Sorting support device

Abstract

To widely acquire a projection area on a conveyor where an index of a specific conveyed object is projected to enlarge a sorting operation range with a sorting assisting apparatus for assisting an operation of removing the specific conveyed object from among a number of conveyed objects on the conveyor, the apparatus comprising a camera for photographing the conveyed object on the conveyor, a projector whose projection area is present on the conveyor, and a control device for setting a projection image of the projector based on an image photographed by the camera and conveying speed of the conveyor.SOLUTION: In a plurality of projectors P1, P2, respective projection areas A1, A2 on a conveyor 1 are mutually adjacent to each other in a conveyance direction. A control device C outputs image data to the projectors P1, P2 in such a manner that specific conveyed objects Xa, Xb, Xc can be selected from an image Z photographed by a camera CA, and indices La, Lb, Lc indicating the specific conveyed objects move onto a downstream side according to conveying speed of the conveyor 1 in the projection areas A1, A2 mutually adjacent to each other to be projected on the conveyor 1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a device for assisting in the operation of selecting and removing specific conveyed objects (e.g., dangerous objects) from a number of conveyed objects (e.g., waste such as household dust) placed on a conveyor and conveyed thereon.

Background Art

[0002] The above-described sorting assistance device is conventionally known as disclosed in, for example, Patent Document 1. In this known device, a camera for photographing the conveyed objects on the conveyor, a single projector whose projection area exists on the conveyor, and a control device for setting the projection image on the conveyor of the projector based on the photographed image of the camera are provided.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the sorting assistance device of Patent Document 1, since only one projector is installed, there is a disadvantage that the projection area on the conveyor becomes narrow and the sorting work range is limited.

[0005] The present invention has been proposed in view of the above, and an object thereof is to provide a sorting assistance device that can solve the problems of the conventional device.

Means for Solving the Problems

[0006] To achieve the above objective, the present invention provides a sorting assistance device for assisting in the work of selecting and removing specific transported objects from a large number of transported objects placed on a conveyor, comprising: a camera that photographs the transported objects in a predetermined shooting area on the conveyor; a plurality of projectors on the conveyor whose respective projection areas are arranged relative to each other in the transport direction; and a control device that sets the projected images of the plurality of projectors on the conveyor based on the image captured by the camera and the transport speed of the conveyor, wherein the control device can select the specific transported object from the captured image and indicates the position of the selected specific transported object. Landmark However, the control device can output image data of the projection image to the multiple projectors so that the projection area moves downstream in accordance with the conveying speed of the conveyor in a plurality of projection areas that are arranged in relation to each other in the conveying direction, and once a specific conveyed object is selected from the captured image, the control device indicates the position of the specific conveyed object. Landmark However, from the time projection begins on the conveyor until it reaches the downstream end of the projection area on the furthest downstream side, Landmark The image data of the projected image can be output to the multiple projectors so that the projected image is continuously moved and projected, and even if the selected specific transported object becomes undetectable, the projectors will continue to project the image until it reaches the downstream end. Landmark Its first characteristic is its ability to continuously project that.

[0007] In this invention and specification, "downstream" refers to the direction of transport of the conveyor, and specifically means downstream in the transport direction. [Effects of the Invention]

[0008] According to the first feature, the system comprises a camera that photographs the transported object in a predetermined shooting area on the conveyor, a plurality of projectors on the conveyor whose respective projection areas are aligned with each other in the transport direction, and a control device that sets the projected images of the plurality of projectors on the conveyor based on the image captured by the camera and the transport speed of the conveyor, wherein the control device can select a specific transported object from the captured image and indicates the position of the selected specific transported object. LandmarkHowever, it is possible to output image data to multiple projectors so that they move downstream and project in accordance with the conveying speed of the conveyor, across multiple projection areas aligned with each other in the conveying direction. As a result, multiple projection areas of multiple projectors are arranged on the conveyor in the conveying direction, and moreover, they indicate the position of a specific conveyed object. Landmark However, in multiple projection areas, it can move downstream according to the conveyor's transport speed and be projected onto the conveyor, thus indicating a specific transported object. Landmark This allows for a wider projection area on the conveyor belt, and therefore, the sorting work area can be easily expanded.

