Product sorting device

Abstract

The article sorting device comprises: an endless center belt having a V-shaped protrusion formed on its upper surface, with the apex of the V-shape facing away from the conveying direction; a flipper device having a wall positioned above the center belt and extending in the conveying direction; and an actuator capable of rotating the wall in a direction intersecting the conveying direction; a camera for imaging articles placed on the center belt; and a control device that, based on the images of the articles, operates the actuator to rotate the wall, guiding the articles to the outside of the center belt by sandwiching them between the protrusion of the center belt and the wall, thereby sorting the articles.

Description

Technical Field

[0001] This disclosure relates to an article sorting device.

Background Art

[0002] Conventionally, a sorting device for sorting articles has been known (see, for example, Patent Document 1). The article sorting device of Patent Document 1 sorts articles by a camera and grasps the sorted articles by a robot arm. The articles grasped by the robot arm are conveyed to a collection box by the robot arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the article sorting device of Patent Document 1, since it is necessary to grasp the articles by the robot arm, it takes time to grasp. Therefore, the time required for sorting becomes long. Furthermore, since the robot arm may fail to grasp, it is difficult to surely sort the articles.

[0005] An object of the present disclosure is to provide an article sorting device that can sort more quickly and surely.

Means for Solving the Problems

[0006] The article sorting device according to this disclosure comprises: an endless center belt having a V-shaped protrusion formed on its upper surface and the apex of the V-shape facing away from the conveying direction; a flipper device having a wall positioned above the center belt and extending in the conveying direction; and an actuator capable of rotating the wall in a direction intersecting the conveying direction; a camera for imaging articles placed on the center belt; and a control device that, based on the imaged articles, operates the actuator to rotate the wall, guiding the articles to the outside of the center belt by sandwiching them between the protrusion of the center belt and the wall, thereby sorting the articles. [Effects of the Invention]

[0007] In this item sorting device, items are guided to the outside of the central belt by being sandwiched between a wall rotated by an actuator and a V-shaped protrusion on the central belt, and then placed into a collection box, for example. As a result, items are sorted more quickly and reliably by this item sorting device. [Brief explanation of the drawing]

[0008] [Figure 1] A system diagram of an article sorting device according to the first embodiment of this disclosure. [Figure 2] A top view of an article sorting device according to the first embodiment of this disclosure. [Figure 3] A cross-sectional view II of the area near the center belt according to the first embodiment of this disclosure. [Figure 4] A flowchart illustrating the control procedure performed by the control device according to the first embodiment of this disclosure. [Figure 5] A diagram showing the imaging state by a camera according to the first embodiment of this disclosure. [Figure 6] A diagram showing the sorting state by the article sorting device according to the first embodiment of this disclosure. [Figure 7] Figure (1) shows the sorting state by an article sorting device according to another embodiment of the present disclosure. [Figure 8] Figure (2) shows the sorting state by the article sorting device according to the second embodiment of this disclosure. [Figure 9]Figure (3) shows the sorting state by the article sorting device according to the second embodiment of this disclosure. [Figure 10] A system diagram of an article sorting apparatus according to a second embodiment of this disclosure. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings.

[0010] <First Embodiment> As shown in Figure 1, the article sorting device 1 according to the first embodiment of the present disclosure comprises an endless center belt 2, a plurality of flipper devices 4, a camera 6, a control device 8, a slide rail 10, a plurality of collection boxes 12, a distributor (an example of a distribution unit) 14, a loading device 16, and a fixed wall 18.

