JP2009172504A - Self-traveling inspection machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile inspection machine capable of contributing to improving the quality of a treated material prepared by a mobile treatment machine. <P>SOLUTION: The mobile inspection machine for inspecting a material to be treated or a treated material by a mobile treatment machine on a site where it is prepared, is constituted of a power device and a hopper each disposed on a lower car body, a conveyor 40 extending from a position underneath the hopper, an inspection member 500 that detects inspection data with respect to a material to be inspected received in the hopper, a sorting device 60 that removes the material to be inspected from the conveyor 40 at a position downstream of the inspection member 500, a determining member 564 that determines the quality of the material to be inspected disposed on the conveyor 40 by comparing the characteristic values thereof calculated from the inspection data detected by the inspection member 500 with the preset values read out of a memory member 592, and a sorting-device controller 580 that controls the sorting device 60 from the information inputted from the judging member 564 with respect to the material to be inspected having bad quality. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mobile inspection machine that inspects an object to be processed supplied to a mobile processor at a site where the object to be processed is generated or an object processed by the mobile processor.

  There are various types of treatment plants that perform prescribed treatments on treated objects, such as crushing treatment for concrete rubble caused by rocks and building demolition, and soil improvement treatment for mixing soil improvement materials with construction generated soil. To do. In such a stationary processing plant, an inspection process may be placed in a series of processing steps in order to improve the quality of the processed product. When manufacturing recycled aggregates from processed objects (concrete glass), the processed objects before processing are photographed with a CCD camera, and the quality of the processed objects is estimated on the basis of the color tone data acquired by photographing. An example is one that adjusts operating conditions (Patent Document 1, etc.).

JP 2006-167646 A

  In recent years, many mobile processing machines (for example, a self-propelled crusher and a self-propelled soil improvement machine) including a self-propelled type and a towing type have been developed. Such a mobile processing machine has the great advantage that it can be brought into the generation site and operated near the object to be processed. Compared to processing a large amount of objects to be processed at a processing plant away from the field, Since it is not necessary to transport objects, the processing cost can be greatly reduced.

  However, the size of the mobile processing machine is restricted due to transportation restrictions on general roads in order to ensure transportability by trailers and the like, and the installed equipment is necessarily smaller than that of the fixed processing plant. For this reason, the mobile processor is generally disadvantageous compared to a stationary processing plant when processing a large amount of workpieces.

  Then, an object of this invention is to provide the mobile inspection machine which can contribute to the quality improvement of the processed material produced | generated by a mobile processing machine.

  (1) In order to achieve the above object, the present invention relates to an object to be inspected, which is an object to be processed that is supplied to a mobile processing machine at a site where the object to be processed is generated or processed by the mobile processing machine. A lower body, a power unit provided on the lower body, a receiving portion for an inspection object provided on one side of the lower body, and a position below the receiving portion A conveyor extending toward the other side of the lower vehicle body, a detection unit for detecting inspection data of the inspection object received via the receiving unit, and a position downstream of the detection unit on the conveyor A sorting device for removing and sorting the inspection object from the conveyor, and a storage unit for storing a preset value according to the target quality with respect to a feature amount used as a criterion for determining the quality of the inspection object; Inspection data detected by the detection unit The feature amount of the inspected object calculated based on the above is compared with the set value read from the storage unit, and is input from the determining unit for determining the quality of the inspected object on the conveyor and the determining unit And a sorting device controller for controlling the sorting device based on information on the inferior quality inspected object and separating the inferior quality inspected material conveyed by the conveyor from non-defective products.

  (2) In the above (1), preferably, the detection unit having an X-ray cross-sectional imaging device that acquires a cross-sectional image of an inspection object as the inspection data, and a plurality of cross-sectional images acquired by the detection unit. An image processing unit that extracts each cross-sectional image of each particle of the inspection object, and a mass of each particle of the inspection object is calculated as the feature amount based on each cross-sectional image of each particle extracted by the image processing unit. And a determination unit that compares the calculated feature value with the set value to determine whether the quality of the inspection object is good or bad.

  (3) In the above (1), preferably, the detection unit having a camera that acquires a bird's-eye shot image of the inspection object on the conveyor as the inspection data, and the image acquired on the basis of the image acquired by the detection unit. And a determination unit that determines the quality of the inspection object by comparing the particle size distribution of the inspection object calculated as the feature amount with the set value.

  (4) In the above (1), preferably, the detection unit having an electromagnetic wave detector that acquires, as the inspection data, a reflection component of the electromagnetic wave irradiated toward the inspection object on the conveyor, and acquired by the detection unit And a determination unit that compares the moisture content of the inspection object calculated as the feature amount based on the electromagnetic wave with the set value to determine the quality of the inspection object.

  (5) In the above (1), it is preferable that a communication unit for exchanging inspection results and control signals with the communication unit provided in the mobile processor is provided.

  ADVANTAGE OF THE INVENTION According to this invention, it can contribute to the quality improvement of the processed material produced | generated by a mobile processor.

Embodiments of the present invention will be described below with reference to the drawings.
The mobile inspection machine of the present invention is a processing system that is arranged in tandem with a mobile processing machine at a site where the processing object is generated, and is a processing object or mobile processing machine that is supplied to the mobile processing machine. It is suitable for inspecting a processed object (non-destructive inspection).

FIG. 1 is a side view showing a schematic configuration of a first embodiment of a mobile inspection machine of the present invention.
The mobile inspection machine according to the first embodiment is arranged at the front stage or the rear stage of the mobile processing machine, so that the quality of the inspection object (processing object or processing object) in a series of processing steps. For example, when it is placed after the mobile crusher (jaw crusher) such as a self-propelled crusher, the concrete crushed by the mobile crusher is inspected according to the quality. By sorting, it contributes to improving the quality of recycled roadbed materials as products.

  As shown in FIG. 1, the mobile inspection machine 100 according to the present embodiment includes a traveling body 10 as a lower vehicle body, a power unit 20 that supplies power to each mounted device, and a receiving unit that receives an object to be inspected. A hopper 30 as a conveyor, a conveyor 40 which is a transport means for transporting an inspection object, an inspection unit 50 for inspecting the quality of the inspection object, and a sorting device 60 for selecting an inspection object having poor quality on the conveyor 40 It has.

  The traveling body 10 includes a pair of left and right traveling devices 11 and a pair of main body frames 12 provided substantially horizontally above the traveling device 11. The traveling device 11 hangs around a track frame 13 provided continuously below the main body frame 12, driven wheels (idlers) 14 and drive wheels 15 provided at both front and rear ends of the track frame 13, and driven wheels 14 and drive wheels 15. The endless track crawler belt 16 and a drive device (not shown) connected to the drive wheel 15 are provided. Further, the main body frame 12 and the track frame 13 are connected via a turning frame (not shown) and a turning motor (not shown), and the main body frame 12 turns with respect to the track frame 13 by driving the turning motor. It is good also as a structure.

  The hopper 30 is a frame-shaped member that is formed in an upwardly expanded shape and is open at the top and bottom, and is supported on one side in the longitudinal direction of the main body frame 12 (right side in FIG. 1) via a support member 31.

