Foreign object removal system

Abstract

The foreign matter removing system of the present disclosure, a conveyance device that conveys waste in which a target object and a foreign matter are mixed in a conveyance direction; a foreign matter detection device that detects the foreign matter included in the waste; and a foreign matter pickup device that is provided at a downstream side in the conveyance direction than the foreign matter detection device, picks up the foreign matter detected by the foreign matter detection device, and transports the foreign matter to a predetermined disposal site to be disposed. In the foreign matter removing system, the foreign matter removing device judges a pickup possibility of the foreign matter based on at least one of a feature of the foreign matter detected by the foreign matter detection device and a surrounding condition, and decides whether to pick up the foreign matter or decides a priority order of picking up the foreign matter based on the pickup possibility.

Description

Technical Field

[0001] This disclosure relates to a foreign object removal system. Background Technology

[0002] Previously, robot systems were known to retrieve specific items from waste transported by belt conveyors. For example, Patent Document 1 discloses a robot system in which a controller controls the robot's gripper to retrieve a specific item selected by an operator from the waste.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 10-180667 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] However, in the robot system of Patent Document 1, the robotic hand is prone to failure when it is difficult to remove a specific item from the waste. Furthermore, when two or more specific items are in close proximity, other specific items are easily conveyed downstream while the gripper is removing one specific item from the waste. Thus, the robot system disclosed in Patent Document 1 cannot efficiently remove specific items from the waste.

[0007] This disclosure was made to solve the aforementioned problems, and its main purpose is to efficiently remove foreign matter from waste.

[0008] Technical solutions for solving the problem

[0009] The first foreign object removal system disclosed herein has the following features:

[0010] A conveying device that transports waste material mixed with the target material and foreign matter in a conveying direction;

[0011] Foreign object detection device, for detecting the aforementioned foreign objects contained in the aforementioned waste; and

[0012] A foreign object removal device is installed downstream of the aforementioned foreign object detection device in the aforementioned conveying direction. It picks up the foreign objects detected by the foreign object detection device and transports them to a predetermined disposal site for disposal.

[0013] The aforementioned foreign object removal device determines the likelihood of picking up the foreign object based on at least one of the characteristics of the foreign object detected by the aforementioned foreign object detection device and the surrounding conditions, and decides whether to pick up the foreign object or to determine the priority order for picking up the foreign object based on the likelihood of picking up the foreign object.

[0014] In this first foreign object removal system, the foreign object removal device determines the likelihood of picking up a foreign object based on at least one of the characteristics of the foreign object detected by the foreign object detection device and the surrounding conditions, and decides whether to pick up the foreign object or the priority order for picking up foreign objects based on the pick-up likelihood. Thus, the foreign object removal device can pick up foreign objects with a high pick-up likelihood and not pick up foreign objects with a low pick-up likelihood, thereby increasing the probability of successful foreign object pickup. Furthermore, the foreign object removal device can pick up foreign objects sequentially from those with a high priority, in other words, from those with a high pick-up likelihood, thus increasing the probability of successful foreign object pickup. Therefore, foreign objects can be removed efficiently. The characteristics of the foreign object include, for example, the size and shape of the foreign object.

[0015] The second foreign object removal system disclosed herein has the following features:

[0016] A conveying device that transports waste material mixed with the target material and foreign matter in a conveying direction;

[0017] Foreign object detection device, for detecting the aforementioned foreign objects contained in the aforementioned waste; and

[0018] A foreign object removal device is installed downstream of the aforementioned foreign object detection device in the aforementioned conveying direction. It picks up the foreign objects detected by the foreign object detection device and transports them to a predetermined disposal site for disposal.

[0019] The aforementioned foreign object removal device picks up two or more of the aforementioned foreign objects and transports them to the aforementioned waste disposal site for disposal.

[0020] In this second foreign object removal system, the foreign object removal device picks up two or more foreign objects at a time and transports them to a disposal site for disposal. This method achieves more efficient foreign object removal compared to picking up foreign objects one by one and transporting them to a disposal site for disposal. Attached Figure Description

[0021] Figure 1 This is an explanatory diagram showing the structure of Reuse System 1.

[0022] Figure 2 This is a perspective view showing the schematic structure of the foreign object removal system 10.

[0023] Figure 3 This is a side view showing the schematic structure of the foreign object removal system 10.

[0024] Figure 4 This is a top view showing the general structure of the foreign object removal system 10.

[0025] Figure 5 This is a block diagram showing the electrical connections of the foreign object removal system 10.

[0026] Figure 6This is a flowchart representing an example of a height data generation routine.

[0027] Figure 7 This is a flowchart representing an example of a foreign object removal routine.

[0028] Figure 8 This is a flowchart representing an example of a foreign object removal routine.

[0029] Figure 9 This is an explanatory diagram illustrating an example of a method for setting a specific range R.

[0030] Figure 10 This is an illustration of an example of a method for determining the probability of picking.

[0031] Figure 11 This is an illustration of an example of a method for determining the probability of picking.

[0032] Figure 12 This is an explanatory diagram illustrating an example of the judgment result regarding the likelihood of picking up foreign object 4.

[0033] Figure 13 This is an explanatory diagram illustrating an example of the judgment result regarding the likelihood of picking up foreign object 4.

[0034] Figure 14 This is an explanatory diagram illustrating an example of the judgment result regarding the likelihood of picking up foreign object 4.

[0035] Figure 15 This is an explanatory diagram illustrating an example of the judgment result regarding the likelihood of picking up foreign object 4.

[0036] Figure 16 This is an explanatory diagram showing the operation of the foreign object removal device 40 when performing a simultaneous pickup action.

[0037] Figure 17 This is an explanatory diagram showing the operation of the foreign object removal device 40 when it performs the action of causing the foreign object 4 to fall near other foreign objects 4.

[0038] Figure 18 This is a flowchart representing a variation of the foreign object removal routine.

[0039] Figure 19 This is an explanatory diagram illustrating the method for determining the priority order when picking up foreign object 4.