[0011] As shown in Figure 2, this embodiment will be described using an item sorting device 1 as an example, which sorts waste such as PET bottles X1 with residual liquid, colored empty bottles X2, and colorless empty bottles X3 as item X. Waste such as PET bottles X1 with residual liquid, colored empty bottles X2, and colorless empty bottles X3 are heavy and therefore difficult to sort with sorting devices such as air knives. On the other hand, empty cans and PET bottles without residual liquid can be sorted with sorting devices such as air knives. For this reason, conventionally, relatively heavy waste such as PET bottles X1 with residual liquid, colored empty bottles X2, and colorless empty bottles X3 have been sorted manually. However, in recent years, against the backdrop of labor shortages, sorting devices have been developed that use robotic arms equipped with gripping or suction devices at their tips to reduce the manpower required for this manual sorting. However, as mentioned above, it is difficult to perform reliable sorting in a short time with sorting devices using robotic arms. As will be described later, the item sorting device 1 can also be adapted for sorting various other items, such as seafood and agricultural products.

[0012] Furthermore, in this embodiment, with respect to the direction V in which the article is transported by the center belt 2, the right side is denoted as R, the left side as L, the side on which the article is transported as the front side as F, the opposite side of the front side F as the rear side as B, the upper side in the vertical direction as U, and the lower side as D.

[0013] As shown in Figure 2, the endless center belt 2 has multiple V-shaped protrusions 2a formed on its upper surface along the conveying direction V. The vertices 2b (vertices of the V) of the V-shaped protrusions 2a are positioned opposite to the conveying direction V. In this embodiment, the vertices 2b of the V-shaped protrusions 2a are positioned approximately in the center of the center belt 2 in the left-right direction. Note that in Figure 2, the slide rail 10 is shown by a dashed line. As shown in Figure 1, the endless center belt 2 folds downward at the front end in the conveying direction V and extends toward the rear end. The center belt 2 folds upward at the rear end in the conveying direction V. As shown in Figure 3, a support plate 3 is positioned between the upper surface 2c and the lower surface 2d of the center belt 2 to support the article placed on the upper surface 2c. The support plate 3 has a recessed area 3a that is indented downward. In this embodiment, the support plate 3 is a V-shaped sheet metal member with the vertices of the V formed downward. The formation of the recess 3a in this manner prevents items from spilling out from the left and right sides of the central belt 2.

[0014] As shown in Figure 1, multiple flipper devices 4 are arranged. In this embodiment, the flipper device 4 has three components: a first flipper device 4a, a second flipper device 4b, and a third flipper device 4c. Each of the multiple flipper devices 4 has walls 41a, 41b, and 41c, and actuators 42a, 42b, and 42c. In this embodiment, the walls 41a, 41b, and 41c are positioned approximately in the center of the center belt 2 in the left-right direction.

[0015] The walls 41a, 41b, and 41c are arranged above the center conveyor belt 2 and extend in the conveying direction V. In this embodiment, the walls 41a, 41b, and 41c are acrylic plate-like members. The actuators 42a, 42b, and 42c are capable of rotating the walls 41a, 41b, and 41c in a direction intersecting the conveying direction V. In this embodiment, the actuators 42a, 42b, and 42c are servo motors capable of rotating the walls 41a, 41b, and 41c.

[0016] Specifically, the first flipper device 4a includes a first wall 41a and a first actuator 42a. The first wall 41a is fixed to the rotation axis of the first actuator 42a. The second flipper device 4b includes a second wall 41b and a second actuator 42b. Other structures are the same as those of the first flipper device 4a. The third flipper device 4c includes a third wall 41c and a third actuator 42c. Other structures are the same as those of the first flipper device 4a.

[0017] The camera 6 images the articles placed on the center conveyor belt 2. The camera 6 is electrically connected to the control device 8 and transmits the captured image to the control device 8. In this embodiment, the camera 6 is a CCD camera. The camera 6 is surrounded by a cubic camera box 6a.

[0018] Based on the imaged articles, the control device 8 operates the actuators 42a, 42b, and 42c to rotate the walls 41a, 41b, and 41c, guides the articles by sandwiching them between the convex portions 2a of the center conveyor belt 2 and the walls 41a, 41b, and 41c, and sorts the articles. The control device 8 is actually composed of a microcomputer including an arithmetic unit, a memory (ROM, RAM, non-volatile RAM, etc.), an input / output buffer, etc. The control device 8 controls the first flipper device 4a, the second flipper device 4b, and the third flipper device 4c based on the programs stored in the memory.

