Object inspection device

Abstract

The present invention provides an object inspection device that can suppress X-ray leakage from the opening of the housing and suppress the accumulation of objects on the transport section. [Solution] The object inspection device comprises a transport unit having a transport surface on which an object is placed and which moves in the transport direction; a housing having an opening; an X-ray source that irradiates an object on the transport surface inside the housing with X-rays; a light receiving sensor that receives X-rays that have passed through the object; a detection unit that detects an object based on the X-rays received by the light receiving sensor; a shielding curtain provided in the opening between the transport surface and the housing facing the transport surface to shield the X-rays; and a partition unit that protrudes from the transport surface, divides the transport surface into a plurality of regions aligned in the transport direction, moves together with the transport surface and passes through the opening.

Description

Technical Field

[0001] The technology of the present disclosure relates to an object inspection device.

Background Art

[0002] There is known an object inspection device that irradiates an object such as waste conveyed into a housing with X-rays inside the housing and detects the object based on the X-rays transmitted through the object. For example, as an object inspection device, there is known a configuration in which leakage of X-rays from the housing is suppressed by a shielding curtain provided at an opening of the housing. Also, as an object inspection device, there is known a configuration in which leakage of X-rays from the housing is suppressed by a shielding plate provided on a conveyance unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this type of object inspection device, it is beneficial if it is possible to suppress leakage of X-rays from the opening of the housing and suppress retention of the object on the conveyance unit.

[0005] One of the problems of the disclosed technology is to provide an object inspection device that can suppress leakage of X-rays from the opening of the housing and suppress retention of the object on the conveyance unit in view of such points.

Means for Solving the Problems

[0006] An object inspection apparatus according to one aspect of the present disclosure comprises: a transport unit having a transport surface on which an object is placed and which moves in the transport direction; a housing having an opening; an X-ray source for irradiating the object on the transport surface inside the housing with X-rays; a light receiving sensor for receiving the X-rays that have passed through the object; a detection unit for detecting the object based on the X-rays received by the light receiving sensor; a shielding curtain provided in the opening between the transport surface and the housing facing the transport surface for shielding the X-rays; and a partition unit protruding from the transport surface, dividing the transport surface into a plurality of regions aligned in the transport direction, moving integrally with the transport surface and passing through the opening. [Effects of the Invention]

[0007] The disclosed object inspection apparatus can suppress X-ray leakage from the opening of the housing and suppress the accumulation of objects on the transport section. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing the overall configuration of the object inspection apparatus according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram showing the portion of the object inspection apparatus according to the first embodiment that includes an X-ray imaging device. [Figure 3] Figure 3 is a schematic plan view showing a part of the conveying device in the object inspection apparatus according to the first embodiment. [Figure 4] Figure 4 shows an example of a dual-energy X-ray image according to the first embodiment. [Figure 5] Figure 5 is a schematic plan view showing a portion of the object inspection apparatus according to the first embodiment, including the removal device. [Figure 6] Figure 6 is a block diagram showing an example of the configuration of an object inspection apparatus according to the first embodiment. [Figure 7] Figure 7 is a diagram illustrating the processing of the inspection processing apparatus of the object inspection apparatus according to the first embodiment. [Figure 8] Figure 8 is a diagram illustrating the processing of the inspection processing apparatus of the object inspection apparatus according to the first embodiment. [Figure 9] FIG. 9 is a plan view schematically showing a part of a transport device in an object inspection apparatus according to the second embodiment. [Figure 10] FIG. 10 is a plan view schematically showing a part of a transport device in an object inspection apparatus according to the third embodiment. [Figure 11] FIG. 11 is a plan view schematically showing a part including a removal device in an object inspection apparatus according to the fourth embodiment. [Figure 12] FIG. 12 is a plan view schematically showing a part including a removal device in an object inspection apparatus according to the fifth embodiment. [Figure 13] FIG. 13 is a view schematically showing an object inspection apparatus according to the sixth embodiment. [Figure 14] FIG. 14 is a view schematically showing a part of an object inspection apparatus according to the sixth embodiment. [Figure 15] FIG. 15 is a view schematically showing an object inspection apparatus according to the seventh embodiment. [Figure 16] FIG. 16 is a view schematically showing an object inspection apparatus according to the eighth embodiment. [Figure 17] FIG. 17 is a view schematically showing the overall configuration of an object inspection apparatus according to the ninth embodiment. [Figure 18] FIG. 18 is a view showing an example of a screen displayed on a display according to the ninth embodiment. [Figure 19] FIG. 19 is a view showing an example of a screen displayed on a display according to the ninth embodiment. [Figure 20] FIG. 20 is a view schematically showing a part of an object inspection apparatus according to the tenth embodiment. Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the object inspection apparatus disclosed in the present application will be described in detail with reference to the drawings. Further, the technology of the present disclosure is not limited by the following description, and the components in the following description include those that can be easily conceived by those skilled in the art, substantially the same ones, and those within the so-called equivalent range. Furthermore, various omissions, substitutions, changes, and combinations of components can be made without departing from the gist of the following embodiments.

[0010] Also, the following plurality of embodiments include similar components. Those similar components are assigned common reference numerals and redundant explanations are omitted. Also, the drawings are schematic, and the dimensional relationships between elements, the ratios of each element, etc. may be different from reality. Also, there may be parts where the dimensional relationships and ratios between the drawings are different from each other.

[0011] <First Embodiment> (Overall Configuration and Operational Outline of the Object Inspection Apparatus) FIG. 1 is a diagram schematically showing the overall configuration of the object inspection apparatus according to the first embodiment. The object inspection apparatus 1 shown in FIG. 1 inspects the object 5 by irradiating the object 5 with X-rays while transporting the object 5. The object 5 is, for example, waste, including general waste and industrial waste such as non-combustible waste, plastic product waste, container packaging plastic waste, construction waste, metal waste, etc., which are collected and processed. The object inspection apparatus 1 is also referred to as an object detection apparatus.

[0012] As shown in FIG. 1, the object inspection apparatus 1 includes a transport device 10, an X-ray imaging device 11, and an inspection processing device 13. The transport device 10 is an example of a transport unit.

