Foreign object separation system, foreign object separation method, program, and computer-readable recording medium containing the program.

Abstract

A foreign matter separation system, a foreign matter separation method, a program, and a computer-readable recording medium storing the program are provided to reduce the amount of waste accidentally removed along with foreign objects in a waste group. The foreign matter separation system (1) includes: a conveying device (20) that lifts and conveys a portion of a waste group (SS); a conveyed waste foreign matter detection means (30) that detects foreign objects (D) in the waste group (SS) lifted by the conveying device (20); and a control device (40) that, when foreign objects (D) are detected in the lifted waste group (SS) by the conveyed waste foreign matter detection means (30), determines the position of the foreign objects in the lifted waste group (SS), and controls the conveying device (20) to drop the waste (S) and foreign objects (D) in the lifted waste group (SS) to different locations based on the determined position of the foreign objects (D).

Description

Technical Field

[0001] This invention relates to a foreign matter separation system, a foreign matter separation method, a program, and a computer-readable recording medium containing the program for separating foreign matter contained in a waste mass from the waste. Prior Technology

[0002] In order to reduce the environmental impact while manufacturing steel products, steel mills expect to increase the utilization of iron-based waste in terms of iron raw materials. Generally speaking, iron-based waste groups, which consist of multiple iron-based wastes, include foreign objects that are not desired when utilizing iron-based waste and that differ from iron-based waste in terms of type, size, etc., such as non-recyclable materials, confined materials, and hazardous materials.

[0003] As a means of automatically detecting foreign objects contained in iron scrap, a method for inspecting iron scrap has been proposed, for example, in Patent Document 1. The scrap metal inspection method shown in Patent Document 1 is designed to cooperate with scrap metal yard equipment to inspect large piles of scrap metal accumulated in the truck beds of trucks parked at truck parking positions. This inspection method repeats the following procedures until the scrap metal pile disappears from the truck beds: a camera procedure, which involves taking pictures of the large piles of scrap metal accumulated in the truck beds of trucks parked at truck parking positions; an inspection procedure, in which a detection device uses a trained model to determine whether non-recyclable materials are reflected in the camera footage for items that are likely to contain non-recyclable materials in the scrap metal pile; if non-recyclable materials are reflected, an operator removes the non-recyclable materials, thereby inspecting the scrap metal pile reflected in the camera footage; and a movement procedure, which uses a weighted magnet or similar device to move the inspected scrap metal pile reflected in the camera footage from the truck beds to a scrap metal disposal area. Therefore, non-recyclable materials can be efficiently detected from the mountains of scrap metal piled up in the truck bed.

[0004] Furthermore, as for detecting and removing foreign matter mixed in with iron-based waste, for example, a foreign matter detection device and a foreign matter removal device have been proposed in Patent Document 2. The foreign object detection device shown in Patent Document 2 includes: a target image acquisition unit that acquires a target image, which is a photograph of a target object containing ferrous waste; and an image discrimination unit that, based on the target image, distinguishes between ferrous waste and other foreign objects from the target object, thereby detecting foreign objects. Furthermore, the foreign object removal device shown in Patent Document 2 includes: this foreign object detection device; a foreign object position determination unit that determines the position of the foreign object in real space based on a determination result obtained using a category determination unit; and a foreign object removal unit that removes the foreign object from the target object based on the position determined by the foreign object position determination unit. Moreover, the foreign object removal unit has a holding part that is movable in three dimensions relative to the target object containing ferrous waste. Accordingly, foreign objects can be detected with high accuracy from iron-based waste containing foreign objects using a foreign object detection device, and foreign objects can also be removed from the target object using the same device. [Previous Technical Documents] [Patent Literature]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2020-176909 [Patent Document 2] Japanese Patent Application Publication No. 2021-163078 Summary of the Invention

[0006] [The problem that the invention aims to solve] However, the following problems exist in the conventional iron scrap inspection method shown in Patent Document 1, the foreign matter detection device shown in Patent Document 2, and the foreign matter removal device. In other words, in the case of the iron scrap inspection method shown in Patent Document 1, although the detection device can detect non-recyclable materials contained in the iron scrap, the removal of non-recyclable materials requires manual operation by the operator. Furthermore, in the case of the foreign object detection device and foreign object removal device shown in Patent Document 2, although foreign objects can be removed automatically, when using the holding part provided by the foreign object removal unit, it is difficult to lift only the foreign objects contained in the iron-based waste group, and sometimes iron-based waste that is not the target of removal is also lifted and removed together with the foreign objects.

[0007] Therefore, this invention was created to solve this long-standing problem, and its purpose is to provide a foreign matter separation system, a foreign matter separation method, a program, and a computer-readable recording medium containing the program, which can reduce the amount of waste that is accidentally removed along with foreign matter in a waste pile. [Methods used to solve problems]

[0008] To address the aforementioned issues, the foreign matter separation system associated with one aspect of the present invention is essentially a foreign matter separation system that separates foreign matter contained in a waste group from the waste. It comprises: a conveying device that lifts and conveys a portion of the aforementioned waste group; a conveyed waste foreign matter detection means that detects foreign matter in the waste group lifted by the conveying device; and a control device that, when foreign matter is detected in the lifted waste group by the conveyed waste foreign matter detection means, determines the position of the foreign matter in the lifted waste group, and, based on the determined position of the foreign matter in the lifted waste group, controls the conveying device to cause the waste and foreign matter in the lifted waste group to fall to different locations, thereby separating the foreign matter contained in the waste group from the waste.

[0009] Furthermore, another aspect of the present invention relates to a foreign matter separation method, the essence of which is a foreign matter separation method for separating foreign matter contained in a waste group from the waste, comprising: a lifting step, wherein a control device controls a conveying device to lift a portion of the aforementioned waste group; a conveying waste foreign matter detection step, wherein a conveying waste foreign matter detection means detects foreign matter in the waste group lifted in the aforementioned lifting step; a position determination step, wherein the control device determines the position of the foreign matter in the lifted waste group if foreign matter is detected in the aforementioned conveying waste foreign matter detection step; and a separation step, wherein the control device controls the conveying device based on the position of the foreign matter in the lifted waste group determined in the aforementioned position determination step, such that the waste and foreign matter in the lifted waste group fall to different locations, thereby separating the foreign matter contained in the waste group from the waste.

[0010] Furthermore, another aspect of the present invention relates to a program, the essence of which is a program for causing the control device to perform: a lifting step, which controls the conveying device to lift a portion of the waste group; a position determination step, which determines the position of the foreign object in the lifted waste group if a foreign object is detected in the waste group lifted in the aforementioned lifting step using a foreign object detection means for transporting waste; and a separation step, which controls the aforementioned conveying device to separate the foreign object contained in the waste group from the waste based on the position of the foreign object in the lifted waste group determined in the position determination step, so that the waste and foreign object in the lifted waste group fall to different locations.

[0011] Furthermore, another aspect of the present invention relates to a computer-readable recording medium that stores a program for causing a control device to perform: a lifting step, which controls the conveying device to lift a portion of the waste mass; a position determination step, which determines the position of the foreign object in the lifted waste mass if a foreign object is detected in the lifted waste mass using a foreign object detection means; and a separation step, which controls the conveying device to separate the foreign object contained in the waste mass from the waste mass based on the position of the foreign object in the lifted waste mass determined in the position determination step, so that the waste and foreign object in the lifted waste mass fall to different locations. [Invention Benefits]

[0012] When the foreign matter separation system, foreign matter separation method, program and computer-readable recording medium containing the program are associated with the present invention, the amount of waste that is accidentally removed along with foreign matter in the waste group can be reduced. Simple Explanation of the Diagram

[0013] [Figure 1] Overall configuration diagram of the foreign matter separation system associated with the first embodiment of the present invention. [Figure 2] is a functional block diagram of the foreign matter separation system shown in Figure 1. [Figure 3] is a flowchart illustrating the process of the foreign matter separation system shown in Figure 1. [Figure 4] is a diagram illustrating an example of the hardware configuration of a control device. [Figure 5] is a diagram showing an example of a pre-photographed image of a waste pile placed on a semi-trailer, taken using a pre-photographing device, and the lifting point of the waste pile using a suspending magnet. [Figure 6] is a diagram illustrating an example of separating foreign matter contained in a waste mass from the waste by controlling a lifting magnet, which is used as a conveying device. [Figure 7] is a diagram illustrating an example of separating foreign matter contained in a waste mass from the waste by controlling a clamping device (grapple) as a conveying device. [Figure 8] is a diagram illustrating an example of separating foreign objects contained in a waste mass from the waste by controlling a shovel as a conveying device. [Figure 9] is a functional block diagram of the foreign matter separation system associated with the second embodiment of the present invention. [Figure 10] is a flowchart illustrating the process of the foreign matter separation system shown in Figure 9. [Figure 11] is a diagram showing a pre-photograph of a waste group placed on a semi-trailer, taken using a pre-photographing device, when the foreign matter contained in the waste group is separated from the waste by the foreign matter separation system associated with the modified example, and the lifting point of the waste group in the case of using a suspending magnet. [Figure 12] is a diagram illustrating an example of separating foreign objects contained in a waste mass from the waste when it is impossible to lift the waste due to obstruction caused by foreign objects. This is achieved by controlling the lifting magnet, which serves as a conveying device, using a foreign object separation system associated with a modified example. In Figure 12, the top shows the state of the semi-trailer bed viewed from above, and the bottom shows the state of the semi-trailer bed viewed from the side. Implementation

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments shown below are examples of apparatuses, methods, etc., used to embody the technical concept of the present invention. The technical concept of the present invention does not specify the material, shape, structure, arrangement, etc. of the components in the embodiments described below. Furthermore, the drawings are illustrative. Therefore, the relationship between thickness and planar dimensions, ratios, etc., should be noted to differ from reality. The drawings also contain different parts of the dimensional relationships and ratios between each other.

