Inspection device and sorting device

Abstract

This inspection device for inspecting the state of an object comprises: a transfer part configured to transfer the object; an area sensor configured to capture, at a frame rate that allows the same object to be captured a plurality of times, the object being transferred by an action of the transfer part; and a distinguishing part configured to distinguish the state of the object on the basis of the image acquired by the area sensor.

Description

Inspection and sorting equipment

[0001] The present disclosure relates to optical inspection and sorting techniques.

[0002] Optical inspection devices (hereinafter simply referred to as inspection devices) that identify the condition of an object (e.g., whether it is defective or not) using optical information obtained by an optical sensor when a light source irradiates the object during transportation have been known for some time. For example, Japanese Patent Application Laid-Open No. 2000-197855 discloses a sorting device equipped with such an inspection device. This sorting device is configured to use a line sensor to capture images of objects that have slipped off a chute and to remove objects identified as defective by spraying air.

[0003] However, because the information obtained by line sensors is relatively small, conventional inspection or sorting devices have room for improvement. Therefore, it is desirable to increase the information obtained by optical sensors, thereby improving the performance of the inspection or sorting device.

[0004] The present disclosure has been made to solve at least part of the above-mentioned problems, and can be realized, for example, in the following forms.

[0005] According to a first aspect of the present disclosure, there is provided an inspection device for inspecting a condition of an object, the inspection device including: a transport unit configured to transport the object; an area sensor configured to capture images of the object being transported by the transport unit at a frame rate capable of capturing images of the same object multiple times; and an identification unit configured to identify the condition of the object based on the images captured by the area sensor.

[0006] "Objects being transported by the action of the transport unit" include, for example, objects being transported on the transport unit, and objects that have been transported by the transport unit and are now in the air away from the transport unit (for example, objects falling from the transport unit, and objects that have been released horizontally or diagonally upward by the transport unit).

[0007] This inspection device can acquire multiple images of the same object using an area sensor. Therefore, compared to conventional inspection devices that use line sensors, it is possible to increase the amount of information acquired that can contribute to improving identification performance. For example, if the area sensor can acquire multiple images in which different areas of the same object are each captured, it is possible to improve identification accuracy. The first embodiment can be combined with any of the following embodiments as long as no inconsistencies occur.

[0008] According to a second aspect of the present disclosure, there is provided an inspection device for inspecting the state of an object. The inspection device includes: a transport unit configured to transport the object; an area sensor configured to capture images of the object being transported by the transport unit at a frame rate capable of capturing multiple images of the same object; an identification unit configured to identify the state of the object based on the images acquired by the area sensor; and a calculation unit configured to calculate behavior information of the same object between multiple image captures based on multiple images of the same object. The behavior information includes at least one of size change information related to a change in size of the same object between multiple images and vector information representing at least one of a change in position and a change in orientation of the same object.

[0009] This inspection device can acquire behavior information based on multiple images obtained by capturing the same object multiple times. Such information can be utilized to improve the performance of the inspection device. For example, such information can be used to determine whether the object is being transported as intended (in other words, whether the inspection device is operating normally). If the inspection device is not operating as intended, the performance of the inspection device can be improved by taking necessary measures, such as adjusting the equipment. Alternatively, since the shape and size of the object affect the behavior of the object, the degree of variation in the shape and size of the object can be determined based on the behavior information. The vector information may represent at least one of a change in position and / or a change in orientation of the object in a direction different from the intended direction of transport.

[0010] According to a third aspect of the present disclosure, there is provided a sorting device. The sorting device includes the inspection device of the second aspect, a sorting unit configured to selectively inject air toward specific objects in accordance with the timing at which the specific objects, determined based on the identification result of the identification unit, pass through a sorting area to change the transfer trajectory of the specific objects, thereby sorting the specific objects, and an injection control unit configured to determine an air injection mode based on at least one of size change information and vector information. According to this aspect, appropriate air injection is performed in accordance with the behavior of the objects during transfer, thereby improving sorting performance.

[0011] According to a fourth aspect of the present disclosure, in the third aspect, the area sensor has an angle of view capable of capturing both objects located upstream of the sorting area and objects located downstream of the sorting area on the object transport path, and is configured to acquire an upstream image of the object located upstream of the sorting area and a downstream image of the object located downstream of the sorting area. The identification unit is configured to identify the state of the object based on the upstream image. Note that each of the upstream image and the downstream image may be a partial area of ​​an image capturing both the upstream and downstream sides. According to this aspect, the area sensor for acquiring the upstream image to be used in processing by the identification unit (in other words, without introducing an additional area sensor) can be used to additionally acquire a downstream image to grasp the situation downstream of the sorting area. The situation downstream of the sorting area can be utilized to improve the performance of the sorting device.

[0012] According to a fifth aspect of the present disclosure, the sorting device of the fourth aspect includes a monitoring unit configured to monitor the operation status of the air injection by the sorting unit based on the downstream image. This aspect makes it possible to monitor whether the sorting unit is operating normally. Therefore, even if a malfunction of the sorting unit occurs, it is possible to prevent the sorting device from continuing to operate and a deterioration in sorting performance.

[0013] According to a sixth aspect of the present disclosure, there is provided a sorting device for sorting objects. The sorting device includes a transport unit configured to transport objects; an area sensor configured to capture images of the objects being transported by the transport unit at a frame rate capable of capturing multiple images of the same object; an identification unit configured to identify the state of the objects based on the images captured by the area sensor; and a sorting unit configured to selectively inject air toward a specific object determined based on the identification result of the identification unit in accordance with the timing at which the specific object passes through a sorting area, thereby changing the transport trajectory of the specific object, thereby sorting the specific object. The area sensor has an angle of view capable of capturing images of both objects located upstream of the sorting area and objects located downstream of the sorting area on the object transport path. This sorting device achieves the same effects as the fourth aspect.

[0014] According to a seventh aspect of the present disclosure, in any of the third to fifth aspects, the sorting device includes a prediction unit that predicts, based on at least one of size change information and vector information, at least one of the posture of the specific object as it passes through the sorting area and the position of the specific object in an intersecting direction that intersects with the intended transport direction as it passes through the sorting area. The injection control unit is configured to determine at least one of the air injection mode and injection position based on the prediction result of the prediction unit. According to this aspect, sorting by injection of air can be performed with high accuracy based on the prediction result of at least one of the posture of the specific object as it passes through the sorting area and the position of the specific object in the intersecting direction.

[0015] According to an eighth aspect of the present disclosure, in the seventh aspect, when rotation of the specific object is detected based on at least one of the size change information and the vector information, the prediction unit is configured to predict the rotational angular position of the specific object as it passes through the sorting area. The injection control unit is configured to determine at least one of the air injection mode and the injection position based on the predicted rotational angular position. According to this aspect, when the object has a shape having a longitudinal direction and a lateral direction, at least one of the air injection mode and the injection position can be appropriately determined depending on the rotational angular position of the specific object as it passes through the sorting area (in other words, in which direction the specific object is relatively long as it passes through the sorting area).