  The conveyor 40 extends from the lower position of the hopper 30 toward the other side (the left side in FIG. 1) of the traveling body 10, and horizontally from the lower position of the hopper 30 toward one side in the longitudinal direction of the main body frame 12. The downstream portion after passing through the inspection unit 50 and the sorting device 60 is bent. The portion on the downstream side after the bending is inclined in a direction that passes above the power unit 20 and rises in the conveying direction. The conveyor 40 is connected to the conveyor frame 41, the driving wheels 42 and the driven wheels 43 provided at the front and rear ends of the conveyor frame 41, the conveyor belt 44 wound around the driving wheels 42 and the driven wheels 43, and the driving wheels 42. And a drive device (not shown). The conveyor frame 41 is supported by the main body frame 12 and the power unit 20 via support members 45 and 46, respectively. In the present embodiment, the conveyor 40 is entirely located above the main body frame 12 but passes below the main body frame 12 and comes from the lower position of the hopper 30 and passes under the power unit 20. It is good also as a structure suspended from the main body flame | frame 12 or the power unit 20 so that it may become an uphill inclination. Further, the conveyor belt 44 is wider than the lower opening of the hopper 30 in order to suppress spillage of the inspection object led out from the opposing hopper 30.

  Although not particularly shown in FIG. 1, a pulse detector 47 (see FIG. 4 described later) for detecting the position of the conveyor belt 44 is provided in a space inside the conveyor 40, for example, inside the conveyor belt 44. . As the pulse detector 47, for example, a method of detecting a reflected component of light or sound emitted from an LED or the like can be used. In this case, when a known number of irregularities are formed at regular intervals on the back side of the conveying surface of the conveyor belt 44, the reflected component of the light or sound irradiated thereto is detected and converted into a pulse, and then output. The circulating movement amount of the conveyor belt 44 is calculated by counting the pulse signals. Further, if an address is given to each unevenness in advance, the current position of each point of the conveyor belt 44 can be calculated.

  The power unit 20 is supported on the other end in the longitudinal direction of the main body frame 12 (left side in FIG. 1). Although not particularly illustrated, the power unit 20 is driven by an engine (prime mover), a hydraulic pump driven by the engine, and a hydraulic pump. It has a built-in control valve device that controls the flow of pressure oil. Although not shown in the figure, the mobile inspection machine 100 is provided with a power source (battery), for example, inside the power unit 20 or in the vicinity of the power unit 20.

2 is a side view of the inspection unit 50, and FIG. 3 is a cross-sectional view taken along the line III-III in FIG.
In FIG. 2, an inspection unit 50 according to the present embodiment is a part that performs a function of acquiring a cross-sectional image of an object to be processed and performing image processing to determine whether it is a non-defective product or a defective product. A detection unit 500 to be acquired, and a control calculation unit 550 (see FIG. 4 to be described later) for driving and controlling the sorting device 60 according to the non-defective product determination result based on the image acquired by the detection unit 500 are provided.

  The detection unit 500 is an X-ray cross-sectional imaging device, and detects a case 501 that forms the main body of the detection unit 500, an X-ray irradiation unit 502 that emits X-rays, and X-rays emitted from the X-ray irradiation unit 502. And an X-ray detection unit 503. The housing 501 is a donut-shaped box-shaped member having an opening 504 formed in a cylindrical shape at the center. The conveyor 40 passes through the opening 504, and the inspection object conveyed by the conveyor 40 passes through the opening 504 at the conveyance speed of the conveyor 40. At this time, the conveyor 40 is arranged so that the conveying surface of the conveyor belt 44 is offset by a set distance below the center of the opening 504 so that the object to be conveyed passes through the center of the opening 504. ing. The opening 504 is provided with curtains 506 that prevent leakage of X-rays from the housing 501 on the upstream side and the downstream side of the X-ray irradiation unit 502 in the conveyor conveyance direction.

  The X-ray irradiation unit 502 and the X-ray detection unit 503 are connected to each other by a ring-shaped gantry 505 in the housing 501. Although not particularly illustrated, a ring shape provided on an inner wall surface outside the housing 501. A guide rail (not shown) (concentric with the opening 504) is slidably engaged. The X-ray irradiation unit 502 and the X-ray detection unit 503 are opposed to each other with the center of the opening 504 of the housing 501 interposed therebetween. Although not particularly illustrated, the gantry 505 is attached with a drive device that travels along a guide rail with which the X-ray irradiation unit 502 and the X-ray detection unit 503 are engaged. By driving the driving device, the driving device travels on the ring-shaped guide rail, and the X-ray irradiation unit 502 and the X-ray detection unit 503 that are disposed to face each other together with the gantry 505 have an opening 504 in the housing 501. Rotate around the center. By irradiating X-rays from the X-ray irradiating unit 502 in accordance with this rotation operation, X-rays that have passed through the workpiece A conveyed on the conveyor 40 are detected by the X-ray detecting unit 503. Yes. It is desirable to minimize the amount of X-ray irradiation when taking a cross-sectional image.

FIG. 4 is a block diagram illustrating the configuration of the control calculation unit 550.
In FIG. 4, a control calculation unit 550 includes an inspection controller 560 that determines the quality of an inspection object based on a detection signal from the X-ray detection unit 503 of the detection unit 500, and a pass / fail determination from the inspection controller 560 (details will be described later). And a sorting device controller 580 for controlling the sorting device 60 in accordance with the result of (1).

  The inspection controller 560 includes a CT composition unit 561 that synthesizes (constructs) a cross-sectional image of the inspection object that has passed through the detection unit 500 based on an X-ray detection signal from the X-ray detection unit 503 of the detection unit 500, and a synthesized image. Extracted by a storage unit 562 for storing data, an image processing unit 563 for processing each composite image stored in the storage unit 562 and extracting cross-sectional image data of individual particles of the inspection object, and an image processing unit 563 And a determination unit 564 that determines the quality of each particle of the inspection object based on the cross-sectional image data.

  The sorter controller 580 receives a pulse signal from a pulse detector 47 provided on the conveyor 40, and calculates and monitors the phase of the conveyor belt 44 based on this input signal. At this time, the pulse signal input to the sorting device controller 580 is also input to the inspection controller 560 as needed via the sorting device controller 580. In the CT combining unit 561, the X-ray detection signal input from the X-ray detection unit 503 is associated with the pulse signal input at the same time, and the cross-sectional image acquired on the cross-sectional image to be combined is on the conveyor belt 44. The position information is attached. Therefore, the storage unit 562 stores a cross-sectional image of the inspection object with position information on the conveyor belt 44. That is, the pass / fail determination result of the inspection object output from the determination unit 564 is accompanied by the position information of the cross-sectional image that is the basis of the determination.

  As a result, the sorting device controller 580 recognizes whether or not the inspection object on the conveyor belt 44 should be removed based on the quality determination result from the determination unit 564, and for the inspection object (defective product) to be removed. Based on the position information on the conveyor belt 44 and the phase of the conveyor belt 44 managed by itself, when the defective product passes through the sorting device 60, a drive command signal is output to the sorting device 60 and the defective product is detected. Remove from the conveyor belt 44.

