Foreign matter separation system, foreign matter separation method, program, and computer-readable storage medium storing program

Abstract

The present application provides a foreign matter separation system or the like that can automatically remove foreign matter included in a waste group and reduce waste removed together with the foreign matter in the waste group. A control device (30) in a foreign matter separation system (1) determines position information of foreign matter (D) in a waste group (SS) and determination information of the foreign matter (D) when the foreign matter (D) in the waste group (SS) is detected based on a captured image (G) captured by a capturing device (10), sets a movement condition of a conveyance device (20) based on the determined position information of the foreign matter (D), and sets a conveyance condition of the conveyance device (20) for the foreign matter (D) based on the determined determination information of the foreign matter (D). The control device (30) controls the conveyance device (20) so that the conveyance device (20) moves in the movement condition of the conveyance device (20), and the conveyance device (20) lifts the foreign matter (D) on which the conveyance device (20) is placed and conveys to a foreign matter placement site (52) in the conveyance condition of the conveyance device (20).

Description

Technical Field

[0001] This invention relates to a foreign matter separation system, method, program, and computer-readable storage medium storing the program for separating foreign matter from a scrap group. Background Technology

[0002] In iron and steel plants, in order to produce steel products while reducing environmental impact, it is desirable to increase the utilization of iron scrap as a raw material. Typically, iron scrap groups consist of multiple iron scrap materials, including foreign objects such as substances of different types and sizes that are not desired when utilizing iron scrap, incompatible materials, confined materials, and hazardous materials.

[0003] As a method for automatically detecting foreign objects included in a group of ferrous scrap, a scrap iron inspection method as shown in Patent Document 1 has been proposed in the past.

[0004] Patent Document 1 describes a scrap metal inspection method that works in conjunction with scrap metal yard equipment to inspect scrap metal piles accumulated in the cargo boxes of trucks parked at truck parking positions. This inspection method repeats the following steps until the scrap metal piles are removed from the truck cargo boxes: a photographing step, where the scrap metal piles accumulated in the cargo boxes of trucks parked at truck parking positions are photographed; an inspection step, where a detection device uses a learned model to determine whether a highly probable contaminant is reflected in the photographed data for each contaminant in the scrap metal pile; if a contaminant is detected, the operator removes the contaminant, thereby inspecting the scrap metal piles reflected in the photographed data; and a moving step, where a lifting magnet or similar device is used to move the inspected scrap metal piles reflected in the photographed data from the truck cargo boxes to the inspected scrap metal storage area.

[0005] This allows for the efficient detection of prohibited substances from the piles of scrap metal stacked on truck loading docks.

[0006] In addition, as a device for detecting foreign objects mixed in iron scrap and removing the detected foreign objects, foreign object detection devices and foreign object removal devices, such as those shown in Patent Document 2, have been proposed in the past.

[0007] Patent Document 2 discloses a foreign object detection device comprising: an object image acquisition unit that acquires an image of an object including ferrous scrap by photographing it; and an image discrimination unit that, based on the object image, distinguishes between ferrous scrap and other foreign objects from the object, thereby detecting foreign objects. Furthermore, Patent Document 2 discloses a foreign object removal device comprising: the same foreign object detection device; a foreign object location determination unit that determines the location of the foreign object in actual space based on the determination result of the category determination unit; and a foreign object removal unit that removes the foreign object from the object based on the location determined by the foreign object location determination unit. Moreover, the foreign object removal unit has a gripping part capable of moving in three dimensions relative to the object including ferrous scrap.

[0008] Therefore, it is possible to use a foreign object detection device to detect foreign objects in iron scrap mixed with foreign objects with high precision, and to use a foreign object removal device to remove foreign objects from the object.

[0009] Existing technical documents

[0010] Patent documents

[0011] Patent Document 1: Japanese Patent Application Publication No. 2020-176909

[0012] Patent Document 2: Japanese Patent Application Publication No. 2021-163078 Summary of the Invention

[0013] The technical problem to be solved by the invention

[0014] However, the following problems exist in the scrap iron inspection method shown in Patent Document 1, the foreign object detection device shown in Patent Document 2, and the foreign object removal device.

[0015] That is, in the case of the scrap iron inspection method shown in Patent Document 1, although the detection device can detect the prohibited substances included in the iron scrap group, the removal of the prohibited substances requires the operator to carry out manual operations, etc.

[0016] Furthermore, in the case of the foreign object detection device and the foreign object removal device shown in Patent Document 2, although foreign objects can be removed automatically, it is difficult to use the holding part of the foreign object removal unit to lift only the foreign objects included in the iron scrap group. Sometimes iron scrap that is not the object to be removed is also lifted along with the foreign objects and thus removed.

[0017] Therefore, the present invention was made to solve the prior art problem, and its object is to provide a foreign matter separation system, a foreign matter separation method, a program, and a computer-readable storage medium storing the program, which can automatically remove foreign matter included in a waste group and reduce the amount of waste removed along with the foreign matter in the waste group.

[0018] Technical solutions for solving technical problems

[0019] To address the aforementioned issues, the present invention provides a foreign object separation system for separating foreign objects from a waste mass. The system comprises: a photographing device for photographing the waste mass; a transporting device for lifting and transporting the foreign objects or waste from the waste mass; and a control device for controlling the photographing device and the transporting device. The control device detects foreign objects in the waste mass based on the photographed images captured by the photographing device. Upon detecting foreign objects, the control device determines the location information and identification information of the foreign objects in the waste mass. Based on the determined location information, the control device sets movement conditions for the transporting device. Based on the determined identification information, the control device sets transport conditions for the foreign objects based on the transporting device. The control device moves according to the set movement conditions and lifts the foreign objects and transports them to a foreign object placement location according to the set transport conditions.

[0020] Furthermore, another aspect of the present invention provides a foreign matter separation method for separating foreign matter from a waste mass, comprising: a photographing step, wherein a control device controls a photographing device to photograph the placed waste mass, the photographing device photographing the waste mass; a foreign matter detection step, wherein the control device detects foreign matter in the waste mass based on the photographed image captured in the photographing step; a foreign matter location information determination step, wherein if foreign matter is detected in the waste mass in the foreign matter detection step, the control device determines the location information of the foreign matter in the waste mass; a foreign matter determination information determination step, wherein if foreign matter is detected in the waste mass in the foreign matter detection step, determination information of the foreign matter in the waste mass; and a conveying device movement condition setting step, wherein the control device sets the movement condition based on the foreign matter location... The control device sets the movement conditions of the transport device based on the location information of the foreign object determined in the information determination step; in the transport device transport condition setting step, the control device sets the transport conditions of the foreign object based on the determination information of the foreign object determined in the foreign object determination step; in the transport device movement condition control step, the control device controls the transport device to move in a manner that causes the transport device to move in accordance with the movement conditions of the transport device set in the transport device movement condition setting step; and in the transport device transport condition control step, the control device controls the transport device to lift the foreign object and transport it to the foreign object placement location in a manner that causes the transport device to lift the foreign object in accordance with the transport conditions of the foreign object set in the transport device transport condition setting step.