[0009] Furthermore, once the control device selects a specific transported object from the camera's captured image, it indicates the position of that specific transported object. Landmark However, from the time the projection starts on the conveyor until it reaches the downstream end of the projection area on the furthest downstream side, Landmark It is possible to output image data to multiple projectors so that the object is continuously moved and projected, and even if the selected specific transported object becomes undetectable by the projector, it will continue to project until it reaches the downstream end. Landmark It can continue to project the image of the selected transported object. This means that even if the selected transported object is hidden by the shadow of another object during transport, the image corresponding to this transported object will continue to be projected. Landmark This projection continues from the start of projection until it reaches the downstream end of the projection area at the furthest downstream end, thus easily and effectively alerting workers to the presence of hidden specific transported objects. This is effective in preventing oversights and contributes to improving sorting efficiency and accuracy. Furthermore, when camera frames are taken in short intervals, a specific transported object selected in one frame may disappear in the next frame (for example, hidden in the shadow of another object) and reappear in the frame after that, resulting in a projection corresponding to the specific transported object. Landmark There is a risk that it may be a concern. , landmark Because it is projected continuously without interruption, the above Landmark It also eliminates the flickering, Landmark This is even more effective in preventing oversights. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall schematic diagram showing a first embodiment of the sorting assistance device of the present invention, which collectively shows a plan view and a side view of the conveyor, as well as a control block diagram. [Figure 2] Plan view and side view of the main part of the conveyor showing the second embodiment [Figure 3] A plan view and a side view of the main part of the conveyor, corresponding to Figure 2, showing a modified example of the second embodiment. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

[0012] First, Figure 1, which shows the first embodiment, illustrates an example of a conveyor 1 capable of transporting a large amount of waste, such as household garbage, in a predetermined transport direction (the direction of the white arrow in Figure 1). A large amount of waste is successively fed onto the transport belt 1b of this conveyor 1 from a waste loading means (not shown) at its upstream end (for example, another conveyor device or waste input device).

[0013] The waste material is slowly transported by conveyor belt 1 toward the downstream end, that is, in the direction of the white arrow shown above. At this time, as is clear from Figure 1, at least one worker 8 is waiting on both sides of the middle section of conveyor belt 1 (for example, the middle section closer to the downstream end).

[0014] Then, worker 8 visually and manually sorts the hazardous materials Xa, Xb, and Xc, which are designated as specific waste, from the waste on conveyor belt 1 and places them into a nearby collection box (not shown). The hazardous materials collected in that collection box are then collected separately and properly disposed of at another location.

[0015] Meanwhile, the remaining conveyed material after the hazardous materials have been sorted and removed is transported from the downstream end of conveyor 1 to an external disposal site using waste removal means (not shown) (e.g., other conveyor devices or waste removal devices).

[0016] Thus, the sorting assistance device SS of the present invention is used to assist the sorting and removal operation of specific conveyed items (hazardous materials in the embodiment) by sorting workers 8 waiting on both sides of the conveyor 1 as described above, and to improve the work efficiency. Next, a specific example of the sorting assistance device SS will be described.

[0017] This sorting assistance device SS includes a camera CA that captures an image of the conveyed item in a predetermined imaging area AO on the conveyor 1, and first and second projectors P1, P2 disposed on the conveyor 1 such that each projection area (i.e., the first and second projection areas A1, A2) on the conveyor 1 is adjacent to each other in the conveying direction, and a control device C that is associated with the camera CA and the first and second projectors P1, P2. The control device C receives data of the captured image Z from the camera CA as described later, and functions to send image data of the projection images S1, S2 that these projectors should project onto the conveyor 1 to the first and second projectors P1, P2.