[0016] According to a ninth aspect of the present disclosure, in the seventh or eighth aspect, the behavior information includes vector information. When a change in the position of the specific object in the intersecting direction is detected based on the vector information, the prediction unit is configured to predict the position of the specific object in the intersecting direction as the specific object passes through the sorting area. The ejection control unit is configured to determine at least one of an air ejection mode and an ejection position based on the predicted position of the specific object in the intersecting direction. According to this aspect, even if the specific object is transported in a direction other than the intended transport direction, the position of the specific object in the intersecting direction as the specific object passes through the sorting area can be predicted. Therefore, based on the prediction result, it is possible to appropriately determine at least one of an air ejection mode and an ejection position for accurately sorting the specific object.

[0017] According to a tenth aspect of the present disclosure, in any one of the seventh to ninth aspects, the behavior information includes vector information. The vector information includes an intended transfer direction of the object. The prediction unit is configured to predict at least one of the posture of the specific object as it passes through the sorting area and the position of the specific object in the intersecting direction as it passes through the sorting area, based on the transfer speed of the specific object in the intended transfer direction calculated based on the vector information. According to this aspect, the time it takes for the object to move from the imaging position to the sorting area can be accurately calculated based on the actual measurement value of the transfer speed of the object in the intended transfer direction. Therefore, the prediction accuracy of at least one of the posture and position of the specific object in the intersecting direction can be improved, and ultimately at least one of the air injection mode and injection position can be more appropriately determined.

[0018] According to an eleventh aspect of the present disclosure, in the third aspect, the sorting device includes an additional area sensor configured to capture images of objects located downstream of the sorting region on the transport path of the objects. This aspect makes it possible to grasp the situation downstream of the sorting region. The situation downstream of the sorting region can be utilized to improve the performance of the sorting device. The eleventh aspect may be combined with at least a part of the seventh to tenth aspects.

[0019] According to a twelfth aspect of the present disclosure, in the fifth aspect or any of the seventh to tenth aspects including the fifth aspect, the downstream image includes a plurality of downstream images captured multiple times of the same object. The calculation unit is configured to calculate vector information of the same object based on the plurality of downstream images. The monitoring unit monitors the operating status of the air injection based on the vector information based on the plurality of downstream images. Because the transport speed and transport direction (and / or posture) of a specific object change drastically before and after air injection, this aspect makes it possible to accurately monitor the operating status of the air (i.e., whether injection is occurring normally).

[0020] According to a thirteenth aspect of the present disclosure, in any of the fourth, fifth, sixth, eleventh, and twelfth aspects, the identification unit is configured to identify, based on the downstream image, the state of at least one of an object whose transfer trajectory has been changed by the injection of air and an object whose transfer trajectory has not been changed without the injection of air. This aspect allows the state of objects discharged from the sorting device to be accurately identified, in contrast to conventional sorting devices that can only identify the state of objects before the sorting process. In other words, the state of an object whose transfer trajectory has been changed can be identified separately from other objects. Alternatively, the state of an object whose transfer trajectory has not been changed can be identified separately from other objects.

[0021] According to a fourteenth aspect of the present disclosure, in any of the fourth to sixth and eleventh to thirteenth aspects, the sorting device includes an identification processing unit configured to determine the identity of an object on the upstream image and an object on the downstream image. According to this aspect, it is possible to grasp whether a specific object has been accurately sorted as intended.

[0022] According to a fifteenth aspect of the present disclosure, in the fourteenth aspect, the identification unit is configured to identify at least one of a state of an object whose transfer trajectory has been changed by the injection of air and a state of an object whose transfer trajectory has not been changed without the injection of air, based on the upstream-side image, the downstream-side image, and the determination result by the identification processing unit. According to this aspect, the same effect as in the thirteenth aspect can be obtained.

[0023] According to a sixteenth aspect of the present disclosure, there is provided a sorting device for sorting objects, the sorting device including: a transport unit configured to transport the objects; an image sensor configured to capture images of the objects being transported by the transport unit; an identification unit configured to identify the state of the objects based on the images acquired by the image sensor; the sorting unit configured to selectively inject air toward the specific objects in accordance with the timing at which the specific objects, determined based on the identification result of the identification unit, pass through a sorting area, thereby changing the transport trajectory of the specific objects, thereby sorting the specific objects; and an area sensor configured to capture images of objects located downstream of the sorting area on a transport path of the objects.

[0024] This sorting device allows for understanding of the situation downstream of the sorting area (e.g., the operational status of the air injection, whether a particular object is being sorted accurately as intended, the condition of the objects being discharged from the sorting device, etc.). The situation downstream of the sorting area can be utilized to improve the performance of the sorting device. The sixteenth aspect can be combined with any of the above-mentioned aspects as long as no inconsistencies occur.

[0025] Fig. 1 is a schematic diagram showing the overall configuration of a sorting device according to a first embodiment; Fig. 2 is a schematic diagram showing the positional relationship between a chute and a nozzle; Fig. 3 is a diagram showing an example of the same object in two images, which serves as the basis for calculating size change information; Fig. 4 is a diagram showing an example of vector information; Fig. 5 is a diagram showing an example of vector information; Fig. 6 is a schematic diagram showing an example of a method for determining an air injection mode and injection position based on the predicted results of the behavior of the object; Fig. 7 is a schematic diagram showing the overall configuration of a sorting device according to a second embodiment;

[0026] FIG. 1 is a schematic diagram illustrating the overall configuration of an optical sorting device (hereinafter simply referred to as a sorting device) 10 according to a first embodiment. In this embodiment, the sorting device 10 is used to identify the condition (i.e., the quality) of rice grains (more specifically, brown rice or polished rice) as an example of a sorting target (hereinafter simply referred to as a target) 90, and to sort the target 90 into non-defective and defective products based on the results. Defective products may include, for example, broken rice, immature grains, discolored grains, damaged grains, dead rice, and foreign matter (e.g., pebbles, mud, glass fragments, etc.). However, the target 90 is not limited to brown rice or polished rice and may be any granular material. For example, the target 90 may be unhulled rice, wheat grains, legumes (soybeans, chickpeas, edamame, etc.), resin (pellets, etc.), rubber fragments, etc.

[0027] As shown in FIG. 1 , the sorting device 10 includes a detection unit 20, a storage tank 71, a feeder 72, a chute 73, a non-defective product discharge gutter 74, a defective product discharge gutter 75, a sorting unit 60, and a controller 80. The controller 80 controls the overall operation of the sorting device 10. The controller 80 also functions as an identification unit 81, a calculation unit 82, a jetting control unit 83, a monitoring unit 84, a prediction unit 85, and an identification processing unit 86. The functions of the controller 80 may be realized by a CPU executing a predetermined program, by a dedicated circuit (e.g., a PLD, an ASIC, etc.), or by a combination of a CPU and a dedicated circuit. The functions of the controller 80 may be assigned to a single integrated device or may be assigned to multiple devices in a distributed manner. Details of these functions of the controller 80 will be described later.