[0021] Furthermore, the main purpose of the procedure in other aspects of the present invention is to cause the control device to perform the following steps: a photographing step, controlling the photographing device to photograph the loaded waste mass; a foreign object detection step, detecting foreign objects in the waste mass based on the photographed image captured in the photographing step; a foreign object location information determination step, determining the location information of the foreign object in the waste mass if a foreign object is detected in the foreign object detection step; a foreign object determination information determination step, determining the determination information of the foreign object in the waste mass if a foreign object is detected in the foreign object detection step; and a conveying device movement condition setting step, based on the foreign object location information determined in the foreign object location information determination step. The location information of the foreign object is used to set the movement conditions of the transport device; the transport device transport condition setting step sets the transport conditions of the foreign object based on the determination information of the foreign object determined in the foreign object determination step; the transport device movement condition control step controls the transport device to move in a manner that allows the transport device to move in accordance with the movement conditions of the transport device set in the transport device movement condition setting step; and the transport device transport condition control step controls the transport device to lift the foreign object and transport it to the foreign object placement location in a manner that allows the transport device to lift the foreign object in accordance with the foreign object transport conditions set in the transport device transport condition setting step.

[0022] Furthermore, a key aspect of other computer-readable storage media of the present invention is that it stores a program for causing a control device to perform the following steps: a photographing step, controlling the photographing device to photograph the loaded waste mass; a foreign object detection step, detecting foreign objects in the waste mass based on the photographed image captured in the photographing step; a foreign object location information determination step, determining the location information of the foreign object in the waste mass if a foreign object is detected in the foreign object detection step; a foreign object determination information determination step, determining the determination information of the foreign object in the waste mass if a foreign object is detected in the foreign object detection step; and a conveying device movement condition setting step, based on the foreign object location information determination... The steps include: a foreign object location information determined in the first step to set movement conditions for the transport device; a transport device movement condition setting step to set transport conditions based on the foreign object determination information determined in the foreign object determination step; a transport device movement condition control step to control the transport device to move in accordance with the movement conditions set in the transport device movement condition setting step; and a transport device movement condition control step to control the transport device to lift the foreign object and transport it to the foreign object placement location in accordance with the foreign object transport conditions set in the transport device movement condition setting step.

[0023] Invention Effects

[0024] According to the foreign matter separation system, foreign matter separation method, program, and computer-readable storage medium storing the program disclosed in this invention, foreign matter included in a waste group can be automatically removed, thereby reducing the amount of waste removed along with the foreign matter in the waste group. Attached Figure Description

[0025] Figure 1 This is an overall structural diagram of the foreign matter separation system according to the first embodiment of the present invention.

[0026] Figure 2 yes Figure 1 The diagram shows the functional block diagram of the foreign matter separation system.

[0027] Figure 3 It is used for explanation Figure 1 The flowchart shows the processing flow in the foreign matter separation system.

[0028] Figure 4 This is a diagram illustrating an example of the hardware structure of a control device.

[0029] Figure 5 It means through Figure 1 and Figure 2 The image shown is an example of a foreign object separation system that separates foreign objects by taking pictures of a group of waste materials placed on a semi-trailer using a photographic device.

[0030] Figure 6 This diagram illustrates an example of the handling conditions of a lifting magnet for transporting foreign objects, used to explain the method of adjusting the distance between the magnet surface of the lifting magnet and the foreign object.

[0031] Figure 7 This diagram illustrates an example of the handling conditions of a lifting magnet constituting a handling device, which is used to explain the method of adjusting the contact area of ​​the lifting magnet relative to the foreign object.

[0032] Figure 8 This is a functional block diagram of the foreign matter separation system according to the second embodiment of the present invention.

[0033] Figure 9 It is used for explanation Figure 8 The flowchart shows the processing flow in the foreign matter separation system.

[0034] Figure 10 This is an example of an image obtained by taking a picture of a pile of waste material placed on the cargo platform of a semi-trailer using a photographing device. The upper side shows the initial photographed image of the pile of waste material placed on the cargo platform of the semi-trailer, and the lower side shows the photographed image after the waste material with a large amount of exposed foreign matter and a small amount of exposed foreign matter has been removed from its initial state.

[0035] Figure 11 This diagram illustrates the conditions for handling foreign objects when using a grabber as a handling device.

[0036] Figure 12 This diagram illustrates the conditions for handling foreign objects when using a shovel as a handling device.

[0037] Figure 13 This is an example of an image obtained by photographing the waste group loaded on a semi-trailer using a photographing device when using the foreign matter separation system involved in the modified example to separate foreign matter included in the waste group from the waste.

[0038] Figure 14 This diagram illustrates an example of using a modified foreign object separation system to control a lifting magnet, which acts as a conveying device, to separate foreign objects from a group of waste materials when the waste cannot be lifted due to obstruction by foreign objects. Figure 14 The top side indicates the status of the semi-trailer's cargo platform when viewed from above, while the bottom side indicates the status of the semi-trailer's cargo platform when viewed from the side. Detailed Implementation

[0039] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments shown below illustrate apparatus and methods for embodying 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 constituent components in the following embodiments.

[0040] Furthermore, the accompanying drawings are schematic. Therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc., differs from reality, and the accompanying drawings also include parts where the dimensional relationships and ratios differ from each other.

[0041] (First Implementation)

[0042] exist Figure 1 The diagram shows the overall structure of the foreign matter separation system according to the first embodiment of the present invention.

[0043] Figure 1 The foreign matter separation system 1 shown is used to separate foreign matter D included in the waste group SS from the waste S. In this embodiment, the waste group SS is transported to a designated location while being placed on the cargo platform of the semi-trailer 50.

[0044] In the waste group SS, in addition to multiple waste materials (iron-based waste materials) S, one or more foreign objects D may also be included, depending on the circumstances. Here, foreign objects D refers to all substances that are not desired when utilizing waste materials S, and waste materials S refer to substances of different types and sizes, incompatible materials, confined materials, hazardous materials, etc. In this embodiment, the foreign objects D include, for example, rotor components such as electric motors, confined materials such as objects in which air could explode, oversized parts that are unsuitable for use, and non-metallic ferrous materials such as rubber.

[0045] Waste S in the waste group SS placed on the cargo platform of the semi-trailer 50 is separated by the foreign matter separation system 1 and transported to the waste storage location 51. Foreign matter D in the waste group SS is separated by the foreign matter separation system 1 and transported to the foreign matter storage location 52.

[0046] The foreign object separation system 1 includes a camera 10, a transport device 20, and a control device 30.

[0047] The shooting device 10 is a camera that takes pictures of the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform.

[0048] Furthermore, the conveying device 20 is used to lift and transport the foreign object D (sometimes including not only the foreign object D but also a portion of the waste S) when a foreign object D is detected in the waste pile SS placed on the cargo platform of the semi-trailer 50 (when the foreign object detection unit 33, described later, detects the foreign object D); and to lift and transport the waste S in the waste pile SS when no foreign object D is detected (when the foreign object detection unit 33, described later, does not detect the foreign object D). In this embodiment, the conveying device 20 uses a magnetic magnet 21 to magnetically attract and lift the foreign object D or the waste S. In this embodiment, the conveying device 20 uses both the magnetic magnet 21 for lifting and transporting the foreign object D and the magnetic magnet 21 for lifting and transporting the waste S, but a dedicated conveying device that transports and removes the foreign object D differently from the magnetic magnet 21 used for transporting the waste S can also be used. Furthermore, the conveying device 20 is not limited to the magnetic magnet 21; as described later, it could also be, for example, a... Figure 11 The grab bucket 22 shown Figure 12 The loader 23 shown is an example. Figure 1 As shown, the lifting magnet 21, which is a conveying device 20, can move in both the vertical and horizontal directions. The lifting magnet 21 moves vertically downward to hold the foreign object D or waste S, moves vertically upward to lift the held foreign object D or waste S, and moves horizontally to transport the lifted foreign object D or waste S.