  Note that the storage unit 562 of the inspection controller 560 is required to have a capacity for storing at least a cross-sectional image from the imaging position of the detection unit 500 through the sorting device 60 and its position information. If the capacity is large, there is no problem in terms of function, but when the capacity is limited to the minimum, the data is overwritten in order from the area where the old data is stored after the data storage amount exceeds a certain value.

  In addition, the mobile inspection machine 100 is provided with a main controller 590 that controls the entire mobile inspection machine 100 separately from the control calculation unit 550. The main controller 590 includes a control unit 591 that controls the operation of the traveling system, the transport system, and the like, and a storage unit 592 that stores a setting value that is a determination criterion for the quality of the inspection object in the determination unit 564. The control unit 591 calculates and outputs a command signal to the travel system, the transport system, and the like based on an operation signal from the operation unit 595 accompanying an operation by the operator. In this example, since a hydraulic motor is assumed for each of the driving devices (not shown) for traveling and conveying, the command signal output from the control unit 591 to the traveling system and the conveying system is the traveling signal of the traveling body 10. This is a command signal for the solenoid drive units of the traveling control valve 17 and the conveying control valve 48 that respectively control the flow (flow rate and direction) of pressure oil to the motor and the conveyor motor of the conveyor 40. When the travel system and the transport system are made electric using an electric motor or the like, the command signals output from the control unit 591 to the travel system and the transport system are the travel motor of the travel body 10 and the conveyor motor control unit of the conveyor 40. It becomes the structure output to.

  Further, the set value stored in the storage unit 592 of the main controller 590 is in accordance with the target quality for the inspection target item of each object to be inspected (in other words, the item used as a parameter for evaluating quality). The control threshold value is preset. In the above-described pass / fail determination, the determination unit 564 reads the corresponding setting value from the storage unit 592 and compares the image processing result from the image processing unit 563 with the set value to determine pass / fail. In this example, a cross-sectional image of the inspection object can be image-processed to extract a tomographic image in units of particles, so that the mass (described later), outer diameter (shape and size), volume, and position of each particle The particle size distribution, sphericity, sphericity distribution, etc. can be calculated with high accuracy. For example, when the particle size is used as a quality criterion, the particle outer diameter is calculated as a feature value, and if a set value that matches the target quality (target particle size) is set, the quality is compared with the set value. Can be determined. The same applies to other items such as mass, volume, and distribution.

5 is a side view of the sorting device 60, and FIG. 6 is a cross-sectional view taken along the line VI-VI of FIG.
The sorting device 60 is provided at a position downstream of the detection unit 500 on the conveyor 40 in the conveying direction. The sorting device 60 forms a device body provided so as to cover the conveyor 40, and the object to be inspected is conveyed to the conveyor belt 44. A sorting blade 62 that sorts and removes from the top and a chute 63 that guides the inspection object sorted by the sorting blade 62 are provided.

  The casing 61 is a frame-shaped member that is open on both sides in the conveyance direction of the inspection object by the conveyor 40 and is mounted on the main body frame 12.

  The sorting blade 62 is rotatably supported on the ceiling portion of the casing 61 via a support shaft 64 so that the base end portion (upper end portion) is positioned above the conveyor belt 44. The support shaft 64 is fixed to the sorting blade 62, and is connected to an output shaft of an electric drive motor 65 (which may be hydraulic) mounted on, for example, an upper portion of the housing 61 via a drive transmission mechanism (sprocket, gear, etc.). Are connected. The drive motor 65 is driven by a drive command signal from the sorting device controller 580 described above. The support shaft 64 extends in the conveyance direction of the inspection object. When the drive motor 65 is driven, the sorting blade 62 swings in a direction perpendicular to the conveyor belt 44 as the support shaft 64 rotates.

  At this time, the swinging stroke of the sorting blade 62 is limited by the limit switches 66 and 67. Normally, the sorting blade 62 stands by at the position where the leading end is on one side in the width direction of the conveyor belt 44 (left side in FIG. 6), but a drive command signal from the sorting device controller 580 is input to the drive motor 65. Then, the drive motor 65 is driven and the sorting blade 62 swings to the other side in the width direction of the conveyor belt 44 (right side in FIG. 6). After that, when the sorting blade 62 pushes the limit switch 67 facing the traveling direction, a signal from the limit switch 67 is input to the sorting device controller 580. When the signal from the limit switch 67 is input, the sorting device controller 580 switches the drive command signal to the drive motor 65 to the reverse drive command signal, and swings the sorting blade 62 to one side in the width direction of the conveyor belt 44. (Return) Thereafter, when the sorting blade 62 reaches the limit switch 66 and a signal from the limit switch 66 is input to the sorting device controller 580, the sorting device controller 580 stops outputting the drive command signal to the drive motor 65 and waits. Stop at. Thus, when the sorting blade 62 is reciprocally swung in combination with the limit switches 66 and 67, a DC motor can be used as the drive motor 65. The limit switches 66 and 67 may be omitted, and a drive motor 65 that can control the rotation angle of a servo motor or the like may be used, and the sorting blade 62 may be turned back and forth at a predetermined angle.

  Further, the length of the sorting blade 62 is adjusted so that the locus of the front end portion (lower end portion) is in sliding contact with or close to the transport surface of the conveyor belt 44. Therefore, when the sorting blade 62 swings from the standby position, the inspection object on the conveyor belt 44 that interferes with the sorting blade 62 is pushed away to the side and dropped onto the chute 63. Since the sorting blade 62 reciprocates as described above, after the inspection object to be sorted is scraped off toward the chute 63, it quickly returns to the standby position.

  The size of the chute surface of the chute 63 (the surface on which the inspection object slides) is larger than that of the sorting blade 62 in the conveying direction of the inspection object by the conveyor 40 at least in the portion that receives the inspection object. That is, the upstream end of the chute 63 is located upstream of the upstream end surface of the sorting blade 62, and the downstream end of the chute 63 is located downstream of the downstream end surface of the sorting blade 62. The chute 63 has an upper end portion of the chute surface close to a side portion on one side of the rotation direction of the sorting blade 62 of the conveyor belt 44 (in this example, the right side in FIG. 6), and in a posture in which the chute 63 is inclined downward therefrom. It is supported by the body 61. The housing 61 is provided with an opening (not shown) facing the chute surface of the chute 63, and the inspection object flowing down the chute 63 is discharged to the outside of the housing 61 through the opening. In this way, the inspection object determined to be poor by the determination unit 564 is sorted by the sorting device 60 and removed from the conveyor 40.

Next, the operation of the mobile inspection machine 100 of the present embodiment having the above configuration will be described.
First, the mobile inspection machine 100 is appropriately run in the field and installed at a predetermined position. Here, as an example, the mass of a single crushed particle discharged from the self-propelled crusher is inspected by placing it after the self-propelled crusher (jaw crusher). The case where the quality is determined based on whether or not the crushing process is performed will be described.

  The inspection object (crushed material) discharged from the discharge conveyor of the self-propelled crusher is introduced into the hopper 30 and guided onto the conveyor 40 through the hopper 30. The object to be inspected is conveyed by the conveyor 40 that is driven to circulate, and passes through the detection unit 500. When passing through the detection unit 500, a cross-sectional image of the object to be inspected is captured, and the quality of the object to be inspected is determined based on the cross-sectional image in the control calculation unit 550. As a result, the inspection object determined to be non-defective is conveyed as it is, passes through the sorting device 60, and is finally discharged from the discharge end of the conveyor 40. On the other hand, the inspection object determined to be defective by the control calculation unit 550 is removed from the conveyor belt 44 by the sorting blade 62 when introduced into the sorting device 60, and is separated from the non-defective product through the chute 63. Discharged.