[0028] The storage tank 71 temporarily stores the objects 90. The feeder 72 supplies the objects 90 stored in the storage tank 71 onto a chute 73, which serves as an example of a transfer unit for transferring the objects. The objects 90 supplied onto the chute 73 slide downward on the chute 73 and fall from the bottom end of the chute 73. The chute 73 has a predetermined width (width in the chute width direction D2 shown in FIG. 2 ) that allows multiple objects 90 to fall simultaneously. The objects 90 released into the air from the bottom end of the chute 73 fall (are transported through the air) generally in the inclined direction of the chute 73. The direction in which the objects 90 fall at this time is also referred to as the transfer direction D1 of the objects 90.

[0029] In this embodiment, the object 90 is intended to be transported straight (in a direction perpendicular to the chute width direction D2) without rotating. Although a rotational force may be applied to the object 90 when it is released from the feeder 72, the rotation of the object 90 due to such a rotational force is eliminated or reduced by sliding along the chute 73. However, while the object 90 is being transported through the air, due to collisions between the objects 90, the position of the object 90 may change (hereinafter also referred to as lateral displacement) or the object 90 may rotate in the unintended direction of the chute width direction D2 in addition to the intended direction of transport D1, due to collisions between the objects 90. Furthermore, when the object 90 collides with the bottom surface of the chute 73 and bounces, the object 90 may be transported with a velocity component perpendicular to the sliding surface of the chute 73.

[0030] In an alternative embodiment, a conveyor may be used as the transfer section instead of the chute 73. Alternatively, the chute 73 may be omitted. In this case, the feeder 72 serves to release the objects 90 into the air and functions as the transfer section.

[0031] The detection unit 20 irradiates light onto the object 90 that has slid down the chute 73 (i.e., the object 90 falling from the chute 73) and detects light associated with the object 90 (specifically, transmitted light that has passed through the object 90 and / or reflected light that has been reflected by the object 90). In an alternative embodiment, light may be irradiated onto the object 90 sliding down the chute 73. Furthermore, if a conveyor is used instead of the chute 73, light may be irradiated onto the object 90 being transported on the conveyor or onto the object 90 falling from the conveyor. In a further alternative embodiment, light may be irradiated onto the object 90 that has been released horizontally or diagonally upward by a transport unit (e.g., a chute with a lower end angled horizontally or diagonally upward, or a supply device that blows objects in a desired direction with air).

[0032] 1, the detection unit 20 includes a first light source 30 and a second light source 31 as examples of electromagnetic wave irradiation sources, and an area sensor 40. The first light source 30 and the area sensor 40 are arranged on one side (also referred to as the front side) of the transfer path (in other words, the falling trajectory) of the object 90. On the other hand, the second light source 31 is arranged on the other side (also referred to as the rear side) of the transfer path of the object 90.

[0033] In this embodiment, each of the light sources 30 and 31 is a light source unit for irradiating the object 90 being transported (i.e., falling) with visible light. The first light source 30 emits a first light 32. Similarly, the second light source 31 emits a second light 33. Each of the lights 32 and 33 has a wavelength corresponding to red, a wavelength corresponding to green, and a wavelength corresponding to blue. In this embodiment, each of the light sources 30 and 31 includes a so-called color LED. Each of the light sources 30 and 31 is a line light source in which multiple LEDs are arranged in the chute width direction D2. However, the specifications of the light sources 30 and 31 (e.g., number, light emission type, wavelength range, etc.) are not particularly limited. For example, each of the light sources 30 and 31 may be an area light source in which multiple LEDs are arranged in a two-dimensional pattern.

[0034] The area sensor 40 is an optical sensor capable of detecting red light, green light, and blue light individually. The area sensor 40 has a plurality of photodetection elements arranged two-dimensionally (in this embodiment, along the transport direction D1 and the chute width direction D2). In this embodiment, the area sensor 40 is a CCD sensor, but it may be another type of sensor, such as a CMOS sensor.

[0035] The area sensor 40 detects light associated with the object 90 being transported. Specifically, the area sensor 40 arranged on the front side can detect a first light 32 (hereinafter also referred to as reflected light 32) emitted from a first light source 30 on the front side and reflected by the object 90, and a second light 33 (hereinafter also referred to as transmitted light 33) emitted from a second light source 31 on the rear side and transmitted through the object 90.

[0036] The type of light detected by the area sensor 40 is determined by the lighting pattern of the light sources 30 and 31. In a first lighting pattern in which the first light source 30 and the second light source 31 are simultaneously turned on, the area sensor 40 detects light that is a combination of reflected light 32 and transmitted light 33 (hereinafter also referred to as reflected and transmitted light). In a second lighting pattern in which the first light source 30 is turned on and the second light source 31 is turned off, the area sensor 40 detects only reflected light 32. In a third lighting pattern in which the first light source 30 is turned off and the second light source 31 is turned on, the area sensor 40 detects only transmitted light 33. Hereinafter, at least one of the reflected light, transmitted light, and reflected and transmitted light described above will also be referred to as light associated with the object 90.

[0037] Which of the first to third lighting patterns is adopted can be determined arbitrarily depending on the type and properties of the target object 90 and the type of defective product to be removed. Only one of the first to third lighting patterns may be adopted. Alternatively, two or more of the first to third lighting patterns may appear alternately at a predetermined time interval or according to a predetermined repetition rule.

[0038] The specifications of the area sensor 40 (e.g., the number, installation position, spectral sensitivity characteristics, etc.) are not particularly limited and can be determined arbitrarily according to the specifications of the light sources 30 and 31. For example, a single area sensor 40 may be disposed only on the rear side. Alternatively, two area sensors 40 may be disposed on the front side and one on the rear side.

[0039] The output from the area sensor 40, i.e., an analog signal representing the intensity of the detected light, is converted into a digital signal by an AC / DC converter (not shown). This digital signal is input to the controller 80 as image data. The controller 80 determines the state of the object 90 based on the input image. Such a determination is made for each object 90 as processing by the recognition unit 81.

[0040] In this embodiment, the state determined by the identifying unit 81 includes a color state (in other words, an optical state) and a shape and / or a size state. The state also includes a feature represented by a physical quantity and a quality determined based on the feature.

[0041] The feature amount of the color state includes the color gradation value of each pixel of the image representing the object 90. The feature amount of the shape and / or size state may include, for example, at least one of the area, height, width, perimeter, and circularity of the whole and / or part of the object 90.