[0049] In addition, the control device 30 is used to control the suspension magnet 21, which serves as both the shooting device 10 and the transport device 20.

[0050] like Figure 2As shown, the control device 30 includes a shooting control unit 31, a shooting image acquisition unit 32, a foreign object detection unit 33, a foreign object location information determination unit 34, a transport device movement condition setting unit 35, a transport device movement condition control unit 36, a foreign object determination information determination unit 37, a transport device transport condition setting unit 38, a transport device transport condition control unit 39, and a transport control unit 40.

[0051] The shooting control unit 31 controls the shooting device 10 to shoot the waste group SS placed on the cargo platform of the semi-trailer 50.

[0052] Image acquisition unit 32 acquires the image G captured by imaging device 10 (refer to...) Figure 5 ). Figure 5 The image shown is an example of an image G acquired by the image acquisition unit 32.

[0053] Furthermore, the foreign object detection unit 33 detects foreign objects D in the waste group SS based on the captured image G obtained by the image acquisition unit 32. The detection method for foreign object D by the foreign object detection unit 33 based on the captured image G can be any method, but in this embodiment, the foreign object detection unit 33 uses a learning model obtained by learning from captured images of the waste group SS including foreign objects D, and inputs the captured image G obtained by the image acquisition unit 32 into this learning model to detect foreign objects D in the waste group SS. That is, the foreign object detection unit 33 determines whether there is a foreign object D in the waste group SS. Figure 5 In one instance, a foreign object D was detected in the waste group SS.

[0054] In addition, when the foreign object D in the waste group SS is detected by the foreign object detection unit 33, the foreign object location information determination unit 34 determines the location (location coordinates) of the foreign object D in the waste group SS based on the captured image G.

[0055] Furthermore, the transport device movement condition setting unit 35 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the position (position coordinates) of the foreign object D in the waste group SS determined by the foreign object position information determining unit 34. Here, "movement conditions" refers to the position conditions of the horizontal movement destination of the lifting magnet 21 constituting the transport device 20. Figure 5 In one example shown, the movement condition is position V directly above the foreign object D in the loaded waste mass SS.

[0056] Furthermore, the transport device movement condition control unit 36 ​​controls the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move according to the movement conditions of the lifting magnet 21 constituting the transport device 20, as set by the transport device movement condition setting unit 35. Figure 5In one example shown, the moving condition control unit 36 ​​of the conveying device controls the lifting magnet 21 to move horizontally towards a position V directly above the foreign object D in the waste group SS.

[0057] Furthermore, when the foreign object detection unit 33 detects a foreign object D in the waste group SS, the foreign object determination information unit 37 determines the determination information of the foreign object D in the waste group SS. Here, "determination information" refers to information that determines the foreign object D, such as at least one of the following: the type of the foreign object D, the estimated weight of the foreign object D, and the length or size of the foreign object D. The determination of the determination information of the foreign object D by the foreign object determination information unit 37 can be performed by any method, but in this embodiment, the foreign object determination information unit 37 inputs the captured image G into a learned model that has learned to associate images of each type of foreign object D with the type name of the foreign object D, the weight of the foreign object D, or the length or size of the foreign object D to determine the determination information of the foreign object D.

[0058] Furthermore, the transport device transport condition setting unit 38 sets the transport conditions of the lifting magnet 21 (which is the transport device 20) for the foreign object D based on the determination information of the foreign object D determined by the foreign object determination information determining unit 37. Here, "transport conditions" refers to the conditions of the lifting magnet 21 when lifting the foreign object D, such as the magnitude of the magnetic force of the lifting magnet 21 and the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D (see reference). Figure 6 At least one of the following: the contact area of ​​the lifting magnet 21 relative to the foreign object D. That is, the handling condition setting unit 38 of the handling device sets the handling conditions (e.g., the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 and the foreign object D) based on the determination information of the foreign object D (e.g., the type of the foreign object D, the estimated weight of the foreign object D, and at least one of the length or size of the foreign object D).

[0059] Furthermore, the handling condition control unit 39 of the handling device controls the lifting magnet 21 to lift and transport the foreign object D, which is mounted on the lifting magnet 21, to the foreign object placement location 52 under the handling conditions set by the handling condition setting unit 38 of the handling device 20 for the lifting magnet 21 as the handling device 20. Regarding Figure 5In one example, specifically, the transport condition control unit 39 of the transport device moves the lifting magnet 21, located at a position V directly above the foreign object D in the waste group SS, vertically downward. Then, the transport condition control unit 39 lifts the lifting magnet 21 to move it vertically upward in a manner that allows the foreign object D in the waste group SS to be placed under the set transport conditions of the foreign object D (e.g., the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and at least one of the contact area of ​​the lifting magnet 21 relative to the foreign object D). Furthermore, the transport condition control unit 39 moves the lifting magnet 21 horizontally above the foreign object placement location 52 to weaken the magnetic force, causing the foreign object D to fall into the foreign object placement location 52.

[0060] In addition, when adjusting the magnitude of the magnetic force of the lifting magnet 21, which is an example of the handling conditions for foreign object D, the magnitude of the voltage and current supplied to the lifting magnet 21 are adjusted.

[0061] Furthermore, when adjusting the distance d between the magnet surface 21a of the hanging magnet 21 and the foreign object D as an example of the handling conditions for the foreign object D (see reference...) Figure 6 For example, a sensor such as a range sensor can be used to adjust the distance d between the magnet surface 21a of the hanging magnet 21 and the foreign object D, or the distance d can be adjusted based on the image captured by the camera. Alternatively, the hanging magnet 21 can be brought into contact with the foreign object D once while the magnetic force of the hanging magnet 21 is turned off (OFF), and the distance d can be controlled by lifting the hanging magnet 21 based on this state.

[0062] Furthermore, as an example of adjusting the contact area between the hanging magnet 21 and the foreign object D as a means of adjusting the transport conditions of the foreign object D, examples include adjusting the supply range of voltage and current to change the area of ​​the magnet surface 21a of the hanging magnet 21, and tilting the magnet surface 21a of the hanging magnet 21 relative to the foreign object D (see [reference]). Figure 7 )wait.

[0063] Thus, the transport device transport condition setting unit 38 sets the transport conditions of the lifting magnet 21 (which serves as the transport device 20) for the foreign object D based on the determination information of the foreign object D determined by the foreign object determination information setting unit 37. Furthermore, the transport device transport condition control unit 39 controls the lifting magnet 21 to lift and transport the foreign object D, which is equipped with the lifting magnet 21, under the transport conditions set by the transport device transport condition setting unit 38.

[0064] Therefore, when lifting and transporting the foreign object D from the waste group SS by means of the lifting magnet 21, it is possible to prevent the waste S other than the foreign object D from being lifted and transported together. That is, it is possible to reduce the amount of waste S removed from the waste group SS along with the foreign object D.

[0065] Furthermore, when the foreign object D is a non-magnetic body, it may not sometimes adhere to the magnet of the hanging magnet 21. However, in such cases, the non-magnetic foreign object D can be lifted together with the surrounding waste S, or it can be lifted without relying on the grab bucket (see reference). Figure 11 A handling device that uses the magnetic force of a crane or similar object to lift a foreign object D.