[0019] The slide rail 10 holds the actuators 42a, 42b, and 42c so that they can move in the transport direction V. As shown in Figure 3, the actuators 42a, 42b, and 42c have flanges 43 which are fitted onto the slide rail.

[0020] As shown in Figures 1 and 2, multiple collection boxes 12 are arranged on the left and right sides of the central belt 2. In this embodiment, there are six collection boxes 12 to collect three types of waste: PET bottles X1, colored empty bottles X2, and colorless empty bottles X3.

[0021] The distributor 14 distributes items to the left side of the upper wall of the center belt 2 (an example of the first direction side) and to the right side (the second direction side), which is opposite to the left side. In this embodiment, the distributor 14 is a sheet metal member in the shape of a semi-triangular pyramid. The distributor 14 is positioned on the upper surface 2c of the center belt 2 (see Figure 3) such that the vertex of the semi-triangular pyramid shape coincides with the fixed wall 18 in the conveying direction V. As a result, items transported from the loading device 16 are distributed to the left and right sides of the fixed wall 18.

[0022] The loading device 16 is a device for loading articles onto the center belt 2. In this embodiment, the loading device 16 is a belt conveyor that extends in the left-right direction. The article transport speed of the belt conveyor of the loading device 16 (the number of rotations of the belt conveyor per unit time) is slower than the transport speed of the center belt 2. As a result, the articles placed on the center belt 2 are placed with gaps in the transport direction V.

[0023] More preferably, the conveying speed of the belt conveyor of the loading device 16 should be adjusted to match the spacing between the multiple protrusions 2a of the central belt 2. Specifically, the conveying speed of the belt conveyor should be adjusted so that the articles are placed between the multiple protrusions 2a of the central belt 2.

[0024] The fixed wall 18 is positioned alongside the flipper device 4 in the transport direction V and extends in the transport direction V. In this embodiment, the fixed wall 18 is positioned in the center of the center belt 2 in the left-right direction and is fixed to the slide rail 10. The fixed wall 18 is positioned to penetrate the camera box 6a in the transport direction V.

[0025] Next, the control procedure performed by the control device 8 will be explained using the flowchart in Figure 4.

[0026] In step S1, the control device 8 causes the camera 6 to image the object. As shown in Figure 5, the camera 6 acquires images of the object on both the left and right sides of the fixed wall 18. The control device 8 determines whether the object is placed on the left or the right side. Furthermore, the control device 8 executes an image processing program and compares the shape, color, pattern, etc. of the object with pre-stored data on the object's shape, color, pattern, etc. The control device 8 compares the imaged object with the data and identifies the type of object if the agreement rate between the pre-stored data and the information of the imaged object is, for example, 80% or more.

[0027] For example, if the control device 8 determines that the shape, color, and pattern of the imaged item match 80% or more of the pre-stored data on the shape, color, and pattern of the empty colored bottle X2, the control device 8 identifies the item as the empty colored bottle X2. As shown in Figure 4, this embodiment describes an example where the first item is a PET bottle X1 with liquid remaining, the second item is an empty colored bottle X2, and the third item is an empty colorless bottle X3. The image acquired by the camera 6 in Figure 5 shows an example where the empty colored bottle X2 is placed on the left and the empty colorless bottle X3 is placed on the right. When the control device 8 images the item, it proceeds to step S2.

[0028] In step S2, the control device 8 determines whether the imaged item is the first item. If the control device 8 determines that the imaged item is the first item (step S2 YES), it proceeds to step S3. In step S3, the control device 8 determines whether the first item is placed on the left side. These determinations by the control device 8 can be performed by the image processing program described above. If the control device 8 determines in step S3 that the first item is on the left side (step S3 YES), the control device 8 proceeds to step S4.