[0042] In this embodiment, "quality" includes, for example, a distinction between good products (i.e., rice grains of relatively high quality) and defective products (i.e., rice grains of relatively low quality and / or foreign objects). However, "quality" may also include the type of defect (e.g., whether it corresponds to broken rice, immature rice, discolored rice, damaged rice, dead rice, or foreign objects). Alternatively, "quality" may include a distinction between objects that should be removed by the sorting unit 60 and objects that should not be removed. Furthermore, "quality" includes quality determined based on the color state and quality determined based on the shape and / or dimensional state. Defective products determined based on the color state may include, for example, immature rice, discolored rice, damaged rice, dead rice, and foreign objects. Defective products determined based on the shape and / or dimensional state may include, for example, broken rice, insect-damaged rice, and foreign objects.

[0043] In this embodiment, the identification unit 81 determines whether the object 90 is a good or defective product by comparing the color feature (in other words, the gradation value of the image data) with a predetermined threshold (in other words, based on whether the color feature is within a predetermined normal range). Such a determination may be made based on a representative value (e.g., average, median, maximum, minimum, etc.) of the gradation values ​​of multiple pixels constituting the image of the object 90. Alternatively, the defective product may include an object 90 having a partial defect of a predetermined size or larger. Such a partial defect may be determined based on the criterion that, among the multiple pixels constituting the image of the object 90, the number of pixels whose gradation values ​​are outside the normal range is a predetermined number or larger (in other words, the area of ​​the defective portion is a predetermined value or larger).

[0044] Furthermore, in this embodiment, the identification unit 81 determines whether the object 90 is a good or bad product by comparing the geometric and / or dimensional feature values ​​with a predetermined threshold value (in other words, based on whether the geometric and / or dimensional feature values ​​are within a predetermined normal range).

[0045] In this embodiment, the frame rate (unit: Hz or frame / sec) and the size of the field of view (height in the transport direction D1) of the area sensor 40 are set so that the same object 90 can be imaged multiple times. The identification unit 81 then identifies the state of the object 90 based on multiple images obtained by imaging the same object 90 multiple times. Therefore, when the object 90 is transported in the air while changing its posture, the area of ​​the same object 90 that is imaged at least once expands. As a result, the identification accuracy by the identification unit 81 improves. However, the identification unit 81 may also identify the state of the object 90 based on a single image.

[0046] Identification of the same object 90 across multiple images may be performed by any known method as processing by the identification processing unit 86. For example, known methods such as template matching and optical flow estimation may be used. Alternatively, when the frame rate is relatively high, overlap between the multiple objects 90 in the first image and the multiple objects 90 in the second image may be detected, and the overlapping objects 90 may be determined to be the same object 90. Alternatively, the center of gravity of each of the multiple objects 90 in the first image and the center of gravity of each of the multiple objects 90 in the second image may be calculated. In this case, when the center of gravity of each of the multiple objects 90 in the first image is shifted by a movement distance (a distance estimated in advance) corresponding to the frame rate, the center of gravity that is closest between the first image and the second image may be determined to be the center of gravity of the same object 90.

[0047] The sorting unit 60 sorts the objects 90 based on the state determined by the identification unit 81. This sorting is performed by a trajectory changing operation for changing the trajectory of a specific object 90. Specifically, as shown in FIG. 1 , the sorting unit 60 includes a plurality of nozzles 61 and a plurality of valves 63. For the sake of simplicity, FIG. 1 shows the number of nozzles 61 as being the same as the number of valves 63, but the correspondence between the number of nozzles 61 and the number of valves 63 actually depends on the number of openings that the nozzles 61 have.

[0048] FIG. 2 is a schematic diagram showing the positional relationship between the chute 73 and the nozzles 61. As shown in the figure, the multiple nozzles 61 are arranged in the chute width direction D2. In this embodiment, each nozzle 61 has multiple openings 62 arranged in the chute width direction D2. One of the above-mentioned valves 63 (not shown in FIG. 2) is provided for each of the multiple openings 62. The position of each opening 62 in the chute width direction D2 is pre-associated with the position in the direction corresponding to the chute width direction D2 of the image acquired by the area sensor 40. Each opening 62 of the nozzle 61 is connected to a compressor (not shown) via a corresponding valve 63.

[0049] Returning to FIG. 1 for further explanation, the sorting unit 60 performs a trajectory change operation by selectively spraying air 64 from the openings 62 of the nozzles 61 toward specific objects 90 in accordance with the timing of the objects passing through the sorting area 65. Specifically, one or more valves 63 are selectively opened in response to a control signal from the controller 80, and air 64 is sprayed toward the specific objects 90 from one or more openings 62 corresponding to the opened valves 63. The sorting area 65 is an area on the transfer path (falling trajectory) of the objects 90 through which the air 64 sprayed from the nozzles 61 passes. In this embodiment, the specific objects 90 to which air 64 should be sprayed are objects 90 having a predetermined defect (more specifically, the specific objects 90 are objects 90 having at least one of a color defect and a shape / size defect). However, the specific objects 90 to which air 64 should be sprayed can be set arbitrarily. For example, air 64 may be sprayed only toward objects 90 having both a color defect and a shape / size defect. Alternatively, the air 64 may be sprayed against the object 90 that has been determined to be a non-defective product (so-called reverse spraying).

[0050] The timing at which the objects 90 pass through the sorting area 65 is determined by the spray delay time. The spray delay time is the time required from when an image of a specific object 90 is captured by the area sensor 40 until the air 64 is sprayed toward the specific object 90 (in other words, the time required for the object 90 to be transported from the image capture position to the sorting area 65). The spray delay time may be determined in advance. Alternatively, the spray delay time may be determined based on the transport speed of the objects 90 in the transport direction D1 calculated based on multiple images acquired by the area sensor 40. A method for calculating the transport speed will be described later.

[0051] Certain objects 90 are blown away by the air 64, deviating from their falling trajectory along the transfer direction D1 and being guided to the defective product discharge gutter 75 (shown as object 91 in FIG. 1). On the other hand, air 64 is not sprayed onto objects 90 determined to be non-defective. Therefore, objects 90 determined to be non-defective are guided to the non-defective product discharge gutter 74 without changing their falling trajectory (shown as object 92 in FIG. 1).

[0052] In this embodiment, the sorting device 10 is configured to grasp the behavior of the object 90 during transport based on images acquired by the area sensor 40 and determine the spray mode of the air 64 based on the grasped behavior. Specifically, the controller 80 first, as processing by the calculation unit 82, calculates behavior information of the same object 90 between multiple image captures based on multiple images of the same object 90. In this embodiment, this behavior information includes size change information. The size change information is information related to changes in size of the same object 90 between multiple images. Such size changes can occur due to changes in posture and / or bouncing of the object 90.

[0053] The fact that the size of the same object 90 differs by more than a predetermined amount between multiple images may indicate peculiar behavior of the object 90. For example, if the object 90 has a flat shape like rice, the size of the same object 90 may differ significantly between multiple images due to a change in the posture of the object 90 (rotation around a rotation axis extending in a direction other than a direction perpendicular to the field of view of the area sensor 40). Alternatively, if the object 90 does not slide as intended on the chute 73 but hits the bottom of the chute 73 and bounces off, the size of the object 90 may differ significantly between multiple images even if there is no change in the posture of the object 90 as seen from the area sensor 40.