[0015] (First Embodiment) Figure 1 shows the overall configuration of the foreign matter separation system associated with the first embodiment of the present invention. The foreign matter separation system 1 shown in Figure 1 is for separating foreign matter D contained in the waste group SS from the waste S. In this embodiment, the waste group SS is transported to a predetermined location in a state of being placed on the truck bed of a semi-trailer 50. In the waste group SS, in addition to the plurality of waste materials (iron-based waste materials) S, it may contain one or more foreign objects D, depending on the circumstances. Here, foreign objects D refers to all that is undesirable when utilizing waste materials S, including materials that are different from waste materials S in terms of type, size, etc., non-recyclable materials, enclosed materials, hazardous materials, etc. In this embodiment, foreign objects D may include, for example, materials containing tramp elements such as motors, materials whose air inside enclosed materials pose an explosion hazard, materials that are too large to be utilized, and non-metallic iron materials such as rubber, etc.

[0016] The waste S in the waste group SS placed on the truck bed of the semi-trailer 50, and the foreign object D in the waste group SS, are separated by the foreign object separation system 1 and transported to the waste transport placement 51 (in the case of waste S) and to the foreign object placement 52 (in the case of foreign object D). This foreign object separation system 1 includes a pre-processing photography device 10, a conveying device 20, a waste foreign object detection method 30, and a control device 40. The pre-capture photography device 10 is a camera that takes pictures of the waste swarm SS loaded on the trailer bed of the semi-trailer 50 from above the trailer bed. That is, the pre-capture photography device 10 takes pictures of the waste swarm SS in advance before a portion of the waste swarm SS is lifted using the lifting magnet 21, which is a conveying device 20.

[0017] Furthermore, the conveying device 20, which lifts and conveys a portion of the waste group SS placed on the trailer bed of the semi-trailer 50, includes a lifting magnet 21 that uses magnetic force to lift and convey a portion of the waste group SS. This conveying device 20 is not limited to the lifting magnet 21; for example, it could be a clamping device as shown in FIG. 7, or a shovel 23 as shown in FIG. 8. The lifting magnet 21, as shown in FIG. 1, is movable in both the vertical and horizontal directions. The lifting magnet 21 can hold a portion of the waste group SS when moved vertically downwards, lift a portion of the held waste group SS when moved vertically upwards, and convey a portion of the lifted waste group SS when moved horizontally.

[0018] The waste material foreign object detection method 30 is for detecting foreign objects D in a waste mass SS lifted by a lifting magnet 21, which is a conveying device 20 (see FIG. 6). As shown in FIG. 1 and FIG. 2, it includes: a photographic device 31 that takes pictures of the waste mass SS lifted by the lifting magnet 21; a photographic image acquisition unit 45 of the control device 40 (described later) that acquires the photographic image taken by the photographic device 31; and a waste material foreign object detection unit 46 of the control device 40 (described later) that detects foreign objects D in the lifted waste mass SS from the photographic image acquired by the photographic image acquisition unit 45.

[0019] The photographic device 31 is a camera used to photograph the waste mass SS lifted by the lifting magnet 21, which serves as a conveying device 20. When using the photographic device 31, the photographic direction of the waste mass SS can be any direction, for example, photographing the lifted waste mass SS from a horizontal or downward direction. Although the photographic device 31 and the pre-photographing device 10 are different cameras in this embodiment, the same camera can also be used. The photographic image acquisition unit 45 is a component of the control device 40 and acquires the photographic images captured by the photographic device 31.

[0020] The waste foreign object detection unit 46, a component of the control device 40, detects foreign objects D in the lifted waste mass SS using photographic images acquired by the image acquisition unit 45. The method for detecting foreign objects D from photographic images when using the waste foreign object detection unit 46 can be any method. In this embodiment, the waste foreign object detection unit 46 uses a learning model that has learned from photographic images of the waste mass SS containing foreign objects D. The learning model is input into the photographic images acquired by the image acquisition unit 45 to detect foreign objects D in the waste mass SS. In other words, the waste foreign object detection unit 46 determines whether foreign objects D are present in the waste mass SS.

[0021] The control device 40 has the following functions: controlling the lifting magnet 21, which serves as the conveying device 20, to lift a portion of the waste group SS. Furthermore, the control device 40 has the following functions: determining the position of the foreign object D in the lifted waste group SS when a foreign object D is detected in the lifted waste group SS using the foreign object detection means 30. Furthermore, the control device 40 has the following functions: based on the determined position of the foreign object D in the lifted waste group SS, controlling the lifting magnet 21, which serves as the conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations.

[0022] First, the control device 40, in order to achieve the function of controlling the lifting magnet 21, which is a conveying device 20, by lifting a part of the waste group SS, includes a pre-image acquisition unit 41, a pre-waste foreign object detection unit 42, a pre-position determination unit 43, and a conveying control unit 44. The pre-image acquisition unit 41 acquires the pre-photographed image G captured by the pre-photographing device 10 (refer to FIG5). In FIG5, an example of the pre-photographed image G acquired by the pre-image acquisition unit 41 and the lifting point X of the waste group SS in the case of using the suspending magnet 21 are shown together.

[0023] Furthermore, the pre-emptive waste foreign object detection unit 42 detects foreign objects D in the waste group SS before it is lifted, based on the pre-emptive photographic image G acquired by the pre-emptive image acquisition unit 41. The method for detecting foreign objects D in the pre-emptive photographic image G using the pre-emptive waste foreign object detection unit 42 can be any method. In this embodiment, the pre-emptive waste foreign object detection unit 42 uses a learning model that has learned from photographic images of the waste group SS containing foreign objects D. This learning model is input into the pre-emptive photographic image G acquired by the pre-emptive image acquisition unit 41 to detect foreign objects D in the waste group SS. That is, the pre-emptive waste foreign object detection unit 42 determines whether there are foreign objects D in the waste group SS. In the example shown in FIG. 5, two foreign objects D were detected in the waste group SS.

[0024] Furthermore, the pre-position determination unit 43, when detecting foreign objects D in the waste group SS before lifting using the pre-disposal foreign object detection unit 42, determines the position (position coordinates) of the foreign objects D in the waste group SS before lifting using the pre-photographic image G. In the example shown in Figure 5, the positions of two foreign objects D are determined in the waste group SS. Other information about the foreign objects D (type, estimated weight, estimated length (size), etc.) can also be determined at the time of determining their positions.

[0025] Furthermore, the transport control unit 44 controls the lifting magnet 21, which is the transport device 20, to lift a portion of the waste group SS containing the foreign object D, based on the position of the foreign object D in the waste group SS before lifting, as determined by the pre-position determination unit 43. At this time, the transport control unit 44 first moves the lifting magnet 21 horizontally so that it is positioned above the position of the foreign object D in the waste group SS before lifting, as determined by the pre-position determination unit 43. Next, the transport control unit 44 controls the movement of the lifting magnet 21 in the vertically downward direction to hold a portion of the waste group SS containing the foreign object D, and further controls the movement of the lifting magnet 21 in the vertically upward direction to lift the held portion of the waste group SS. In the example shown in FIG. 5, the transport control unit 44 controls the lifting magnet 21 to lift a portion of the waste group SS containing the foreign object D at the lifting point X. Furthermore, in the example shown in Figure 5, although the suspending magnet 21 is controlled so that the foreign object D is located at the center of the lifting point X, the suspending magnet 21 can also be controlled so that the foreign object D is located on the outer periphery of the lifting point X. Positioning the foreign object D on the outer periphery of the lifting point X makes it easier for the foreign object D to be captured in the photographic image when the photographic device 31 is used to photograph the waste group SS lifted by the suspending magnet 21, allowing for easy detection of the foreign object D from the photographic image.

[0026] At this time, the waste material S, excluding the foreign object D, is also lifted together with the lifting magnet 21. If the foreign object D is non-magnetic, it may not be attracted to the magnet of the lifting magnet 21; in this case, the foreign object D is lifted together with the surrounding waste material S. Alternatively, in this situation, a conveying device other than the lifting magnet 21, such as a crane, can be used. Furthermore, the conveying control unit 44 can control the position and magnetic force of the lifting magnet 21 using information other than the position of the foreign object D (type, estimated weight, estimated length (size), etc.) while the waste group SS is being lifted using the lifting magnet 21.