  Here, FIG. 7 is a flowchart showing an example of an image processing algorithm by the image processing unit 563.

First, the image processing unit 563 reads the cross-sectional image n at a specific position on the conveyor 40 of the object to be inspected synthesized by the CT synthesizing unit 561 from the storage unit 562 (step S101), and calculates the luminance of each pixel of the cross-sectional image n. preset threshold and treated binarized (step S102), low particle _P m than removed threshold luminance high spatial luminance _{portion, P m +} 1, extracts the image data of ... (step S103) .

Next, among the particles P _m , P _{m + 1} ,..., The center-of-gravity coordinates C _m of the particles P _{m in} the coordinate system on the cross-sectional image are calculated based on the image data extracted in step S103 (step S104). After calculating the center coordinates C _m particles P _m, 1 previous distance (upstream neighbor position) parsed sectional image n-1 to the particles P _m and barycentric coordinates of set closer (in advance of the cross-sectional image n ( Particles within (threshold value) are searched (step S105), and it is determined whether there is a corresponding particle (step S106).

If applicable particles, proceeding to step S109 and assigns the particle number of the corresponding particles of the cross-sectional image n-1 to the particles _{P m} (Step S107). If there is no particles, proceeding to step S109 and allocates a new particle number particle _{P m} (Step S108). In step S109, it is determined whether or not the processing so far has been completed for all of the particles extracted in step S103. If there is a particle that has not been subjected to the same processing, the procedure returns to step S104, and in the tomographic image n. The same procedure is repeated for the next particle P _{m + 1} . When the processing so far is completed for all particles in the cross-sectional image n, the procedure proceeds to step S110.

  When the procedure proceeds to step S110, the image processing unit 563 searches for a particle having a particle number that is not present in the cross-sectional image n in the cross-sectional image n-1, and whether there is a corresponding particle in step S111. Determine. The relevant particles discovered here are particles that have been analyzed for all of the cross-sectional images. If there is a corresponding particle, the analysis result (cross-sectional image and its barycentric coordinates, etc.) of each cross section of the corresponding particle is stored in the storage unit 562 via the procedure of step 112 to notify that the analysis of the corresponding particle is completed. The signal is output to the determination unit 564, and the procedure proceeds to step S113. If the corresponding particle is not found in step S111, the procedure is moved to step S113 without going through step S112. In step S113, the above analysis processing is completed for the cross-sectional image n, the unanalyzed cross-sectional image n + 1 immediately after the cross-sectional image n (downstream adjacent position) is changed to an analysis target (n = n + 1), Return the procedure to S101.

  As described above, the image processing unit 563 repeatedly executes the processes in steps S101 to S113 while the conveyor 40 is driven, and sequentially analyzes the cross-sectional images of the inspection objects on the conveyor 40 that are continuously imaged. The scan data for each grain is recorded in the storage unit 562.

FIG. 8 is a flowchart showing an example of a pass / fail determination algorithm by the determination unit 564.
In this example, the determination unit 564 acquires information on the feature amount, for example, mass, volume, sphericity, etc. for each particle based on each image data of the particle extracted by the image processing unit 563, and coordinates of each particle. A particle size distribution, a particle mass distribution, a sphericity distribution and the like can be calculated together with data and the like. Of these, the feature quantity used for quality determination is compared with a set value (threshold value) stored in advance in the storage unit 592 of the main controller 590 as a quality determination reference, and quality quality determination is executed for each particle.

  That is, when the determination unit 564 first receives a scan completion signal from the image processing unit 563 in the procedure of step S112 (step S201), the determination unit 564 stores a set of cross-sectional image data of particles having particle numbers corresponding to the signal. Read from the unit 562 (step S202). When the image data of the cross-sectional image is read out, the density (luminance) of each pixel is converted into mass for each image, and the total mass conversion value of each pixel is obtained for each cross-sectional image of the particle currently being judged. Each value is calculated (step S203). The luminance-to-mass conversion process in step S203 is executed based on the relationship between the luminance and mass of the pixel that has been obtained in advance by actual measurement or the like.

  When the procedure moves to the subsequent step S204, the determination unit 564 determines whether or not the calculation of the total value of the mass conversion values has been completed for all the cross-sectional images of the particles currently being determined, and the total of the mass conversion values If there remains an image for which no value is obtained, the procedure returns to step S203. If the calculation of the total mass conversion value is completed for all the images of the particle in step S204, the procedure proceeds to the next step S205 to calculate the total mass conversion value of each image, and the current determination Estimate the mass of the particles of interest.

  After calculating the mass of the target single particle, the determination unit 564 compares the set value (according to the target particle size) read from the storage unit 592 of the main controller 590 with the calculated value, and whether the calculated value is equal to or less than the set value. It is determined whether or not (step S206). If the calculated value is larger than the set value, the determination unit 564 determines that the particle currently being determined is of poor quality, moves the procedure to step S207, and notifies the sorting device controller 580 of the position of the particle on the conveyor belt 44. To do. When the calculated value of the particle mass is equal to or smaller than the set value and the determination in step S206 is satisfied, the determination unit 564 omits the notification to the sorting device controller 580 and ends the determination procedure of FIG.

  When the determination unit 564 receives a scan end notification from the image processing unit 563, the determination unit 564 sequentially executes the processes of steps S201 to S207 described above for each of the particles. Upon receiving the position information of the particles output in step S207, the sorting device controller 580 drives the sorting device 60 when the position on the conveyor belt 44 reaches the removal position by the sorting blades 62. The determined particles are removed from the conveyor belt 44. Since the particle position is not notified for particles smaller than the set particle size, if there are no poor quality particles in the vicinity, the particles pass through the sorting device 60 without being removed from the conveyor belt 44 by the sorting blades 62 and discharged from the conveyor 40. Discharged from the edge.

  According to the present embodiment described above, in the processing such as waste recycling, it is possible to inspect the quality of the object to be processed or the processed object and to automatically remove those determined to be defective. By reducing the non-defective product ratio, the quality of the processed product can be improved. In addition, since necessary equipment is mounted on the lower vehicle body 10 and unitized, transportability by a trailer or the like is ensured, so that it is easy to carry the workpiece to the generation site. Furthermore, since it is mobile, it is easy to change the installation position in the field, and it is easy to install at a desired position. Therefore, it is easy to configure a system in combination with a mobile processor at the site where the workpiece is generated, which contributes to improving the quality of the processed material by the mobile processor, and the processing system can be installed on the site together with the mobile processor. Since it is configured, the processing cost can be greatly reduced as compared with the case where the object to be processed is taken out of the field and processed. Moreover, since it is mobile, when building a system with a mobile processor, the degree of freedom in system layout is high.