[0013] The transport device 10 includes a belt conveyor 20 that transports the object 5. The belt conveyor 20 includes a belt 21, two transport rollers 22, and a belt drive device (not shown). The belt 21 is also referred to as a transport body.

[0014] As shown in each drawing, the X-axis, Y-axis, and Z-axis are defined herein for convenience. The X-axis, Y-axis, and Z-axis are orthogonal to each other. The X-axis is provided along the conveying direction of the belt conveyor 20. The Y-axis is provided along the width direction of the belt 21 of the belt conveyor 20. The Z-axis is provided along the height direction (up and down direction) of the belt conveyor 20 and the X-ray imaging device 11. The width direction of the belt 21 is also referred to as the left-right direction. Furthermore, in the following description, unless otherwise specified, the conveying direction is the direction in which the object 5 is conveyed by the belt conveyor 20.

[0015] Furthermore, the X, Y, and Z directions are defined herein. The X direction is the direction along the X axis and includes the +X direction indicated by the X-axis arrow and the -X direction which is the opposite direction of the X-axis arrow. The Y direction is the direction along the Y axis and includes the +Y direction indicated by the Y-axis arrow and the -Y direction which is the opposite direction of the Y-axis arrow. The Z direction is the direction along the Z axis and includes the +Z direction indicated by the Z-axis arrow and the -Z direction which is the opposite direction of the Z-axis arrow. In the following description, the +Z direction is defined as the vertically upward direction and the -Z direction is defined as the vertically downward direction.

[0016] The two conveyor rollers 22 are spaced apart in the conveying direction. The belt 21 is formed in an endless shape and is stretched across the two conveyor rollers 22. The belt 21 has a conveying surface 21a on which the object 5 is placed. The belt 21 is made of a flexible material and is formed in a loop-shaped (endless) strip. For example, the belt 21 is made of rubber. The belt drive device rotates the conveyor rollers 22 so that the conveying surface 21a of the belt 21 moves parallel to the conveyor. As a result, the conveying surface 21a of the belt 21 conveys the object 5 in the conveying direction (+X direction).

[0017] Figure 2 is a schematic diagram showing a portion of the object inspection apparatus according to the first embodiment, including the X-ray imaging device. Figure 3 is a schematic plan view showing a part of the transport device in the object inspection apparatus according to the first embodiment.

[0018] As shown in Figures 1 to 3, multiple partition members 23 are provided on the conveying surface 21a of the belt 21. The partition members 23 are an example of partitions. The multiple partition members 23 protrude from the conveying surface 21a and divide the conveying surface 21a into multiple regions R1 aligned in the conveying direction, and move together with the conveying surface 21a. In other words, the multiple partition members 23 are fixed to the conveying surface 21a and divide the space on the conveying surface 21a into multiple regions aligned in the conveying direction. The multiple partition members 23 are the same shape and are arranged at equal intervals in the conveying direction. Note that the multiple partition members 23 do not have to be the same shape and do not have to be arranged at equal intervals in the conveying direction.

[0019] As shown in Figures 2 and 3, the partition member 23 has a flat plate shape with its thickness direction aligned with the X direction. That is, the thickness direction of the partition member 23 is aligned with the X direction. The partition member 23 has a base end portion 23a fixed to the conveying surface 21a and a tip portion 23b opposite to the base end portion 23a. The partition member 23 is formed of a material with low X-ray transmittance, such as tungsten. The partition member 23 may be formed of a metallic material such as tungsten alone, or it may be formed of a material containing a metallic material.

[0020] As shown in Figure 2, the X-ray imaging apparatus 11 comprises a housing 30, an X-ray source 31, a light receiving sensor 32, and a plurality of shielding curtains 33. The housing 30 houses the X-ray source 31 and the light receiving sensor 32. The X-ray source 31 irradiates an object 5 on the transport surface 21a inside the housing 30 with X-rays. The light receiving sensor 32 receives (detects) the X-rays that have passed through the object 5.

[0021] The housing 30 is provided with an opening 30a. The opening 30a is a through hole that penetrates the housing 30 in the transport direction (X direction). The housing 30 has a facing surface 30b that faces the upper part of the opening 30a and faces the transport surface 21a. The housing 30 is also provided with a recess 30c that is open downwards. The recess 30c is connected to the opening 30a.

[0022] The belt 21 of the belt conveyor 20 passes through the opening 30a. The partition member 23 moves together with the conveying surface 21a of the belt 21 and passes through the opening 30a.

[0023] Figure 4 shows an example of a dual-energy X-ray image according to the first embodiment. As shown in Figure 4, the X-ray imaging device 11 irradiates an object 5 with X-rays from the X-ray source 31 to generate an X-ray transmission image. As an example, the X-ray imaging device 11 generates a dual-energy X-ray image composed of pixel values ​​that distinguish substances (materials) such as effective atomic number, based on the ratio of the attenuation amounts when two types of X-rays, high-energy and low-energy, irradiated from the X-ray source 31, pass through the object 5 being transported inside the housing 30 of the X-ray imaging device 11. In other words, the pixel value of each pixel constituting the dual-energy X-ray image can be treated as information for identifying each material constituting the object 5. Hereinafter, the generation of a dual-energy X-ray image of the object 5 by the above-described process by the X-ray imaging device 11 may be expressed as the X-ray imaging device 11 imaging the object 5. A dual-energy X-ray image is an example of an X-ray transmission image. Furthermore, the X-ray transmission image may be a single-energy X-ray image, rather than a dual-energy X-ray image.

[0024] As shown in Figure 2, the X-ray source 31 is installed inside the housing 30, below the belt 21 (-Z direction), and irradiates the object 5 being transported upward by the belt 21 with X-rays. The X-ray source 31 may, for example, switch between irradiating two types of X-rays, high energy and low energy. The X-ray source 31 may also consist of two X-ray sources: one that irradiates high energy X-rays and another that irradiates low energy X-rays. Furthermore, the X-ray source 31 irradiates X-rays with a tube voltage in the range of, for example, 100 to 160 [kV]. This makes it easier to detect objects such as lithium-ion batteries, as many of the object's features remain visible in the image, even if the object 5 contains metallic material. Note that the placement of the X-ray source 31 is not limited to the above, and it may be placed above the belt 21.