[0066] Furthermore, when the foreign object detection unit 33 does not detect a foreign object D in the waste group SS, the handling control unit 40 controls the lifting magnet 21, which is a handling device 20, to lift the waste S in the waste group SS and transport it to the waste storage location 51.

[0067] The transport control unit 40 is connected to a host computer (not shown). The host computer then inputs the stop position information of the semi-trailer 50 and the position information of the waste disposal site 51 to the transport control unit 40. If the foreign object detection unit 33 does not detect a foreign object D in the waste group SS, the transport control unit 40, based on the stop position information of the semi-trailer 50 input from the host computer, moves the lifting magnet 21 horizontally so that the lifting magnet 21 is positioned above a specific piece of waste S in the waste group SS on the semi-trailer 50's platform. Next, the transport control unit 40 controls the movement by moving the lifting magnet 21 vertically downwards to hold the waste S, and then moving the lifting magnet 21 vertically upwards to lift the held waste S. Finally, the transport control unit 40 moves the lifting magnet 21, holding the waste S, horizontally to a position above the waste disposal site 51, weakens the magnetic force, and lowers it into the waste disposal site 51.

[0068] Next, refer to Figure 4 The hardware structure of the control device 30 will be described. The control device 30 consists of an arithmetic processing unit 301 equipped with a CPU 302. The CPU 302 is connected via an internal bus 303 to an internal storage device 304 such as RAM and ROM; an external storage device 305; an input device 306 such as a keyboard and mouse; and an instruction output device 307 that outputs instructions from the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 to the lifting magnet 21, which is the transport device 20.

[0069] The external storage device 305 of the control device 30 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 storage medium 308. The external storage device 305 contains a storage medium 308 storing a program for causing the control device 30 to perform the following functions, and the read program is installed on the disk drive. Here, the aforementioned functions are: shooting control function based on shooting control unit 31 (step S1 described later), shooting image acquisition function based on shooting image acquisition unit 32 (step S2 described later), foreign object detection function based on foreign object detection unit 33 (step S3 described later), foreign object position information determination function based on foreign object position information determination unit 34 (step S4 described later), transport device movement condition setting function based on transport device movement condition setting unit 35 (step S5 described later), transport device movement condition control function based on transport device movement condition control unit 36 ​​(step S6 described later), foreign object determination information determination function based on foreign object determination information determination unit 37 (step S7 described later), transport device transport condition setting function based on transport device transport condition setting unit 38 (step S8 described later), transport device transport condition control function based on transport device transport condition control unit 39 (step S9 described later), and waste material transport control function based on transport control unit 40 (step S10 described later). The installation of this program is not limited to the use of storage medium 308; the program can also be downloaded via the network.

[0070] The CPU 302 of the control device 30 executes the following functions according to the commands of the installed program: shooting control function based on the shooting control unit 31 (step S1 described later), shooting image acquisition function based on the shooting image acquisition unit 32 (step S2 described later), foreign object detection function based on the foreign object detection unit 33 (step S3 described later), foreign object position information determination function based on the foreign object position information determination unit 34 (step S4 described later), transport device movement condition setting function based on the transport device movement condition setting unit 35 (step S5 described later), transport device movement condition control function based on the transport device movement condition control unit 36 ​​(step S6 described later), foreign object determination information determination function based on the foreign object determination information determination unit 37 (step S7 described later), transport device transport condition setting function based on the transport device transport condition setting unit 38 (step S8 described later), transport device transport condition control function based on the transport device transport condition control unit 39 (step S9 described later), and waste material transport control function based on the transport control unit 40 (step S10 described later). Then, the CPU302 outputs instructions from the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 to the lifting magnet 21, which is the transport device 20.

[0071] Next, refer to Figure 3 The processing flow in foreign matter separation system 1 is described. Figure 3 It is used for explanation Figure 1 The flowchart shows the processing flow in the foreign matter separation system.

[0072] First, in step S1, the imaging control unit 31 of the control device 30 controls the imaging device 10 to photograph the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform, and the imaging device 10 photographs the waste group SS (imaging step). At the beginning of the foreign matter separation control, when the imaging control unit 31 sends an imaging command to the imaging device 10 after inputting information that the semi-trailer 50 carrying the waste group SS is stopped at a predetermined stopping position into the host computer (not shown), the imaging control unit 31 sends an imaging command to the imaging device 10. In addition, when the imaging control unit 31 issues an imaging instruction to the imaging control unit 31 in step S11 (described later), the imaging control unit 31 sends an imaging command to the imaging device 10.

[0073] Next, in step S2, the image acquisition unit 32 of the control device 30 acquires the image G captured in step S1 (refer to...). Figure 5 (Steps for capturing images).

[0074] Next, in step S3, the foreign object detection unit 33 of the control device 30 detects foreign objects D in the waste group SS based on the captured image G obtained in step S2 (foreign object detection step).

[0075] In step S3, if foreign object D is detected (if the determination result is YES), proceed to steps S4 and S7; if foreign object D is not detected (if the determination result is NO), proceed to step S10.

[0076] In step S4, since a foreign object D is detected in the loaded waste group SS, the foreign object location information determination unit 34 of the control device 30 determines the location (location coordinates) of the foreign object D in the waste group SS based on the captured image G obtained in step S2 (foreign object location information determination step).

[0077] Next, in step S5, the transport device movement condition setting unit 35 of the control device 30 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the position (position coordinates) of the foreign object D in the waste group SS determined in step S4 (transport device movement condition setting step). Here, as described above, "movement conditions" are the position conditions of the horizontal movement destination of the lifting magnet 21 constituting the transport device 20.

[0078] Next, in step S6, the transport device movement condition control unit 36 ​​of the control device 30 controls the lifting magnet 21 to move in a manner that is set in step S5 according to the movement conditions of the lifting magnet 21 constituting the transport device 20 (transport device movement condition control step).

[0079] Furthermore, in step S7, since a foreign object D is detected in the loaded waste group SS, the foreign object determination information determination unit 37 of the control device 30 determines the determination information of the foreign object D in the waste group SS (foreign object determination information determination step). Here, "determination information" is information that determines the foreign object D, such as at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D.

[0080] Next, in step S8, the transport device transport condition setting unit 38 of the control device 30 sets the transport conditions of the lifting magnet 21 (the transport device transport condition setting step) for the foreign object D based on the determination information of the foreign object D determined in step S7. Here, "transport conditions" refers to the conditions of the lifting magnet 21 when lifting the foreign object D, such as the magnitude of the magnetic force of the lifting magnet 21 and the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D (see reference). Figure 6 At least one of the following: the contact area of ​​the lifting magnet 21 relative to the foreign object D. That is, the handling condition setting unit 38 of the handling device sets the handling conditions (e.g., the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area between the lifting magnet 21 and the foreign object D) based on the determination information of the foreign object D (e.g., the type of the foreign object D, the estimated weight of the foreign object D, and at least one of the length or size of the foreign object D).

[0081] Next, in step S9, the transport device transport condition control unit 39 of the control device 30 controls the lifting magnet 21 to lift the foreign object D, which is loaded with the lifting magnet 21, according to the transport conditions of the lifting magnet 21 of the transport device 20 set in step S8, and transport it to the foreign object placement position 52 (transport device transport condition control step).