  Further, in the present embodiment, an operation example has been described in which the mobile inspection machine 100 is arranged at the subsequent stage of the mobile processing machine to remove a processed product (product) that deviates from the quality standard and stabilize the quality of the processed product. However, when the mobile inspection machine 100 is arranged at the front stage of the mobile processing machine, for example, by removing the object to be processed having a quality unsuitable for the processing of the mobile processing machine by the mobile inspection machine 100, foreign matter and difficult processing As a result, it is possible to prevent the processed product having a proper property from being supplied to the mobile processing machine. In addition to improving the quality of the processed product, it is possible to expect the effect of suppressing the failure of the mobile processing machine.

  FIG. 9 is a side view showing a schematic configuration of a processing system using the second embodiment of the mobile inspection machine of the present invention, and FIG. 10 is provided in the second embodiment of the mobile inspection machine of the present invention. FIG. 11 is a block diagram showing a schematic configuration of the control system of the mobile processor constituting the processing system together with the second embodiment of the mobile inspection machine of the present invention. Portions similar to those in the previous drawings in FIGS. 9 and 10 are denoted by the same reference numerals as those in the previous drawings, and description thereof is omitted.

  The mobile inspection machine 100A according to the present embodiment is different from the mobile inspection machine 100 according to the first embodiment in that the configuration of the inspection unit 50A and communication means with the mobile processor 200 are provided. It is in. In the processing system shown in FIG. 9, the mobile processor 200 is arranged in front of the mobile inspector 100A, and the quality of the processed product (product) by the mobile processor 200 is inspected. In this embodiment, for example, when the mobile processing machine 200 is a self-propelled wood crusher, whether or not the crushed wood (wood chip) is within the target particle size distribution is used as a quality pass / fail judgment criterion. It is suitable for removing crushed wood and controlling the quality of crushed wood finely by feeding back the result of quality inspection to a self-propelled wood crusher.

  As shown in FIGS. 9 and 10, the inspection unit 50A is provided at substantially the same position as the inspection unit in the mobile inspection machine 100 of the first embodiment, and acquires a detection object image. 500A, a control calculation unit 550A (see FIG. 10) that determines the quality of the inspection object based on the image data acquired by the detection unit 500A, and a communication antenna 70 for communicating with the mobile processor 200. ing.

  As shown in FIG. 9, the detection unit 500 </ b> A includes a frame-type support frame 511 fixed on the main body frame 12 so as to straddle the conveyor 40, and a camera 512 that takes a bird's-eye view of the inspection object on the conveyor belt 44. And an illumination 513 for illuminating a shooting location of the camera 512. These camera 512, illumination 513, inspection controller 560 </ b> A (described later), and communication antenna 70 are supported by a support base 511.

  The camera 512 can be composed of, for example, a CCD camera or the like, and continuously images the inspection object on the conveyor belt 44 at a set time period. The image data of the inspection object acquired by the camera 512 is output to the inspection controller 560A. The light quantity of the illumination 513 is adjusted so that the shooting location of the camera 512 has an appropriate illuminance.

  As shown in FIG. 10, the control calculation unit 550A controls the inspection controller 560A that determines the quality of the inspection object based on the image data from the camera 512, and the screening device 60 according to the quality determination result from the inspection controller 560A. A sorting device controller 580 (similar to the first embodiment) is provided.

  The inspection controller 560A is extracted by the storage unit 562A that stores the image data from the camera 512 of the detection unit 500A, the image processing unit 563A that performs image processing on each image data stored in the storage unit 562A, and the image processing unit 563A. A determination unit 564A for determining the quality of the inspection object based on the obtained image data.

  In the image processing unit 563A, the image data input from the camera 512 is associated with the pulse signal input from the pulse detector 47 at the same time, and the position information on the conveyor belt 44 from which the image is acquired is associated with each image. Is stored in the storage unit 562. Since the image data acquired by the camera 512 is two-dimensional data having a certain width in the horizontal direction, based on the position information on the conveyor belt 44 of the shooting position of this image and the coordinates in the image, The position on the conveyor belt 44 of each inspection object in the image can be calculated. Then, in the image processing unit 563A, for example, each image data stored in the storage unit 562A is binarized, image data of individual particles of the inspected inspection object is extracted, and image data of each particle is The information is stored in the storage unit 562A together with the coordinate information of the center of gravity (or representative point).

  The determination unit 564A calculates the size of each particle based on the image data processed by the image processing unit 563A, and calculates the particle size distribution of the inspection object based on the calculated size and coordinate information of each particle. Further, foreign matters such as a hook and a nail are also determined based on the shape. Then, the calculated particle size distribution is compared with a set value (set particle size) read from the storage unit 592 of the main controller 590, and if there is a place where crushed wood or foreign matter having a particle size larger than the set value is distributed, the first As in the first embodiment, information on the location is notified to the sorting device controller 580 and is removed from the conveyor belt 44 by the sorting device controller 580.

  The communication antenna 70 is connected to the main controller 590 via the communication controller 71. The communication controller 71 is connected to the communication unit 201 (see FIG. 11) of the parent machine (in this case, the mobile processing machine 200 or a hydraulic excavator (not shown) that puts wood to be crushed into the mobile processing machine 200). When establishing, the communication unit 201 is connected in response to a broadcast (connection request signal) from the communication unit 201 on the base unit side. After the connection is established, a command signal transmitted from the parent device side via the communication unit 201 is received and output to the main controller 590. When a foreign object is determined by the control calculation unit 550A, the communication controller 71 generates a warning signal and transmits it to the parent device side via the communication antenna 70.

  Command signals input from the master unit to the communication controller 71 are roughly classified into signals for instructing information transmission (information transmission commands) and signals for instructing machine control (machine control commands). The information transmission command instructs the current state of the mobile inspection machine 100A, for example, the conveyance speed of the conveyor 40, the remaining amount of fuel, and the quality inspection result (particle size distribution, image data, etc.) of the inspection object to the parent device side. Signal. The machine control command is a signal for instructing the operation of the components of the mobile inspection machine 100A, for example, driving, stopping, or conveying speed of the conveyor 40, execution or stop of processing of the inspection unit 50A, and the like.

  When an information transmission command is input via the communication controller 71, the main controller 590 reads out target information from the storage units 562 </ b> A and 592 and outputs the target information to the communication controller 71. The communication controller 71 is connected via the communication antenna 70. Send it to the main unit. Further, when a machine control command is input via the communication controller 71, the main controller 590 causes the control unit 591 to send to the corresponding device (such as the transport control valve 48) according to the command value of the input machine control command. Generate and output command signals. The sorting device 60 of the mobile inspection machine 100A can be driven by a machine control command from the parent machine side.

  On the parent machine (mobile processing machine) side, the controller 202 compares the received particle size distribution information from the mobile inspection machine 100A with the target particle size, and supplies a processing device, a supply device of wood to be crushed to the processing device, and the like. A command signal is output to the drive unit 203 of each operating device including the operation speed of each operating device automatically and dynamically so that the deviation between the particle size of the crushed material and the particle size distribution information from the mobile inspection machine 100A becomes small. To control. In addition, when an operation signal output from the operation panel 205 is input by a predetermined operation by the operator, the controller 202 causes the display device 204 to display input information from the mobile inspection machine 100A.