[0025] The light-receiving sensor 32 is positioned within the housing 30 on the opposite side of the belt 21 from the X-ray source 31, i.e., on the upper side. For example, the light-receiving sensor 32 is housed in a recess 30c. The belt 21 is located between the light-receiving sensor 32 and the X-ray source 31. Therefore, the object 5 passes through the region R2 between the X-ray source 31 and the light-receiving surface 32a of the light-receiving sensor 32. The light-receiving sensor 32 has a light-receiving surface 32a that receives (detects) X-rays irradiated from the X-ray source 31. As a result, the light-receiving sensor 32 receives (detects) two types of X-rays irradiated from the X-ray source 31, high-energy and low-energy, and the ratio of their respective attenuation amounts can be obtained. Note that the light-receiving sensor 32 shown in Figure 2, etc., is a line sensor type, but it is not limited to this, and may be an area sensor type, for example. The light-receiving sensor 32 is also called an X-ray sensor.

[0026] Although the X-ray source 31 is described as emitting high-energy and low-energy X-rays, it is not limited to this. The X-ray source 31 may emit a single-energy X-ray, and the sensitivity characteristics of the incident X-rays may be switched by the photodetector 32 to obtain two types of X-ray data. In this case, the photodetector 32 may consist of two sensors with different sensitivity characteristics, each detecting a single-energy X-ray emitted from the X-ray source 31. Furthermore, if the X-ray source 31 consists of two X-ray sources, one emitting high-energy X-rays and the other emitting low-energy X-rays, there may be two photodetectors 32, each detecting a different energy level of X-rays. In other words, in any of the above configurations for the X-ray source 31 and the photodetector 32, two types of X-ray data are obtained, and a dual-energy X-ray image can be obtained by the ratio of their attenuation amounts.

[0027] As shown in Figure 2, multiple shielding curtains 33 are provided in the opening 30a between the transport surface 21a and the opposing surface 30b of the housing 30 facing the transport surface 21a, to shield against X-rays. As an example, multiple shielding curtains 33 are provided on both the transport direction side (+X direction side) and the opposite transport direction side (-X direction side) of the region R2 between the X-ray source 31 and the light-receiving surface 32a of the light-receiving sensor 32. Each shielding curtain 33 has a base end 33a fixed to the opposing surface 30b and a tip end 33b opposite the base end 33a. The shielding curtain 33 is made of a material capable of shielding against X-rays and is flexible. The material of the shielding curtain 33 includes, but is not limited to, tungsten. The shielding curtain 33 is located outside the region R2 between the X-ray source 31 and the light-receiving surface 32a, regardless of whether it is deformed or not.

[0028] The partition member 23 is positioned between the transport surface 21a and the shielding curtain 33. In the direction opposite to the transport surface 21a (Z direction), the tip portion 33b of the shielding curtain 33 on the transport surface 21a side is spaced apart from the transport surface 21a and is in contact with the tip portion 23b of the partition member 23 on the housing 30 side in the same opposing direction.

[0029] If the vertical length (height) of the opening 30a is La, the vertical length (height) of the shielding curtain 33 is Lb, and the vertical length (height) of the partition member 23 is Lc, then their relationship can be expressed, for example, by the following equations (1) and (2). (Lb+Lc)×0.9 <La<(Lb+Lc)×1.1 ···(1) 0.2 × La <Lc<0.8×La ···(2)

[0030] Due to the relationship in equation (1), no gap is created between the partition member 23 and the shielding curtain 33, and the amount of interference between the partition member 23 and the shielding curtain 33 can be reduced, thereby suppressing wear and tear on the partition member 23 and the shielding curtain 33. Furthermore, due to the relationship in equation (2) above, the object 5 is prevented from getting stuck between the opposing surface 30b and the partition member 23, thereby suppressing the stagnation of the object 5.

[0031] Figure 5 is a schematic plan view showing a portion of the object inspection apparatus according to the first embodiment that includes a removal device. As shown in Figure 5, the object inspection apparatus 1 further comprises a removal device 12. The removal device 12 is located downstream of the X-ray imaging apparatus 11 in the transport direction. In other words, the removal device 12 is located on the transport direction side relative to the X-ray imaging apparatus 11. The removal device 12 removes a specific object, the target object 5A, based on the detection result of the detection unit 220a. Specifically, the removal device 12 removes the target object 5A from the transport surface 21a by control of the control unit 230a based on the detection result of the detection unit 220a. Here, the target object 5A is a hazardous material such as a lithium-ion battery. The target object 5A may also be a knife, spray can, lighter, dry cell battery, syringe, etc. That is, the target object 5A may be one or more of the above. The removal device 12 is an example of a removal unit.

[0032] As shown in Figure 5, the removal device 12 comprises an extrusion mechanism 40 and a follow-up mechanism 41.

[0033] The extrusion mechanism 40 includes an extrusion unit 40a that is movable in the width direction of the belt 21, and an extrusion drive mechanism that moves the extrusion unit 40a. The extrusion unit 40a removes the object 5A by pushing it out of the conveying surface 21a in the width direction of the belt 21. At this time, if there are multiple objects 5 including the object 5A between two adjacent partition members 23 in the conveying direction, the extrusion unit 40a pushes out multiple objects 5. The extrusion drive mechanism includes an actuator such as a motor or an air cylinder. The group of objects 5 including the object 5A pushed out by the extrusion mechanism 40 falls into a basket or the like arranged adjacent to the belt 21. The follow mechanism 41 causes the extrusion mechanism 40 to follow the movement of the conveying surface 21a. Specifically, the follow mechanism 41 moves the extrusion mechanism 40 from its initial position in the conveying direction by following the movement of the conveying surface 21a. When the extrusion by the extrusion mechanism 40 is complete, the follow mechanism 41 returns the extrusion mechanism 40 to its initial position. The follow-up mechanism 41 includes, for example, a moving mechanism for moving the extrusion mechanism 40 and a motor for driving the moving mechanism. However, the extrusion mechanism 40 and the follow-up mechanism 41 are not limited to those described above.