[0027] In addition, the control device 40, in order to achieve the aforementioned functions of determining the position of the foreign object D in the lifted waste group SS and separating the foreign object D contained in the waste group SS from the waste S, includes a position determination unit 47, a foreign object separation control unit 48 and the aforementioned conveying control unit 44.

[0028] When a foreign object D is detected in a lifted waste mass SS using the foreign object detection means 30 (photographic device 31, photographic image acquisition unit 45, and foreign object detection unit 46), the position determination unit 47 determines the position of the foreign object D in the lifted waste mass SS from the photographic image acquired by the photographic image acquisition unit 45. In this embodiment, a portion of the waste mass SS is lifted by controlling the lifting magnet 21 using the aforementioned transport control unit 44. Then, when the foreign object D in the waste mass SS lifted by the lifting magnet 21 is detected by the foreign object detection means 30, the position determination unit 47 determines the position of the foreign object D in the lifted waste mass SS from the photographic image acquired by the photographic image acquisition unit 45. Other information about the foreign object D (type, estimated weight, estimated length (size), etc.) can also be determined when determining the position of the foreign object D.

[0029] Furthermore, the foreign object separation control unit 48 controls the holding force based on the position of the foreign object D in the lifted waste group SS determined by the position determination unit 47, which is the holding force used to maintain the lifted state of the waste group SS when the conveying device 20 is used. Furthermore, the transport control unit 44 controls the horizontal transport of the lifted waste group SS when using the lifting magnet 21, which is the transport device 20, based on the position of the foreign object D in the lifted waste group SS determined by the position determination unit 47. Then, the control device 40 adjusts the holding force of the waste group SS in the case of using the conveying device 20 to maintain the lifted state using the foreign object separation control unit 48, and controls the conveying of the lifted waste group SS using the conveying control unit 44, thereby separating the foreign object D contained in the waste group SS from the waste S.

[0030] Regarding this foreign object separation control, as specifically described with reference to Figures 1 and 6, when separating foreign object D, the foreign object separation control unit 48 controls the holding force (magnetic force) of the lifting magnet 21 (which serves as the conveying device 20) based on the position of foreign object D in the waste group SS. Simultaneously, the conveying control unit 44 controls the conveying of the waste group SS based on the position of foreign object D in the waste group SS. Specifically, the determination of the position of foreign object D in the waste group SS, as shown in Figure 6, is based on whether the distance d between the boundary line L of the waste group SS and the background in the photographic image and the foreign object D is below a predetermined value. Furthermore, when the distance d is less than a predetermined value, the conveying control unit 44 determines that the foreign object D can fall and controls the position of the lifting magnet 21, which is the conveying device 20, to be moved above the foreign object placement location 52. At the same time, the foreign object separation control unit 48 determines that the foreign object D can fall and weakens the holding force (magnetic force) when using the lifting magnet 21, which is the conveying device 20, to a holding force (magnetic force) that allows the foreign object D to fall. Accordingly, the foreign object D falls and is placed in the foreign object placement location 52. On the other hand, when the distance d is greater than a predetermined value, the conveying control unit 44 determines that the waste S can fall and controls the position of the lifting magnet 21, which is the conveying device 20, to be moved above the waste placement location 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet 21, which is the conveying device 20, to a holding force (magnetic force) that allows the waste S to fall. Accordingly, waste S falls and is placed in waste placement location 51. Then, the waste group SS after waste S falls is photographed again using the transport waste foreign object detection means 30, and the position of foreign object D in the lifted waste group SS is determined by the position determination unit 47. The procedure of falling waste S to waste placement location 51 is repeated until the distance d becomes below a predetermined value. When the distance d becomes below the predetermined value, the position of the lifting magnet 21 (which is the transport device 20) is moved above the foreign object placement location 52 by the transport control unit 44. The holding force (magnetic force) of the lifting magnet 21 (which is the transport device 20) is reduced by the foreign object separation control unit 48, causing the foreign object D to fall to the foreign object placement location 52, thus separating the foreign object D from the waste S.

[0031] Then, after the foreign object D falls into the foreign object placement area 52, regarding the remaining waste S in the lifted waste group SS, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet 21, which is the transport device 20, to move above the waste placement area 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet 21, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement area 51.

[0032] Additionally, a host computer (not shown) is connected to the transport control unit 44. The host computer inputs the stop position information of the semi-trailer 50, the position information of the waste loading area 51, and the position information of the foreign object loading area 52 to the transport control unit 44. Based on the stop position information of the semi-trailer 50, the position information of the waste loading area 51, and the position information of the foreign object loading area 52 input from the host computer, the transport control unit 44 performs horizontal movement control (transport control) of the lifted waste group SS.

[0033] Next, the hardware configuration of the control device 40 will be described with reference to FIG4. The control device 40 is configured as a computing processing unit 401 including a CPU 402. The CPU 402 is connected via an internal bus 403 to an internal memory device 404 such as RAM and ROM, an external memory device 405, an input device 406 such as a keyboard and mouse, and an output device 407 that outputs commands from the transfer control unit 44 and commands from the foreign object separation control unit 48 to the lifting magnet 21, which is the transfer device 20.

[0034] The external memory device 405 of the control device 40 is configured to include: a readable disk drive such as a hard disk drive or a solid-state drive; and a drive device such as a CD, DVD, or BD that reads data from the recording medium 408. In this external memory device 405, a recording medium 408 storing a program for enabling the control device 40 to perform the following functions is provided, and the read program is installed on the disk drive. Here, the aforementioned functions are as follows: pre-image acquisition function when using the pre-image acquisition unit 41 (step S2 described later); pre-waste and foreign object detection function when using the pre-waste and foreign object detection unit 42 (step S3 described later); foreign object position determination function when using the pre-position determination unit 43 (step S4 described later); waste group lifting control function when using the transport control unit 44 (steps S5 and S11 described later); photographic image acquisition function when using the photographic image acquisition unit 45 (steps S7 and S13 described later); foreign object detection function when using the transport waste and foreign object detection unit 46 (steps S8 and S14 described later); foreign object position determination function when using the position determination unit 47 (step S9 described later); foreign object separation control function for controlling the transport device 20 when using the foreign object separation control unit 48 and the transport control unit 44 (step S10 described later); and waste transport control function when using the transport control unit 44 (step S15 described later). The installation of this program is not limited to the use of recording media 408; it can also be installed by downloading the program via the Internet.

[0035] The CPU 402 of the control device 40, according to the commands of the installed program, executes the pre-image acquisition function when using the pre-image acquisition unit 41 (step S2 described later), the pre-waste and foreign object detection function when using the pre-waste and foreign object detection unit 42 (step S3 described later), the foreign object position determination function when using the pre-position determination unit 43 (step S4 described later), the waste group lifting control function when using the conveying control unit 44 (steps S5 and S11 described later), and the photographic image acquisition function when using the photographic image acquisition unit 45 (steps S7 and S13 described later). The system performs the foreign object detection function when using the waste foreign object detection unit 46 (steps S8 and S14 described later), the foreign object position determination function when using the position determination unit 47 (step S9 described later), the foreign object separation control function when using the foreign object separation control unit 48 and the conveying control unit 44 to control the conveying device 20 (step S10 described later), and the waste conveying control function when using the conveying control unit 44 (step S15 described later). It outputs commands from the conveying control unit 44 and the foreign object separation control unit 48 to the lifting magnet 21, which is the conveying device 20.

[0036] Next, the process flow of the foreign matter separation system 1 will be described with reference to FIG3. FIG3 is a flowchart illustrating the process flow of the foreign matter separation system shown in FIG1. First, in step S1, the pre-photography device 10 takes photos of the waste group SS loaded on the truck bed of the semi-trailer 50 from above the truck bed. That is, the pre-photography device 10 takes photos of the waste group SS before a portion of it is lifted by the lifting magnet 21, which is used as a conveying device 20 (pre-photography step). Next, in step S2, the pre-image acquisition unit 41 of the control device 40 acquires the pre-photograph image G captured by the pre-photograph device 10 (see Figure 5) (pre-photograph image acquisition step).

[0037] Next, in step S3, the pre-existing foreign object detection unit 42 of the control device 40 detects foreign objects D in the waste group SS before lifting from the pre-existing photographic image G obtained in step S2 (pre-existing foreign object detection step). If foreign object D is detected in step S3 (the judgment result is YES), proceed to step S4; if foreign object D is not detected (the judgment result is NO), proceed to step S11. In step S4, since a foreign object D is detected in the waste group SS before lifting, the pre-position determination unit 43 of the control device 40 determines the position (position coordinates) of the foreign object D in the waste group SS before lifting from the pre-photographed image G obtained in step S2 (pre-position determination step).

[0038] Next, in step S5, the transport control unit 44 of the control device 40 controls the lifting magnet 21, which is the transport device 20, to lift a portion of the waste group SS containing the foreign object D, based on the position of the foreign object D in the waste group SS before lifting determined in step S4 (lifting step). At this time, the transport control unit 44 first moves the lifting magnet 21 in the horizontal direction so that the lifting magnet 21 is above the position of the foreign object D in the waste group SS before lifting determined in step S4. Next, the transport control unit 44 controls the movement of the lifting magnet 21 in the vertically downward direction to hold a portion of the waste group SS containing the foreign object D, and further moves the lifting magnet 21 in the vertically upward direction to lift the held portion of the waste group SS.