  Also in this embodiment, the same effect as that of the first embodiment can be obtained. In addition, information can be communicated with other machines that make up the processing system, and inspection results can be fed back to other machines and operations can be coordinated with other machines, further improving product quality and work efficiency. Improvement can be expected. In addition, the operator can monitor the processing state of the object to be processed on the master unit side or manually adjust the operating state of the mobile processing unit by displaying the quality inspection result on the display device 204. You can also.

  FIG. 12 is a side view showing a schematic configuration of a processing system using the third embodiment of the mobile inspection machine of the present invention. Portions similar to those in the previous drawings in FIG.

  The mobile inspection machine 100B of the present embodiment is different from the mobile inspection machine 100A of the second embodiment in that a moisture content measuring means for measuring the moisture content of the inspected object is additionally installed, and A power distribution unit 80 that receives power supplied from the outside and distributes the power to each device is provided. The processing system shown in FIG. 12 arranges the mobile inspection machine 100B in the previous stage of the mobile processing machine 300 and inspects the quality (characteristics) of the workpiece to be supplied to the mobile processing machine 300 before processing. Based on the result, the processing condition of the object to be processed in the mobile processor 300 is controlled. In the present embodiment, for example, when the mobile processor 300 is a self-propelled soil improvement machine, the quality of the improved soil is controlled by controlling the amount of the soil improvement material added to the soil according to the moisture content of the soil to be treated. It is suitable for stabilizing. In the mobile processing machine 300, the inspected workpiece (sediment) discharged from the conveyor 40 of the mobile inspection machine 100B is received, and a soil improvement material is added thereto by a soil improvement material supply device (not shown). Then, the object to be treated and the soil quality improving material are mixed and discharged as improved soil by a mixing device (not shown).

  The power distribution unit 80 is provided on the main body frame 12 so as to be adjacent to the other side (the left side in FIG. 12) of the lower vehicle body 10 in the power unit 20, and the mobile processor 300 is connected via a power transmission cable 90. Is connected to a power output unit (not shown). The power distribution unit 80 inputs electric power supplied from the mobile processor 300 via the power transmission cable 90 and supplies the electric power to each electric device mounted on the mobile inspection machine 100B. At this time, the power distribution unit 80 supplies the power supplied from the mobile processor 300 to each electric device alternately with the power from the power device 20, or from the mobile processor 300 to the allocated supply destination. The supplied power and the power from the power unit 20 may be distributed.

  In addition, the inspection unit 50B in the present embodiment includes a detection unit 500B that detects the moisture content of the inspection object in addition to the detection unit 500A. As illustrated in FIG. 12, the detection unit 500 </ b> B generates electromagnetic waves (for example, near-infrared rays) on a frame-type support frame 567 that is fixed on the main body frame 12 so as to straddle the conveyor 40 and an object to be inspected on the conveyor belt 44. , And an electromagnetic wave detector 566 for detecting a reflected wave (reflection component) of the electromagnetic wave emitted from the electromagnetic wave irradiator 565. The electromagnetic wave irradiator 565 and the electromagnetic wave detector 566 are supported by a support frame 567. The detection unit 500B itself is located between the hopper 30 and the sorting device 60, and is installed on the upstream side of the detection unit 500A. However, the positional relationship between the detection units 500A and 500B is not necessarily limited, and the detection unit 500B may be provided on the downstream side of the detection unit 500A, or the camera 512, the illumination 513, the electromagnetic wave irradiator 565, and the electromagnetic wave may be provided on a common support frame. A detector 566 may be provided to consolidate the arrangement of the detection units 500A and 500B on the same support frame.

  The electromagnetic wave irradiated by the electromagnetic wave irradiator 565 is reflected by the object to be inspected on the conveyor belt 44, and the reflection is detected by the electromagnetic wave detector 566 and output to a control calculation unit (not shown). A control calculation unit (not shown) calculates the moisture content of the inspection object on the conveyor belt 44 based on the attenuation of the electromagnetic wave (reflected wave) input from the electromagnetic wave detector 566 to the control calculation unit 550A shown in FIG. The moisture content calculated by the calculation unit is transmitted to the communication unit (not shown) of the mobile processor 300 via the communication controller 71 and the communication antenna 70. The transmission of the moisture content may be a method that responds to a request from the mobile processor 300 side as in the information transmission command described above, or a method that transmits from the mobile inspection device 100B side at any time or at regular time intervals. But it ’s okay. On the mobile processing machine 300 side, the mobile inspection machine 100B is controlled by the controller on the mobile processing machine 300 side under the relationship of the amount of soil improvement material added to the moisture content of earth and sand given in advance to ensure a certain quality. The driving speed of the soil conditioner supply device is controlled based on the moisture content information of the object to be treated received from the control unit, and the amount of the soil conditioner added to the object to be treated is adjusted.

  According to the present embodiment, in addition to the same effects as those of the second embodiment, the information on the moisture content of the object to be inspected is acquired prior to the processing, so that the object to be processed on the mobile processor 300 side can be obtained. Processing conditions can be suitably controlled. In addition, since foreign matter can be removed from the object to be processed supplied to the mobile processing device 300 by the mobile inspection machine 100B, troubles such as biting of foreign matter in the processing device of the mobile processing device 300 can be prevented. Can be suppressed.

  In addition, in this embodiment, the power supplied from the mobile processor 300 via the power transmission cable 90 can be supplied to the own drive device in this embodiment, so that there is a margin in the remaining energy. When not in use, it can be operated with externally supplied power. In the mobile inspection machine of the present invention that constitutes a processing system together with other mobile processing machines, the mobile processing machines that together constitute the processing system are arranged nearby, and thus can be supplied with power. With this configuration, energy can be distributed flexibly according to the energy efficiency of each machine.

  FIG. 13 is a side view showing a schematic configuration of the fourth embodiment of the mobile inspection machine of the present invention. Portions similar to those in the previous drawings in FIG. 13 are denoted by the same reference numerals as those in the previous drawings, and description thereof is omitted.

  The mobile inspection machine 100C of the present embodiment is different from the mobile inspection machine 100 of the first embodiment in the installation state of the detection unit 50. In the present embodiment, the detection unit 50 is supported by the main body frame 12 by the support member 31 so that the opening 504 (see FIGS. 2 and 3) is positioned at the lower part of the hopper 30 with the vertical direction. . That is, the inspection object that has been led out from the hopper 30 and dropped onto the conveyor 40 is passed through the opening 504, and a cross-sectional image of the falling inspection object is acquired. Associating the cross-sectional image of the inspection object with the position information on the conveyor 40, for example, the lower position of the detection unit 50 (for example, the center of the opening 504) at the time of acquiring the cross-sectional image is used as the attached position information of the cross-sectional image.

  Similar effects can be obtained with such a configuration. Also in the second and third embodiments, the inspection objects 500A and 500B may be installed so as to detect the inspection data of the inspection object falling from the hopper 30 onto the conveyor 40, respectively.

  FIG. 14 is a schematic view showing an extracted main part of the sorting apparatus provided in the fifth embodiment of the mobile inspection machine of the present invention. FIG. 14 illustrates a configuration viewed from the direction in which the object to be inspected is conveyed by the conveyor 40. Portions similar to those in the previous drawings in this figure are given the same reference numerals as in the previous drawings, and description thereof is omitted.