[0034] The inspection processing device 13 shown in Figure 1 is an information processing device for detecting an object 5A (e.g., a lithium-ion battery) from an object 5 being transported by a transport device 10, using a dual-energy X-ray image generated by an X-ray imaging device 11. The inspection processing device 13 is a standard information processing device such as a PC (Personal Computer) or workstation, and includes, for example, a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), RAM (Random Access Memory), auxiliary storage device, and input / output interface circuitry. As shown in Figure 1, the inspection processing device 13 is housed, for example, within the housing 30 of the X-ray imaging device 11. However, the inspection processing device 13 may also be installed outside the housing 30 of the X-ray imaging device 11.

[0035] (Block configuration and operation of the object inspection device) Next, the block configuration and operation of the object inspection apparatus 1 according to this embodiment will be described with reference to Figures 6 to 8. Figure 6 is a diagram showing an example of the block configuration of the object inspection apparatus according to the first embodiment. Figure 7 is a diagram illustrating the processing of the inspection processing apparatus of the object inspection apparatus according to the first embodiment. Figure 8 is a diagram illustrating the processing of the inspection processing apparatus of the object inspection apparatus according to the first embodiment.

[0036] As shown in Figure 6, the inspection processing device 13 includes a detection unit 220a, a control unit 230a, and a storage device 250. The detection unit 220a includes an image acquisition unit 221, an image processing unit 222, a detection processing unit 223, and a notification unit 224. The image acquisition unit 221, image processing unit 222, detection processing unit 223, and notification unit 224 are realized by the execution of an object detection program 220 by the CPU 210 provided in the inspection processing device 13. The control unit 230a is realized by the execution of an apparatus control program 230 by the CPU 210. The apparatus control program 230 is a program executed by the CPU 210 and controls the operation of the X-ray imaging apparatus 11. The object detection program 220 and the apparatus control program 230 are stored, for example, in the storage device 250 and are read into the main memory and executed by the CPU 210.

[0037] The image acquisition unit 221 is a functional unit that acquires dual-energy X-ray images of the object 5 captured by the X-ray imaging device 11 via a predetermined interface circuit. The image acquisition unit 221 outputs the acquired dual-energy X-ray images to the image processing unit 222.

[0038] The image processing unit 222 is a functional unit that generates an image containing information about a predetermined object by performing image processing on the dual-energy X-ray image acquired by the image acquisition unit 221.

[0039] Here, Figure 7 shows a sequence of images Ia, an example of a dual-energy X-ray image. This sequence of images Ia includes an image 23I of the partition member 23. The image processing unit 222 removes the image 23I of the partition member 23 from the sequence of images Ia, leaving image Ib between two adjacent images 23I of the partition member 23. The image processing unit 222 extracts image Ib from the sequence of images Ia. The image processing unit 222 may also recognize the partition member 23 from the obtained sequence of images Ia using image recognition and crop the image. As another example, the dual-energy X-ray image may be generated at a timing when the partition member 23 is not visible.

[0040] The detection processing unit 223 shown in Figure 6 is a functional unit that detects an object 5 (e.g., object 5A) in a dual-energy X-ray image and also detects the position of the object 5 (e.g., object 5A). For example, the detection processing unit 223 uses a learning model that has been trained in advance by machine learning to use a dual-energy X-ray image captured by the X-ray imaging device 11 as training data, and outputs whether or not an object 5 (e.g., object 5A) is included in the image, and if so, the position of the object 5 (e.g., object 5A). In this way, the detection processing unit 223 detects an object 5 (e.g., object 5A) in a dual-energy X-ray image and also detects the position of the object 5 (e.g., object 5A). Alternatively, the detection processing unit 223 may detect an object 5 (e.g., object 5A) and its position by performing template matching between the dual-energy X-ray image and a template image containing an image of the object 5 (e.g., object 5A). The method for detecting object 5 (e.g., object 5A) in the dual-energy X-ray image and the method for detecting the position of object 5 (e.g., object 5A) are not limited to those described above. Furthermore, the detection processing unit 223 detects the position of object 5 (e.g., object 5A) as, for example, the coordinate position in a predetermined coordinate system. The position of object 5 (e.g., object 5A) detected by the detection processing unit 223 is not limited to those described above.

[0041] The detection processing unit 223 outputs the detection result (judgment result) to the notification unit 224.

[0042] The notification unit 224 is a functional unit that notifies the output device 14 of the detection result (determination result) by the detection processing unit 223. In this embodiment, the output device 14 is, for example, a speaker. For example, when an object 5A is detected, the notification unit 224 notifies the detection result of the detection unit 220a by outputting a warning sound from the output device 14. Note that the output device 14 is not limited to a speaker, but may be a light irradiation device, display device, signal light, light-emitting unit, etc.

[0043] The control unit 230a instructs the removal device 12 to remove the detected object 5A. At this time, the position of the object 5A in the transport direction is calculated using the elapsed time since the acquisition of the dual-energy X-ray image, the position (coordinate position) of the object 5A detected by the detection unit 220a, and the transport speed of the object 5A by the transport device 10 (movement speed of the transport surface 21a).

[0044] The functional units of the object detection program 220 and the device control program 230 of the inspection processing device 13 shown in Figure 6 are conceptual representations of their functions and are not limited to this configuration. In other words, each functional unit does not need to be configured as a clear software module as shown in Figure 6; the functions of each functional unit are realized as a whole when the object detection program 220 and the device control program 230 are executed in the inspection processing device 13. For example, multiple functional units shown as independent functional units in the object detection program 220 and the device control program 230 shown in Figure 6 may be configured as a single functional unit. On the other hand, in the object detection program 220 and the device control program 230 shown in Figure 6, the functions of a single functional unit may be divided into multiple functional units.

