator to confirm the detection result with both text and X-ray images.

[0069] In the example shown in Figure 1, the X-ray imaging apparatus 30 was configured to irradiate a predetermined irradiation area on the transport device 10 from above the transport device 10. That is, the direction of X-ray transmission within the waste 1 was the "height" direction. The direction of X-ray transmission is not limited to the "height" direction, but may also be in a direction perpendicular to the transport direction horizontally, for example, the "width" direction. Below, a configuration in which X-rays are irradiated from the side of the transport device 10 to the irradiation area on the transport device 10 will be described.

[0070] Figure 11 shows another example of the X-ray irradiation direction by the X-ray imaging apparatus 30. The X-ray imaging apparatus 30 includes an X-ray source 31, a shielding box 32, a detector 33, etc. The X-ray source 31 is positioned on one side in the width direction that intersects horizontally with the transport direction of the transport device 10. The X-ray source 31 irradiates the irradiation area on the transport device 10 from the side of the transport device 10 with X-rays. The shielding box 32 is installed so as to surround the irradiation area. The detector 33 is positioned on the other side in the same width direction. The detector 33 generates an X-ray image of the waste 1 by detecting the X-rays irradiated from the X-ray source 31 (transmitted X-rays that have passed through the waste 1 in the width direction) as the waste 1 passes through the irradiation area. The X-ray imaging apparatus 30 outputs the X-ray image of the waste 1 generated by the detector 33 to the information processing device 50.

[0071] Figure 12 shows an example of the configuration of the adjustment device 20. The adjustment device 20 shown in Figure 12 corresponds to the X-ray imaging device 30 shown in Figure 11. As shown in Figure 12, the adjustment device 20 includes a pressing member 21 that presses against the waste being transported by the transport device 10, and an adjustment unit 22 that can adjust the position of the pressing member 21 relative to the waste 1.

[0072] The pressing member 21 is composed of multiple (two in the example in Figure 12) plate members arranged opposite each other. The spacing between the plate members along the width direction, which is horizontal and perpendicular to the conveying direction a, is tapered, becoming narrower on the upstream side towards the downstream side. Further downstream from the tapered section, the spacing between the plate members is equal. The adjustment unit 22 is composed of, for example, a hydraulic cylinder or an air cylinder, and can adjust the position of the pressing member 21 relative to the conveying device 10 (the position can be adjusted along the width direction indicated by the symbol c in Figure 12).

[0073] The control unit 51 of the information processing device 50 can adjust the position of the pressing member 21.

[0074] When the waste 1 placed on the transport device 10 is transported along the transport direction (indicated by the symbol a in Figure 12), the waste 1 is inserted between two opposing plate members, thereby adjusting its widthwise dimensions. In other words, the shape of the waste 1 is adjusted to be smaller. This allows for a reduction in the widthwise transmission distance of X-rays within the waste 1 when imaging is performed using the X-ray imaging device 30 shown in Figure 11.

[0075] By shortening the X-ray transmission distance within waste 1, X-rays can penetrate more easily, improving the accuracy of detecting difficult-to-process materials within waste 1. Furthermore, the shorter X-ray transmission distance eliminates the need for high-intensity X-ray sources, thus eliminating restrictions on X-ray handling qualifications and work classifications.

[0076] Figure 13 shows an example of the operation of the detection system 100. For convenience, the detection system 100 will be referred to as the main operator in the following description. The detection system 100 puts the waste 1 into the bag-breaking mechanism 80 (S11) and breaks open the bag containing the waste 1 (S12). The detection system 100 measures the height of the waste 1 (S13) and determines whether or not to adjust the processing volume of the bag-breaking mechanism 80 (S14).

[0077] If the processing volume is to be adjusted (YES in S14), the detection system 100 adjusts the processing volume of the bag-breaking mechanism 80 (S15) and performs the process in step S16 described below. For example, if the measured height of the waste 1 is higher than a predetermined value, it can be determined that a relatively large amount of waste 1 is being transported, so the processing volume of the bag-breaking mechanism 80 can be adjusted to reduce the amount of waste 1 transported to an appropriate level. Conversely, if the measured height of the waste 1 is lower than a predetermined value, it can be determined that a relatively small amount of waste 1 is being transported, so the processing volume of the bag-breaking mechanism 80 can be adjusted to increase the amount of waste 1 transported to an appropriate level. If the processing volume is not to be adjusted (NO in S14), the detection system 100 determines whether or not to adjust the position of the pressing member 21 of the adjustment device 20 (S16).