[0039] Next, in step S6, the photographic device 31 of the waste foreign object detection means 30 is transported to take pictures of the waste group SS lifted in step S5 (photographing step). Next, in step S7, the photographic image acquisition unit 45 of the conveying waste foreign object detection means 30 acquires the photographic image captured in step S6 (photographic image acquisition step). Next, in step S8, the transport waste foreign object detection unit 46 of the transport waste foreign object detection means 30 detects foreign objects D in the lifted waste group SS from the photographic image obtained in step S7 (transport waste foreign object detection step).

[0040] If foreign object D is detected in step S8 (the result is YES), proceed to step S9; if foreign object D is not detected (the result is NO), proceed to step S15. In addition, regarding the detection of foreign object D using this step S8 (foreign object detection step for transporting waste), in step S3, the foreign object detection unit 42 has already detected the foreign object D in the waste group SS before lifting using the pre-capture photographic image G, so under normal circumstances, the determination result is YES.

[0041] Here, in step S3, if no foreign object D is detected in the waste group SS before lifting (the determination result is NO) and the process moves to step S11, the process moves to normal operation. The transport control unit 44 of the control device 40 controls the lifting magnet 21, which is the transport device 20, to lift a portion of the waste group SS (lifting step). In this lifting step, the transport control unit 44 first moves the lifting magnet 21 horizontally based on the stop position information of the semi-trailer 50 input from the upper computer (not shown), so that the lifting magnet 21 is positioned above the determined position of the waste group SS before lifting on the semi-trailer 50's bed. Next, the transport control unit 44 controls the movement of the lifting magnet 21 to hold a portion of the waste group SS in the vertically downward direction, and then moves the lifting magnet 21 to the vertically upward direction to lift the held portion of the waste group SS.

[0042] Then, in step S12, the photographic device 31 of the waste foreign object detection means 30 is transported to take pictures of the waste group SS lifted in step S11 (photographing step). Next, in step S13, the photographic image acquisition unit 45 of the waste foreign object detection means 30 is transported to acquire the photographic image captured in step S12 (photographic image acquisition step).

[0043] Next, in step S14, the transport waste foreign object detection unit 46 of the transport waste foreign object detection means 30 detects foreign objects D in the lifted waste group SS from the photographic image obtained in step S13 (transport waste foreign object detection step). If foreign object D is detected in step S14 (the judgment result is YES), proceed to step S9; if foreign object D is not detected (the judgment result is NO), proceed to step S15. In step S9, a foreign object D is detected in the lifted waste group SS. Therefore, the position determination unit 47 of the control device 40 determines the position of the foreign object D in the lifted waste group SS from the photographic image obtained in step S7 or step S13 (position determination step).

[0044] Next, in step S10, the foreign object separation control unit 48 and the conveying control unit 44 of the control device 40 control the lifting magnet 21, which is the conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in step S9, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations, thereby separating the foreign object D contained in the waste group SS from the waste S (separation step). Specifically, the foreign object separation control unit 48 of the control device 40 controls the holding force (magnetic force) for maintaining the lifted state of the waste group SS when using the lifting magnet 21, based on the position of the foreign object D in the lifted waste group SS determined in step S9. In addition, the conveying control unit 44 of the control device 40 controls the horizontal conveying of the lifted waste group SS when using the lifting magnet 21, based on the position of the foreign object D in the lifted waste group SS determined in step S9.

[0045] The specific method for separating foreign object D is as described above. The location of foreign object D within the waste mass SS is determined, as shown in Figure 6, by checking whether the distance d between the boundary line L of the waste mass SS and the background in the photographic image and the foreign object D is below a predetermined value. If this distance d is below the predetermined value, the transport control unit 44 determines that foreign object D can fall and controls the position of the lifting magnet 21 (which is the transport device 20) to be above the foreign object placement location 52. Furthermore, the foreign object separation control unit 48, determining that foreign object D can fall, weakens the holding force (magnetic force) when using the lifting magnet (which is the transport device 20) and sets it to a holding force (magnetic force) that allows foreign object D to fall. Accordingly, foreign object D falls and is placed in the foreign object placement location 52. On the other hand, if the distance d is greater than a predetermined value, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet 21, which is the transport device 20, to be moved above the waste placement location 51. Furthermore, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the transport device 20, to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement location 51. Afterwards, the waste group SS after the waste S has fallen is photographed again using the transport waste foreign object detection means 30, and the position of the foreign object D in the lifted waste group SS is determined by the position determination unit 47. Until the distance d becomes below a predetermined value, the procedure of dropping the waste S to the waste placement area 51 is repeated. When the distance d becomes below the predetermined value, the position of the lifting magnet 21, which is the conveying device 20, is moved above the foreign object placement area 52 by the conveying control unit 44. The holding force (magnetic force) of the lifting magnet 21, which is the conveying device 20, is reduced by the foreign object separation control unit 48, so that the foreign object D falls to the foreign object placement area 52, and the foreign object D is separated from the waste S.

[0046] Then, after the foreign object D falls into the foreign object placement area 52, regarding the remaining waste S in the lifted waste group SS, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet, which is the transport device 20, to be moved above the waste placement area 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement area 51.

[0047] Furthermore, in step S15, since the foreign object D is not included in the lifted waste group SS, it is transferred to normal operation. The transport control unit 44 of the control device 40 controls the position of the lifting magnet 21, which is the transport device 20, to move above the waste placement area 51. In addition, the foreign object separation control unit 48 weakens the holding force (magnetic force) when using the lifting magnet 21, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall, so that the waste group SS falls and is placed in the waste placement area 51. Therefore, the processing in foreign matter separation system 1 is completed.

[0048] Thus, the foreign matter separation system 1 associated with the first embodiment includes: a lifting magnet 21 serving as a conveying device 20 for lifting and conveying a portion of the waste group SS; and a conveying waste foreign matter detection means 30 for detecting foreign matter D in the waste group SS lifted by the lifting magnet 21. Furthermore, the foreign matter separation system 1 includes a control device 40, which, when foreign matter D is detected in the lifted waste group SS by the conveying waste foreign matter detection means 30, determines the position of the foreign matter D in the lifted waste group SS, and, based on the determined position of the foreign matter D in the lifted waste group SS, controls the lifting magnet 21 to separate the foreign matter D contained in the waste group SS from the waste S by causing the waste S and the foreign matter D in the lifted waste group SS to fall to different locations. Therefore, foreign matter D contained in the waste group SS can be automatically removed, reducing the amount of waste S that is accidentally removed along with foreign matter D in the waste group SS. That is, compared to simply lifting and removing foreign matter D from the waste group SS, the amount of waste S that is accidentally removed along with foreign matter D can be reduced.

[0049] Furthermore, in the foreign matter separation system 1 associated with the first embodiment, the waste material foreign matter detection means 30 includes: a photographic device 31 that photographs the waste group SS lifted by the lifting magnet 21, which is a conveying device 20; a photographic image acquisition unit 45 that acquires the photographic image captured by the photographic device 31; and a waste material foreign matter detection unit 46 that detects foreign matter D in the lifted waste group SS based on the photographic image acquired by the photographic image acquisition unit 45. Accordingly, the foreign object D in the lifted waste group SS can be detected by photographing the waste group SS lifted by the weight magnet 21 using the photographic device 31.

[0050] Furthermore, in the foreign matter separation system 1 associated with the first embodiment, the control device 40 includes a position determination unit 47, which determines the position of the foreign matter D in the lifted waste group SS from the photographic image when a foreign matter D is detected in the lifted waste group SS using the conveying waste foreign matter detection means 30. Additionally, the control device 40 includes a foreign matter separation control unit 48, which adjusts the holding force for maintaining the lifted state of the waste group SS using the lifting magnet 21 (which is a conveying device) based on the position of the foreign matter D in the lifted waste group SS determined by the position determination unit 47; and a conveying control unit 44, which controls the conveying of the lifted waste group SS using the lifting magnet 21. Then, the foreign object separation control unit 48 adjusts the holding force of the waste group SS in the case of using the lifting magnet 21 to maintain the lifted state, and at the same time, the conveying control unit 44 controls the conveying of the lifted waste group SS, thereby separating the foreign object D contained in the waste group SS from the waste S. Accordingly, based on the position of the foreign object D in the lifted waste group SS, the foreign object separation control unit 48 adjusts the holding force that keeps the waste group SS in the lifted state when the lifting magnet 21, which is the conveying device 20, is used. At the same time, the conveying control unit 44 controls the conveying of the lifted waste group SS, so that the foreign object D contained in the waste group SS can be removed automatically and with high precision.