[0082] Furthermore, if no foreign object D is detected in step S3 and the process moves to step S10, in step S10, the process moves to normal operation, and the transport control unit 40 of the control device 30 controls the lifting magnet 21, which is a transport device 20, to lift the waste S in the waste group SS and transport it to the waste placement location 51 (waste transport control step).

[0083] Then, if steps S6, S9, and S10 are completed, proceed to step S11.

[0084] In step S11, the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 give shooting instructions to the shooting control unit 31 (shooting instruction step).

[0085] Thus, the processing in foreign matter separation system 1 is completed.

[0086] Then, by repeating steps S1 to S11 above, all the waste S in the waste group SS placed on the cargo platform of the semi-trailer 50 is transported to the waste storage location 51, and all the foreign objects D in the waste group SS are transported to the foreign object storage location 52.

[0087] Here, about Figure 5 The example shown in the captured image G illustrates the processing flow in the foreign object separation system 1.

[0088] After steps S1 (shooting step) and S2 (image acquisition step), the image acquisition unit 32 of the control device 30 acquires the image captured in step S1. Figure 5 The image G shown is a captured image.

[0089] Next, in step S3 (foreign object detection step), the foreign object detection unit 33 of the control device 30 detects foreign objects D in the waste group SS from the captured image G. Figure 5 In the case shown, a foreign object D was detected in the waste group SS.

[0090] Then, since a foreign object D was detected in the waste group SS, the process moves to step S4 (foreign object location information determination step) and step S7 (foreign object determination information determination step).

[0091] First, in step S4 (foreign object location information determination step), the foreign object location information determination unit 34 of the control device 30 determines the location (location coordinates) of the foreign object D in the waste group SS based on the captured image G.

[0092] Next, in step S5 (transport device movement condition setting step), the transport device movement condition setting unit 35 of the control device 30 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the determined position (position coordinates) of the foreign object D in the waste group SS. In such a case... Figure 5 In the case shown, the movement condition of the lifting magnet 21 is position V directly above the foreign object D in the loaded waste group SS.

[0093] Next, in step S6 (transport device movement condition control step), the transport device movement condition control unit 36 ​​of the control device 30 controls the lifting magnet 21 to move in a manner that meets the movement conditions of the lifting magnet 21 constituting the transport device 20 set in step S5. In such a way... Figure 5In the case shown, the moving condition control unit 36 ​​of the conveying device controls the lifting magnet 21 to move horizontally to a position V directly above the foreign object D in the waste group SS.

[0094] In addition, in step S7 (foreign object determination information determination step), since foreign object D is detected in the loaded waste group SS, the foreign object determination information determination unit 37 of the control device 30 determines the determination information of foreign object D in the waste group SS (at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D).

[0095] Next, in step S8 (transportation device transport condition setting step), the transport device transport condition setting unit 38 of the control device 30 sets the transport conditions of the lifting magnet 21, which is the transport device 20, for the foreign object D based on the determined information of the foreign object D. Specifically, the transport device transport condition setting unit 38 sets the transport conditions (at least one of the following: the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D) so that only foreign object D is lifted, and the foreign object D is transported by the lifting magnet 21.

[0096] Next, in step S9 (transportation device transport condition control step), the transport device transport condition control unit 39 of the control device 30 controls the lifting magnet 21 to lift and transport the foreign object D, which is equipped with the lifting magnet 21, to the foreign object D under the transport conditions set in step S8, which are the transport conditions of the lifting magnet 21 of the transport device 20 for the foreign object D. Figure 5 In the illustrated case, the transport condition control unit 39 of the transport device moves the lifting magnet 21, located at a position V directly above the foreign object D in the waste group SS, vertically downward. Then, the transport condition control unit 39 moves the lifting magnet 21 vertically upward, lifting the foreign object D in the waste group SS according to the set transport conditions of the foreign object D (at least one of the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D). Furthermore, the transport condition control unit 39 moves the lifting magnet 21 horizontally to a position above the foreign object placement site 52 to weaken the magnetic force, causing the foreign object D to fall into the foreign object placement site 52.

[0097] Then, in step S11 (shooting instruction step), the transport device movement condition control unit 36 ​​and the transport device transport condition control unit 39 give shooting instructions to the shooting control unit 31.

[0098] Then, in Figure 5In the process, the remaining waste S in the waste group SS is transported to the waste storage site 51 by repeating steps S1, S2, S3, S10 and S11.

[0099] Thus, the foreign object separation system 1 according to the first embodiment includes: an imaging device 10 that captures images of a loaded waste mass SS; a lifting magnet 21, which serves as a transport device 20, lifts and transports foreign objects D or waste S from the loaded waste mass SS; and a control device 30 that controls the imaging device 10 and the lifting magnet 21, which serves as the transport device 20. Then, the control device 30 detects foreign objects D in the waste mass SS from the captured image G of the imaging device 10, and upon detection of foreign objects D in the waste mass SS, determines the position information of the foreign objects D in the waste mass SS and the determination information of the foreign objects D in the waste mass SS, sets the movement conditions of the lifting magnet 21 based on the determined position information of the foreign objects D, and sets the transport conditions of the foreign objects D based on the determined determination information of the foreign objects D. Furthermore, the control device 30 controls the lifting magnet 21 to move according to the set moving conditions of the lifting magnet 21, and controls the lifting magnet 21 to lift the foreign object D on which the lifting magnet 21 is placed and transport it to the foreign object placement location 52 under the set transport conditions of the lifting magnet 21 transporting the foreign object D.

[0100] Therefore, it is possible to automatically remove only foreign matter D included in the waste group SS, thereby reducing the amount of waste S removed along with foreign matter D in the waste group SS.

[0101] Furthermore, according to the foreign object separation system 1 of the first embodiment, the information for determining the foreign object D is at least one of the type of the foreign object D, the estimated weight of the foreign object D, and the length or size of the foreign object D.

[0102] Therefore, the control device 30 can set the handling conditions for the foreign object D to be transported by the lifting magnet 21 based on at least one of the determined type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D, and control the lifting magnet 21 to lift the foreign object D with the lifting magnet 21 on it and transport it to the foreign object placement location 52 under the set handling conditions for the foreign object D to be transported by the lifting magnet 21.

[0103] In addition, according to the foreign object separation system 1 of the first embodiment, the control device 30 inputs the captured image G into a learned model that has learned to establish a dataset that associates images of each type of foreign object D, the type name of foreign object D, the weight of foreign object D, or the length or size of foreign object D to determine the determination information of foreign object D.

[0104] Therefore, when a foreign object D is detected in the waste group SS, the identification information of the foreign object D in the waste group SS can be accurately determined.

[0105] Furthermore, according to the foreign matter separation system 1 of the first embodiment, the conveying device 20 is a lifting magnet 21 that uses magnetic force to magnetically attract and lift the foreign matter D or waste S for conveying. Moreover, the conveying conditions of the conveying device 20 (lifting magnet 21) for conveying the foreign matter D are at least one of the following: the magnitude of the magnetic force, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign matter D, and the contact area of ​​the lifting magnet 21 relative to the foreign matter D.

[0106] Therefore, the lifting magnet 21 can be controlled to lift the foreign object D, which is loaded with the lifting magnet 21, and transport it to the foreign object placement location 52 by at least one of the following: the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D.