[0054] FIG. 3 shows an example of an image of the object 90 when such a bounce occurs. In FIG. 3, the object 90 in the image acquired by the area sensor 40 in the Nth scan (N is a natural number) is shown as object 93, and the object 90 (the same object 90 as object 93) in the image acquired in the N+1th scan is shown as object 94. The pixels representing the object 90 can be easily identified, for example, by binarizing one of the RGB images. This example shows a case where the object 90 is transported while gradually deviating toward the front side of the intended transport path between the Nth scan and the N+1th scan due to the bounce of the object 90. As can be seen from FIG. 3, the object 94 is larger in size in the X and Y directions than the object 93 due to the bounce of the object 90, in other words, due to the behavior of the object 90 deviating from the intended transport path in a direction intersecting the field of view of the area sensor 40. The X direction corresponds to the chute width direction D2 on the image, and the Y direction corresponds to the transfer direction D1 on the image.

[0055] The size change information that can represent the behavior of the object 90 as described above is typically the area ratio of the same object 90 between multiple images. However, the size change information can be any index that can represent the degree of change in size of the object 90. For example, instead of or in addition to the area ratio, a ratio of perimeter lengths may be used. Alternatively, instead of or in addition to the ratio, a difference may be used.

[0056] After calculating the size change information, the controller 80, as processing by the injection control unit 83, determines the injection mode of the air 64 by the sorting unit 60 (in other words, how the air 64 is to be injected toward a specific target 90) based on the size change information. This injection mode can be any parameter whose setting varies the range of influence of the injected air 64 on the target 90 (the range over which the force of the air 64 can be applied to the target 90 to an extent that the trajectory of the target 90 can be changed). For example, the injection mode may be one or a combination of two or more of the injection range of the air 64 in the chute width direction D2, the injection period (in other words, the time the injection continues), and the injection pressure.

[0057] The spray range of the air 64 in the chute width direction D2 is determined by how many of the adjacent openings 62 are sprayed simultaneously. The number of openings 62 spraying air 64 simultaneously may be one or two or more. To control the spray range of the air 64 in the chute width direction D2, for example, the technique described in Japanese Patent Application Laid-Open No. 2022-115568 may be used. According to this technique, the size of the spray range is controlled by variably setting whether or not the spray ranges on the image assigned to each of the multiple openings 62 overlap, or by variably setting the degree of overlap. The entire contents of Japanese Patent Application Laid-Open No. 2022-115568 are incorporated herein by reference.

[0058] The injection period affects the injection range of the object 90 in a coordinate system that moves together with the object 90 during transportation. Specifically, the longer the injection period is set, the larger the range of influence of the air 64 on the object 90 in the transportation direction D1. The injection period is controlled by controlling the time for which the valve 63 is maintained in an open state.

[0059] The injection pressure is one of the parameters correlated with the range of influence of the air 64. Specifically, the higher the injection pressure of the air 64, the wider the area over which the injected air 64 spreads on the plane defined by the transfer direction D1 and the chute width direction D2, and therefore the larger the range of influence of the air 64. The injection pressure may be controlled, for example, by controlling the opening of the valve 63.

[0060] In this embodiment, if the degree of size change represented by the size change information is equal to or greater than the first threshold, the controller 80, as processing by the spray control unit 83, determines the spray mode of the air 64 so that the range of influence of the air 64 is larger than when the degree of size change is less than the first threshold. In other words, if the degree of size change represented by the size change information is equal to or greater than the first threshold, the controller 80 determines at least one of the spray range, spray period, and spray pressure so that at least one of the following is satisfied: a wider spray range of the air 64 in the chute width direction D2, a longer spray period, and / or a higher spray pressure.

[0061] This configuration improves sorting performance by appropriately injecting air depending on the behavior of the objects 90 during transport. Specifically, when the size change information indicates a change in size equal to or greater than the first threshold, this indicates that the objects 90 are rotating and / or bouncing, as described above. This type of behavior of the objects 90 can lead to a large deviation between the expected (designed) value and the actual value for at least one of the timing at which the specific object 90 arrives in the sorting area 65 and the position of the specific object 90 in the chute width direction D2 when it arrives in the sorting area 65 (i.e., failure of the intended sorting). However, with the above-described configuration, when such behavior of the objects 90 is detected, control is performed to increase the range of influence of the air 64, thereby ensuring reliable sorting of the specific object 90. Furthermore, since there is no need to always set the injection mode of the air 64 on the safe side to ensure reliable sorting of the specific object 90 regardless of the behavior of the specific object 90, both improved yield and improved sorting accuracy can be achieved.

[0062] In an alternative embodiment, the behavior information calculated by the calculation unit 82 includes vector information instead of or in addition to the size change information. Vector information is information that represents at least one of a position change and a posture change of the same object 90 in a predetermined direction and can be expressed as a vector. In this embodiment, the predetermined direction includes the intended transfer direction of the object 90 (i.e., the transfer direction D1) and a direction different from the transfer direction D1. Furthermore, such a direction different from the transfer direction D1 includes the chute width direction D2 and a rotation direction. This rotation direction is defined as the direction of rotation on the field of view of the area sensor 40 when the object 90 is transferred while rotating. However, the predetermined direction can be set arbitrarily. For example, the predetermined direction may include only a direction different from the transfer direction D1. Furthermore, the direction different from the transfer direction D1 may be only one of the chute width direction D2 and the rotation direction.

[0063] 4 and 5 show examples of vector information calculated by the calculation unit 82. In FIGS. 4 and 5, similar to FIG. 3, the object 90 on the image acquired in the Nth scan is shown as object 93, and the object 90 on the image acquired in the N+1th scan (the same object 90 as object 93) is shown as object 94. In the example of FIG. 4, the direction and distance traveled by the same object 90 during the time required for one scan are shown as vector information 95. In this example, the vector information 95 is obtained by linearly connecting the center of gravity 93a of the object 93 and the center of gravity 94a of the object 94. The coordinate values ​​of the centers of gravity 93a and 94a may be expressed with a pixel-unit resolution or with a higher resolution. The coordinate value of the center of gravity 93a can be calculated, for example, by dividing the sum of the coordinate values ​​of each coordinate point corresponding to the target object 93 for each of the X coordinate (this is the coordinate in the X direction corresponding to the chute width direction D2) and the Y coordinate (this is the coordinate in the Y direction corresponding to the transfer direction D1) by the number of coordinate points. The coordinate value of the center of gravity 94a can be calculated in a similar manner.

[0064] 4 , it can be seen that the same object 90 moves a distance L1 in the transfer direction D1 between the two images, and also experiences a positional change (lateral shift) of a distance L2 in the chute width direction D2. The transfer speeds of the object 90 in the transfer direction D1 and the chute width direction D2 can be calculated by dividing the distances L1 and L2 by the time required for one scan of the area sensor 40. The transfer speed in the transfer direction D1 calculated in this way may be used to determine the injection delay time, as described above.