[0040] Figure 20 This is a flowchart representing a variation of the foreign object removal routine. Detailed Implementation

[0041] The manner in which this disclosure is implemented will now be described with reference to the accompanying drawings. Figure 1 This is an explanatory diagram showing the structure of Reuse System 1. Figure 2 This is a perspective view showing the schematic structure of the foreign object removal system 10. Figure 3 This is a side view showing the schematic structure of the foreign object removal system 10. Figure 4 This is a top view showing the schematic structure of the foreign object removal system 10. Figure 5 This is a block diagram illustrating the electrical connections of the foreign object removal system 10. Furthermore, in this embodiment, the left-right, front-back, and up-down directions are as follows: Figures 1-4 As shown (in) Figure 1 and Figure 3 In the middle, the front-back direction is perpendicular to the paper. Figure 4 In this embodiment, the vertical direction is perpendicular to the paper surface. Furthermore, the direction in which the waste material 2 is conveyed via the conveying device 22 is referred to as the conveying direction D.

[0042] Waste 2 processed by the recycling system 1 is a mixture of recycled materials 3, such as gravel, sand and concrete, which are recycled objects, and foreign materials 4 such as paper, resin, wood and metal.

[0043] like Figure 1 As shown, the reuse system 1 includes: primary and secondary crushers 11a and 11b, primary and secondary magnetic separators 12a and 12b, a screening machine 13, conveying devices 20 to 25, and a foreign matter removal system 10.

[0044] The primary crusher 11a is a device for primary crushing of waste material 2, which is used as raw material. The primary crusher 11a crushes the waste material 2 in a manner that results in a predetermined primary size or smaller (e.g., 40 cm or less). The primary magnetic separator 12a is a device that removes foreign matter 4 containing magnetic materials from the waste material 2 using magnetic force. The screening machine 13 is a device that separates waste material 2 larger than the primary size from waste material 2 smaller than the primary size by passing the waste material 2 through a mesh. The secondary crusher 11b is a device that further crushes the waste material 2 into a smaller size compared to the primary crusher 11a. The secondary crusher 11b crushes the waste material 2 in a manner that results in a predetermined secondary size or smaller (e.g., 10 cm or less). The secondary magnetic separator 12b is a device that removes magnetic materials from the waste material 2 that were not completely removed in the primary magnetic separator 12a and the foreign matter removal system 10.

[0045] The conveying devices 20 to 25 are devices that place waste material 2 on the conveying surface and convey it along the conveying direction D, and are configured, for example, as belt conveyors. In addition, as long as the conveying devices 20 to 25 are conveying devices for conveying waste material 2, they can also be structures other than belt conveyors.

[0046] like Figures 1-4As shown, the foreign object removal system 10 includes: a conveying device 22, a foreign object detection device 15, a height detection device 17, a foreign object removal device 40, and a foreign object storage component 60 (equivalent to the waste site disclosed herein).

[0047] The conveying device 22 is a conveying device that conveys waste material 2 in the conveying direction D. The conveying device 22 has a conveying surface 30 on which the waste material 2 is placed and conveyed at a certain speed (e.g., 40 m / min).

[0048] The foreign object detection device 15 is positioned upstream of the foreign object removal device 40 in the conveying direction D. The foreign object detection device 15 is a device for detecting foreign objects 4 contained in the waste 2, and is configured, for example, as a color camera to capture color images of the waste 2 being conveyed and placed on the conveying surface 30 of the conveying device 22. The foreign object detection device 15 is held above the conveying surface 30 of the conveying device 22 by a holding member 16 arranged to span the conveying device 22 in the front-rear direction. The foreign object detection device 15 captures images of the waste 2 from above the conveying surface 30 of the conveying device 20 within a predetermined range, and outputs color image data to the control device 50 of the foreign object removal device 40 (see reference). Figure 5 ).

[0049] The height detection device 17 is located upstream of the foreign object removal device 40 in the conveying direction D and downstream of the foreign object detection device 15 in the conveying direction D. The height detection device 17 is a device for detecting the height above the conveying surface 30, and is configured, for example, as a stereo camera equipped with two cameras (not shown). The height detection device 17 is held above the conveying surface 30 of the conveying device 22 by a holding member 18 arranged to span across the conveying device 22 in the front-rear direction. The height detection device 17 uses each camera to photograph a predetermined range of the waste 2 from above the conveying surface 30 of the conveying device 22, and outputs the height detection image data to the control device 50 of the foreign object removal device 40 (see reference). Figure 5 ).

[0050] The foreign object removal device 40 is a device that removes foreign objects 4 detected by the foreign object detection device 15 from the waste material 2, and is configured, for example, as an XY robot. The foreign object removal device 40 is located downstream of the foreign object detection device 15 in the conveying direction D. The foreign object removal device 40 includes: an X-axis slider 41, a Y-axis slider 42, and a lifting device 43 (see reference). Figure 5 ), pickup component 44, pickup component drive unit 45 (refer to) Figure 5 ) and control device 50 (refer to) Figure 5 ).

[0051] The X-axis slider 41 is supported by a pair of front and rear guide rails 48, which are mounted on a pair of left and right guide rail mounting sections 47 arranged to span the conveyor 22 in the front-rear direction. The X-axis slider 41 can be moved in the X-axis direction by being driven by an X-axis motor (not shown) mounted on the X-axis slider 41.

[0052] The Y-axis slider 42 is supported by a pair of upper and lower guide rails 46, which are arranged on the left surface of the X-axis slider 41 in a manner extending along the Y-axis direction. The Y-axis slider 42 can be moved in the Y-axis direction by being driven by a Y-axis motor (not shown) provided on the Y-axis slider 42.

[0053] A storage box 49 is mounted on the left surface of the Y-axis slider 42. The storage box 49 houses a lifting device 43 that moves the pickup component 44 along the Z-axis direction (see reference). Figure 5 The lifting device 43 is able to lift the pickup component 44 by means of a Z-axis motor (not shown) provided on the lifting device 43.

[0054] The picking-up component 44 has multiple claws (equivalent to the gripping parts of this disclosure), which can grab and hold the foreign object 4 from the waste 2 or release the grip by opening and closing the claws.

[0055] Pick-up component drive unit 45 (reference) Figure 5 It is a drive device that is stored in the storage box 49 and drives the pickup component 44 to rotate around the axis or to open and close the claw of the pickup component 44.