[0051] Furthermore, the foreign matter separation system according to the first embodiment further includes: a pre-photographing device 10, which pre-photographs the waste group SS before a portion of it is lifted using the lifting magnet 21, which is a conveying device 20. The control device 40 includes: a pre-image acquisition unit 41, which acquires the pre-photographed image G captured by the pre-photographing device 10; and a pre-waste foreign matter detection unit 42, which detects foreign matter D in the waste group SS before it is lifted using the pre-photographed image G acquired by the pre-image acquisition unit 41. Furthermore, the control device 40 includes: a pre-position determination unit 43, which determines the position of the foreign object D in the waste group SS before lifting by using the pre-construction foreign object detection unit 42 to detect the foreign object D in the waste group SS before lifting; and a transport control unit 44, which controls the lifting magnet 21, which is a transport device 20, to lift a portion of the waste group SS containing the foreign object D, based on the position of the foreign object D in the waste group SS before lifting determined by the pre-position determination unit 43. Accordingly, foreign object D in the waste group SS before lifting can be detected and its position can be determined using the photographic image captured by the pre-capture photographic device 10. At the same time, based on the position of foreign object D, the lifting magnet 21 of the conveying device 20 can lift a part of the waste group SS containing foreign object D.

[0052] Furthermore, the foreign object separation method associated with the first embodiment includes: a lifting step (steps S5 and S11), in which the control device 40 controls the lifting magnet 21, which is a conveying device 20, to lift a portion of the waste group SS; a conveying waste foreign object detection step (steps S6 to S8 and S12 to S14), in which the conveying waste foreign object detection means 30 detects foreign objects D in the waste group SS lifted in the lifting step; and a position determination step (step S9), in which the control device 40 determines the position of the foreign object D in the lifted waste group SS when the foreign object D is detected in the lifted waste group SS in the conveying waste foreign object detection step. Furthermore, the foreign object separation method includes a separation step (step S10), in which the control device 40 controls the lifting magnet 21, which is a conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations. Therefore, foreign matter D contained in the waste group SS can be automatically removed, reducing the amount of waste S that is accidentally removed along with foreign matter D in the waste group SS. That is, compared to simply lifting and removing foreign matter D from the waste group SS, the amount of waste S that is accidentally removed along with foreign matter D can be reduced.

[0053] Furthermore, according to the program associated with the first embodiment, a program is used to cause the control device 40 to perform: a lifting step (step S5, step S11), which controls the lifting magnet 21, which is a conveying device 20, to lift a portion of the waste group SS; a position determination step (step S9), which determines the position of the foreign object D in the lifted waste group SS if the foreign object D in the waste group SS is detected by the conveying waste foreign object detection means 30; and a separation step (step S10), which controls the lifting magnet 21, which is a conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different places. Accordingly, the control device 40 executes the lifting step (step S5, step S11), the position determination step (step S9), and the separation step (step S10) according to the program command, which can automatically remove only the foreign matter D contained in the waste group SS, thereby reducing the amount of waste S that is accidentally removed along with the foreign matter D in the waste group SS.

[0054] Furthermore, when the computer-readable recording medium 408 associated with the first embodiment is a computer-readable recording medium 408 that stores a program for causing the control device 40 to perform: a lifting step (steps S5 and S11), which controls the lifting magnet 21, which serves as the conveying device 20, to lift a portion of the waste group SS; a position determination step (step S9), which determines the position of the foreign object D in the lifted waste group SS if the foreign object D is detected in the lifted waste group SS using the conveying waste foreign object detection means 30 in the lifting step; and a separation step (step S10), which controls the lifting magnet 21, which serves as the conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations. Accordingly, the control device 40 executes the lifting step (step S5, step S11), the position determination step (step S9), and the separation step (step S10) according to the commands of the program stored in the recording medium 408, and can automatically remove only the foreign matter D contained in the waste group SS, thereby reducing the amount of waste S that is accidentally removed along with the foreign matter D in the waste group SS.

[0055] (Second Implementation) Next, the foreign matter separation system, foreign matter separation method, program, and computer-readable recording medium containing the program associated with the second embodiment of the present invention will be described with reference to FIGS. 9 and 10. FIG. 9 is a functional block diagram of the foreign matter separation system associated with the second embodiment of the present invention. FIG. 10 is a flowchart illustrating the processing flow of the foreign matter separation system shown in FIG. 9. The foreign matter separation system 1 associated with the second embodiment of the present invention shown in FIG. 9, and the foreign matter separation system 1 associated with the first embodiment shown in FIG. 1, are similar in that they separate foreign matter D contained in the waste group SS from the waste S.

[0056] The foreign matter separation system 1 associated with the second embodiment is different from the foreign matter separation system 1 associated with the first embodiment shown in FIG1, and the pre-photography device 10 is omitted. It includes a conveying device 20, a conveying waste foreign matter detection means 30, and a control device 40. In the foreign matter separation system 1 associated with the first embodiment, before lifting the waste group SS using the lifting magnet 21, which serves as the conveying device 20, the pre-capture photography device 10 captures images of the waste group SS placed on the truck bed of the semi-trailer 50 (refer to FIG. 1). Furthermore, the pre-capture image acquisition unit 41 acquires the pre-captured image G (refer to FIG. 5) captured by the pre-capture photography device 10, and the pre-capture foreign matter detection unit 42 detects foreign matter D in the waste group SS before lifting using the pre-captured image G acquired by the pre-capture image acquisition unit 41. Then, the pre-capture position determination unit 43, when detecting foreign matter D in the waste group SS before lifting using the pre-capture foreign matter detection unit 42, determines the position (position coordinates) of the foreign matter D in the waste group SS before lifting using the pre-captured image G.

[0057] In contrast, the foreign matter separation system 1 associated with the second embodiment omits the pre-photography device 10, the pre-image acquisition unit 41, the pre-waste foreign matter detection unit 42, and the pre-position determination unit 43, and does not perform pre-photography before lifting the waste group SS using the lifting magnet 21, which serves as the conveying device 20. In the foreign matter separation system 1 associated with the second embodiment, the conveying control unit 44 of the control device 40 performs horizontal movement control of the lifting magnet 21, which serves as the conveying device 20, based on the stop position information of the semi-trailer 50 input from a host computer (not shown), so that the lifting magnet 21 is positioned above the truck bed of the stopped semi-trailer 50. Furthermore, the conveying control unit 44 is configured to control the lifting of a portion of the waste group SS using the lifting magnet 21.

[0058] The conveying device 20 of the foreign matter separation system 1 associated with the second embodiment, like the conveying device 20 of the foreign matter separation system 1 associated with the first embodiment, is a device for lifting and conveying a portion of the waste group SS placed on the truck bed of the semi-trailer 50 (refer to FIG. 1). A lifting magnet 21 is used to lift and convey a portion of the waste group SS using magnetic force. As shown in FIG. 1, the lifting magnet 21 of the conveying device 20 is movable in both the vertical and horizontal directions. The lifting magnet 21 moves in the vertically downward direction to hold a portion of the waste group SS, moves in the vertically upward direction to lift a portion of the held waste group SS, and moves in the horizontal direction to convey a portion of the lifted waste group SS.

[0059] The waste material foreign object detection means 30, similar to the waste material separation system 1 associated with the first embodiment, is for detecting foreign objects D in a waste mass SS lifted by the lifting magnet 21, which is a conveying device 20. It includes: a photographic device 31 that takes pictures of the waste mass SS lifted by the lifting magnet 21; a photographic image acquisition unit 45 of the control device 40 (described later) that acquires the photographic image taken by the photographic device 31; and a waste material foreign object detection unit 46 of the control device 40 (described later) that detects foreign objects D in the lifted waste mass SS using the photographic image acquired by the photographic image acquisition unit 45. The photographic device 31, like the photographic device 31 of the foreign matter separation system 1 associated with the first embodiment, is a camera that photographs the waste group SS lifted by the lifting magnet 21, which is a conveying device 20.

[0060] The photographic image acquisition unit 45 is a component of the control device 40 and acquires the photographic images captured by the photographic device 31. The waste foreign object detection unit 46, a component of the control device 40, detects foreign objects D in the lifted waste mass SS using photographic images acquired by the image acquisition unit 45. The method for detecting foreign objects D from photographic images when using the waste foreign object detection unit 46 can be any method. In the second embodiment, the waste foreign object detection unit 46 uses a learning model that has learned from photographic images of the waste mass SS containing foreign objects D. The learning model is input into the photographic images acquired by the image acquisition unit 45 to detect foreign objects D in the waste mass SS. In other words, the waste foreign object detection unit 46 determines whether foreign objects D are present in the waste mass SS.

[0061] The control device 40 has the following functions: controlling the lifting magnet 21, which serves as the conveying device 20, to lift a portion of the waste group SS. Furthermore, the control device 40 has the following functions: determining the position of the foreign object D in the lifted waste group SS when a foreign object D is detected in the lifted waste group SS using the foreign object detection means 30. Furthermore, the control device 40 has the following functions: based on the determined position of the foreign object D in the lifted waste group SS, controlling the lifting magnet 21, which serves as the conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations.