[0107] Furthermore, the foreign object separation method according to the first embodiment is a method for separating foreign objects D included in a waste group SS from the waste S, including: an imaging step (step S1), in which the control device 30 controls the imaging device 10 to image the placed waste group SS, and the imaging device 10 images the waste group SS; and a foreign object detection step (step S3), in which the control device 30 detects the foreign object D in the waste group SS from the image G captured in the imaging step. Additionally, this foreign object separation method includes: a foreign object location information determination step (step S4), in which the control device 30 determines the location information of the foreign object D in the waste group SS when the foreign object D is detected in the foreign object detection step; and a foreign object determination information determination step (step S7), in which the control device 30 determines the determination information of the foreign object D in the waste group SS when the foreign object D is detected in the foreign object detection step. Furthermore, the foreign object separation method includes: a transport device movement condition setting step (step S5), in which the control device 30 sets the movement conditions of the lifting magnet 21, which serves as the transport device 20, based on the position information of the foreign object D determined in the foreign object position information determination step; and a transport device transport condition setting step (step S8), in which the control device 30 sets the transport conditions of the lifting magnet 21, which serves as the transport device 20, for the foreign object D based on the determination information of the foreign object D determined in the foreign object determination information determination step. Additionally, the foreign object separation method includes: a transport device movement condition control step (step S6), in which the control device 30 controls the lifting magnet 21 to move according to the movement conditions set in the transport device movement condition setting step; and a transport device transport condition control step (step S9), in which the control device 30 controls the lifting magnet 21 to lift the foreign object D and transport it to the foreign object placement location 52 according to the transport conditions set in the transport device transport condition setting step.

[0108] Therefore, it is possible to automatically remove only foreign matter D included in the waste group SS, thereby reducing the amount of waste S removed along with foreign matter D in the waste group SS.

[0109] Furthermore, according to the procedure of the first embodiment, it is a procedure for causing the control device 30 to perform the following steps: a shooting step (step S1), controlling the shooting device 10 to shoot the placed waste group SS; a foreign object detection step (step S3), detecting foreign objects D in the waste group SS from the captured image G in the shooting step; a foreign object location information determination step (step S4), determining the location information of foreign objects D in the waste group SS when foreign objects D are detected in the foreign object detection step; a foreign object determination information determination step (S7), determining the determination information of foreign objects D in the waste group SS when foreign objects D are detected in the foreign object detection step; and a conveying device movement condition setting step (step S5), based on the... The movement conditions of the lifting magnet 21, which serves as a transport device, are set based on the position information of the foreign object D determined in the foreign object position information determination step; the transport device transport condition setting step (step S8) sets the transport conditions of the lifting magnet 21, which serves as a transport device, for the foreign object D based on the determination information of the foreign object D determined in the foreign object determination information determination step; the transport device movement condition control step (step S6) controls the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move the foreign object D to the foreign object placement location 52 in a manner that allows the lifting magnet 21 to lift the foreign object D and transport it to the foreign object placement location 52 in a manner that allows the lifting magnet 21 to move in a manner that allows the lifting magnet 21 to move the foreign object D ...

[0110] Therefore, the control device 30 executes the following steps according to the program's commands: shooting step (step S1), foreign object detection step (step S3), foreign object location information determination step (step S4), foreign object determination information determination step (step S7), transport device movement condition setting step (step S5), transport device transport condition setting step (step S8), transport device movement condition control step (step S6), and transport device transport condition control step (step S9). This enables the automatic removal of only the foreign object D included in the waste group SS, thereby reducing the amount of waste S removed along with the foreign object D in the waste group SS.

[0111] Furthermore, according to the computer-readable storage medium 308 storing a program according to the first embodiment, a program is stored for causing the control device 30 to perform the following steps: a shooting step (step S1), controlling the shooting device 10 to shoot the placed waste group SS; a foreign object detection step (step S3), detecting a foreign object D in the waste group SS based on the captured image G in the shooting step; a foreign object location information determination step (step S4), determining the location information of the foreign object D in the waste group SS if the foreign object D is detected in the foreign object detection step; a foreign object determination information determination step (S7), determining the determination information of the foreign object D in the waste group SS if the foreign object D is detected in the foreign object detection step; and a conveying device movement condition setting step (step S8). Step S5) Sets the movement conditions of the lifting magnet 21, which serves as a transport device, based on the position information of the foreign object D determined in the foreign object position information determination step; Transport device transport condition setting step (step S8) Sets the transport conditions of the lifting magnet 21, which serves as a transport device, for the foreign object D based on the determination information of the foreign object D determined in the foreign object determination information determination step; Transport device movement condition control step (step S6) Controls the lifting magnet 21 to move in a manner that allows it to move according to the movement conditions of the lifting magnet 21 set in the transport device movement condition setting step; Transport device transport condition control step (step S9) Controls the lifting magnet 21 to lift the foreign object D and transport it to the foreign object placement location 52 according to the transport conditions of the lifting magnet 21 for the foreign object D set in the transport device transport condition setting step.

[0112] Therefore, the control device 30 executes the following steps according to the program stored in the storage medium 308: shooting step (step S1), foreign object detection step (step S3), foreign object location information determination step (step S4), foreign object determination information determination step (step S7), transport device movement condition setting step (step S5), transport device transport condition setting step (step S8), transport device movement condition control step (step S6), and transport device transport condition control step (step S9). This enables the automatic removal of only the foreign object D included in the waste group SS, thereby reducing the amount of waste S removed along with the foreign object D in the waste group SS.

[0113] (Second Implementation)

[0114] Next, refer to Figures 8 to 10 The foreign matter separation system, foreign matter separation method, program, and computer-readable storage medium storing the program according to the second embodiment of the present invention will be described. Figure 8 This is a functional block diagram of the foreign matter separation system 1 according to the second embodiment of the present invention. Figure 9 It is used for explanation Figure 8 The flowchart shown is a process flow diagram of the foreign matter separation system. Figure 10This is an example of an image obtained by taking a picture of a pile of waste material placed on the cargo platform of a semi-trailer using a photographing device. The upper side shows the initial photographed image of the pile of waste material placed on the cargo platform of the semi-trailer, and the lower side shows the photographed image after the waste material with a large amount of exposed foreign matter and a small amount of exposed foreign matter has been removed from its initial state.

[0115] Figure 8 The foreign matter separation system 1 shown in the second embodiment of the present invention and Figure 1 Similarly, the foreign matter separation system 1 of the first embodiment shown separates the foreign matter D included in the waste group SS placed on the cargo platform of the semi-trailer 50 from the waste S. Figure 8 The foreign object separation system 1 shown transports waste S from the waste group SS placed on the cargo platform of the semi-trailer 50 to the waste storage location 51, and transports foreign objects D from the waste group SS to the foreign object storage location 52.

[0116] Figure 8 The foreign matter separation system 1 of the second embodiment shown differs from the foreign matter separation system 1 of the first embodiment. The control device 30 includes a handling feasibility determination unit 41 (see reference). Figure 8 If the transport feasibility determination unit 41 detects a foreign object D in the waste group SS, it will determine the feasibility based on the captured image G (refer to...). Figure 10 The degree of exposure of the foreign object D in the waste group SS is used to determine whether the foreign object D can be moved. Then, when the moving feasibility determination unit 41 determines that the foreign object D can be moved, the control device 30 controls the lifting magnet 21, which is the moving device 20, to lift the foreign object D in the waste group SS and move it to the foreign object placement location 52. Figure 9 (Steps S25 to S30 in the process). Furthermore, if the handling feasibility determination unit 41 determines that the foreign object D cannot be handled, the control device 30 will proceed to transport the waste S covering the foreign object D in the waste group SS to the waste storage location 51 (see reference). Figure 1 The handling of the conveying device 20 is controlled by the method of ) Figure 9 Steps S31 and S32 in the process.