[0056] like Figure 5 As shown, the control device 50 is a computer composed of a known CPU 51, ROM 52, RAM 53, and memory (e.g., HDD, SSD) 54, which controls the entire foreign object removal system 10. The control device 50 is connected to the foreign object detection device 15 and the height detection device 17. The control device 50 outputs a shooting command signal to the foreign object detection device 15, outputs a shooting command signal to the height detection device 17, inputs color image data from the foreign object detection device 15, and inputs height detection image data from the height detection device 17. Additionally, the control device 50 outputs control signals to the Y-axis slider 42, the X-axis slider 41, the lifting device 43, and the pickup component drive unit 45.

[0057] The foreign object storage component 60 is a box-shaped component for storing foreign objects 4, with an open upper surface. The foreign object storage component 60 is arranged on both the front and rear sides of the conveying device 22 along the conveying direction D, adjacent to the conveying device 22.

[0058] Next, use Figures 6-17The operation of the foreign object removal system 10 configured in this way will be explained. Figure 6 This is a flowchart representing an example of a height data generation routine. Figure 7 , 8 This is a flowchart representing an example of a foreign object removal routine. Figure 9 This is an explanatory diagram illustrating an example of a method for setting a specific range R. Figure 10 , 11 This is an illustrative diagram illustrating an example of a method for determining the probability of picking. Figures 12-15 This is an explanatory diagram illustrating an example of the judgment result regarding the likelihood of retrieving foreign object 4. Figure 16 This is an explanatory diagram showing the operation of the foreign object removal device 40 when performing a simultaneous pickup action. Figure 17 This is an explanatory diagram showing the operation of the foreign object removal device 40 when it performs the action of causing foreign object 4 to fall near other foreign objects 4. Additionally, in Figures 9-17 For convenience, a hexagon is used in the middle. Figure 10 , 11 Except for (item 3), which represents reusable objects, and star-shaped objects represent foreign objects (item 4). Additionally, in Figure 16 and Figure 17 In the illustration, the small inset shows the state of the conveying surface 30 of the conveying device 22 as viewed from above.

[0059] First, the altitude data generation routine will be described. This routine is stored in the memory 54 of the control device 50 and is executed by the CPU 51 of the control device 50 after the operator inputs a start instruction.

[0060] When this routine begins, the CPU 51 inputs foreign object detection image data (color image data) from the foreign object detection device 15 at predetermined time intervals (S100). Specifically, the CPU 51 inputs the foreign object detection image data captured by the foreign object detection device 15 and stores it in the memory 54. The predetermined time interval refers to the time interval in the left-right direction of the imaging range of the foreign object detection image data as the waste material 2 is conveyed by the conveying device 22.

[0061] Next, the CPU 51 inputs height detection image data from the height detection device 17 (S110). Specifically, the CPU 51 inputs height detection image data captured by two cameras installed on the height detection device 17 and stores it in the memory 54. Furthermore, the height detection image data is data obtained by capturing images of a range corresponding to the shooting range of the foreign object detection image data input in S100.

[0062] Next, CPU 51 generates height data (S120). The height data is generated as follows: First, for each pixel of the height detection image data, CPU 51 calculates the distance from the height detection device 17 to each pixel based on the distance between the two cameras of the height detection device 17, the parallax, and the focal length. Next, CPU 51 calculates the difference between the distance from the height detection device 17 to the transport surface 30 and the distance from the height detection device 17 to the object, and uses this difference as the height of each pixel relative to the transport surface 30. Then, CPU 51 stores each pixel and the calculated height in correspondence with the object detection image data corresponding to the height detection image data used this time in memory 54.

[0063] Next, CPU 51 determines whether a stop instruction has been input (S130). If no stop instruction has been input from the operator, CPU 51 returns to S100. On the other hand, if a stop instruction has been input from the operator, CPU 51 terminates the current routine.

[0064] Next, the foreign object removal routine will be described. This routine is stored in the memory 54 of the control device 50 and is executed by the CPU 51 of the control device 50 after the operator inputs a start instruction via an input device (not shown).

[0065] When this routine begins, CPU 51 sets the object image (S200). Specifically, CPU 51 sets the image data that has not yet been set as the object image from the foreign object detection image data stored in memory 54 in S100 of the height data generation routine as the object image. If there are multiple such foreign object detection image data, CPU 51 sets the earliest foreign object detection image data as the object image.

[0066] Next, CPU 51 performs foreign object detection processing (S210). The foreign object detection processing is performed as follows: First, CPU 51 detects the region of waste 2 in the object image. Next, CPU 51 obtains the RGB values ​​within the region of waste 2. Next, CPU 51 compares the RGB values ​​within the region of waste 2 with the range of RGB values ​​of the reusable object 3 pre-stored in memory 54. Then, CPU 51 detects regions within the region of waste 2 that deviate from the range of RGB values ​​of the regenerated object 3 as regions of foreign object 4.

[0067] Next, CPU51 sets a specific range R (S220). The specific range R is... Figure 9The range shown. That is, CPU 51 designates the foreign object 4 located at the lowest end of the foreign objects 4 contained in the current object image as a specific foreign object 5. Next, CPU 51 designates a circular range centered on this specific foreign object 5, which can be used to grasp two or more foreign objects 4 in a single opening and closing action of the picking member 44, as a specific range R. In addition, although not shown, if there are no foreign objects 4 in the object image, the process jumps to S380.

[0068] Next, CPU51 determines whether there are two or more foreign objects 4 within a specific range R (S230). Specifically, as follows... Figures 12-14 As shown, if there are two or more foreign objects 4 containing a specific foreign object 5 within a specific range R, then CPU 51 makes a positive determination. On the other hand, as... Figure 15 As shown, if there is only a specific foreign object 5 in a specific range R, then CPU51 will make a negative determination.

[0069] If a negative decision is made in S230, CPU51 sets the object to be picked (S240). For example, in Figure 15 In this process, a specific foreign object 5 is designated as the pickup target. After S240, CPU51 enters S320.