[0029] In step S4, the control device 8 rotates the first actuator 42a of the first flipper device 4a counterclockwise, causing the first wall 41a to rotate to the left. At this time, the control device 8 takes into account the transport speed of the center belt 2 and the distance from the camera 6's imaging position of the first item to the first wall 41a to determine the timing for rotating the first actuator 42a.

[0030] As shown in Figure 6, for example, the control device 8 records the positions of the two protrusions 2a on the center belt 2 on which the first item (PET bottle X1 in this embodiment) is placed, and calculates the time T until the protrusion 2a on the front side of the first item passes the first actuator 42a using the transport speed. After time T has elapsed since the first item was imaged, the control device 8 rotates the first actuator 42a to the left. By controlling the first actuator 42a in this way, the control device 8 can guide the first item to the collection box 12 by sandwiching it between the protrusions 2a and the first wall 41a of the center belt 2. Once the first item has been guided to the collection box 12 by the rotation of the first actuator 42a, the control device 8 returns the first wall 41a to its original position, approximately in the center in the left-right direction. The control device 8 may also determine that the first item has been guided to the collection box 12 when the rear protrusion 2a of the first item has passed the front end of the first wall 41a. The control device 8 returns when the first item is guided to the collection box 12.

[0031] If the control device 8 determines in step S3 that the first item is on the right side (step S3 NO), the control device 8 proceeds to step S5. In step S5, the control device 8 rotates the first actuator 42a to the right. The other control procedures are the same as in step S4, so their explanation is omitted. After rotating the first actuator 42a to the right, the control device 8 returns.

[0032] If the control device 8 determines that the imaged item is not the first item (step S2 NO), it proceeds to step S6. In step S6, the control device 8 determines whether the imaged item is the second item. If the control device 8 determines that the imaged item is the second item (step S6 YES), it proceeds to step S7. In step S7, the control device 8 determines whether the second item (in this embodiment, the colored empty bottle X2) is placed on the left side. These determinations are the same as in step S2. If the control device 8 determines in step S7 that the second item is on the left side (step S7 YES), the control device 8 proceeds to step S8.

[0033] In step S8, the control device 8 rotates the second actuator 42b of the second flipper device 4b counterclockwise, causing the second wall 41b to rotate to the left. The control procedure of the control device 8 at this time is the same as in step S4, so the explanation is omitted. If the control device 8 determines in step S7 that the second item is on the right side (step S7 NO), the control device 8 proceeds to step S9. In step S9, the control device 8 rotates the second actuator 42b to the right. The other control procedures are the same as in step S4, so the explanation is omitted. The control device 8 returns after rotating the second actuator 42b to the right.

[0034] If the control device 8 determines that the imaged item is not the second item (step S6 NO), it proceeds to step S10. In step S10, the control device 8 determines whether the imaged item is the third item. If the control device 8 determines that the imaged item is the third item (step S10 YES), it proceeds to step S11. In step S11, the control device 8 determines whether the third item (empty bottle X3 in this embodiment) is placed on the left side. These determinations are the same as in step S2. If the control device 8 determines in step S11 that the second item is on the left side (step S11 YES), the control device 8 proceeds to step S12.

[0035] In step S12, the control device 8 rotates the third actuator 42c of the third flipper device 4c to the left, causing the third wall 41c to rotate to the left. The control procedure of the control device 8 at this time is the same as in step S4, so the explanation is omitted. If the control device 8 determines in step S11 that the second item is on the right side (step S11 NO), the control device 8 proceeds to step S13. In step S13, the control device 8 rotates the third actuator 42c to the right. The other control procedures are the same as in step S4, so the explanation is omitted. The control device 8 returns after rotating the third actuator 42c to the right.

[0036] If the control device 8 determines that the imaged item is not a third item (step S10 NO), it proceeds to step S14. In step S14, the control device 8 receives instructions for which flipper device to rotate. Specifically, the operator (user) of the item sorting device 1 inputs instructions for which flipper device 4 to rotate via a touch panel or input device. The control device 8 receives this input and rotates the flipper device 4. Once the flipper device 4 to be rotated has been rotated, the control device 8 returns.