[0065] 5, the direction and distance that the same object 90 has moved during the time required for one scan is shown as vector information 96. The vector information 96 is obtained by drawing a straight line connecting the center of gravity 93a of the object 93 and the center of gravity 94a of the object 94. In this example, no lateral displacement has occurred in the object 90.

[0066] However, in the example of FIG. 5 , the posture of the object 90 changes during the time required for one scan. This posture change is represented by vector information 97. The vector information 97 can also be considered vector information related to the rotation of the object 90. In this embodiment, the vector information 97 is calculated based on the angular change of the long axis of the same object 90. Specifically, first, the long axes 93b and 94b of the objects 93 and 94 are detected. The long axis 93b is obtained, for example, by linearly connecting the two pixels (or two coordinate values) with the greatest distance between them, among the combinations of two pixels (or two coordinate values) arbitrarily selected from the pixels (or coordinate values ​​with a resolution higher than pixel units) that make up the outer periphery (outer perimeter) of the object 93. The long axis 94b is obtained in a similar manner. Then, the angle θ3 (= θ1 - θ2) formed between the long axes 93b and 94b is calculated. This results in obtaining vector information 97 having a magnitude equal to the angle θ3 formed by the major axis 93b and the major axis 94b in the direction of rotation (the direction of rotation around the axis of rotation extending in a direction perpendicular to the field of view of the area sensor 40). However, the vector information 97 representing the change in posture can be calculated by any method. For example, the vector information 97 may be calculated based on the angular change of the minor axis of the same object 90. Alternatively, the average value of the angular change of the major axis and the angular change of the minor axis may be used as the magnitude of the vector information 97.

[0067] In the examples of Figures 4 and 5, vector information is calculated based on two images obtained by two consecutive scans. However, vector information may also be calculated based on two images obtained by two non-consecutive scans (e.g., the Nth scan and the N+2th scan). Alternatively, vector information may be calculated based on three or more images. This can improve the accuracy of the vector information. In this case, vector information may be calculated for each two consecutively acquired images extracted sequentially from three or more images, and the vector information obtained by averaging the multiple pieces of vector information may be used.

[0068] After calculating the vector information as described above, the controller 80, as processing by the prediction unit 85, predicts, based on the vector information, the orientation of the specific object 90 as the specific object 90 passes through the sorting area 65. Furthermore, as processing by the prediction unit 85, the controller 80, based on the vector information, predicts the position of the specific object 90 in a direction (in this embodiment, the chute width direction D2, hereinafter also referred to as the intersecting direction) intersecting the intended transfer direction (i.e., transfer direction D1) as the specific object 90 passes through the sorting area 65. In an alternative embodiment, the prediction unit 85 may predict only one of the orientation of the specific object 90 as it passes through the sorting area 65 and the position of the specific object 90 in the intersecting direction.

[0069] The posture of the specific object 90 as it passes through the sorting area 65 is predicted based on the vector information 97 (i.e., vector information related to rotation) illustrated in FIG. 5 . Specifically, first, the angular velocity of the specific object 90 is calculated from the vector information 97 and the scan rate of the area sensor 40. In the example of FIG. 5 , the angular velocity is calculated by dividing the angle θ3 by the time required for one scan. Then, the posture (rotational angle position) of the specific object 90 as it passes through the sorting area 65 is predicted based on this angular velocity and the time required from the image capture position of the area sensor 40 to the sorting area 65. Since the distance from the image capture position of the area sensor 40 to the sorting area 65 is known, the time required from the image capture position of the area sensor 40 to the sorting area 65 can be obtained by dividing this distance by the transport speed of the object 90 in the transport direction D1. The transport speed in the transport direction D1 may be a predetermined design value or an actual measurement value calculated using the above-described method. Using actual measurements can improve prediction accuracy.

[0070] In the example of FIG. 4 , the position of the specific object 90 in the chute width direction D2 as it passes through the sorting area 65 is predicted based on vector information 95 (i.e., vector information related to position change). Specifically, the transport speed of the specific object 90 in the chute width direction D2 is calculated from the X-direction component of the vector information 95 (the component in the chute width direction D2) and the scan rate of the area sensor 40. Specifically, as described above, the transport speed in the chute width direction D2 is calculated by dividing the distance L2 by the time required for one scan. Then, the position of the specific object 90 in the chute width direction D2 as it passes through the sorting area 65 is predicted based on this transport speed in the chute width direction D2 and the time required from the image capture position by the area sensor 40 to the sorting area 65.

[0071] Next, the controller 80, as processing by the ejection control unit 83, determines the ejection mode of the air 64 based on the prediction result of the prediction unit 85. FIG. 6 is a schematic diagram showing an example of a method for determining the ejection mode of the air 64 based on the prediction result. Objects 90a-90c, 90d-90f, and 90g-90i in the diagram each represent the transfer trajectory of the same specific object 90. Vector information 95a calculated based on the behavior of the same object 90 moving from the position of object 90a to the position of object 90b contains only a component in the transfer direction D1. Therefore, it is predicted that the object 90 will be transferred straight to the position of object 90c in the sorting area 65. Therefore, the controller 80 ejects the air 64 from the opening 62b, among the openings 62a-62i of the nozzle 61, that corresponds to the position of object 90c.

[0072] Vector information 95d, calculated based on the behavior of the same object 90 moving from the position of object 90d to the position of object 90e, has a component in the chute width direction D2. Therefore, it is predicted that the object 90 will be transported obliquely to the position of object 90f in the sorting area 65. Therefore, the controller 80 injects air 64 from the opening 62d corresponding to the position of object 90f. In this embodiment, the injection of air 64 from opening 62d in this case is performed in the same manner as the injection of air 64 toward the object 90 corresponding to vector information 95a. However, in an alternative embodiment, the injection mode may be determined for the object 90 corresponding to vector information 95d having a component in the chute width direction D2 so that the range of influence of the air 64 on the object 90 is increased. In other words, the injection duration may be determined to be longer, the injection pressure may be determined to be higher, or air 64 may be injected from two or more consecutive openings 62 including opening 62d.

[0073] Vector information 95g (vector information related to position change) calculated based on the behavior of the same object 90 moving from the position of object 90g to the position of object 90h contains only a component in the transfer direction D1. Therefore, it is predicted that the object 90 will be transferred straight to the position of object 90i in the sorting area 65. Furthermore, vector information 97g (vector information related to rotation) is also detected based on the behavior of the same object 90 moving from the position of object 90g to the position of object 90h. In this example, based on this vector information 97g, it is predicted that the object 90 will assume a posture with its major axis extending in the chute width direction D2 when positioned in the sorting area 65. Therefore, the controller 80 sprays air 64 from the openings 62g and 62h corresponding to the object 90 at the position of object 90i in this posture. In other words, in this example, the number of openings 62 from which air 64 is sprayed is increased depending on the posture of the object 90 predicted based on the vector information 97g. In alternative embodiments, instead of or in addition to increasing the number of openings 62 through which air 64 is injected, the injection time may be determined to be longer and / or the injection pressure may be determined to be higher.