[0062] First, the control device 40 includes a transport control unit 44 to control the lifting magnet 21, which is a transport device 20, by lifting a portion of the waste group SS. As described above, the transport control unit 44 controls the lifting magnet 21, which is a transport device 20, to lift a portion of the waste group SS containing foreign matter D, based on the stop position information of the semi-trailer 50 input from a host computer (not shown). At this time, the transport control unit 44, as described above, moves the lifting magnet 21 horizontally so that it is positioned above the trailer bed of the semi-trailer 50, based on the stop position information of the semi-trailer 50 input from a host computer (not shown). Next, the transport control unit 44 controls the movement of the lifting magnet 21 in the vertically downward direction to hold a portion of the waste group SS containing foreign matter D, and further moves the lifting magnet 21 in the vertically upward direction to lift the held portion of the waste group SS.

[0063] In addition, the control device 40, in order to achieve the aforementioned functions of determining the position of the foreign object D in the lifted waste group SS and separating the foreign object D contained in the waste group SS from the waste S, includes a position determination unit 47, a foreign object separation control unit 48 and the aforementioned conveying control unit 44. When the foreign object D in the lifted waste group SS is detected by the conveying waste foreign object detection means 30 (photography device 31, photography image acquisition unit 45, and conveying waste foreign object detection unit 46), the position determination unit 47 determines the position of the foreign object D in the lifted waste group SS from the photography image acquired by the photography image acquisition unit 45. Furthermore, the foreign object separation control unit 48 controls the holding force based on the position of the foreign object D in the lifted waste group SS determined by the position determination unit 47, which is the holding force used to maintain the lifted state of the waste group SS when the conveying device 20 is used.

[0064] Furthermore, the transport control unit 44 controls the horizontal transport of the lifted waste group SS when using the lifting magnet 21, which is the transport device 20, based on the position of the foreign object D in the lifted waste group SS determined by the position determination unit 47. Furthermore, the control device 40 uses the foreign matter separation control unit 48 to adjust the holding force for maintaining the raised state of the waste group SS when using the conveying device 20, and uses the conveying control unit 44 to control the conveying of the raised waste group SS, thereby separating the foreign matter D contained in the waste group SS from the waste S.

[0065] In a detailed explanation of this foreign object separation control, similar to the first embodiment, the determination of the position of the foreign object D in the waste group SS, as shown in FIG6, is based on whether the distance d between the boundary line L of the waste group SS and the background in the photographic image and the foreign object D is below a predetermined value. Furthermore, if this distance d is below the predetermined value, the conveying control unit 44 determines that the foreign object D can fall and controls the position of the lifting magnet, which serves as the conveying device 20, to be moved above the foreign object placement location 52. Simultaneously, the foreign object separation control unit 48 determines that the foreign object D can fall and weakens the holding force (magnetic force) when using the lifting magnet, which serves as the conveying device 20, and sets it to a holding force (magnetic force) that allows the foreign object D to fall. Accordingly, the foreign object D falls and is placed in the foreign object placement location 52. On the other hand, if the distance d is greater than a predetermined value, the conveying control unit 44 determines that the waste S can fall and controls the position of the lifting magnet, which is the conveying device 20, to be moved above the waste placement location 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the conveying device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement location 51. Afterwards, the waste group SS after the waste S has fallen is photographed again using the conveying waste foreign object detection means 30, and the position of the foreign object D in the lifted waste group SS is determined by the position determination unit 47. Until the distance d becomes below a predetermined value, the procedure of dropping the waste S to the waste placement area 51 is repeated. When the distance d becomes below the predetermined value, the position of the lifting magnet 21, which is the conveying device 20, is moved above the foreign object placement area 52 by the conveying control unit 44. The holding force (magnetic force) of the lifting magnet 21, which is the conveying device 20, is reduced by the foreign object separation control unit 48, so that the foreign object D falls to the foreign object placement area 52, and the foreign object D is separated from the waste S.

[0066] Then, after the foreign object D falls into the foreign object placement area 52, regarding the remaining waste S in the lifted waste group SS, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet, which is the transport device 20, to be moved above the waste placement area 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement area 51.

[0067] Next, regarding the hardware configuration of the control device 40, it is shown in FIG4 in the same manner as in the first embodiment. The control device 40 is configured as a computing processing device 401 equipped with a CPU 402. The CPU 402 is connected via an internal bus 403 to an internal memory device 404 such as RAM and ROM, an external memory device 405, an input device 406 such as a keyboard and mouse, and an output device 407 that outputs commands from the transport control unit 44 and commands from the foreign object separation control unit 48 to the lifting magnet 21, which serves as the transport device 20.

[0068] The external memory device 405 of the control device 40 is configured to include: a readable disk drive such as a hard disk drive or a solid-state drive; and a drive device such as a CD, DVD, or BD that reads data from the recording medium 408. In this external memory device 405, a recording medium 408 storing a program for enabling the control device 40 to perform the following functions is provided, and the read program is installed on the disk drive. Here, the aforementioned functions are as follows: waste group lifting control function when using the transport control unit 44 (step S21 described later); photographic image acquisition function when using the photographic image acquisition unit 45 (step S23 described later); foreign object detection function when using the transport waste foreign object detection unit 46 (step S24 described later); foreign object position determination function when using the position determination unit 47 (step S25 described later); foreign object separation control function for controlling the transport device 20 when using the foreign object separation control unit 48 and the transport control unit 44 (step S26 described later); and waste transport control function when using the transport control unit 44 (step S27 described later). The installation of this program is not limited to the use of the recording media 408; it can also be downloaded via the internet.

[0069] The CPU 402 of the control device 40 executes, according to the commands of the installed program, the following functions: waste group lifting control function when using the conveying control unit 44 (step S21 described later); photographic image acquisition function when using the photographic image acquisition unit 45 (step S23 described later); foreign object detection function when using the conveying waste foreign object detection unit 46 (step S24 described later); foreign object position determination function when using the position determination unit 47 (step S25 described later); foreign object separation control function when using the foreign object separation control unit 48 and the conveying control unit 44 to control the conveying device 20 (step S26 described later); and waste conveying control function when using the conveying control unit 44 (step S27 described later). It outputs commands from the conveying control unit 44 and commands from the foreign object separation control unit 48 to the lifting magnet 21, which is the conveying device 20.

[0070] Next, the process of the foreign matter separation system 1 associated with the second embodiment will be described with reference to FIG10. First, in step S21, the transport control unit 44 of the control device 40, based on the stop position information of the semi-trailer 50 input from the host computer (not shown), controls the lifting magnet 21, which is the transport device 20, to lift a portion of the waste group SS containing foreign object D (lifting step). At this time, the transport control unit 44, based on the stop position information of the semi-trailer 50 input from the host computer (not shown), moves the lifting magnet 21 horizontally such that the lifting magnet 21 is positioned above the truck bed of the semi-trailer 50. Next, the transport control unit 44 controls the lifting magnet 21 to move in the vertically downward direction to hold a portion of the waste group SS containing foreign object D, and further moves the lifting magnet 21 in the vertically upward direction to lift a portion of the held waste group SS.

[0071] Next, in step S22, the photographic device 31 of the waste foreign object detection means 30 is transported to take pictures of the waste group SS lifted in step S21 (photographing step). Next, in step S23, the photographic image acquisition unit 45 of the waste foreign object detection means 30 is transported to acquire the photographic image captured in step S22 (photographic image acquisition step). Next, in step S24, the transport waste foreign object detection unit 46 of the transport waste foreign object detection means 30 detects foreign objects D in the lifted waste group SS from the photographic image obtained in step S23 (transport waste foreign object detection step). If foreign object D is detected in step S24 (the judgment result is YES), proceed to step S25; if foreign object D is not detected (the judgment result is NO), proceed to step S27. In step S25, a foreign object D is detected in the lifted waste group SS. Therefore, the position determination unit 47 of the control device 40 determines the position of the foreign object D in the lifted waste group SS from the photographic image obtained in step S23 (position determination step).

[0072] Next, in step S26, the foreign object separation control unit 48 and the conveying control unit 44 of the control device 40 control the lifting magnet 21, which is the conveying device 20, to separate the foreign object D in the lifted waste group SS from the waste S based on the position of the foreign object D determined in step S25, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations, thereby separating the foreign object D contained in the waste group SS from the waste S (separation step). Specifically, the foreign object separation control unit 48 of the control device 40 controls the holding force (magnetic force) that holds the lifted state of the waste group SS when using the lifting magnet 21, which is the conveying device 20, based on the position of the foreign object D in the lifted waste group SS determined in step S25. Furthermore, the transport control unit 44 of the control device 40 controls the horizontal transport of the lifted waste group SS when using the lifting magnet 21 of the transport device 20, based on the position of the foreign object D in the lifted waste group SS determined in step S9.