[0018] The conveyor 1 includes an endless conveyor belt 1b, a driving wheel 2 and a driven wheel 3 around which the conveyor belt 1b is wound, and a motor M that rotationally drives the driving wheel 2. The rotation of the motor M is detected by an encoder 4, and the detection information is sent to the control device C (specifically, the conveyor information measurement unit Cc).

[0019] The control device C includes a conveyor information measurement unit Cc that can calculate the conveying speed of the conveyor 1 based on the motor rotation speed from the encoder 4, a hazardous material determination unit Ca that can detect and identify hazardous materials Xa, Xb, Xc from a large number of conveyed items on the conveyor 1 shown in the captured image Z of the camera CA by AI technology, and an image determination output unit Cp that determines the projection images (i.e., the first and second projection images S1, S2) of the first and second projectors P1, P2 on the conveyor 1 based on the hazardous material determination information determined by the hazardous material determination unit Ca and the conveyor conveying speed calculated by the conveyor information measurement unit Cc, and outputs the image data to the first and second projectors P1, P2.

[0020] In particular, the hazardous materials determination unit Ca is configured to select hazardous materials (e.g., spray cans, lighters, fuel tanks, small electrical appliances, batteries, etc.) Xa, Xb, and Xc as specific transported items from images Z captured by camera CA in a predetermined shooting area A0 of conveyor 1, utilizing AI technology. In this case, for example, by instructing the AI ​​to collect countless image patterns that a skilled manual sorter would recognize as hazardous materials from the group of transported items captured in image Z by camera CA, the accuracy of the hazardous materials determination unit Ca's AI function can be improved.

[0021] Furthermore, the image determination output unit Ca specifically indicates the positions of hazardous materials Xa, Xb, and Xc selected by the hazardous material determination unit Ca. Landmark The system is configured to output image data of the first and second projected images S1 and S2 to the first and second projectors P1 and P2 so that La, Lb, and Lc move downstream in accordance with the conveying speed of the conveyor 1 in the adjacent first and second projection areas A1 and A2 of the first and second projectors P1 and P2 and are projected onto the conveyor 1. In this case, the positions of the selected hazardous materials Xa, Xb, and Xc are indicated. Landmark In the embodiment, La, Lb, Lc are represented by a rectangular frame-shaped marker line surrounding the selected hazardous materials Xa, Xb, Xc, and that Landmark The projection color (e.g., orange) and projection brightness are set to highlight and clarify that fact.

[0022] The locations of the selected hazardous materials Xa, Xb, and Xc are indicated. Landmark La, Lb, and Lc are not limited to the display configuration of the embodiment, but are acceptable as long as they are a display configuration that clearly and distinctly indicates that the indicated transported material is a hazardous material.

[0023] Furthermore, the image determination output unit Ca of this embodiment, once it identifies hazardous materials Xa, Xb, and Xc from the image Z captured by camera CA, indicates the location of the identified hazardous materials Xa, Xb, and Xc. Landmark From the time La, Lb, and Lc are first projected on conveyor 1 (i.e., in the uppermost first projection area A1) until they reach the downstream end of the second projection area A2 on the downstream side, the said LandmarkThe image data for the first and second projected images S1 and S2 can be output to the first and second projectors P1 and P2, respectively, so that La, Lb, and Lc are continuously moved and projected.

[0024] As explained above, the control device C of the sorting auxiliary device SS has an image determination output unit Ca that can set the projected images (i.e., the first and second projected images S1 and S2) on the conveyor 1 of the first and second projectors P1 and P2 based on the image Z captured by the camera CA on the conveyor 1 and the transport speed of the conveyor 1. Furthermore, the hazardous materials determination unit Ca can select hazardous materials Xa, Xb, and Xc from the image Z captured by the camera CA, and the image determination output unit Ca indicates the positions of the hazardous materials Xa, Xb, and Xc selected by the hazardous materials determination unit Ca. Landmark Image data can be output to the first and second projectors P1 and P2 such that La, Lb, and Lc are projected in adjacent first and second projection areas A1 and A2 of the first and second projectors P1 and P2, respectively, as they move downstream according to the transport speed of the conveyor 1.