[0117] Specifically, Figure 8 The foreign object separation system 1 of the second embodiment shown is similar to the foreign object separation system 1 of the first embodiment, including a camera 10, a magnetic 21 as a transport device 20, and a control device 30.

[0118] The shooting device 10 is a camera that takes pictures of the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform.

[0119] Additionally, the handling device 20 detected a foreign object D in the waste pile SS placed on the cargo platform of the semi-trailer 50. Figure 8When the foreign object detection unit 33 detects a foreign object D, the foreign object D (sometimes including not only the foreign object D but also a portion of waste material S) is lifted and transported. When the foreign object D is not detected (when the foreign object detection unit 33 does not detect the foreign object D), the waste material S in the waste material group SS is lifted and transported. Similar to the first embodiment, the transport device 20 uses a lifting magnet 21 to magnetically attract and lift the foreign object D or waste material S. The lifting magnet 21 of the transport device 20 can move along the vertical and horizontal directions (see reference). Figure 1 ) Movement. The lifting magnet 21 moves vertically downward to hold the foreign object D or waste material S, moves vertically upward to lift the held foreign object D or waste material S, and moves horizontally to transport the lifted foreign object D or waste material S.

[0120] In addition, the control device 30 controls the suspending magnet 21, which serves as both the shooting device 10 and the transport device 20.

[0121] like Figure 8 As shown, the control device 30 includes a shooting control unit 31, a shooting image acquisition unit 32, a foreign object detection unit 33, a transport feasibility determination unit 41, a foreign object location information determination unit 34, a transport device movement condition setting unit 35, a transport device movement condition control unit 36, a foreign object determination information determination unit 37, a transport device transport condition setting unit 38, a transport device transport condition control unit 39, a waste covering location determination unit 42, and a transport control unit 40.

[0122] The shooting control unit 31 controls the shooting device 10 to shoot the waste group SS placed on the cargo platform of the semi-trailer 50.

[0123] Image acquisition unit 32 acquires the image G captured by imaging device 10 (refer to...) Figure 10 ).exist Figure 10 As described above, an example of an image G obtained by photographing a group of waste materials SS placed on the cargo platform of a semi-trailer 50 using a photographing device 10 is shown. The upper side shows the initial image G of the group of waste materials SS placed on the cargo platform of the semi-trailer 50, and the lower side shows the image G after removing the foreign objects D with a large degree of exposure (the part indicated by reference numeral W) and the waste materials S with a small degree of exposure D from the initial state (the part indicated by reference numeral X).

[0124] Furthermore, the foreign object detection unit 33 detects foreign objects D in the waste group SS based on the captured image G obtained by the image acquisition unit 32. The detection method of the foreign object detection unit 33 based on the captured image G can be any method, but in this embodiment, the foreign object detection unit 33 uses a learning model obtained by learning from captured images of the waste group SS including foreign objects D, and inputs the acquired captured image G into the learning model to detect foreign objects D in the waste group SS.

[0125] In addition, when the foreign object D in the waste group SS is detected by the foreign object detection unit 33, the transportability determination unit 41 determines whether the foreign object D can be transported based on the degree of exposure of the foreign object D in the captured image G.

[0126] Here, the exposure level of foreign object D can be calculated by comparing the estimated length or size of foreign object D with the actual length or size of the observed foreign object D. The estimated length or size of foreign object D is determined using a learned model that has pre-learned a dataset that associates images of each type of foreign object D with the type name and length or size of the foreign object D. Specifically, the exposure level of foreign object D can be defined as the ratio (%) of the actual length or size of the observed foreign object D to the estimated length or size of the foreign object. Then, the transportability determination unit 41 determines whether foreign object D can be transported based on whether the exposure level of foreign object D is above a predetermined threshold. That is, if the exposure level of foreign object D is the ratio (%) of the actual length or size of the observed foreign object D to the estimated length or size of the foreign object, and this ratio (%) is above the predetermined threshold, the transportability determination unit 41 determines that transport is possible; if this ratio (%) is less than the predetermined threshold, the transportability determination unit 41 determines that transport is not possible. The threshold in this case is, for example, 20%.

[0127] In addition, the degree of exposure of foreign object D can also be determined by the area (m²) of the foreign object, which is pre-set according to the type of foreign object. 2 ) and the area (m²) of the foreign object D actually observed 2 The calculation is performed by comparing the area (m²) of the actually observed foreign object D. 2 ) relative to the area (m²) of the foreign object pre-defined according to the type of foreign object. 2 The value of (m) 2 The degree of exposure of foreign object D is represented by ). Furthermore, at this value (m... 2 If the value is above a specified threshold, the transportability determination unit 41 determines that the transport is possible. 2 If the distance is less than a specified threshold, the transportability determination unit 41 determines that the object cannot be transported. For example, this threshold is 0.1m if the foreign object D is an electric motor. 2 .

[0128] In addition, when the foreign object location information determination unit 34 determines that the foreign object D can be transported by the transportability determination unit 41, it determines the location (location coordinates) of the foreign object D in the waste group SS based on the captured image G.

[0129] Furthermore, the transport device movement condition setting unit 35 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the position (position coordinates) of the foreign object D in the waste group SS determined by the foreign object position information determining unit 34. Here, "movement conditions" refers to the position conditions of the horizontal movement destination of the lifting magnet 21 constituting the transport device 20.

[0130] Furthermore, the transport device movement condition control unit 36 ​​controls the lifting magnet 21 to move in a manner that is set by the transport device movement condition setting unit 35 to the moving magnet 21 constituting the transport device.

[0131] Furthermore, when the handling feasibility determination unit 41 determines that the foreign object D can be handled, the foreign object identification information determination unit 37 determines the identification information of the foreign object D in the waste group SS. Here, "identification information" refers to information that identifies the foreign object D, such as at least one of the type of the foreign object D, the estimated weight of the foreign object D, and the length or size of the foreign object D. The identification information of the foreign object determined by the foreign object identification information determination unit 37 can be determined by any method, but in this embodiment, the foreign object identification information determination unit 37 inputs the captured image G into a learned model that has learned to associate images of each type of foreign object D with the type name of the foreign object D, the weight of the foreign object D, or the length or size of the foreign object D to determine the identification information of the foreign object D.

[0132] Furthermore, the transport condition setting unit 38 of the transport device sets the transport conditions for the foreign object D by the lifting magnet 21, which is the transport device 20, based on the determination information of the foreign object D determined by the foreign object determination information setting unit 37. Here, "transport conditions" refers to the conditions of the lifting magnet 21 when lifting the foreign object D, such as at least one of the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D. That is, the transport condition setting unit 38 of the transport device sets the transport conditions (e.g., the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D) that enable the lifting magnet 21 to transport the foreign object D only by lifting it, based on the determination information of the foreign object D (e.g., at least one of the following: the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D).

[0133] In addition, the handling device handling condition control unit 39 controls the lifting magnet 21 to lift and transport the foreign object D, which is loaded with the lifting magnet 21, to the foreign object placement location 52 under the handling conditions of the lifting magnet 21 as the handling device 20 for the foreign object D set by the handling device handling condition setting unit 38.