  The mobile inspection machine of this embodiment is different from the mobile inspection machine 100 of the first embodiment in the configuration of the sorting device. In the sorting apparatus according to the present embodiment, as shown in FIG. 14, the sorting blade 62 has an operation portion 62a extending above the support shaft 64 at the base end portion, and a substantially horizontal attitude to the operation portion 62a. In this configuration, the rod tip of the cylinder 68 (which can be hydraulic or electric) is pivotally connected so that the sorting blade 62 reciprocally swings as the cylinder 68 expands and contracts. The swing range of the sorting blade 62 depends on the amount of expansion / contraction of the cylinder 68. The cylinder 68 corresponds to the drive motor 65 (see FIGS. 5 and 6) in the first embodiment. Similar effects can be obtained with such an apparatus configuration.

  FIG. 15 is a schematic diagram showing an extracted main part of the sorting apparatus provided in the sixth embodiment of the mobile inspection machine of the present invention. FIG. 15 illustrates a configuration viewed from the conveyance direction of the inspection object by the conveyor 40. Portions similar to those in the previous drawings in this figure are given the same reference numerals as in the previous drawings, and description thereof is omitted.

  The mobile inspection machine of this embodiment is different from the mobile inspection machine 100 of the first embodiment in the configuration of the sorting device. As shown in FIG. 15, the sorting device in the present embodiment is formed in a chute shape in which inner wall portions on both side surfaces of the casing 61 a located on both sides in the width direction of the conveyor 40 are reduced in diameter downward. . Below the lower opening of the casing 61a, there is a side conveyor 48 having a conveyor belt whose dimension taken in the conveyance direction of the inspection object by the conveyor 40 (direction perpendicular to the paper surface) is wider than the lower opening of the casing 61a. It extends in a direction perpendicular to the conveyor 40.

  That is, in the first embodiment, the inspection object selected by the selection blade 62 is moved out of the apparatus by the chute 63, whereas in the present embodiment, the inspection object selected by the side is the side. The conveyor 48 is separated from non-defective products and discharged. The side conveyor 48 is inclined upward to ensure a discharge height. The substantial configuration of the side conveyor 48 is almost the same as that of the conveyor 40.

  Further, in the case of the present embodiment, since both side walls of the casing 61a function as guide means for guiding the inspection object sorted from the conveyor 40 to the side conveyor 48, either of the reciprocating operations of the sorting blade 62 is performed. The object to be inspected that has been removed in step S3 is also stably guided onto the side conveyor 48. Similar effects can be obtained with such an apparatus configuration.

  FIG. 16 is a schematic view showing an extracted main part of the sorting apparatus provided in the seventh embodiment of the mobile inspection machine of the present invention. FIG. 16 shows a configuration viewed from the side. Portions similar to those in the previous drawings in this figure are given the same reference numerals as in the previous drawings, and description thereof is omitted.

  The mobile inspection machine of the present embodiment is different from the mobile inspection machine 100 of the first embodiment in the following three points.

  The first difference is that the conveyor that conveys the inspection object received by the hopper 30 and carries out the non-defective product discharges the non-defective product sorted by the upstream conveyor 40a that covers the hopper 30 and the detection unit 50, and the sorting device. It is divided into the downstream conveyor 40b. Both of these conveyors 40a and 40b are appropriately supported by the main body frame 12 and the power unit 20. The upstream conveyor 40a extends horizontally from below the hopper 30 to a position passing through the detection unit 50. The downstream conveyor 40b extends upward from the position below the discharge end of the upstream conveyor 40a toward the downstream side in the conveyance direction of the inspection object by the upstream conveyor 40a. The height of the discharge end of the downstream conveyor 40b is approximately the same as that of the conveyor 40 in the first embodiment.

  The second difference is that a conveyor 49 is added that separates defective products sorted by the sorting device from non-defective products and discharges them. The conveyor 49 is suspended and supported by the main body frame 12. The conveyor 49 extends substantially horizontally from the position below the discharge end of the upstream conveyor 40a (in this example, the position below the upstream end of the downstream conveyor 40b) to the upstream side in the conveyance direction of the inspection object by the upstream conveyor 40a. is doing. However, the extending direction of the conveyor 49 is not limited as long as the downstream conveyor 40b and the object to be inspected are separated and carried out. When extending to the side of the machine body, it may be inclined upward.

  The third difference is in the configuration of the sorting device. In the sorting apparatus according to the present embodiment, as shown in FIG. 16, the sorting plate 69 is configured to be able to be inserted and removed from the upper side of the upstream conveyor 40a and the downstream conveyor 40b obliquely from above. The sorting plate 69 has a leading end from the upper position on the front side (left side in FIG. 16) of the discharge end of the upstream conveyor 40a to the lower position on the rear side (right side in FIG. 16) of the discharge end of the upstream conveyor 40a. Slide in the surface direction so as to move, retreat from the flow of the inspection object discharged from the upstream conveyor 40a when it is at the upper limit position (see solid line), and upstream when it is at the lower limit position (see dotted line) The inspection object discharged from the conveyor 40a is blocked. Although not shown in detail, the sorting plate 69 is slid in the direction shown by a driving device such as a cylinder supported by the housing 61. This drive device is placed at the position of the solid line when the inspection object determined to be non-defective is discharged from the upstream conveyor 40a, and when the inspection object determined to be defective is discharged from the upstream conveyor 40a. Are controlled so that the sorting plate 69 moves to the position of the dotted line.

  That is, in the present embodiment, the inspection object determined to be non-defective is discharged from the upstream conveyor 40a, transferred to the downstream conveyor 40b, discharged from the downstream conveyor 40b, and the inspection object determined to be defective. Is blocked by the sorting plate 69 and guided onto the conveyor 49. Similar effects can be obtained with such an apparatus configuration.

  FIG. 17 is a schematic view showing an extracted main part of the sorting apparatus provided in the eighth embodiment of the mobile inspection machine of the present invention. FIG. 17 illustrates a configuration viewed from above. Portions similar to those in the previous drawings in this figure are given the same reference numerals as in the previous drawings, and description thereof is omitted.

  The mobile inspection machine of this embodiment is different from the mobile inspection machine 100 of the first embodiment in the configuration of the sorting device. The sorting device 60A in the present embodiment is composed of an articulated robot arm that can grasp and sort particles of a predetermined size. The sorting device 60A is installed on the main body frame 12 so as to be located beside the conveyor belt 44 in the downstream portion of the detection unit 500, and grips the particles of the object to be inspected determined to be defective to convey the conveyor belt 44. Remove from the top and discharge to a fixed position outside the machine, for example on the side of the machine. When the X-ray cross-sectional imaging apparatus is used for the detection unit, the quality and the position of the quality can be accurately identified in units of particles as described in the first embodiment. Defective products that do not satisfy quality can be selected and removed in units of particles. Thereby, the quantity of the non-defective product removed together with the defective product can be effectively suppressed.