[0078] If the position is to be adjusted (YES in S16), the detection system 100 adjusts the position of the pressing member 21 (S17) and performs the process of step S18 described below. For example, by adjusting the separation dimension (distance) between the pressing member 21 and the transport device 10, the transmission distance of X-rays along the height direction of the waste 1 can be shortened. If the position is not adjusted (NO in S16), the detection system 100 presses the waste 1 with the pressing member 21 (S18) and irradiates the waste 1 with X-rays to acquire an X-ray image (S19).

[0079] The detection system 100 inputs the X-ray image into the learning model 58 and obtains the detection result (S20). The detection system 100 determines whether or not waste 1 contains materials that are difficult to process properly (S21). If it does (YES in S21), it discharges the materials that are difficult to process properly from the transport device 10 (S22) and terminates the process. If waste 1 does not contain materials that are difficult to process properly (NO in S21), the detection system 100 terminates the process.

[0080] The control unit 51 of the information processing device 50 can control the operation of at least one of the adjustment device 20 and the bag-breaking mechanism 80 based on the measurement results measured by the measurement mechanisms 61 and 62. The operation of the adjustment device 20 includes, for example, adjusting the position of the pressing member 21. The operation of the bag-breaking mechanism 80 includes adjusting the processing amount of the bag-breaking mechanism 80.

[0081] Furthermore, the control unit 51 may control at least one of the following actions based on the measurement results measured by the measurement mechanisms 61 and 62: outputting an alarm, stopping the operation of the conveying device 10, and adjusting the conveying speed of the conveying device 10. For example, if the height of the waste 1 measured by the measurement mechanisms 61 and 62 is unsuitable for detecting and processing materials that are difficult to process properly, the control unit 51 may output an alarm, stop the operation of the conveying device 10, or reduce the conveying speed of the conveying device 10.

[0082] (Note 1) The detection system comprises a transport device for transporting waste, an adjustment device for adjusting the shape of the waste transported by the transport device, an X-ray imaging device for photographing the waste whose shape has been adjusted by the adjustment device, and a detection device for detecting materials that are difficult to properly process in the waste based on the X-ray image obtained by the X-ray imaging device.

[0083] (Note 2) In the detection system, as described in Note 1, the adjustment device includes a distance adjustment mechanism that adjusts the transmission distance within the waste when the X-rays irradiated by the X-ray imaging device pass through the waste.

[0084] (Note 3) In the detection system, as described in Note 2, the distance adjustment mechanism comprises a pressing member that presses against the waste being transported by the transport device, and an adjustment unit that can adjust the position of the pressing member relative to the waste.

[0085] (Note 4) The detection system, as described in Note 3, comprises a cylindrical rotating member positioned opposite the conveying device, and a plurality of the pressing members are provided on the outer circumferential surface of the rotating member along the direction of rotation of the rotating member.

[0086] (Note 5) The detection system, as described in Note 3, is equipped with an endless track positioned opposite the transport device, and a plurality of the pressing members are provided on the outer surface of the endless track along the direction of movement of the endless track.

[0087] (Note 6) The detection system is provided with one or more pressing members along at least one of the directions of the transport of the waste and the direction perpendicular to the transport direction, as described in Note 3.

[0088] (Note 7) The detection system, as described in Note 3, includes a support that rotatably supports the pressing member and a spring member that restricts rotation around the support, wherein the spring member releases the restriction on the rotation of the pressing member when the pressing member receives a force exceeding a predetermined value from the waste being transported by the transport device.

[0089] (Note 8) The detection system is provided with a bag-breaking mechanism on the upstream side of the waste transport direction of the adjustment device for breaking the bag containing the waste, as specified in any one of Notes 1 to 7.

[0090] (Note 9) The detection system, as described in Note 8, is provided with a measuring mechanism on at least one of the upstream and downstream sides of the adjustment device in the direction of transporting the waste, for measuring the transmission distance within the waste when the X-rays irradiated by the X-ray imaging device pass through the waste.

[0091] (Note 10) The detection system includes a first control unit that controls the operation of at least one of the adjustment device and the bag breaking mechanism based on the measurement results measured by the measurement mechanism in Note 9.

[0092] (Note 11) The detection system includes a second control unit that controls at least one of the following actions based on the measurement results measured by the measurement mechanism, in any one of Notes 1 to 10: outputting an alarm, stopping the operation of the transport device, and adjusting the transport speed of the transport device.