[0070] On the other hand, if a positive determination is made in S230, the CPU51 determines the likelihood of picking up two or more foreign objects 4 within a specific range R (S250). The picking likelihood is the possibility of holding the foreign object 4 by the opening and closing action of the picking member 44. The picking likelihood is based on the characteristics of the foreign object 4 (in this embodiment, the exposed area of ​​the foreign object 4) and the surrounding conditions of the foreign object 4 (in this embodiment, the height H2 of the peripheral member 6 present around the foreign object 4 (refer to...)). Figure 10 , 11 ) relative to the height H1 of foreign object 4 (refer to Figure 10 , 11 The ratio Q(H2 / H1) is used to determine the object. The peripheral component 6 also has reusable objects 3 and foreign objects 4. In most cases, whether the picking component 44 can pick up the foreign object 4 depends on the exposed area of ​​the foreign object 4 and the ratio Q of the height H2 of the peripheral component 6 around the foreign object 4 to the height H1 of the foreign object 4.

[0071] When determining the likelihood of pickup based on the characteristics of foreign object 4, firstly, CPU 51 designates one of the foreign objects 4 within a specific range R as the target. Next, CPU 51 calculates the exposed area of ​​the foreign object 4 designated as the target. Specifically, CPU 51 calculates the number of pixels in the region of the foreign object 4 designated as the target, and multiplies the calculated number of pixels by the area of ​​each pixel to calculate the exposed area of ​​the foreign object 4 designated as the target. Next, CPU 51 determines the likelihood of pickup based on the exposed area of ​​the foreign object 4 designated as the target. At this point, CPU 51 determines that a larger exposed area of ​​foreign object 4 indicates a higher likelihood of pickup, and a smaller exposed area indicates a lower likelihood of pickup. This is because a larger exposed area of ​​foreign object 4 increases the likelihood that foreign object 4 is not buried, making it easier for the pickup component 44 to grasp foreign object 4, thus increasing the likelihood of pickup. Conversely, a smaller exposed area of ​​foreign object 4 increases the likelihood that foreign object 4 is buried, making it harder for the pickup component 44 to grasp foreign object 4, thus decreasing the likelihood of pickup. For example, thresholds Sa and Sb can be preset. If the exposed area of ​​the foreign object 4, which is set as the target for judgment, is less than Sa, the probability of picking up the object is judged as "low"; if it is greater than Sa and less than Sb, the probability of picking up the object is judged as "medium"; and if it is greater than Sb, the probability of picking up the object is judged as "high". The thresholds Sa and Sb are set based on the size of the claws set on the picking member 44, the spacing between the claws, etc. In addition, the maximum area that the claws can grasp can also be set, and the probability of picking up the object is judged as "low" when the maximum area is exceeded.

[0072] When determining the likelihood of picking up the foreign object 4 based on its surrounding conditions, CPU 51 compares the position (XY coordinates) of the foreign object 4 (set as the object to be judged) in the object image with the height data generated in S120, such as... Figure 10 , 11 As shown, the height H1 of the foreign object 4, which is set as the object to be judged, is detected. Next, the CPU 51, based on the height data generated in S120, such as... Figure 10 , 11As shown, the height H2 of the peripheral components 6 surrounding the foreign object 4, which is set as the object of judgment, is detected. Next, the CPU 51 determines the picking probability based on the ratio Q of the height H2 of the peripheral components 6 surrounding the foreign object 4 to the height H1 of the foreign object 4. At this time, the CPU 51 determines that the lower the ratio Q is (less than 1), the higher the picking probability, and the higher the ratio Q is (greater than 1), the lower the picking probability. This is because the lower the ratio Q is (less than 1), the less likely the peripheral components 6 surrounding the foreign object 4 are to hinder the picking component 44 from grasping the foreign object 4, and the easier it is for the picking component 44 to grasp the foreign object 4, thus increasing the picking probability. On the other hand, the higher the ratio Q is (greater than 1), the more likely the peripheral components 6 surrounding the foreign object 4 are to hinder the picking component 44 from grasping the foreign object 4, making it more difficult for the picking component 44 to grasp the foreign object 4, thus decreasing the picking probability. For example, thresholds Ta (less than 1) and Tb (more than 1) can be preset. If the ratio Q is less than Ta, the picking probability is judged as "high"; if it is greater than Ta and less than Tb, the picking probability is judged as "medium"; and if it is greater than Tb, the picking probability is judged as "low". The thresholds Ta and Tb are set based on the size of the claws set on the picking component 44, the spacing between the claws, etc.

[0073] When judging the likelihood of picking up the foreign object 4 based on its characteristics and the surrounding conditions of the foreign object 4, the likelihood of picking up the foreign object 4 is judged by combining the judgment result based on the characteristics of the foreign object 4 with the judgment result based on the surrounding conditions of the foreign object 4. For example, as a combination of the judgment result based on the characteristics of the foreign object 4 and the judgment result based on the surrounding conditions of the foreign object 4, there are (1) both are "low", (2) one is "low" and the other is "medium", (3) one is "low" and the other is "high", (4) both are "medium", (5) one is "medium" and the other is "high", and (6) both are "high". However, the CPU 51 judges that the likelihood of picking up the foreign object 4 increases in this order.

[0074] Here, in Figures 12-14 In the process, for foreign object 4 that is judged to have a high probability of being picked up in S250, a star-shaped mark ○ is made; for foreign object 4 that is judged to have a low probability of being picked up in S250, a star-shaped mark × is made.

[0075] Next, CPU51 determines whether a foreign object 4 with a high probability of being picked up exists within a specific range R (S260). In this embodiment, if the probability of picking up is "high" or "medium", a positive determination is made. Specifically, as... Figure 12 , 13 As shown, if a foreign object 4 with a high probability of being picked up exists within a specific range R, then CPU 51 makes a positive determination. On the other hand, as... Figure 14As shown, if there is no foreign object 4 with a high probability of being picked up within a specific range R, then CPU51 makes a negative judgment.

[0076] If a positive determination is made in S260, then CPU51 determines whether there are two or more foreign objects 4 with a high probability of being picked up within a specific range R (S270). Specifically, as follows... Figure 12 As shown, if there are two or more ( ) within a specific range R Figure 12 If, in S260, the object 4 (which is one of two) is determined to be a foreign object with a high probability of being picked up, then CPU 51 makes a positive determination. On the other hand, if... Figure 13 As shown, if there are fewer than two (one) foreign objects 4 that are judged to be highly likely to be picked up in S260 within a specific range R, then a negative judgment is made.

