Apparatus and method for detecting and removing undesirable material from workpieces

A method of detecting material desired to be removed from a workpiece that is carried on a conveyor, the method comprising the steps of:

• (a) positioning the workpiece adjacent an X-ray source that generates X-rays;
• (b) exposing the workpiece to X-rays;
• (c) detecting an attenuation of the X-rays after the X-rays have passed through the workpiece;
• (d) determining the existence of undesirable material in the workpiece based on the detected attenuation of the X-rays;
• and
• (e) if it is determined that undesirable material exists in step (d), segmenting a portion that contains the undesirable material from the workpiece, tracking a position of the segmented portion containing the undesirable material, and automatically offloading the segmented portion from the conveyor using a pickup device based on the tracked location of the segmented portion.

A system for detecting material desired to be removed from a workpiece that is carried on a conveyor, the system comprising:

• (a) an x-ray source;
• (b) a camera;
• (c) a conveyor for carrying a workpiece past the x-ray source and the camera;
• (d) an x-ray detector positioned to receive x rays that were emitted by the x-ray source and passed through the workpiece, the x-ray detector generating a scanning signal corresponding to an intensity of the x rays impinging upon the x-ray detector;
• and
• (e) a processor loaded with computer-executable instructions for performing the steps of:
• (i) receiving the scanning signal and the image of the workpiece;
• (ii) determining a thickness of the workpiece;
• (iii) in a portion of the workpiece determined to have a thickness above a predetermined value, determining existence of undesirable material in the workpiece based on the scanning signal received from the detector;
• and
• (iv) in a portion of the workpiece determined to have a thickness below a predetermined value, determining existence of undesirable material in the workpiece based on the image of the workpiece taken by the camera.

A system for detecting material desired to be removed from a workpiece that is carried on a conveyor, the system comprising:

• (a) a scanner;
• (b) a conveyor for carrying a workpiece past the scanner;
• (c) a position sensor for generating a position signal indicative of a position of the workpiece;
• (d) a detector for generating a scanning signal indicative of the result of scanning;
• (e) a pickup device comprising an attachment portion attachable to a workpiece;
• and
• (f) a processor loaded with computer-executable instructions for performing the steps of:
• (i) receiving the position signal and the scanning signal;
• (ii) determining the position of the workpiece exposed to the scanner based on the received position signal;
• (iii) determining existence of undesirable material in the workpiece based on the scanning signal received from the detector;
• and
• (iv) if it is determined that undesirable material exists in step (iii), controlling the pickup device to remove the workpiece from the conveyor.