[0045] <Summary> As described above, the object inspection apparatus 1 of this embodiment comprises a transport device 10 (transport unit), a housing 30, an X-ray source 31, a light receiving sensor 32, a detection unit 220a, a shielding curtain 33, and a partition member 23 (partition unit). The transport device 10 includes a transport surface 21a. The transport surface 21a is on which an object 5 is placed and moves in the transport direction. The housing 30 is provided with an opening 30a. The X-ray source 31 irradiates the object 5 on the transport surface 21a inside the housing 30 with X-rays. The light receiving sensor 32 receives the X-rays that have passed through the object 5. The detection unit 220a detects the object 5 based on the X-rays received by the light receiving sensor 32. The shielding curtain 33 is provided in the opening 30a between the transport surface 21a and the housing 30 facing the transport surface 21a, and shields the X-rays. The partition member 23 protrudes from the conveying surface 21a, dividing the conveying surface 21a into multiple regions R1 aligned in the conveying direction, and moves integrally with the conveying surface 21a to pass through the opening 30a.

[0046] With this configuration, the shielding curtain 33 and the partition member 23 can suppress X-ray leakage from the opening 30a of the housing 30, and the partition member 23 can suppress the accumulation of objects 5 on the transport device 10. For example, in a configuration without the partition member 23, if the object is relatively light and the shielding curtain is relatively heavy, the object will be stopped by the shielding curtain, and accumulation of objects on the transport device is likely to occur. In contrast, in this embodiment, since the partition member 23 is provided, even if the object 5 is relatively light and the shielding curtain 33 is relatively heavy, the partition member 23 can push the object 5 in the transport direction, thereby suppressing the accumulation of objects 5 on the transport device 10.

[0047] Furthermore, the partition member 23 is positioned between the transport surface 21a and the shielding curtain 33.

[0048] This configuration makes it possible to suppress X-ray leakage from the opening 30a of the housing 30.

[0049] Furthermore, the tip portion 33b of the shielding curtain 33 on the transport surface 21a side in the direction opposite to the transport surface 21a and the housing 30 is spaced apart from the transport surface 21a and is in contact with the tip portion 23b of the partition member 23 on the housing 30 side in the opposite direction.

[0050] This configuration makes it possible to suppress X-ray leakage from the opening 30a of the housing 30.

[0051] Furthermore, the light-receiving sensor 32 has a light-receiving surface 32a that receives X-rays. The shielding curtain 33 is located outside the region R2 between the X-ray source 31 and the light-receiving surface 32a, regardless of whether it is deformed or not.

[0052] With this configuration, even if the shielding curtain 33 is deformed by being pressed by the moving partition plate, the shielding curtain 33 can suppress its reflection in the X-ray transmission image.

[0053] Furthermore, the object inspection device 1 is equipped with a plurality of partition members 23. The plurality of partition members 23 are identical in shape and are arranged at equal intervals in the transport direction.

[0054] This configuration makes it possible to suppress the accumulation of objects 5 on the transport device 10.

[0055] Furthermore, object 5 includes at least plastic waste.

[0056] With this configuration, plastic waste can be detected.

[0057] Furthermore, object 5A (specific object) is a hazardous material containing lithium-ion batteries.

[0058] This configuration allows for the removal of hazardous materials, including lithium-ion batteries.

[0059] Furthermore, the object inspection device 1 includes a notification unit 224 that notifies the detection result of the detection unit 220a. The detection unit 220a detects the target object 5A (a specific object) based on the X-rays received by the light receiving sensor 32.

[0060] With this configuration, when the detection unit 220a detects the object 5A, the detection result can be notified by the notification unit 224.

[0061] Furthermore, the notification unit 224 notifies the detection result of the detection unit 220a by outputting a warning sound from the output device 14 (speaker).

[0062] With this configuration, workers can recognize the detection results by sound, making the work easier.

[0063] Furthermore, the object inspection device 1 includes a removal device 12 (removal unit). The detection unit 220a detects the target object 5A (a specific object) based on the X-rays received by the light receiving sensor 32. The removal device 12 removes the target object 5A based on the detection result of the detection unit 220a.

[0064] With this configuration, the object 5A can be removed, eliminating the need for the operator to manually remove the detected object 5A from the transport surface 21a.

[0065] Furthermore, the removal device 12 includes an extrusion mechanism 40 that removes the object 5A by pushing it out from the conveying surface 21a, and a follow mechanism 41 that causes the extrusion mechanism 40 to follow the movement of the conveying surface 21a.

[0066] With this configuration, there is no need to provide a structure for removing object 5 in the conveying device 10, thus suppressing the complexity of the conveying device 10's structure. In addition, since a tracking mechanism 41 is provided, interference between the extrusion mechanism 40 and the partition member 23 is suppressed. Furthermore, the operator can reliably remove the target object 5A simply by checking the group of extruded objects 5 together.

[0067] Furthermore, the object inspection device 1 includes an image processing unit 222 that removes the image of the partition member 23 from the X-ray transmission image obtained by receiving X-rays with the light receiving sensor 32.

[0068] This configuration improves the accuracy of object detection.

[0069] <Second Embodiment> Figure 9 is a schematic plan view showing a part of the conveying device in the object inspection apparatus according to the second embodiment.

[0070] As shown in Figure 9, the shape of the partition member 23 in this embodiment differs from that of the first embodiment. The partition member 23 in this embodiment is formed in a V-shape in plan view (line of sight along the Z direction). In detail, the partition member 23 comprises one end 23d and two wall portions 23e and 23f. The one end 23d is the end on one side of the transport direction and the direction opposite to the transport direction (for example, the side opposite to the transport direction). The two wall portions 23e and 23f move away from each other in the width direction of the transport surface 21a that intersects the transport direction as you move from the one end 23d toward the other side of the transport direction and the opposite direction (for example, the transport direction). That is, the downstream side of the partition member 23 in the transport direction is a concave surface that is recessed toward the upstream side of the transport direction, and the upstream side of the partition member 23 in the transport direction is a convex surface that is convex toward the upstream side of the transport direction. In other words, the side of the partition member 23 facing the transport direction is a concave surface that is recessed in the opposite direction to the transport direction, and the side of the partition member 23 facing the opposite direction to the transport direction is a convex surface that is convex in the opposite direction to the transport direction.

[0071] Furthermore, one end 23d is the end in the conveying direction, and the two wall portions 23e and 23f may move away from each other in the width direction of the conveying surface 21a intersecting the conveying direction as they move from the one end 23d in the opposite direction. Also, the partition member 23 may be U-shaped in plan view.