[0037] The article sorting device 1 is not limited to sorting the first article using the first flipper device 4a, the second article using the second flipper device 4b, and the third article using the third flipper device 4c, but may, for example, sort the second article using the first flipper device 4a.

[0038] As shown in Figure 7, for example, a PET bottle X1 may be placed on the left side between two forward and backward protrusions 2a, and a colored empty bottle X2 may be placed on the right side between the two protrusions 2a behind it. In this case, the control device 8 may sort the PET bottle X1 (first item) by rotating the first flipper device 4a counterclockwise, and sort the colored empty bottle (second item) by rotating the first flipper device 4a clockwise. Also, if the colored empty bottle X2 is placed on the left side, the second flipper device 4b may be rotated counterclockwise, or the third flipper device 4c may be rotated counterclockwise. Furthermore, if the PET bottle X1 is placed on the right side, the second flipper device 4b may be rotated clockwise, or the third flipper device 4c may be rotated clockwise.

[0039] In this way, the control device 8, when the item imaged by the camera 6 is the first item placed on the left side (first direction side), rotates the first actuator 42a to the left (first direction) and when the item imaged by the camera 6 is the second item, which is different from the first item and is placed on the right side (second direction side), which is the opposite direction to the left (first direction), rotates the first actuator to the right, or rotates the second actuator 42b or third actuator 42c, which is different from the first actuator 42a, to the right, thereby separating the first item from the second item. This allows for faster sorting of items than, for example, using a robotic arm.

[0040] In other words, when using a robotic arm, calculations such as the angle at which to grasp the object and the position of the object on the conveyor belt are also necessary. The robotic arm also needs time to move before grasping and time to transport the object to the collection box. Furthermore, the robotic arm may sometimes fail to grasp the object.

[0041] As shown in the article sorting device 1 of this disclosure, by sorting articles using a flipper device 4 and a center belt 2, articles can be sorted more reliably without the risk of missing a grip, unlike with a robotic arm. Furthermore, since the article sorting device 1 can sort articles simply by rotating the flipper device 4 from side to side, the movement time of the sorting device (wall 41 in this embodiment) is also reduced. This allows for faster sorting.

[0042] <Second Embodiment> Next, a second embodiment of this disclosure will be described using Figures 8 and 10. Note that the following description will focus on configurations different from the article sorting apparatus 1 of the first embodiment, and redundant explanations will be omitted.

[0043] As shown in Figure 8, the item sorting device 1 of this embodiment is a device for sorting, for example, seafood X4. In this case, for example, the device 8 (see Figure 1) compares data such as the size of each fish species, which is stored in advance, with the imaged fish using an image processing program, and sorts the fish according to their size. The device 8 may also rotate the flipper device 4 according to the size of the fish. Alternatively, such an item sorting device 1 can record data for different fish species and sort the fish by species. Furthermore, by using the flipper device 4, it is possible to sort the fish without damaging them.

[0044] As shown in Figure 10, the central guide belt 2 in this embodiment is made of transparent resin. This allows the condition of the fish placed on and transported on the central guide belt 2 to be observed from below the central guide belt 2 (in the direction of arrow D). Although the central guide belt 2 in this embodiment is made of transparent resin, it is not limited to this, and the central guide belt 2 may be formed using colored resin. In this case, the resin forming the central guide belt 2 may be completely opaque (transmittance of 0%) due to coloring, or it may be adjusted so that the transmittance is less than 100%. Furthermore, the central guide belt 2 may be formed by combining a partially transparent resin and a colored opaque resin.

[0045] Furthermore, in this embodiment, multiple cameras 6 are provided. The cameras 6 image the fish placed on the central belt 2 from both sides of the central belt 2 (in this embodiment, in the vertical direction). The cameras 6 include a first camera 61 and a second camera 62. The first camera 61 is positioned above the central belt 2 (in the direction of arrow U) and is capable of imaging the surface side (in this embodiment, the upper surface) of the fish being transported on the central belt 2. The second camera 62 is positioned below the central belt 2 (in the direction of arrow D) and is capable of imaging the underside side (in this embodiment, the lower surface) of the fish being transported on the central belt 2. The control device 8 may integrate the images captured by the first camera 61 and the second camera 62 to sort the fish.