[0073] The specific method for separating foreign object D is similar to that in the first embodiment. The position of foreign object D in the waste group SS is determined by whether the distance d between the boundary line L of the waste group SS and the background in the photographic image and the foreign object D is below a predetermined value (see FIG. 6). If this distance d is below the predetermined value, the transport control unit 44 determines that foreign object D can fall and controls the position of the lifting magnet 21 (which is the transport device 20) to be above the foreign object placement location 52. Furthermore, the foreign object separation control unit 48 determines that foreign object D can fall and weakens the holding force (magnetic force) when using the lifting magnet (which is the transport device 20) to a holding force (magnetic force) that allows foreign object D to fall. Accordingly, foreign object D falls and is placed in the foreign object placement location 52. On the other hand, if the distance d is greater than a predetermined value, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet 21, which is the transport device 20, to be moved above the waste placement location 51. Furthermore, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the transport device 20, to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement location 51. Afterwards, the waste group SS after the waste S has fallen is photographed again using the transport waste foreign object detection means 30, and the position of the foreign object D in the lifted waste group SS is determined by the position determination unit 47. Until the distance d becomes below a predetermined value, the procedure of dropping the waste S to the waste placement area 51 is repeated. When the distance d becomes below the predetermined value, the position of the lifting magnet 21, which is the conveying device 20, is moved above the foreign object placement area 52 by the conveying control unit 44. The holding force (magnetic force) of the lifting magnet 21, which is the conveying device 20, is reduced by the foreign object separation control unit 48, so that the foreign object D falls to the foreign object placement area 52, and the foreign object D is separated from the waste S.

[0074] Then, after the foreign object D falls into the foreign object placement area 52, regarding the remaining waste S in the lifted waste group SS, the transport control unit 44 determines that the waste S can fall and controls the position of the lifting magnet, which is the transport device 20, to be moved above the waste placement area 51. At the same time, the foreign object separation control unit 48 determines that the waste S can fall and weakens the holding force (magnetic force) when using the lifting magnet, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall. Accordingly, the waste S falls and is placed in the waste placement area 51.

[0075] Furthermore, in step S27, since the foreign object D is not included in the lifted waste group SS, it is transferred to normal operation. The transport control unit 44 of the control device 40 controls the position of the lifting magnet 21, which is the transport device 20, to move above the waste placement area 51. In addition, the foreign object separation control unit 48 weakens the holding force (magnetic force) when using the lifting magnet 21, which is the transport device 20, and sets it to a holding force (magnetic force) that allows the waste S to fall, so that the waste group SS falls and is placed on the waste placement area 51. Therefore, the processing in foreign matter separation system 1 is completed.

[0076] Thus, the foreign matter separation system 1 associated with the second embodiment includes: a lifting magnet 21 serving as a conveying device 20 for lifting and conveying a portion of the waste group SS; and a conveying waste foreign matter detection means 30 for detecting foreign matter D in the waste group SS lifted by the lifting magnet 21. Furthermore, the foreign matter separation system 1 includes a control device 40, which, when foreign matter D is detected in the lifted waste group SS by the conveying waste foreign matter detection means 30, determines the position of the foreign matter D in the lifted waste group SS, and, based on the determined position of the foreign matter D in the lifted waste group SS, controls the lifting magnet 21 to separate the foreign matter D contained in the waste group SS from the waste S.

[0077] Therefore, foreign matter D contained in the waste group SS can be automatically removed, reducing the amount of waste S that is accidentally removed along with foreign matter D in the waste group SS. That is, compared to simply lifting and removing foreign matter D from the waste group SS, the amount of waste S that is accidentally removed along with foreign matter D can be reduced. Furthermore, the foreign matter separation system 1 associated with the second embodiment differs from the foreign matter separation system 1 associated with the first embodiment in that the pre-photography device 10, the pre-image acquisition unit 41, the pre-waste foreign matter detection unit 42, and the pre-position determination unit 43 are omitted. Pre-photography is not performed before the waste group SS is lifted using the lifting magnet 21, which serves as the conveying device 20. As a result, the equipment and foreign matter separation process can be simplified.

[0078] Furthermore, in the foreign matter separation system 1 associated with the second embodiment, the waste material foreign matter detection means 30 includes: a photographic device 31 that photographs the waste group SS lifted by the lifting magnet 21, which is a conveying device 20; a photographic image acquisition unit 45 that acquires the photographic image captured by the photographic device 31; and a waste material foreign matter detection unit 46 that detects foreign matter D in the lifted waste group SS based on the photographic image acquired by the photographic image acquisition unit 45. Accordingly, the foreign object D in the lifted waste group SS can be detected by photographing the waste group SS lifted by the weight magnet 21 using the photographic device 31.

[0079] Furthermore, in the foreign matter separation system 1 associated with the second embodiment, the control device 40 includes a position determination unit 47, which determines the position of the foreign matter D in the lifted waste group SS from the photographic image when a foreign matter D is detected in the lifted waste group SS using the conveying waste foreign matter detection means 30. Additionally, the control device 40 includes a foreign matter separation control unit 48, which adjusts the holding force for maintaining the lifted state of the waste group SS using the lifting magnet 21 (which is a conveying device) based on the position of the foreign matter D in the lifted waste group SS determined by the position determination unit 47; and a conveying control unit 44, which controls the conveying of the lifted waste group SS using the lifting magnet 21. Furthermore, the foreign matter separation control unit 48 adjusts the holding force for maintaining the lifted state of the waste group SS when the weight magnet 21 is used, and the conveying control unit 44 controls the conveying of the lifted waste group SS, thereby separating the foreign matter D contained in the waste group SS from the waste S. Accordingly, based on the position of the foreign object D in the lifted waste group SS, the foreign object separation control unit 48 adjusts the holding force that keeps the waste group SS in the lifted state when the lifting magnet 21, which is the conveying device 20, is used. At the same time, the conveying control unit 44 controls the conveying of the lifted waste group SS, so that the foreign object D contained in the waste group SS can be removed automatically and with high precision.

[0080] Furthermore, the foreign object separation method associated with the second embodiment includes: a lifting step (step S21), in which the control device 40 controls the lifting magnet 21, which is a conveying device 20, to lift a portion of the waste group SS; a conveying waste foreign object detection step (steps S22 to S24), in which the conveying waste foreign object detection means 30 detects foreign objects D in the waste group SS lifted in the lifting step; and a position determination step (step S25), in which the control device 40 determines the position of the foreign object D in the lifted waste group SS when the foreign object D is detected in the lifted waste group SS in the conveying waste foreign object detection step. Furthermore, the foreign object separation method includes a separation step (step S26), in which the control device 40 controls the lifting magnet 21, which is a conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different locations. Therefore, foreign matter D contained in the waste group SS can be automatically removed, reducing the amount of waste S that is accidentally removed along with foreign matter D in the waste group SS. That is, compared to simply lifting and removing foreign matter D from the waste group SS, the amount of waste S that is accidentally removed along with foreign matter D can be reduced.

[0081] Furthermore, according to the program associated with the second embodiment, a program is used to cause the control device 40 to perform: a lifting step (step S21), which controls the lifting magnet 21, which is a conveying device 20, to lift a portion of the waste group SS; a position determination step (step S25), which determines the position of the foreign object D in the lifted waste group SS if the foreign object D in the waste group SS is detected by the conveying waste foreign object detection means 30; and a separation step (step S26), which controls the lifting magnet 21, which is a conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different places. Accordingly, the control device 40 executes the lifting step (step S21), the position determination step (step S25), and the separation step (step S26) according to the program command, and can automatically remove only the foreign matter D contained in the waste group SS, thereby reducing the amount of waste S that is accidentally removed along with the foreign matter D in the waste group SS.

[0082] Furthermore, when the computer-readable recording medium 408 associated with the second embodiment stores a program, it is a computer-readable recording medium 408 that stores a program for causing the control device 40 to perform: a lifting step (step S21), which controls the lifting magnet 21, which is a conveying device 20, to lift a portion of the waste group SS; a position determination step (step S25), which determines the position of the foreign object D in the lifted waste group SS if the foreign object D is detected in the lifted waste group SS by the conveying waste foreign object detection means 30 in the lifting step; and a separation step (step S26), which controls the lifting magnet 21, which is a conveying device 20, to separate the foreign object D contained in the waste group SS from the waste S based on the position of the foreign object D in the lifted waste group SS determined in the position determination step, so that the waste S and the foreign object D in the lifted waste group SS fall to different places.

[0083] Accordingly, the control device 40 executes the lifting step (step S21), the position determination step (step S25), and the separation step (step S26) according to the commands of the program stored in the recording medium 408, and can automatically remove only the foreign matter D contained in the waste group SS, thereby reducing the amount of waste S that is accidentally removed along with the foreign matter D in the waste group SS. While the embodiments of the present invention have been described above, the present invention is not limited thereto and various changes and improvements can be made.

[0084] For example, the foreign matter separation system 1 associated with the first and second embodiments uses a lifting magnet 21 in the conveying device 20, but it is not limited to using the lifting magnet 21. For example, as shown in FIG. 7, a clamping device 22 can be used in the conveying device 20, or as shown in FIG. 8, a shovel 23 can be used in the conveying device. When the clamping device 22 is used in the conveying device 20, as shown in FIG. 7, increasing the opening degree of the claw 22a of the clamping device 22 can adjust the "holding force of the conveying device 20". In addition, when the shovel 23 is used in the conveying device, as shown in FIG. 8, changing the inclination of the bucket 23a of the shovel 23 can adjust the "holding force of the conveying device 20".