[0072] <Third Embodiment> Figure 10 is a schematic plan view showing a part of the conveying device in the object inspection apparatus according to the third embodiment.

[0073] As shown in Figure 10, the shape of the partition member 23 in this embodiment differs from that of the first embodiment. In this embodiment, the partition member 23 is positioned at an inclination with respect to the transport direction in a plan view (line of sight along the Z direction).

[0074] <Fourth Embodiment> Figure 11 is a schematic plan view showing a portion of the object inspection apparatus according to the fourth embodiment, including the removal device.

[0075] As shown in Figure 11, this embodiment differs from the first embodiment in the conveying device 10 and the removal device 12 (removal unit). In the conveying device 10 of this embodiment, the conveying surface 21a can change between a conveying state for conveying objects and a removal state for dropping objects 5 (Figure 11) for each region R1. For example, the belt 21 includes a movable part 21b provided for each region R1, and an endless base part 21c that supports one end 21ba in the width direction of the movable part 21b, enabling the above change of the movable part 21b. As a result, the movable part 21b can rotate around a rotation center provided on the base part 21c. The movable part 21b is locked in the conveying state by a locking mechanism.

[0076] The removal device 12 includes a change mechanism 43 that removes the object 5A (a specific object) from the conveying surface 21a by releasing the lock on the movable part 21b by a locking mechanism and changing the conveying surface 21a from a conveying state to a removal state. The change mechanism 43 includes, for example, an operating mechanism that operates the locking mechanism and a moving mechanism that allows the other end 21bb in the width direction of the movable part 21b to move vertically. With the lock on the locking mechanism released, the change mechanism 43 moves the other end 21bb in the width direction of the movable part 21b downward. As a result, the movable part 21b tilts, and the object 5 (object 5A) slides off the conveying surface 21a of the belt 21 and is placed in the basket 50. The change mechanism 43 includes a drive source (for example, a motor) for the above operation.

[0077] With this configuration, the target object 5A (a specific object) can be removed by dropping it.

[0078] <Fifth Embodiment> Figure 12 is a schematic plan view showing a portion of the object inspection apparatus according to the fifth embodiment, including the removal device.

[0079] As shown in Figure 12, in this embodiment, similar to the fourth embodiment, the conveying surface 21a can change between a conveying state for each region R1 and a removal state for dropping the object 5 (Figure 12), and the belt 21 comprises a movable part 21b and a base part 21c. However, in this embodiment, the base part 21c supports one end 21bc on the downstream side in the conveying direction of the movable part 21b. The movable part 21b is rotatable around a rotation center provided on the base part 21c. The movable part 21b is locked in the conveying state by a locking mechanism.

[0080] The removal device 12 includes a change mechanism 43 that removes the object 5A (a specific object) from the conveying surface 21a by releasing the lock on the movable part 21b by a locking mechanism and changing the conveying surface 21a from a conveying state to a removal state. The change mechanism 43 includes, for example, an operating mechanism that operates the locking mechanism and a moving mechanism that allows the other end 21bd of the movable part 21b on the upstream side in the conveying direction to move vertically. With the lock on the locking mechanism released, the change mechanism 43 moves the other end 21bd of the movable part 21b downward. As a result, the movable part 21b tilts, and the object 5 (object 5A) slides off the conveying surface 21a of the belt 21 onto the belt conveyor 51. The change mechanism 43 includes a drive source (e.g., a motor) for the above operation. The conveying direction of the belt conveyor 51 intersects, for example, the conveying direction of the belt conveyor 20.

[0081] With this configuration, the target object 5A (a specific object) can be removed by dropping it.

[0082] <Sixth Embodiment> Figure 13 is a schematic diagram showing an object inspection apparatus according to the sixth embodiment. Figure 14 is a schematic diagram showing a part of the object inspection apparatus according to the sixth embodiment.

[0083] As shown in Figures 13 and 14, this embodiment differs from the first embodiment in that the conveying device 10 and the removal device 12 are different.

[0084] The conveying device 10 comprises a box body 60 placed on the conveying surface 21a and a support part 61 fixed to the conveying surface 21a.

[0085] The box body 60 comprises a bottom wall 60a, two partition walls 60b and 60c, and two side walls (not shown). The bottom wall 60a rests on the transport surface 21a. The two partition walls 60b and 60c are spaced apart in the transport direction and extend from the end of the bottom wall 60a away from the transport surface 21a. In other words, the partition walls 60b and 60c protrude from the transport surface 21a. The partition walls 60b and 60c divide the transport surface 21a into multiple regions R1. The box body 60 moves integrally with the transport surface 21a and passes through the opening 30a. The partition walls 60b and 60c are examples of partitions.

[0086] Furthermore, the box body 60 is provided with a recess 60d. The recess 60d is formed by the bottom wall 60a, two partition walls 60b and 60c, and two side walls. The recess 60d is located along the direction in which the transport surface 21a and the housing 30 are facing each other, and opens in the direction from the transport surface 21a toward the housing 30, allowing the object 5 to be accommodated.

[0087] Multiple support parts 61 are arranged on the transport surface 21a at intervals in the transport direction and protrude from the transport surface 21a. A box body 60 is placed between two adjacent support parts 61 in the transport direction, and the support parts 61 support the box body 60.

[0088] The removal device 12 includes a robotic arm 62. The robotic arm 62 is capable of gripping the box 60 containing the object 5 (target object 5A) and removing it from the transport surface 21a. The robotic arm 62 has, for example, a mechanism such as a vertical articulated joint, SCARA, gantry, or parallel link, and a manipulator part such as a suction pad, robotic hand, or parallel gripper. However, the configuration of the robotic arm 62 is not limited to the above.

[0089] As described above, the partition walls 60b and 60c (partitions) of this embodiment are included in a box body 60 that has a recess 60d that opens in the direction toward the housing 30 from the transport surface 21a, along the direction in which the transport surface 21a and the housing 30 face each other, and is capable of accommodating an object 5. The removal device 12 (removal unit) grips the box body 60 containing the target object 5A (specific object 5) and removes it from the transport surface 21a.