[0077] If a negative decision is made in S270, then CPU51 sets the object to be picked (S280). Specifically, as follows: Figure 13 As shown, CPU 51 designates one of the foreign objects 4 within a specific range R that is deemed to have a high probability of being picked up in S260 as the pickup target, and decides not to pick up any of the foreign objects 4 within the specific range R that were not designated as pickup targets. After S280, CPU 51 proceeds to S320.

[0078] On the other hand, if a positive decision is made in S270, then CPU51 will... Figure 12 Two or more foreign objects 4 within a specific range R are set as pick-up objects (S290).

[0079] Next, CPU51 executes a simultaneous pickup action (S300) to pick up two or more foreign objects 4 at the same time. The simultaneous pickup action is executed as follows. That is, firstly, as... Figure 16 As shown in (A), the CPU 51 calculates the XY coordinates of each foreign object 4 within a specific range R at the current time point based on the XY coordinates of each foreign object 4 when it is detected in S210, the elapsed time since the detection of each foreign object 4 in S210, and the conveying speed of the conveying device 22. Next, as... Figure 16 As shown in (A), CPU 51 sets the pickup center C1 at the current time point based on the XY coordinates of each foreign object 4. When there are two foreign objects 4 within a specific range R, the center of the line segment connecting the foreign objects 4 is set as the pickup center C1 at the current time point. On the other hand, when there are three or more foreign objects 4 within a specific range R, CPU 51 sets the centroid of the polygon with the three or more foreign objects 4 as vertices as the pickup center C1 at the current time point. Next, as... Figure 16As shown in (A), the CPU 51 receives signals from encoders (not shown) located on the X-axis slider 41 and Y-axis slider 42 to determine the position of the pickup member 44 at the current time point (referred to as the current position P0). Next, the CPU 51 sets the foreign object pickup position P1 when the pickup member 44 simultaneously holds two or more foreign objects 4. The foreign object pickup position P1 is set on a straight line passing through the pickup center C1 at the current time point and parallel to the X-axis. Furthermore, the foreign object pickup position P1 is set at the position where the pickup member 44 moves from the current position P0 to the foreign object pickup position P1 and can pick up the foreign object 4 before the pickup center C1 is conveyed directly below the foreign object pickup position P1. In the case of multiple such positions, the upstream position is set as the foreign object pickup position P1. Next, as... Figure 16 As shown in (B), CPU 51 controls the Y-axis slider 42 and the X-axis slider 41 to move the pickup component 44 to the foreign object pickup position P1. Next, based on the pickup center C1, when the pickup center C1 is directly below the foreign object pickup position P1, as shown... Figure 16 As shown in (C), the lifting device 43 and the pickup component drive unit 45 are driven and controlled so that the claw of the pickup component 44 changes from open to closed, and the pickup component 44 simultaneously picks up two or more foreign objects 4. Then, with the pickup component 44 holding the foreign objects 4, the CPU 51 drives and controls the lifting device 43 to raise the pickup component 44, removing two or more foreign objects 4 from the waste 2 simultaneously. After S300, the CPU 51 enters S370.

[0080] On the other hand, if a negative decision is made in S260, CPU51 decides not to pick up foreign object 4 (S310). After S310, CPU51 enters S380.

[0081] Here, the processing performed by CPU 51 after S240 or S280 will be described. After S240 or S280, CPU 51 performs the normal pickup operation (S320) on the foreign object 4 determined to be the pickup target in S240 or S280. In S320, CPU 51 performs the same processing as the simultaneous pickup operation in S290, except that it sets the foreign object 4, which is set as the pickup target, as the pickup center C1.

[0082] Next, CPU51 determines whether there are other foreign objects 4 outside the specific range R (S330). In the object image set in S200, such as... Figure 15 As shown, if there is another foreign object 4 outside the specific range R, CPU 51 makes a positive determination; otherwise, CPU 51 makes a negative determination. If a negative determination is made in S330, CPU 51 proceeds to S370.

[0083] On the other hand, if a positive determination is made in S330, CPU 51 determines the likelihood of picking up other foreign objects 4 outside the specific range R (S340). In S340, CPU 51 performs the same processing as in S250. Next, CPU 51 determines whether the likelihood of picking up the other foreign object 4 is high based on the determination result in S340 (S350). In S350, CPU 51 performs the same processing as in S260. If a negative determination is made in S350, CPU 51 proceeds to S370.

[0084] On the other hand, if a positive determination is made in S350, CPU51 predicts whether there is enough time to retrieve the other foreign object 4 after it has been transported to the foreign object storage component 60 and discarded (S352). For example, Figure 13 , 15 As shown, such a prediction is made when there are other foreign objects 4 upstream of the conveying direction D in a certain range R. This is done by comparing the expected time when the other foreign object 4 ends up in the pickable area pre-set between a pair of guide rail mounting parts 47, and the expected time from when the pick-up part 44 transports the picked-up object to the foreign object storage part 60 and discards it until it returns.

[0085] If it is predicted in S352 that there is not enough time to pick up the other foreign object 4, then CPU51 executes an action (S360) to make the foreign object 4 picked up in S320 fall near another foreign object 4 outside a specific range R. This process is executed as follows: First, CPU51 calculates the XY coordinates of the other foreign object 4 at the current time point based on the XY coordinates when the other foreign object 4 was detected in S210, the elapsed time since the other foreign object 4 was detected in S210, and the conveying speed of the conveying device 22. Next, as... Figure 17 As shown in (A), the CPU 51, in the same manner as the simultaneous pickup operation described above, grasps the position of the pickup component 44 at the current time point (referred to as the current position P10). Next, the CPU 51 sets the position of the pickup component 44 when the picked-up foreign object 4 falls near other foreign objects 4 (referred to as the falling position P11). The falling position P11 is set such that, before other foreign objects 4 are conveyed to the vicinity of the falling position P11, the pickup component 44 can move from the current position P10 to the falling position P11 and cause the picked-up foreign object 4 to fall onto the conveying surface 30. In the case where there are multiple such positions, when the foreign object 4 picked up by the pickup component 44 falls onto the conveying surface 30, the position with the smallest distance between the falling foreign object 4 and other foreign objects 4, and the position on the upstream side of the conveying direction D, is set as the falling position P11. Next, as Figure 17As shown in (B), CPU 51 controls the X-axis slider 41 and the Y-axis slider 42 to move the picking component 44 to the falling position P11. Then, as... Figure 17 As shown in (C), after the CPU 51 confirms that the other foreign object 4 is approaching the falling position P11 based on its XY coordinates, it controls the pickup component drive unit 45 to open the claw of the pickup component 44, releasing the pickup component 44 from holding the foreign object 4 and allowing the foreign object 4 to fall onto the conveyor surface 30. After S360, the CPU 51 returns to S290, setting the foreign object 4 that has fallen onto the conveyor surface 30 and other foreign objects 4 as pickup targets (S290), and controls various components to ensure that they are simultaneously held by the pickup component 44 and removed from the waste 2 (S300). On the other hand, if it is predicted in S352 that there is enough time to pick up the other foreign object 4, the CPU 51 controls various components to discard the foreign object 4 picked up in S320, and then picks up and discards the other foreign object 4 (S354). After S354, the CPU 51 enters S380.