[0025] In this way, the projection areas A1 and A2 of the first and second projectors P1 and P2 are arranged on the conveyor 1 so that they are aligned with each other in the direction of transport, and moreover, they indicate the positions of hazardous materials Xa, Xb, and Xc. Landmark Since La, Lb, and Lc move downstream in accordance with the conveying speed of conveyor 1 in adjacent projection areas A1 and A2, and can be projected onto conveyor 1, hazardous materials Xa, Xb, and Xc are shown. Landmark This allows for a wider projection area A1, A2 of La, Lb, and Lc on the conveyor 1, and therefore, the sorting work area by the worker 8 can be easily expanded.

[0026] Furthermore, in particular, the image determination output unit Ca of the embodiment, once it has selected hazardous materials Xa, Xb, and Xc from the captured image Z of camera CA, indicates the positions of the hazardous materials Xa, Xb, and Xc. Landmark La, Lb, and Lc are projected continuously from the time projection begins in the first projection area A1 on conveyor 1 until they reach the downstream end of the second projection area A2, which is the furthest downstream point. LandmarkImage data can be output to the first and second projectors P1 and P2 so that La, Lb, and Lc are continuously moved and projected. This allows for the projection of images corresponding to the selected hazardous materials Xa, Xb, and Xc even if they are obscured by other objects during transport. Landmark La, Lb, and Lc are projected continuously from the start of projection until they reach the downstream end of the second projection area A2 at the furthest downstream point. Therefore, the presence of the hidden hazardous materials Xa, Xb, and Xc can be easily and effectively noticed by the worker 8, thus preventing oversights and contributing to improved sorting efficiency and accuracy.

[0027] By the way, when camera CA takes shots in short intervals, the hazardous materials Xa, Xb, and Xc selected in one frame may disappear in the next frame (for example, hidden by the shadow of another object) and reappear in the frame after that, and this repetition may result in the projection corresponding to the hazardous materials Xa, Xb, and Xc. Landmark There is a risk that La, Lb, and Lc may flicker. However, in the embodiment, as described above, Landmark Since the control mode is such that La, Lb, and Lc move and are projected continuously from the start of projection until they reach the downstream end of the second projection area A2 on the furthest downstream side, Landmark Eliminate the flickering of La, Lb, and Lc. Landmark This is even more effective in preventing oversights of La, Lb, and Lc.

[0028] Figure 2 also shows a second embodiment of the present invention. That is, in the first embodiment, the shooting area A0 of camera CA and the first projection area A1 of the upstreammost first projector P1 are arranged so that they do not overlap on the conveyor 1 (i.e., the first projection area A1 is positioned downstream from the shooting area A0). In the second embodiment, however, the shooting area A0 of camera CA and the first projection area A1 of the upstreammost first projector P1 coincide (i.e., overlap).

[0029] Therefore, in the second embodiment, after the control device C selects hazardous materials Xa, Xb, and Xc from the captured image Z of the camera CA, it immediately places them in the first projection area A1 on the conveyor 1 of the first projector P1. Landmark The projection of La, Lb, and Lc begins, and the starting position of this projection is in the middle of the first projection area A1.

[0030] In the second embodiment, the camera CA was positioned upstream of the first projector P1. However, as shown in Figure 3, a modified example of the second embodiment, the camera CA may be positioned between the first projector P1 and the second projector P2. This modified example can also achieve the same effects as the second embodiment.

[0031] Although embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various embodiments can be implemented within the scope of the present invention.

[0032] For example, in the above embodiment, two projectors P1 and P2 were used to arrange two projection areas A1 and A2 on the conveyor 1 in the direction of transport. However, in the present invention, three or more projectors may be used to arrange the same number of projection areas in the direction of transport.