[0090] With this configuration, since the partition walls 60b and 60c are not fixed to the belt 21 and can be detached from the belt 21, it is not necessary to provide space for the partition walls 60b and 60c on the lower side of the belt 21, thus reducing the size of the housing 30. Furthermore, with the above configuration, the object 5A can be removed along with the box 60.

[0091] The robot arm 62 may also grasp the object 5A and remove it from the transport surface 21a.

[0092] <Seventh Embodiment> Figure 15 is a schematic diagram showing an object inspection apparatus according to the seventh embodiment.

[0093] As shown in Figure 15, this embodiment differs from the seventh embodiment in that the removal device 12 is not provided. In this embodiment, the box body 60 is configured to move together with the belt 21 and to detach from the belt 21 when it is inverted.

[0094] <Eighth Embodiment> Figure 16 is a schematic diagram showing an object inspection apparatus according to the eighth embodiment.

[0095] This embodiment differs from the first embodiment in that the object inspection device 1 includes a plurality of magnets 66 and a magnetic sensor 67.

[0096] The magnets 66 are provided for each partition member 23 and move together with the belt 21 and the partition member 23. For example, the magnets 66 are provided at the base end 23a of the partition member 23.

[0097] The magnetic sensor 67 is installed inside the housing 30 and fixed to the housing 30. The magnetic sensor 67 detects the partition member 23 by detecting the magnet 66. The magnetic sensor 67 is an example of a partition detection unit.

[0098] Furthermore, the image acquisition unit 221 or the image processing unit 222 acquires an image obtained by removing the image of the partition member 23 from the X-ray transmission image obtained by receiving X-rays with the light receiving sensor 32, based on the detection result of the magnetic sensor 67.

[0099] As described above, the object inspection apparatus 1 of this embodiment includes a magnetic sensor 67 for detecting the partition member 23, and an image acquisition unit 221 or image processing unit 222 that acquires an image by removing the image of the partition member 23 from an X-ray transmission image obtained by receiving X-rays with a light receiving sensor 32, based on the detection result of the magnetic sensor 67.

[0100] This configuration improves the accuracy of object detection.

[0101] <Ninth Embodiment> Figure 17 is a schematic diagram showing the overall configuration of the object inspection apparatus according to the ninth embodiment. Figure 18 is a diagram showing an example of a screen displayed on the display according to the ninth embodiment. Figure 19 is a diagram showing an example of a screen displayed on the display according to the ninth embodiment.

[0102] As shown in Figure 17, this embodiment differs from the first embodiment in that the object inspection device 1 includes a display device 65 and a plurality of projectors 72. Note that the partition member 23 is not shown in Figure 17. The projectors 72 are an example of light irradiation devices.

[0103] The display device 65 is an LCD (Liquid Crystal Display) or organic EL (Organic Electroluminescence) display, etc., that displays a pseudo-colorized dual-energy X-ray image generated by the X-ray imaging device 11, and the most recent detection result from the inspection processing device 13, etc., according to the control of the inspection processing device 13. The display device 65 is installed, for example, on the side of the housing 30 of the X-ray imaging device 11. By providing the display device 65 to the object inspection device 1 in this way, it becomes easy to check the detection results, etc., even in places with high illumination. The display device 65 may also display, for example, the number of detections over a certain period in the past, the operating time of the object inspection device 1, or the estimated current position of the object detected by the inspection processing device 13, etc., according to the control of the inspection processing device 13. The display device 65 may be installed separately from the X-ray imaging device 11, rather than on the side of the housing 30 of the X-ray imaging device 11.

[0104] The projector 72 is supported by a frame above the belt conveyor 20. The projector 72 is a light irradiation device (projection device) that irradiates projection light onto transported objects 80 that have been detected by the X-ray imaging device 11 among the objects 5 being transported on the belt conveyor 20. In this way, the projector 72 directly irradiates projection light onto the transported objects 80 in which the object has been detected, resulting in high visibility and making it easier for the worker to perform their duties. Note that the projector 72 is not limited to being installed in pairs, as shown in Figure 17, but may be installed in one or three or more units. In this case, by using multiple projectors 72 to divide the range of positions of the transported objects 80 to be irradiated, a wider area can be irradiated compared to when only one projector 72 is installed.

[0105] Figures 18 and 19 also show an example of an X-ray transmission image, image Id. The notification unit 224 of this embodiment notifies the detection result of the detection unit 220a by adding a marker display Im to the image 5AI of the target object 5A (a specific object) in image Id (X-ray transmission image) obtained by receiving X-rays by the light receiving sensor 32, and displaying the continuous image Ia on the display device 65. The marker display Im is, for example, a circle, but is not limited to that shape. The marker display Im may be displayed in black or in color.

[0106] Furthermore, the notification unit 224 notifies the detection result of the detection unit 220a by irradiating the object 5A being transported with light using the projector 72 and making the light follow the transport of the object 5A. At this time, the position of the object 5A in the transport direction is calculated using the elapsed time since the acquisition of the dual-energy X-ray image, the position of the object 5A detected by the detection unit 220a, and the transport speed of the object 5A by the transport device 10.

[0107] With this configuration, the detection results from the detection unit 220a are displayed on the display device 65, making the detection results visually easy for the operator to understand. In addition, the projector 72 illuminates the object 5A with light, making the position of the object 5A on the transport device 10 visually easy for the operator to understand. Therefore, the operator can efficiently remove the object 5A.

[0108] <Tenth Embodiment> Figure 20 is a schematic diagram showing a part of the object inspection apparatus according to the 10th embodiment.

[0109] This embodiment differs from the first embodiment in that the conveying device 10 is provided with a plurality of light-emitting units 90. The light-emitting units 90 are provided on the frame 25 of the belt conveyor 20, which is a member that rotatably supports the conveying rollers 22. The plurality of light-emitting units 90 are arranged in the conveying direction. The light-emitting units 90 are composed of LEDs (Light Emitting Diodes) or the like.