[0086] After S300, or after a negative decision was made in S330 or S350, the CPU 51 executes the foreign object disposal action (S370). Specifically, the CPU 51 controls the Y-axis slider 42 to move the pickup member 44 directly above the foreign object storage member 60. Then, the CPU 51 controls the pickup member drive unit 45 to open the claw of the pickup member 44, and the foreign object 4 is disposed of in the foreign object storage member 60.

[0087] After S310, S354, or S370, CPU 51 determines whether a stop instruction has been input (S380). If no stop instruction has been input from the operator, CPU 51 returns to S200. On the other hand, if a stop instruction has been input from the operator, CPU 51 terminates the current routine.

[0088] In the foreign object removal system 10 described above, the likelihood of picking up the foreign object 4 is determined based on at least one of the characteristics of the foreign object 4 detected by the foreign object detection device 15 and the surrounding conditions, and a decision is made on whether to pick up the foreign object 4 based on the likelihood of picking it up. Therefore, the foreign object removal device 40 can pick up foreign objects 4 with a higher likelihood of picking them up but not those with a lower likelihood, thus increasing the probability of successfully picking up the foreign object 4. Therefore, the foreign object 4 can be removed efficiently.

[0089] Furthermore, in the foreign object removal system 10, the foreign object removal device 40 has a picking member 44 that grasps and holds the foreign object 4 through an opening and closing action. When determining the likelihood of picking up the foreign object 4, the likelihood of the claw of the picking member 44 grasping the foreign object 4 is determined based on at least one of the characteristics of the foreign object 4 detected by the foreign object detection device 15 and the surrounding conditions. Therefore, in the foreign object removal device 40 with a picking member 44 that grasps and holds the foreign object 4 through an opening and closing action, the foreign object 4 can be removed efficiently. In addition, in the foreign object removal system 10, the exposed area of ​​the foreign object 4 detected by the foreign object detection device 15 is used as a characteristic of the foreign object 4, and the height of the peripheral member 6 existing around the foreign object 4 relative to the height of the foreign object is used as a surrounding condition of the foreign object 4, as detected by the foreign object detection device 15. Therefore, the likelihood of picking up the foreign object 4 can be appropriately determined. Furthermore, the foreign object removal device 40 determines that the smaller the exposed area of ​​the foreign object 4, the lower the probability of its pickup, and also determines that the higher the height of the peripheral component 6 existing around the foreign object 4 relative to its height, the lower the probability of its pickup. Therefore, it can more appropriately determine the probability of removing the foreign object 4.

[0090] Furthermore, in the foreign object removal system 10, the foreign object removal device 40 picks up two or more foreign objects 4 at a time and transports them to the foreign object storage component 60 for disposal. Therefore, compared to picking up foreign objects 4 one by one and sending them to the foreign object storage component 60 for disposal, the foreign objects 4 can be removed more efficiently.

[0091] Furthermore, in the foreign object removal device 10, if it is anticipated that there is not enough time to perform the action of individually picking up two or more foreign objects 4 and transporting them to the foreign object storage unit 60 for disposal, then the foreign objects 4 are picked up in one go and transported to the foreign object storage unit 60 for disposal. Therefore, the amount of foreign objects 4 that can be picked up can be reduced.

[0092] Furthermore, the foreign object removal device 40 includes a pickup member 44 that grasps and holds foreign objects 4 through an opening and closing action. If two or more foreign objects 4 are present within a specific range R and can be grasped in a single opening and closing action, then the pickup member 44 grasps the two or more foreign objects 4 in a single opening and closing action and transports them to the foreign object storage member 60 for disposal. Therefore, the foreign object removal device 40, which includes a pickup member 44 that grasps and holds foreign objects 4 through an opening and closing action, can efficiently remove foreign objects 4.

[0093] Furthermore, in the foreign object removal system 10, the foreign object removal device 40 has a pickup member 44 that grasps and holds the foreign object 4 through an opening and closing action. After the foreign object 4 held by the pickup member 44 falls near other foreign objects 4, the device concentrates and holds the foreign objects 4 and transports them to the foreign object storage unit 60 for disposal. In this way, the foreign object removal device 40, which has a pickup member 44 that grasps and holds the foreign object 4 through an opening and closing action, can efficiently remove the foreign object 4.

[0094] Furthermore, the present invention is not limited to the above-described embodiments. It is self-evident that it can be implemented in various ways as long as it falls within the technical scope of the present invention.