[0046] In this embodiment, the camera 6 is shown as an example of imaging a fish from two directions, above and below, using the first camera 61 and the second camera 62, but this disclosure is not limited to this. Camera 6 may use three or more cameras to transmit multiple images of a single fish taken from different angles to the control device 8. The control device 8 may integrate these multiple images to form an image of a single fish and select that fish.

[0047] Furthermore, the camera 6 in this embodiment may include an X-ray camera or an ultraviolet camera. More specifically, the camera 6 may transmit images to the control device 8 that include information such as the internal condition of the fish (e.g., the degree of damage to the internal organs) and the fat content, captured by the X-ray camera. The camera 6 may also use the X-ray camera to capture multiple images by CT (Computed Tomography) and transmit these images to the control device 8. Furthermore, the camera 6 may transmit images to the control device 8 that include information such as minute scratches on the surface of the fish, captured by the ultraviolet camera. The control device 8 may sort the fish based on these images captured by the camera 6.

[0048] Furthermore, the article sorting device 1 of this embodiment further comprises a sterilization device 101 and a shower 102.

[0049] The sterilizer 101 is positioned above the central belt 2 (in the direction of arrow U) and downstream of the camera 6 in the transport direction V, and sterilizes and disinfects the fish being transported on the central belt 2. The sterilizer 101 is, for example, a rod-shaped sterilization light extending along the transport direction V. The sterilization light irradiates ultraviolet light onto the surface of the fish being transported on the central belt 2, thereby sterilizing them. However, the sterilization light may also sterilize the fish by photosterilization, which involves instantaneously irradiating them with a powerful light. The sterilizer 101 in this embodiment includes a first sterilization light 101a, a second sterilization light 101b, and a third sterilization light 101c, which are arranged at intervals in the transport direction V. However, the number or arrangement of the sterilizers 101 can be changed according to the length of the central belt 2 in the transport direction V and the transport speed.

[0050] The shower 102 is positioned above the central belt 2 (in the direction of arrow U) and downstream of the camera 6 in the transport direction V, and washes the fish being transported on the central belt 2 with flowing water. In addition, the water discharged from the shower 102 improves the slipperiness of the fish on the central belt 2, thereby preventing damage to the fish's surface. The shower 102 in this embodiment discharges saltwater with a salinity equivalent to that of low-temperature seawater, but is not limited to this, and may discharge pure water. The shower 102 in this embodiment includes one main pipe 102a and a first shower 102b, a second shower 102c, a third shower 102d, and a fourth shower 102e branching from the main pipe 102a. The first shower 102b is positioned between the camera 6 and the first sterilization light 101a in the transport direction V. The second shower 102c is positioned between the first sterilization light 101a and the second sterilization light 101b in the transport direction V. The third shower 102d is positioned between the second sterilization light 101b and the third sterilization light 101c in the transport direction V. The fourth shower 102e is positioned downstream of the third sterilization light 101c in the transport direction V. However, the number or arrangement of the showers 102 can be changed depending on the length and transport speed of the central belt 2 in the transport direction V, as well as the shape, number, or arrangement of the sterilization device 101.

[0051] In this embodiment, an example of sorting marine products X4 (see Figure 8) has been described, but this disclosure is not limited to this. As shown in Figure 9, the item sorting device 1 of this embodiment may be, for example, a device for sorting agricultural products X5. In this case, for example, data such as agricultural products X5 stored in advance in the control device 8 (see Figure 10) may be compared with the imaged agricultural products X5 using an image processing program, and agricultural products may be sorted based on the presence or absence of damage to the agricultural products X5, their size, etc. In this case, the control device 8 may rotate the flipper device 4 according to the presence or absence of damage to the agricultural products X5 and / or their size. With such an item sorting device 1, agricultural products can be sorted according to their quality. Furthermore, by using the flipper device 4, agricultural products X5 can be sorted without damaging them.