[0074] According to the various controls described above, the posture of the specific object 90 and the position of the specific object 90 in the chute width direction D2 as it passes through the sorting area 65 are predicted based on vector information. Then, based on the prediction results, the spray mode of the air 64 and the spray position in the chute width direction D2 are determined. Therefore, it is possible to spray the air 64 appropriately according to the posture and position of the specific object 90, thereby improving sorting accuracy.

[0075] In an alternative embodiment, the jet control unit 83 may determine the jet mode of the air 64 based on the vector information calculated by the calculation unit 82, without performing prediction by the prediction unit 85. For example, the jet control unit 83 may determine the jet mode such that the range of influence of the air 64 on the object 90 is larger when vector information relating to rotation is detected than when it is not detected. Alternatively, the jet control unit 83 may determine the jet mode such that the range of influence of the air 64 on the object 90 is larger when vector information representing a lateral deviation is detected than when it is not detected.

[0076] In a further alternative embodiment, when the orientation of the object 90 is predicted to be vertically elongated based on the vector information regarding rotation, the jetting control unit 83 may determine the jetting period to be relatively long. Alternatively, when the orientation of the object 90 is predicted to be horizontally elongated, the jetting control unit 83 may determine the jetting period to be relatively short. With this configuration, the jetting period can be appropriately set to a required extent depending on the orientation of the specific object 90, thereby achieving both sorting accuracy and yield.

[0077] Returning to FIG. 1 for further explanation, in this embodiment, the area sensor 40 has an angle of view 41 that can capture both the object 90 located upstream of the sorting area 65 on the transport path of the object 90 and the object 90 located downstream of the sorting area 65. In the following description, of the images acquired by the area sensor 40, an image area captured upstream of the sorting area 65 will be referred to as an upstream image, and an image area captured downstream of the sorting area 65 will be referred to as a downstream image. The above-described classification process by the classification unit 81 (process of identifying the state of the object 90 for classification by the classification unit 60) is performed using the upstream image. The downstream image is used for a purpose different from that of the upstream image, as will be described below.

[0078] Specifically, the controller 80 monitors the operational status of the spraying of air 64 by the sorting unit 60 based on the downstream-side image as processing by the monitoring unit 84. In this embodiment, the controller 80 calculates vector information based on multiple downstream-side images captured multiple times of the same object 90, and monitors the operational status of the spraying of air 64 based on the calculated vector information. The method for calculating the vector information is as described above. Because the vector information of a specific object 90 (in other words, the transport speed and transport direction, and / or posture change) changes drastically before and after the air 64 is sprayed, this configuration makes it possible to monitor whether the spraying of air 64 by the sorting unit 60 is normal (in other words, whether any abnormality, such as clogging of the air flow path of the sorting unit 60, has occurred).

[0079] The determination of whether the air 64 has been ejected normally may be made based on, for example, whether the transport speed represented by the vector information is within a predetermined numerical range and / or whether the transport direction represented by the vector information is within a predetermined directional range. Alternatively, the determination of whether the air 64 has been ejected normally may be made by any known method using artificial intelligence. For example, this determination may be made by applying the vector information to an inference model generated by machine learning.

[0080] In an alternative embodiment, a determination of whether air 64 was injected correctly may be made based on a single downstream image without using vector information, in which case the determination may be made in any known manner using artificial intelligence.

[0081] When it is determined that an abnormality has occurred in the spraying operation of the air 64, the controller 80 may notify the user of the abnormality by any known method. This configuration prevents the sorting device 10 from being continuously used despite the abnormality in the spraying operation of the air 64. Furthermore, the controller 80 may output the determination result regarding the spraying operation of the air 64 or statistical data thereon to any device (e.g., a display, a communication interface, a storage medium, a printing device, etc.). This configuration allows the output result to be used as information for adjustment work (adjustment work to resolve the abnormality) of the sorting unit 60. The determination result regarding the spraying operation of the air 64 may be output in association with the X-direction coordinate value of the downstream image.

[0082] Furthermore, in this embodiment, the controller 80 performs an identification process, as the process of the identification processing unit 86, to determine the identity of the object 90 in the upstream image and the object 90 in the downstream image. More specifically, the controller 80 determines the identity of the object 90 determined by the identification unit 81 to be a specific object 90 based on the upstream image (i.e., the object 90 determined to be subject to air 64 injection) and the object 90 determined by the monitoring unit 84 to have had its transfer trajectory changed by the injection of air 64 based on the downstream image. The method of the identification process is as described above. Then, based on the result of the identification process (identity determination result), the controller 80 determines whether the object 90 determined by the monitoring unit 84 to have had its trajectory changed by the injection of air is the specific object 90 (i.e., the object 90 determined by the identification unit 81 to have had air 64 injected), and outputs the result or statistical data thereof to an arbitrary device. This configuration makes it possible to determine whether the specific object 90 has been accurately selected as intended. Such information can be used, for example, to adjust the sorting unit 60 .

[0083] In addition, in this embodiment, the controller 80 associates and aggregates the results of identifying the states of the objects 90 based on the upstream-side image with the results of determining whether or not a trajectory change has occurred based on the downstream-side image (in other words, the results of determining whether each object 90 has been guided to the defective-item discharge gutter 75 or the non-defective-item discharge gutter 74), and outputs the aggregation results to an arbitrary device. For example, the controller 80 outputs statistical data on the states of the objects 90 (hereinafter referred to as non-defective-item state data) using only the objects 90 guided to the non-defective-item discharge gutter 74 as a parameter, and statistical data on the states of the objects 90 (hereinafter referred to as defective-item state data) using only the objects 90 guided to the defective-item discharge gutter 75 as a parameter. This configuration, in contrast to conventional methods that rely on visual confirmation by the user, provides a novel function of the sorting device, allowing the user to distinguish and accurately understand the states of the objects 90 guided to the non-defective-item discharge gutter 74 and the non-defective-item discharge gutter 75. In an alternative embodiment, only one of the good item condition data and the bad item condition data may be output.

[0084] In an alternative embodiment, the controller 80 may output at least one of the non-defective product status data and the defective product status data without determining the identity of the object 90 in the upstream-side image and the object 90 in the downstream-side image. For example, the controller 80 may identify the status of each object 90 based on the downstream-side image as processing by the identification unit 81. The controller 80 may then associate and aggregate such identification results with the determination result of whether or not a trajectory change has occurred based on the downstream-side image, and output the aggregated result to any device.