[0095] For example, in the above embodiment, CPU 51 decides whether to pick up foreign object 4 based on the probability of picking it up, but is not limited to this. For example, in the above embodiment, CPU 51 may also execute... Figure 18 The foreign object removal routine is shown. In this foreign object removal routine, after executing the processes S200 to S230, if it is determined in S230 that there are two or more foreign objects 4, including the specific foreign object 5, within a specific range R, then the CPU51 determines the pickup probability of each foreign object 4 within the specific range R (S232). Next, the CPU51 sets the priority order to be higher if the pickup probability is higher, and performs the normal pickup action and subsequent discard action sequentially starting from the foreign object with the higher priority (S234). For example, if there is a foreign object 4 with a "high" pickup probability and a foreign object 4 with a "medium" pickup probability, the former is designated as priority number 1, and the latter as priority number 2. In addition, foreign objects 4 with a priority number of 2 or higher, or foreign objects 4 with a "low" pickup probability, may not be picked up. On the other hand, if it is determined in S230 that there are no more than two foreign objects 4 within a specific range R (i.e., if it is determined that there is only a specific foreign object 5), then the specific foreign object 5 is subjected to the normal picking-up operation and subsequent discarding operation (S236). Furthermore, after S234 or S236, the CPU 51 executes the processing described in S380 above. In this way, the foreign object removal device 40 can pick up foreign objects 4 sequentially starting from those with higher priority, thus increasing the probability of successful picking up of foreign objects 4. Therefore, foreign objects 4 can be removed efficiently. Figure 19 This is a diagram illustrating the priority order when picking up foreign object 4. Figure 19 In the diagram, a hexagon represents reusable object 3, and a star represents foreign object 4. Furthermore, for foreign object 4 with priority number 1 within a specific range R, the star is marked with an ○ symbol; for foreign object 4 with priority number 2 or higher, it is marked with an × symbol as an uncollectible foreign object. Within the initial specific range R ( Figure 19 There are two foreign objects 4 in the left image (the middle one). The foreign object 4 marked with ○ is selected as the pickup target. In the following specific range R( Figure 19In the central image, only one foreign object, number 4, exists; therefore, it is selected as the pick-up target. Within the following specific range R (… Figure 19 In the image on the right (center), there are two foreign objects 4. The foreign object 4 marked with ○ is selected as the pickup target. Therefore, foreign objects 4 are selected in the order indicated by the black arrows.

[0096] In the above-described embodiment, if the CPU 51 makes a negative determination in S260, it decides not to pick up the foreign object 4 within the specific range R, but it is not limited to this. For example, if the CPU 51 makes a negative determination in S260, it can also predict whether it will be possible to pick up other foreign objects 4 outside the specific range R in time, and decide whether to perform the action of removing the foreign object 4 from the waste 2 based on the prediction result. Figure 20 This is a flowchart illustrating a variation of the foreign object removal routine in this case. In this variation of the foreign object removal routine, if a negative determination is made in S260, the CPU 51 sets a pickup target (S400). Specifically, the CPU 51 sets any one of the foreign objects 4 with a "low" pickup probability within a specific range R as the pickup target. Next, the CPU 51 determines whether there are other foreign objects 4 outside the specific range R (S410). In S410, the CPU 51 performs the same processing as in S330. If a negative determination is made in S410, the CPU 51 performs a normal pickup operation on the pickup target (S420). The normal pickup operation is explained in S320 of the above embodiment. After S420, the CPU 51 proceeds to S370. On the other hand, if a positive determination is made in S410, the CPU51 predicts whether it is possible to pick up other foreign objects 4 outside a specific range R after the foreign object 4 set as the pickup target in S400 is transported to the foreign object storage component 60 and discarded (S430). If it is predicted that it is possible, the CPU51 controls various components to pick up other foreign objects 4 and discard them after picking up and discarding the pickup target (S440), and proceeds to S380. On the other hand, if it is predicted that it is not possible in S430, the probability of picking up the foreign object 4 set as the pickup target in S400 is low, so the pickup target is canceled (S450), the pickup of the foreign object 4 is abandoned, other foreign objects 4 are set as specific foreign objects 5, a specific range R is set (S460), and then proceeds to S230. In this way, the omission of pickupable foreign objects 4 can be reduced.

[0097] In the above-described embodiment, the exposed area of ​​the foreign object 4 is used as a characteristic of the foreign object 4, and the CPU 51 determines the likelihood of pickup based on the exposed area of ​​the foreign object 4, but it is not limited to this. For example, the size and shape of the foreign object 4 can also be used as characteristics of the foreign object 4, and the CPU 51 can determine the likelihood of pickup based on these characteristics.

[0098] In the above embodiment, the CPU 51 determines the likelihood of pickup based on the ratio Q of the height H2 of the peripheral component 6 surrounding the foreign object 4 to the height H1 of the foreign object 4, but is not limited to this. For example, the CPU 51 may also determine the likelihood of pickup based on the difference ΔH(H1-H2) between the height H1 of the foreign object 4 and the height H2 of the peripheral component 6 surrounding the foreign object 4. In this case, for example, thresholds Ua (less than 0) and Ub (more than 0) may be preset. If the difference ΔH is less than Ua, the likelihood of pickup is judged as "low"; if it is greater than Ua and less than Ub, the likelihood of pickup is judged as "medium"; and if it is greater than Ub, the likelihood of pickup is judged as "high". The thresholds Ua and Ub are set based on the size of the claws provided on the pickup component 44, the spacing between the claws, etc.

[0099] In the above implementation, CPU 51 uses three stages—"low," "medium," and "high"—to determine the likelihood of pickup, but it is not limited to these. For example, CPU 51 may use two stages—"low" and "high"—to determine the likelihood of pickup, or it may use four or more stages to make the determination.

[0100] In the above implementation, the CPU 51 sets the weights of the judgment result based on the features of the foreign object 4 and the judgment result based on the surrounding conditions of the foreign object 4 to be equal, and sets the picking probability based on the combination of the two based on the features of the foreign object 4 and the surrounding conditions of the foreign object 4, but is not limited to this. For example, the CPU 51 may also apply different weights to the judgment result based on the features of the foreign object 4 and the judgment result based on the surrounding conditions of the foreign object 4, and set the picking probability based on the combination of the two based on the features of the foreign object 4 and the surrounding conditions of the foreign object 4. Specifically, when one is "low" and the other is "medium", the CPU 51 may determine that the picking probability is higher when the judgment result based on the features of the foreign object 4 is "medium" compared to the case where it is not "medium".

[0101] In the above embodiment, the foreign object removal device 40 is configured as an XY robot, but it is not limited to this. For example, the foreign object removal device 40 may also be configured as a multi-joint robot.

[0102] In the above-described embodiment, the foreign object detection device 15 is positioned upstream of the height detection device 17 in the conveying direction D, but this is not a limitation. For example, the height detection device 17 may also be positioned upstream of the foreign object detection device 15 in the conveying direction D.