  In the above, the means for adjusting the conveyance amount of the inspection object on the conveyor 40 (for example, the cross-sectional area of the crest of the inspection object on the conveyor belt 44) has not been described in detail, but the conveyor 40 is kept at a constant speed. It is also possible to provide means for adjusting the conveyance amount of the inspection object while keeping it. For example, when the lower portion of the hopper 30 is brought into sliding contact with or close to the conveyor belt 44 and the inspection object outlet facing the conveyor belt 44 is provided on the front wall portion of the hopper 30 on the downstream side in the transport direction, By providing the hopper 30 with a gate for adjusting the opening area (opening height) of the object outlet, the cross-sectional area of the inspection object on the conveyor belt 44 can be controlled to adjust the conveyance amount. A constant supply can be realized by keeping the opening area constant.

  In addition, the mobile inspection machine of each embodiment and the mobile processing machine constituting the processing system together with this can be an automatic machine equipped with a lower vehicle body (traveling device) capable of traveling on its own, For example, it may be of a type that has a non-driven simple trolley-like lower body and can be towed. Further, in each embodiment, the conveyor 40 whose downstream side is bent upwardly with respect to the upstream side has been described as an example. However, the conveyor 40 is linearly inclined upward from the lower position of the hopper 30 toward the discharge end. It can also be a conveyor.

  In each embodiment, as a mobile processing machine that constitutes a processing system together with a mobile inspection machine, a mobile crusher (such as a jaw crusher) that crushes rock materials such as concrete trash, crushing the wood to be crushed, and wood Examples include mobile wood crushers that produce chips, and mobile soil improvement machines that produce improved soil by mixing soil improvement materials with earth and sand materials, but are not limited to these, home appliances, rubber tires, tatami mats, etc. In addition to the mobile shredder that shears and crushes the various objects to be crushed, the mobile impact crusher, mobile roll crusher, mobile screen used as an auxiliary device, mobile conveyor, etc. can constitute a processing system. It is possible to judge the quality by inspecting the feature amount of the item as the quality judgment parameter for the processed object to be received or discharged. .

It is a side view showing a schematic structure of a 1st embodiment of a mobile inspection machine of the present invention. It is a side view of the test | inspection part with which 1st Embodiment of the mobile inspection machine of this invention was equipped. It is sectional drawing by the III-III cross section in FIG. It is a block diagram showing the structure of the control calculating part with which 1st Embodiment of the mobile inspection machine of this invention was equipped. It is a side view of the sorting device with which the 1st embodiment of the mobile inspection machine of the present invention was equipped. It is sectional drawing by the VI-VI cross section of FIG. It is a flowchart showing an example of the image processing algorithm by the image processing part with which 1st Embodiment of the mobile inspection machine of this invention was equipped. It is a flowchart showing an example of the quality determination algorithm by the determination part with which 1st Embodiment of the mobile inspection machine of this invention was equipped. It is a side view showing the schematic structure of the processing system using 2nd Embodiment of the mobile inspection machine of this invention. It is a block diagram of the control calculating part with which 2nd Embodiment of the mobile inspection machine of this invention was equipped. It is a block diagram showing schematic structure of the control system of the mobile processor which comprises a processing system with 2nd Embodiment of the mobile inspection machine of this invention. It is a side view showing the schematic structure of the processing system using 3rd Embodiment of the mobile inspection machine of this invention. It is a side view showing schematic structure of 4th Embodiment of the mobile inspection machine of this invention. It is the schematic which extracted and represented the principal part of the sorting device with which 5th Embodiment of the mobile inspection machine of this invention was equipped. It is the schematic which extracted and represented the principal part of the sorting device with which 6th Embodiment of the mobile inspection machine of this invention was equipped. It is the schematic which extracted and represented the principal part of the sorting device with which 7th Embodiment of the mobile inspection machine of this invention was equipped. It is the schematic which extracted and represented the principal part of the sorting device with which 8th Embodiment of the mobile inspection machine of this invention was equipped.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Traveling body 11 Traveling apparatus 20 Power unit 30 Hopper 40 Conveyor 40a Upstream conveyor 40b Downstream conveyor 48 Side conveyor 49 Conveyor 50 Inspection part 50A, B Inspection part 60, 60A Sorting device 61 Case 62 Sorting blade 63 Chute 64 Support shaft 65 Drive motor 66, 67 Limit switch 69 Sorting plate 70 Communication antenna 71 Communication controller 80 Power distribution unit 90 Power transmission cable 100, 100A-C Mobile inspection machine 200 Mobile processing machine 201 Communication part 202 Controller 203 Drive part 300 Mobile type Processor 500, 500A, B Detection unit 501 Case 502 X-ray irradiation unit 503 X-ray detection unit 512 Camera 513 Illumination 550, 550A Control operation unit 560, 560A Inspection controller 561 CT composition unit 562, 562A Storage unit 563, 56 A image processing unit 564,564A determination unit 565 electromagnetic radiation 566 electromagnetic wave detector 580 sorter controller 590 the main controller 591 the control unit 592 storage unit 595 operation unit P particles C barycentric coordinates

Claims (5)

A mobile inspection machine that inspects a processing object supplied to a mobile processing machine at a generation site of the processing object or a processing object processed by the mobile processing machine as an inspection object,
The lower car body,
A power unit provided on the lower vehicle body;
A receiving portion for an inspection object provided on one side of the lower vehicle body;
A conveyor extending from a lower position of the receiving portion toward the other side of the lower vehicle body;
A detection unit for detecting inspection data of the inspection object received through the receiving unit;
A sorting device which is provided at a position downstream of the detection unit on the conveyor and removes and sorts the inspection object from the conveyor;
A storage unit that stores a preset value according to the target quality with respect to the feature amount used as a criterion for determining the quality of the inspection object;
Judgment of comparing the feature value of the inspection object calculated based on the inspection data detected by the detection unit with the set value read from the storage unit, and determining the quality of the inspection object on the conveyor And
A sorting device controller for controlling the sorting device based on the information on the inferior inspection object inputted from the determination unit, and separating the inferior inspection object conveyed by the conveyor from non-defective products; Mobile inspection machine characterized by In the mobile inspection machine of Claim 1,
The detection unit having an X-ray cross-sectional imaging device for acquiring a cross-sectional image of an inspection object as the inspection data;
An image processing unit for extracting each cross-sectional image of each particle of the inspection object from a plurality of cross-sectional images acquired by the detection unit;
Based on each cross-sectional image of the individual particles extracted by the image processing unit, the mass of each particle of the inspection object is calculated as the feature amount, and the calculated feature amount is compared with the set value to determine the inspection object A mobile inspection machine comprising: the determination unit that determines quality. In the mobile inspection machine of Claim 1,
The detection unit having a camera that acquires an overhead view image of the inspection object on the conveyor as the inspection data;
The determination unit determining the quality of the inspection object by comparing the particle size distribution of the inspection object calculated as the feature amount based on the image acquired by the detection unit with the set value; Mobile inspection machine characterized by In the mobile inspection machine of Claim 1,
The detection unit having an electromagnetic wave detector that acquires a reflection component of an electromagnetic wave irradiated toward an inspection object on the conveyor as the inspection data;
The determination unit is configured to determine the quality of the inspection object by comparing the moisture content of the inspection object calculated as the feature amount based on the electromagnetic wave acquired by the detection unit with the set value. Mobile inspection machine characterized by   The mobile inspection machine according to claim 1, further comprising a communication unit that exchanges inspection results and control signals with a communication unit provided in the mobile processor.

Images