[0085] The sorting device 10 described above can detect peculiar behavior (unintended behavior) of the objects 90. Various controls can be performed to suppress a decrease in identification accuracy and / or sorting accuracy due to such peculiar behavior. Examples of peculiar behavior include the objects 90 deviating from the expected transfer trajectory due to collisions between the objects 90 or collisions with components of the sorting device 10 (the chute 73 in the above-described embodiment), the transfer speed of a specific object 90 being significantly different from the transfer speed of other objects 90 due to the posture, shape, weight, etc. of the objects 90, and the objects 90 rotating while being transferred due to the shape of the objects 90, collisions between the objects 90, etc.

[0086] FIG. 7 is a schematic diagram showing the overall configuration of a sorting device 110 according to a second embodiment. Hereinafter, only differences between the sorting device 110 and the first embodiment will be described. The sorting device 110 includes a first area sensor 140 and a second area sensor 145 (i.e., additional area sensors) instead of the area sensor 40. The first area sensor 140 has a field of view 141 that can capture only objects 90 located upstream of the sorting region 65 (objects 90 located downstream of the sorting region 65 cannot be captured). The second area sensor 145 has a field of view 146 that can capture only objects 90 located downstream of the sorting region 65 (objects 90 located upstream of the sorting region 65 cannot be captured). As a result, the first area sensor 140 acquires an upstream image in which a field of view located upstream of the sorting area 65 is captured, and the second area sensor 145 acquires a downstream image in which a field of view located downstream of the sorting area 65 is captured. The sorting device 110 configured in this manner can also similarly execute the various processes described above of the sorting device 10 (various processes performed using the images captured by the area sensor 40).

[0087] In this embodiment, the imaging directions (directions perpendicular to the field of view) are different between the first area sensor 140 and the second area sensor 145. This makes it possible to set the angle of view 146 so as to more easily determine the operating status of the ejection of the air 64 (i.e., whether or not the trajectory of the target object 90 has changed due to the ejection of the air 64).

[0088] In an alternative embodiment, the sorting device 110 may include a line sensor for acquiring an upstream image instead of the first area sensor 140 .

[0089] Although the embodiments of the present disclosure have been described above, the above-described embodiments are intended to facilitate understanding of the present teachings and are not intended to limit the present invention. The present invention may be modified or improved without departing from the spirit thereof, and the present invention includes equivalents thereof. Furthermore, any combination or omission of each component described in the claims and specification is possible within the scope of solving at least part of the above-described problems or achieving at least part of the effects.

[0090] For example, instead of or in addition to the visible light source (light sources 30 and 31 in the above example), the sorting devices 10 and 110 may be provided with an electromagnetic wave irradiation source that irradiates electromagnetic waves having any wavelength onto the objects 90. Such electromagnetic waves may be, for example, at least one of X-rays and near-infrared rays. In this case, instead of or in addition to the area sensors 40, 140 and 145, the sorting devices 10 and 110 may be provided with an area sensor having a plurality of electromagnetic wave detection elements corresponding to the wavelengths of the electromagnetic waves irradiated by the electromagnetic wave irradiation source.

[0091] The present invention is not limited to a sorting device and can be realized in various forms. For example, the present invention may be realized as an inspection device for inspecting the state of an object. Such an inspection device may have a configuration in which the sorting unit 60 and the defective product discharge gutter 75 are removed from the above-described sorting device 10. In this case, the controller 80 may output behavior information (or its statistical data) calculated by the calculation unit 82 in addition to the state of the object 90 identified by the identification unit 81 to any device (e.g., a display, a communication interface, a storage medium, a printing device, etc.).

[0092] Such an inspection device can confirm, based on the behavior information, whether the inspection device is operating normally so that the object 90 is transferred as intended. Furthermore, since a low degree of uniformity in the characteristics (shape and / or size) of the object increases the probability of anomalous behavior occurring when the object is transferred, this inspection device can determine the uniformity of the object's characteristics based on the behavior information.

[0093] DESCRIPTION OF SYMBOLS 10...Optical sorting device 20...Detection unit 30...First light source 31...Second light source 32...First light 33...Second light 40...Area sensor 41...Angle of view 60...Sorting section 61...Nozzle 62, 62a to 62i...Opening 63...Valve 64...Air 65...Sorting area 71...Storage tank 72...Feeder 73...Chute 74...Good product discharge gutter 75...Defective product discharge gutter 80...Controller 81...Identification section 82...Calculation section 83...Injection control section 84...Monitoring section 85...Prediction section 86...Identification processing section 90...Object 90, 90a to 90i, 91, 92, 93, 94...Object 93a, 94a...Center of gravity 93b, 94b...Long axis 95, 95a, 95d, 95g, 96, 97, 97g... Vector information 110... Sorting device 140... First area sensor 141... Field of view 145... Second area sensor 146... Field of view D1... Transfer direction D2... Chute width direction

Claims

1. An inspection device for inspecting the condition of an object, comprising: a transport unit configured to transport the object; an area sensor configured to capture images of the object being transported by the action of the transport unit at a frame rate capable of capturing an image of the same object multiple times; and an identification unit configured to identify the condition of the object based on the image acquired by the area sensor.

2. An inspection device for inspecting the condition of an object, comprising: a transport unit configured to transport the object; an area sensor configured to capture images of the object being transported by the action of the transport unit at a frame rate capable of capturing images of the same object multiple times; an identification unit configured to identify the condition of the object based on images acquired by the area sensor; and a calculation unit configured to calculate behavior information of the same object between multiple images based on multiple images obtained by capturing images of the same object multiple times, wherein the behavior information includes at least one of size change information related to a change in size of the same object between the multiple images, and vector information representing at least one of a change in position and a change in posture of the same object.

3. A sorting device comprising: an inspection device as described in claim 2; a sorting unit configured to selectively spray air toward a specific object determined based on the identification result of the identification unit in accordance with the timing at which the specific object passes through a sorting area, thereby sorting the specific object, thereby changing the transport trajectory of the specific object; and an injection control unit configured to determine the injection mode of the air based on at least one of the size change information and the vector information.

4. A sorting device as described in claim 3, wherein the area sensor has an angle of view capable of capturing images of both objects located upstream of the sorting area and objects located downstream of the sorting area on the transport path of the objects, and is configured to obtain an upstream image in which the objects located upstream of the sorting area are captured, and a downstream image in which the objects located downstream of the sorting area are captured, and the identification unit is configured to identify the state of the objects based on the upstream image.

5. A sorting device according to claim 4, comprising a monitoring unit configured to monitor the operational status of the air injection by the sorting unit based on the downstream side image.

6. A sorting device for sorting objects, comprising: a transport unit configured to transport the objects; an area sensor configured to capture images of the objects being transported by the action of the transport unit at a frame rate capable of capturing images of the same object multiple times; an identification unit configured to identify the state of the objects based on images acquired by the area sensor; and a sorting unit configured to selectively inject air toward a specific object determined based on an identification result of the identification unit in accordance with the timing at which the specific object passes through a sorting area, thereby changing the transport trajectory of the specific object, thereby sorting the specific object, wherein the area sensor has an angle of view capable of capturing images of the objects both upstream of the sorting area and downstream of the sorting area on the transport path of the objects.

Images