[0103] In the above embodiment, after the simultaneous pickup action is performed in S300 in the foreign object removal routine, the CPU 51 enters S370 and performs the disposal action of the foreign object 4, but it is not limited to this. For example, the CPU 51 may also enter S330 after performing the simultaneous holding action. In this case, if it enters S360 after passing through S340, S350 and S352, then in S360, the CPU 51 may also control various components to make two or more foreign objects 4 picked up by the pickup component 44 fall near other foreign objects 4, concentrate on picking up the two or more foreign objects 4 that have fallen and other foreign objects 4, and discard them into the foreign object storage component 60.

[0104] In the above implementation, after the CPU 51 picks up the foreign object 4 in S320, it determines whether there are other foreign objects 4 outside the specific range R. If it determines that there are other foreign objects 4, it determines whether the probability of picking up the other foreign objects 4 is high, but it is not limited to this. For example, the CPU 51 can determine whether there are other foreign objects 4 outside the specific range R before picking up the foreign object 4, or it can determine whether the probability of picking up the other foreign objects 4 is high.

[0105] In the above embodiments Figure 7 If a negative decision is made in S230, CPU51 determines the probability of picking up the specific foreign object 5. If the probability of picking up is high (e.g., "high" or "medium"), it proceeds to S240. If the probability of picking up is low ("low"), it can skip picking up the specific foreign object 5 and jump to S380.

[0106] In the above embodiment, after determining in S350 that the probability of picking up the other foreign object 4 is high, the process proceeds to S352 to determine whether there is enough time to pick up the other foreign object 4. If a negative determination is made, the process proceeds to S360 to execute an action that causes the picked-up foreign object 4 to fall near the other foreign object 4. However, this is not limited to this step. For example, after determining in S350 that the probability of picking up the other foreign object 4 is high, the process may proceed to S360 to execute an action that causes the picked-up foreign object 4 to fall near the other foreign object 4.

[0107] In the above embodiments, the foreign object removal system 10 includes a height detection device 17, but is not limited to this. In the above embodiments, the foreign object removal system 10 may also omit the height detection device 17. In this case, the CPU 51 may also determine the likelihood of pickup based on the characteristics of the foreign object 4 detected in S210.

[0108] Industrial availability

[0109] This disclosure can be used for the reuse of industrial waste, etc.

[0110] Explanation of reference numerals in the attached figures

[0111] 1 Reuse system, 2 Waste, 3 Reuse object, 4 Foreign object, 5 Specific foreign object, 6 Peripheral components, 10 Foreign object removal system, 11a Primary crusher, 11b Secondary crusher, 12a Primary magnetic separator, 12b Secondary magnetic separator, 13 Screening machine, 15 Foreign object detection device, 16 Holding component, 17 Height detection device, 18 Holding component, 20 Conveying device, 21 Conveying device, 22 Conveying device, 23 Conveying device, 24 Conveying device, 25 Conveying device, 30 Conveying surface, 40 Foreign object removal device, 41 X-axis sliding component, 42 Y-axis sliding component, 43 Lifting device, 44 Picking component, 45 Picking component drive unit, 46 Guide rail, 47 Guide rail mounting unit, 48 Guide rail, 49 Storage box, 50 Control device, 51 CPU, 52 ROM, 53 RAM, 54 Memory, 60 Foreign object storage component.

Claims

1. A foreign object removal system, comprising: A conveying device that transports waste material mixed with the target material and foreign matter in a conveying direction; Foreign object detection device, for detecting foreign objects contained in the waste; and A foreign object removal device is installed downstream of the foreign object detection device in the conveying direction. It picks up the foreign objects detected by the foreign object detection device and transports them to a predetermined disposal site for disposal. The foreign object removal device determines the likelihood of picking up the foreign object based on at least one of the characteristics of the foreign object detected by the foreign object detection device and the surrounding conditions, and decides whether to pick up the foreign object or the priority order for picking up the foreign objects based on the likelihood of picking up the foreign object. If the foreign object removal device determines that the possibility of picking up the foreign object is low, and if it predicts that it will not be possible to pick up a different foreign object after picking up the foreign object and transporting it to the disposal site for disposal, then it will not pick up the foreign object.

2. The foreign matter removal system according to claim 1, wherein, The foreign object removal device has a gripping part that grasps and holds the foreign object by opening and closing. When determining the possibility of picking up the foreign object, the gripping part is determined to hold the foreign object based on at least one of the characteristics of the foreign object detected by the foreign object detection device and the surrounding conditions.

3. The foreign matter removal system according to claim 2, wherein, As a characteristic of the foreign object, the exposed area of ​​the foreign object detected by the foreign object detection device is used; as a peripheral condition of the foreign object, the height of a component existing around the foreign object relative to the height of the foreign object detected by the foreign object detection device is used.

4. The foreign matter removal system according to claim 3, wherein, The foreign object removal device determines that the smaller the exposed area of ​​the foreign object, the lower the probability of picking it up, and determines that the higher the height of the component existing around the foreign object relative to the height of the foreign object, the lower the probability of picking it up.

5. A foreign object removal system, comprising: A conveying device that transports waste material mixed with the target material and foreign matter in a conveying direction; Foreign object detection device, for detecting foreign objects contained in the waste; and A foreign object removal device is installed downstream of the foreign object detection device in the conveying direction. It picks up the foreign objects detected by the foreign object detection device and transports them to a predetermined disposal site for disposal. The foreign object removal device picks up two or more of the foreign objects and transports them to the disposal site for disposal. The foreign object removal device has a gripping part that grabs and holds the foreign object by opening and closing. After the foreign object being held by the gripping part falls to the vicinity of a foreign object that is different from the foreign object, the device gathers and holds these foreign objects and transports them to the disposal site for disposal.

6. The foreign matter removal system according to claim 5, wherein, If the foreign object removal device anticipates that it will not have enough time to individually pick up two or more foreign objects and transport them to the disposal site for disposal, it will pick up the two or more foreign objects together and transport them to the disposal site for disposal.

7. The foreign matter removal system according to claim 5 or 6, wherein, The foreign object removal device has a gripping part that grasps and holds the foreign object by opening and closing. If there are two or more foreign objects within a range that can be grasped by one opening and closing action, the two or more foreign objects are grasped by one opening and closing action of the gripping part and transported to the disposal site for disposal.

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