[0110] The notification unit 224 notifies the detection result of the detection unit 220a by lighting up the light-emitting unit 90 closest to the object 5A (specific object) being transported among the multiple light-emitting units 90. At this time, the position of the object 5A in the transport direction is calculated using the elapsed time since the acquisition of the dual-energy X-ray image, the position of the object 5A detected by the detection unit 220a, and the transport speed of the object 5A by the transport device 10. In Figure 20, the light-emitting units 90 that are lit are shown in black.

[0111] With this configuration, the light-emitting part 90 closest to the object 5A (a specific object) lights up, making it easy for the operator to visually determine the position of the object 5A on the conveying device 10. The method of lighting the light-emitting parts 90 may vary in terms of the position of the lit light-emitting part 90 and the way it lights up (e.g., flashing).

[0112] Although embodiments have been described above, the embodiments are not limited to those described above. Furthermore, the components described above include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the components described above can be combined as appropriate. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made without departing from the gist of the embodiments. [Explanation of Symbols]

[0113] 1. Object inspection device 5 objects 5A Object (Specific object) 10. Conveying device (conveying section) 12 Removal device 13 Inspection Processing Device 14 Output device 20,51 Belt conveyor 21 belt 21a Conveying surface 23 Partition members (partition sections) 23d One end 23b Tip (end) 23e,23f Wall section 30 cabinets 30a opening 31 X-ray source 32 Light receiving sensor 32a Photosensitive surface 33. Shielding Curtains 33b Tip (end) 40 Extrusion mechanism 41. Tracking mechanism 43. Mechanism of Change 60 box body 60b, 60c Partition wall (partition section) 61 Support part 62 Robot Arms 65 Display device 72. Projector (light irradiation device) 90 Light-emitting part 220a Detection unit 222 Image Processing Unit 224 Notification Department Im Marker Display R1,R2 area

Claims

1. A conveying unit having a conveying surface on which an object is placed and moves in the conveying direction, A housing with an opening, An X-ray source that irradiates the object on the transport surface inside the housing with X-rays, A light-receiving sensor that receives the X-rays that have passed through the object, A detection unit detects the object based on the X-rays received by the light receiving sensor, A shielding curtain is provided in the opening between the transport surface and the housing facing the transport surface, which shields the X-rays. A partition portion that protrudes from the conveying surface, divides the conveying surface into a plurality of regions aligned in the conveying direction, moves integrally with the conveying surface, and passes through the opening, An object inspection device equipped with the following features.

2. The partition is located between the transport surface and the shielding curtain. The object inspection apparatus according to claim 1.

3. The end of the shielding curtain on the transport surface side in the direction opposite to the transport surface and the housing is spaced apart from the transport surface and in contact with the end of the partition on the housing side in the opposite direction. The object inspection apparatus according to claim 2.

4. The light receiving sensor has a light receiving surface that receives the X-rays, The shielding curtain, regardless of whether it is deformed or not, is located outside the region between the X-ray source and the light-receiving surface. The object inspection apparatus according to claim 1.

5. It comprises multiple partition sections, The plurality of partitions are of the same shape and are arranged at equal intervals in the transport direction. The object inspection apparatus according to claim 1.

6. The partition portion comprises one end in the transport direction and the direction opposite to the transport direction, and two wall portions that move away from each other in the width direction of the transport surface intersecting the transport direction as one end moves toward the other of the transport direction and the direction opposite to the transport direction. The object inspection apparatus according to claim 1.

7. The partition is arranged inclined with respect to the transport direction in a plan view. The object inspection apparatus according to claim 1.

8. The partition portion is included in a box body that has a recess that opens in a direction toward the housing from the transport surface along the direction in which the transport surface and the housing face each other, and is capable of accommodating the object. The object inspection apparatus according to claim 1.

9. The object includes at least plastic waste. The object inspection apparatus according to claim 1.

10. The system includes a notification unit that notifies the detection result of the detection unit, The detection unit detects a specific object based on the X-rays received by the light receiving sensor. The object inspection apparatus according to claim 1.

11. The detection unit detects the position of the specific object, The notification unit notifies the detection result of the detection unit by irradiating the specific object being transported with light using a light irradiation device and making the light follow the transport of the object. The object inspection apparatus according to claim 10.

12. The detection unit detects the position of the specific object, The notification unit notifies the detection result of the detection unit by adding a marker to the image of the specific object in the X-ray transmission image obtained by receiving the X-rays with the light receiving sensor and displaying the X-ray transmission image on a display device. The object inspection apparatus according to claim 10.

13. The notification unit notifies the detection result of the detection unit by outputting a warning sound from the speaker. The object inspection apparatus according to claim 10.

14. The transport section is provided with a plurality of light-emitting units arranged in the transport direction, The detection unit detects the position of the specific object, The notification unit notifies the detection result of the detection unit by illuminating the light-emitting unit closest to the specific object being transported among the plurality of light-emitting units. The object inspection apparatus according to claim 10.

15. Equipped with a removal section, The detection unit detects a specific object based on the X-rays received by the light receiving sensor. The removal unit removes the specific object based on the detection result of the detection unit. The object inspection apparatus according to claim 1.

16. The removal unit comprises an extrusion mechanism that removes the specific object by pushing it out of the conveying surface, and a tracking mechanism that causes the extrusion mechanism to follow the movement of the conveying surface. The object inspection apparatus according to claim 15.

17. The transport surface can be changed between a transport state in which the object is transported and a removal state in which the object is dropped, for each region. The removal unit includes a change mechanism that removes the specific object from the conveying surface by changing the conveying surface from the conveying state to the removal state. The object inspection apparatus according to claim 15.

18. The aforementioned specific object is a hazardous material containing a lithium-ion battery. An object inspection apparatus according to any one of claims 10 to 17.

19. The system includes an image processing unit that removes the image of the partition from the X-ray transmission image obtained by receiving the X-rays with the light receiving sensor. The object inspection apparatus according to claim 1.

20. A partition detection unit for detecting the partition portion, The system includes an image processing unit that, based on the detection result of the partition detection unit, acquires an image obtained by removing the image of the partition from the X-ray transmission image obtained by the reception of the X-rays by the light receiving sensor. The object inspection apparatus according to claim 1.

Images