[0033] Furthermore, while the above embodiment showed a configuration in which multiple projection areas A1 and A2 were adjacent to each other (continuously arranged), in the present invention, the downstream end of the upstream first projection area A1 and the upstream end of the downstream second projection area A2 may be arranged to partially overlap. In this case, the hazardous materials Xa, Xb, and Xc are corresponding Landmark La, Lb, and Lc may be projected from both projectors P1 and P2 at the overlapping points of the first and second projection areas A1 and A2, or they may be projected from one of the projectors P1 (P2) and not from the other projector P2 (P1). Alternatively, in this invention, there may be a slight gap between the downstream end of the upstream first projection area A1 and the upstream end of the downstream second projection area A2, in which case, LandmarkEven if La, Lb, and Lc disappear from the downstream end of the first projection area A1, projection resumes at the upstream end of the second projection area A2 after a time has elapsed that is presumed to have crossed the gap (calculated from the conveyor speed and gap dimensions).

[0034] Furthermore, in the above embodiment, the conveying speed of the conveyor 1 is shown to be measured by a rotational speed sensor (encoder 4) that detects the rotational speed of the conveyor drive motor M. However, the motor rotational speed (and therefore the conveyor conveying speed) may be measured and calculated indirectly based on the operating speed output to the motor M (for example, the motor current value output to the motor M). Alternatively, a speed sensor that directly measures the moving speed of the conveyor belt 1b may be used.

[0035] In the above embodiment, waste such as household dust was used as an example of the material transported by the conveyor 1, and hazardous materials (e.g., spray cans, lighters, fuel tanks, small electrical appliances, batteries, etc.) Xa, Xb, and Xc were used as examples of specific material to be selected based on the image Z captured by the camera CA. However, the material and specific material to be transported in the present invention are not limited to the embodiment. For example, the specific material to be sorted and removed may be specific recyclable materials (e.g., metal cans, PET containers, etc.). [Explanation of symbols]

[0036] A0······Shooting area on the conveyor belt A1, A2... First and second projection areas as projection areas C...Control device CA...Camera La, Lb, Lc... Indicates the location of hazardous materials (specified transported goods). Landmark P1, P2... First and second projectors as multiple projectors S1, S2... First and second projection images as projected images SS... Sorting support device Xa, Xb, Xc... Hazardous materials as specified transported goods Z... Images taken with a camera 1·······Conveyor

Claims

[Claim 1] In a sorting assistance device for assisting in the work of selecting and removing specific conveyed objects (Xa, Xb, Xc) from among a large number of conveyed objects placed on and transported on a conveyor (1), The system comprises a camera (CA) that photographs the transported object in a predetermined shooting area (A0) on the conveyor (1), a plurality of projectors (P1, P2) on the conveyor (1) whose respective projection areas (A1, A2) are arranged relative to each other in the transport direction, and a control device (C) that sets the projected images (S1, S2) of the plurality of projectors (P1, P2) on the conveyor (1) based on the image (Z) captured by the camera (CA) and the transport speed of the conveyor (1), The control device (C) is capable of selecting specific transported objects (Xa, Xb, Xc) from the captured image (Z), and is capable of outputting image data of the projected images (S1, S2) to the plurality of projectors (P1, P2) such that markers (La, Lb, Lc) indicating the positions of the selected specific transported objects (Xa, Xb, Xc) are projected in a plurality of projection areas (A1, A2) that are arranged in the transport direction and move downstream according to the transport speed of the conveyor (1). The sorting assistance device is characterized in that, once the control device (C) has selected specific transported objects (Xa, Xb, Xc) from the captured image (Z), it can output image data of the projected image (S1, S2) to the plurality of projectors (P1, P2) such that the markers (La, Lb, Lc) indicating the position of the specific transported objects (Xa, Xb, Xc) are continuously moved and projected from the time the projection starts on the conveyor (1) until the downstream end of the projection area (A2) on the downstream side, and the projectors (P1, P2) can continue to project the markers (La, Lb, Lc) until they reach the downstream end even if the selected specific transported objects (Xa, Xb, Xc) become undetectable.

Images