[0052] In such an item sorting device 1, the camera 6 may include a spectroscopic camera capable of measuring sugar content. This allows the control device 8 to estimate the sugar content of the crop X5 based on the image captured by the camera 6, and sort the crop X5 based on the estimated sugar content.

[0053] As explained above, this disclosure provides an article sorting device 1 that can sort articles more quickly and reliably.

[0054] <Other Embodiments> Although embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. In particular, the various modifications described herein can be combined as needed.

[0055] In the above embodiment, an example was described in which three flipper devices 4 are used to sort three types of articles (PET bottle X1, colored empty bottle X2, empty bottle X3), but this disclosure is not limited thereto. The article sorting device 1 can be any device capable of sorting multiple types of articles, for example, two or four or more flipper devices 4 may be arranged. In this case, two or four or more types of articles may be sorted. [Explanation of Symbols]

[0056] 1: Item sorting device 2: Center belt 2a: Convex part 2b: Vertex 2c:Top surface 2d: Bottom side 3: Support plate 3a: recess 4: Flipper device 4a: First flipper device 4b: Second flipper device 4c: Third flipper device 6: Camera 6a: Camera box 8: Control device 10: Slide rail 12: Collection box 14:Distributor 16: Loading equipment 18:Fixed wall 41: Wall 41a: Wall 41a: 1st wall 41b: wall 41b: 2nd wall 41c: Third Wall 41c: Wall 42a: First actuator 42a: Actuator 42b: Actuator 42b: Second actuator 42c: Actuator 42c: Third actuator 101: Sterilization equipment 102: Shower V: Conveying direction X:Goods

Claims

1. An endless centering belt having a V-shaped protrusion formed on its upper surface, with the apex of the V-shape positioned opposite to the conveying direction, A flipper device having a wall positioned above the central belt and extending in the conveying direction, and an actuator capable of rotating the wall in a direction intersecting the conveying direction, A camera for imaging an item placed on the aforementioned center belt, A control device that, based on the imaged article, operates the actuator to rotate the wall, guides the article by sandwiching it between the protrusion of the center belt and the wall, and sorts the article; Equipped with, A sorting device for goods.

2. The V-shaped apex of the convex portion is positioned approximately in the center in a direction that intersects with the conveying direction of the central belt. The aforementioned wall is positioned approximately in the center in a direction intersecting the conveying direction of the central belt. The article sorting apparatus according to claim 1.

3. The actuator further comprises a slide rail that holds the actuator so as to be movable in the transport direction. The article sorting apparatus according to claim 1.

4. The upper surface of the central belt further comprises a distribution section for distributing the articles on the first direction side of the wall and on the second direction side opposite to the first direction. The article sorting apparatus according to claim 1.

5. The wall comprises a first wall and a second wall arranged in the transport direction of the first wall. The actuator comprises a first actuator capable of rotating the first wall and a second actuator capable of rotating the second wall. The control device, if the article captured by the camera is a first article placed on the first direction side, rotates the first actuator in the first direction; if the article captured by the camera is a second article different from the first article placed on the second direction side opposite to the first direction, rotates the first actuator in the second direction, or rotates the second actuator in the second direction, to separate the first article from the second article. The article sorting apparatus according to any one of claims 1 to 4.

6. The aforementioned item is a marine product. The article sorting apparatus according to claim 1.

7. The aforementioned article is an agricultural product. The article sorting apparatus according to claim 1.

8. The aforementioned center belt is transparent, Multiple cameras are provided to image the article placed on the central belt from both sides of the central belt. The article sorting apparatus according to claim 1.

9. A sterilization device for sterilizing the articles placed on the aforementioned center belt, A shower for washing the items placed on the aforementioned center belt, Furthermore, The article sorting apparatus according to claim 1.

Images