[0085] Furthermore, in the foreign matter separation system 1 associated with the first embodiment, the transport control unit 44 of the control device 40 controls the lifting magnet 21 of the transport device 20 to lift a portion of the waste group SS containing foreign matter D, based on the position of the foreign matter D in the waste group SS before lifting, determined by the pre-position determination unit 43. That is, as shown in FIG5, the transport control unit 44 controls the lifting of a portion of the waste group SS containing foreign matter D at the lifting point X using the lifting magnet 21. Then, through subsequent operations, the lifted foreign matter D contained in the waste group SS is separated from the waste S.

[0086] In contrast, as with the foreign matter separation system associated with the modified example (not shown), the transport control unit of the control device controls the transport device to lift a portion of the waste group SS that does not contain foreign matter D, based on the position of the foreign matter D in the waste group SS before lifting, determined by the pre-position determination unit. Then, the transport control unit can also control the transport device to transport the lifted portion of the waste group SS that does not contain foreign matter D to the transport destination. In Figure 11, an example of a pre-photographed image of the waste group SS placed on the semi-trailer 50 (refer to Figure 1) taken using a pre-photographing device when the foreign matter D contained in the waste group SS is separated from the waste S using the foreign matter separation system associated with the modified example is shown together with the lifting point Y of the waste group SS in the case of using the transport device. That is, as shown in Figure 11, the conveying control unit of the foreign matter separation system control device associated with the modified example first moves the conveying device horizontally such that it is positioned above the location of the foreign matter D in the waste group SS before lifting, as determined by the pre-positioning unit. Next, the conveying control unit controls the conveying device to move vertically downwards while holding a portion of the waste group SS (the waste group SS at the lifting point Y) without foreign matter D, and further moves the conveying device vertically upwards to lift the held portion of the waste group SS. Then, the conveying control unit can also control the conveying device to convey the lifted portion of the waste group SS without foreign matter D to the conveying destination. This procedure is repeated so that the waste S can be conveyed to the conveying destination while foreign matter D remains on the trailer bed of the semi-trailer 50.

[0087] Furthermore, in the foreign matter separation system associated with the modified example, if the foreign matter D obstructs the lifting of the waste material S, as shown in Figure 12, the foreign matter D can be removed as appropriate to lift the waste material S and allow the conveying to proceed. That is, in Figure 12, if the foreign matter D obstructs the lifting of the waste material S, a portion V1 of the waste material group SS containing the foreign matter D is removed, and the remaining collection W1 of the waste material S is lifted to allow the conveying to proceed. Furthermore, regarding the portion V1 of the waste material group SS containing the foreign matter D that is removed, a portion V2 of the waste material group SS containing the portion V1 of the waste material group SS containing the foreign matter D is removed, and the remaining collection W2 of the waste material S is lifted to allow the conveying to proceed. This operation can also be repeated. Figure 12 illustrates an example where, in a situation where a foreign object D obstructs the lifting of waste S, the conveying device is controlled using a foreign object separation system associated with a modified example to separate the foreign object D contained in the waste group SS from the waste. In Figure 12, for example, when a portion V2 of the waste group SS containing the foreign object D is moved away, similar to the first and second embodiments, a photograph is taken of the lifted portion V2 of the waste group SS containing the foreign object D. The position of the foreign object D is determined from the photographic image. The conveying device is controlled to move the waste S and the foreign object D in the portion V2 of the waste group SS to different locations based on the position of the foreign object D, thereby separating the foreign object D from the waste S.

[0088] Furthermore, the determination of the position of the foreign object D in the lifted waste group SS of the foreign object separation system 1 associated with the first and second embodiments is not limited to determining whether the distance d between the boundary line L of the waste group SS and the background in the photographic image and the foreign object D is below a predetermined value. For example, the determination of the position of the foreign object D in the lifted waste group SS may also be based on whether the position (height in the vertical direction) of the foreign object in the waste group SS in the photographic image exceeds a certain threshold. Furthermore, the location for storing waste SS is not limited to the bed of a semi-trailer 50, but can also be a yard, etc.

[0089] 1: Foreign matter separation system 10: Pre-production photography device 20:Conveying device 21: Suspended magnet 22: Clamping device 22a:Claw 23: Shovel 23a: Bucket 30: Foreign Object Detection Methods for Waste Transportation 31: Photographic Device 40: Control device 41: Pre-event Image Acquisition Department 42: Pre-construction waste and foreign object detection department 43: Pre-location determination department 44: Transport Control Department 45: Photographic Image Acquisition Department 46: Waste and Foreign Object Detection Department 47: Location Determination Department 48: Foreign Matter Separation Control Unit 50: Semi-trailer 51: Waste disposal site 52: Foreign object placement area 401: Calculation Processing Device 402: CPU 403: Internal Bus 404: Internal Memory Device 405: External Memory Device 406: Input device 407: Output device 408: Recording Media D: Foreign object G: Pre-event photography / videography S: Waste SS: Waste Group S1~S27: Steps

Claims

1. A foreign matter separation system for separating foreign matter contained in a waste mass from the waste, comprising: a conveying device for lifting and conveying a portion of the aforementioned waste mass; a conveyed waste foreign matter detection means for detecting foreign matter in the waste mass lifted by the conveying device; and a control device for determining the position of the foreign matter in the lifted waste mass when the conveyed waste foreign matter detection means is used, and controlling the conveying device to separate the foreign matter contained in the waste mass from the waste based on the determined position of the foreign matter in the lifted waste mass, thereby separating the foreign matter contained in the waste mass from the waste.

2. As in request item 1, a foreign matter separation system, wherein, The aforementioned waste material foreign object detection method comprises: a photographic device that photographs a group of waste materials lifted by the aforementioned conveying device; a photographic image acquisition unit that acquires the photographic image captured by the photographic device; and a waste material foreign object detection unit that detects foreign objects in the lifted group of waste materials based on the photographic image acquired by the photographic image acquisition unit.

3. The foreign matter separation system as described in claim 2, wherein, The aforementioned control device includes: a position determination unit that, when foreign objects are detected in a lifted waste mass using the foreign object detection method, determines the position of the foreign objects in the lifted waste mass from the aforementioned photographic image; a foreign object separation control unit that, based on the position of the foreign objects in the lifted waste mass determined by the position determination unit, controls the holding force for maintaining the lifted state of the aforementioned waste mass using the aforementioned conveying device; and a conveying control unit that controls the conveying of the waste mass lifted using the aforementioned conveying device. By adjusting the holding force for maintaining the lifted state of the aforementioned waste mass using the aforementioned conveying device using the foreign object separation control unit, and simultaneously controlling the conveying of the lifted waste mass using the aforementioned conveying control unit, foreign objects contained in the waste mass are separated from the waste.

4. The foreign matter separation system as described in request item 3, wherein, The control device further includes a pre-photographing device for photographing the waste group before a portion of the aforementioned waste group is lifted using the aforementioned conveying device. The control device comprises: a pre-image acquisition unit that acquires a pre-photographed image captured by the pre-photographing device; a pre-determination foreign object detection unit that detects foreign objects in the waste group before lifting based on the pre-photographed image acquired by the pre-image acquisition unit; a pre-determination position determination unit that, when foreign objects are detected in the waste group before lifting using the pre-determination foreign object detection unit, determines the position of the foreign objects in the waste group before lifting based on the pre-photographed image; and a conveying control unit that controls the conveying device to lift a portion of the waste group containing foreign objects based on the position of the foreign objects in the waste group before lifting determined by the pre-determination position determination unit.

5. A method for separating foreign matter contained in a waste mass from the waste, comprising: a lifting step, wherein a control device controls a conveying device to lift a portion of the aforementioned waste mass; a conveying waste foreign matter detection step, wherein a conveying waste foreign matter detection means detects foreign matter in the waste mass lifted in the aforementioned lifting step; a position determination step, wherein the control device determines the position of the foreign matter in the lifted waste mass if foreign matter is detected in the aforementioned conveying waste foreign matter detection step; and a separation step, wherein the control device controls the conveying device based on the position of the foreign matter in the lifted waste mass determined in the aforementioned position determination step, such that the waste and foreign matter in the lifted waste mass fall to different locations, thereby separating the foreign matter contained in the waste mass from the waste.

6. A computer program product for causing a control device to perform: a lifting step, which controls the conveying device to lift a portion of a waste mass; a position determination step, which determines the position of the foreign object in the lifted waste mass if a foreign object is detected in the waste mass lifted in the aforementioned lifting step using a foreign object detection method for transporting waste; and a separation step, which controls the conveying device to separate the foreign object contained in the waste mass from the waste based on the position of the foreign object in the lifted waste mass determined in the position determination step, so that the waste and the foreign object in the lifted waste mass fall to different locations.

7. A computer-readable recording medium storing a program for causing a control device to perform: a lifting step, which controls the conveying device to lift a portion of a waste mass; a position determination step, which determines the position of the foreign object in the lifted waste mass if a foreign object is detected in the lifted waste mass using a foreign object detection method; and a separation step, which controls the conveying device to separate the foreign object contained in the waste mass from the waste based on the position of the foreign object in the lifted waste mass determined in the position determination step, so that the waste and the foreign object in the lifted waste mass fall to different locations.

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