[0093] (Note 12) The detection system includes a discharge device that discharges the detected material that is difficult to process properly from the conveying device if the detection device detects such material in any one of Notes 1 to 11.

[0094] (Note 13) The detection method involves a conveying device transporting waste, an adjustment device adjusting the shape of the waste transported by the conveying device, an X-ray imaging device photographing the waste whose shape has been adjusted by the adjustment device, and a detection device detecting materials that are difficult to process properly contained in the waste based on the X-ray image obtained from the X-ray imaging device.

[0095] The matters described in each embodiment can be combined with each other. Furthermore, the independent and dependent claims described in the claims can be combined with each other in any combination, regardless of the form of reference. In addition, the claims use a form in which claims referencing two or more other claims (multi-claim form), but are not limited to this. A form in which multi-claims referencing at least one multi-claim (multi-multi-claim) may also be used. [Explanation of Symbols]

[0096] 1. Waste 2. Materials that are difficult to dispose of properly 10 Conveying device 20 Adjustment device 21 Pressing member 22 Adjustment part 23 Rotating member 24 Tracks 25 Support part 26 Spring component 30 X-ray imaging equipment 31 X-ray source 32 Shielding box 33 Detectors 40 Ejector 41 Separator 42 Recovery Pit 50 Information Processing Devices 51 Control Unit 52 Communications Department 53 memory 54 Display section 55 Operation section 56 Memory section 57 Computer Programs 58 Learning Models 59 Notification Department 61, 62 Measurement mechanism 70 monitors 80 Bag breaking mechanism 81 Bag breaking machine 82 Hopper

Claims

1. A conveying device for transporting waste, An adjustment device for adjusting the shape of the waste conveyed by the aforementioned conveying device, An X-ray imaging device for photographing waste whose shape has been adjusted by the aforementioned adjustment device, A detection device for detecting materials that are difficult to properly process in the waste based on an X-ray image obtained by the aforementioned X-ray imaging device. Equipped with, Detection system.

2. The adjustment device is, The X-ray imaging apparatus includes a distance adjustment mechanism that adjusts the distance the X-rays transmitted through the waste material when they pass through the waste material. The detection system according to claim 1.

3. The distance adjustment mechanism is, A pressing member for pressing the waste being transported by the aforementioned transport device, An adjustment unit that can adjust the position of the pressing member relative to the waste, Equipped with, The detection system according to claim 2.

4. The conveying device comprises a cylindrical rotating member positioned opposite to it, Multiple pressing members are provided on the outer circumferential surface of the rotating member along the direction of rotation of the rotating member. The detection system according to claim 3.

5. The transport device is equipped with an endless track positioned opposite to it, Multiple pressing members are provided on the outer surface of the endless track along the direction of movement of the endless track. The detection system according to claim 3.

6. One or more of the pressing members are provided along at least one of the directions of transport of the waste and the direction perpendicular to the transport direction. The detection system according to claim 3.

7. A support portion that rotatably supports the pressing member, A spring member that restricts rotation around the support portion and Equipped with, The spring member is, If the pressing member receives a force exceeding a predetermined value from the waste being transported by the transport device, the restriction on the rotation of the pressing member is released. The detection system according to claim 3.

8. The adjusting device is provided with a bag-breaking mechanism on the upstream side in the waste transport direction for breaking open the bag containing the waste. The detection system according to any one of claims 1 to 7.

9. The adjustment device is provided with a measuring mechanism on at least one of the upstream and downstream sides in the waste transport direction for measuring the transmission distance within the waste when the X-rays irradiated by the X-ray imaging device pass through the waste. The detection system according to claim 8.

10. The system includes a first control unit that controls the operation of at least one of the adjustment device and the bag-breaking mechanism based on the measurement results obtained by the measurement mechanism. The detection system according to claim 9.

11. The system includes a second control unit that controls at least one of the following actions based on the measurement results obtained by the measurement mechanism: outputting an alarm, stopping the operation of the conveying device, and adjusting the conveying speed of the conveying device. The detection system according to any one of claims 1 to 7.

12. If the detection device detects material that is difficult to process properly, the device is equipped with a discharge device that discharges the detected material from the conveying device. The detection system according to any one of claims 1 to 7.

13. The waste is transported by the transport device. The shape of the waste being transported by the aforementioned transport device is adjusted by the adjustment device. The waste whose shape has been adjusted by the adjustment device is then photographed by an X-ray imaging device. Based on the X-ray image obtained by the aforementioned X-ray imaging device, a detection device detects materials in the waste that are difficult to process properly. Detection method.

Images