[0134] In addition, if the transportability determination unit 41 determines that the foreign object D cannot be transported, the waste location determination unit 42 determines the location (location coordinates) of the waste S of the foreign object D in the waste group SS based on the captured image G.

[0135] Furthermore, when the foreign object detection unit 33 does not detect a foreign object D in the waste group SS, the transport control unit 40 controls the lifting magnet 21, which acts as the transport device 20, to lift and transport the waste S in the waste group SS. Additionally, when the waste covering the foreign object D in the waste group SS is determined by the waste covering position determination unit 42, the transport control unit 40 controls the lifting magnet 21, which acts as the transport device 20, to lift and transport the waste covering the foreign object D in the waste group SS to the waste storage location 51.

[0136] Next, the hardware structure of the control device 30 is the same as that of the control device 30 of the foreign matter separation system 1 according to the first embodiment, such as... Figure 4 As shown, the control device 30 is composed of an arithmetic processing unit 301 equipped with a CPU 302. The CPU 302 is connected via an internal bus 303 to an internal storage device 304 such as RAM and ROM; an external storage device 305; an input device 306 such as a keyboard and mouse; and an instruction output device 307 that outputs instructions from the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 to the lifting magnet 21, which is the transport device 20.

[0137] The external storage device 305 of the control device 30 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 storage medium 308. A storage medium 308 storing a program for causing the control device 30 to perform the following functions is provided in this external storage device 305, and the read program is installed on the disk drive. Here, the functions include: shooting control function based on the shooting control unit 31 (step S21 described later), shooting image acquisition function based on the shooting image acquisition unit 32 (step S22 described later), foreign object detection function based on the foreign object detection unit 33 (step S23 described later), transport feasibility determination function based on the transport feasibility determination unit 41 (step S24 described later), foreign object location information determination function based on the foreign object location information determination unit 34 (step S25 described later), transport device movement condition setting function based on the transport device movement condition setting unit 35 (step S26 described later), and transport device movement condition setting function based on the transport device movement condition control unit 36. The program includes the following functions: control function (step S27 described later), foreign object determination information determination function based on foreign object determination information determination unit 37 (step S28 described later), transport device transport condition setting function based on transport device transport condition setting unit 38 (step S29 described later), transport device transport condition control function based on transport device transport condition control unit 39 (step S30 described later), cover waste position determination function based on cover waste position determination unit 42 (step S31 described later), cover waste transport control function based on transport control unit 40 (step S32 described later), and waste transport control function based on transport control unit 40 (step S33 described later). The installation of this program is not limited to the use of storage medium 308; the program can also be downloaded via a network.

[0138] The CPU 302 of the control device 30 executes the following functions according to the commands of the installed program: shooting control function based on the shooting control unit 31 (step S21 described later); shooting image acquisition function based on the shooting image acquisition unit 32 (step S22 described later); foreign object detection function based on the foreign object detection unit 33 (step S23 described later); transport feasibility determination function based on the transport feasibility determination unit 41 (step S24 described later); foreign object position information determination function based on the foreign object position information determination unit 34 (step S25 described later); transport device movement condition setting function based on the transport device movement condition setting unit 35 (step S26 described later); and transport device movement condition control unit 36. The following functions are described: transport device movement condition control function (step S27, described later); foreign object determination information determination function based on foreign object determination information determination unit 37 (step S28, described later); transport device transport condition setting function based on transport device transport condition setting unit 38 (step S29, described later); transport device transport condition control function based on transport device transport condition control unit 39 (step S30, described later); cover waste position determination function based on cover waste position determination unit 42 (step S31, described later); cover waste transport control function based on transport control unit 40 (step S32, described later); and waste transport control function based on transport control unit 40 (step S33, described later). Then, CPU 302 outputs commands from transport device movement condition control unit 36, transport device transport condition control unit 39, and transport control unit 40 to the lifting magnet 21, which is the transport device 20.

[0139] Next, refer to Figure 9 The processing flow of the foreign matter separation system 1 according to the second embodiment will be described. Figure 9 It is used for explanation Figure 8 The flowchart shows the processing flow in the foreign matter separation system 1.

[0140] First, in step S21, the imaging control unit 31 of the control device 30 controls the imaging device 10 to photograph the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform, and the imaging device 10 photographs the waste group SS (imaging step). At the beginning of the foreign matter separation control, when the imaging control unit 31 sends an imaging command to the imaging device 10 after inputting information that the semi-trailer 50 carrying the waste group SS is stopped at a predetermined stop position into the host computer (not shown), the imaging control unit 31 sends an imaging command to the imaging device 10. In addition, when the imaging control unit 31 issues an imaging instruction to the imaging control unit 31 in step S34 (described later), the imaging control unit 31 sends an imaging command to the imaging device 10.

[0141] Next, in step S22, the image acquisition unit 32 of the control device 30 acquires the image G captured in step S1 (refer to...). Figure 10 (Steps for capturing images).

[0142] Next, in step S23, the foreign object detection unit 33 of the control device 30 detects foreign objects D in the waste group SS from the captured image G obtained in step S22 (foreign object detection step).

[0143] In step S3, if foreign object D is detected (if the determination result is YES), proceed to step S24; if foreign object D is not detected (if the determination result is NO), proceed to step S33.

[0144] In step S24, since a foreign object D is detected in the loaded waste group SS, the transportability determination unit 41 determines whether the foreign object D can be transported based on the degree of exposure of the foreign object D in the captured image G (transportability determination step). The degree of exposure of the foreign object D and the criteria for determining transportability are as described above.

[0145] Then, in step S24, if it is determined that the goods can be moved (if the determination result is YES), proceed to steps S25 and S28; if it is determined that the goods cannot be moved (if the determination result is NO), proceed to step S31.

[0146] In step S25, since it is determined that the foreign object D can be transported, the foreign object position information determination unit 34 of the control device 30 determines the position (position coordinates) of the foreign object D in the waste group SS based on the captured image G obtained in step S22 (foreign object position information determination step).

[0147] Next, in step S26, the transport device movement condition setting unit 35 of the control device 30 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the position (position coordinates) of the foreign object D in the waste group SS determined in step S25 (transport device movement condition setting step). Here, as described above, "movement conditions" are the position conditions of the horizontal movement destination of the lifting magnet 21 constituting the transport device 20.

[0148] Next, in step S27, the transport device movement condition control unit 36 ​​of the control device 30 controls the lifting magnet 21 to move in a manner that is set in step S26 according to the movement conditions of the lifting magnet 21 constituting the transport device 20 (transport device movement condition control step).

[0149] Furthermore, in step S28, since it is determined that the foreign object D can be transported, the foreign object determination information determination unit 37 of the control device 30 determines the determination information of the foreign object D in the waste group SS (foreign object determination information determination step). Here, "determination information" is information that determines the foreign object D, such as at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D.

[0150] Next, in step S29, the transport device transport condition setting unit 38 of the control device 30 sets the transport conditions of the lifting magnet 21 (the transport device transport condition setting step) for the foreign object D based on the determination information of the foreign object D determined in step S28. Here, "transport conditions" refers to the conditions of the lifting magnet 21 when lifting the foreign object D, such as the magnitude of the magnetic force of the lifting magnet 21 and the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D (see reference). Figure 6 At least one of the following: the contact area of ​​the lifting magnet 21 relative to the foreign object D. That is, the handling condition setting unit 38 of the handling device sets the handling conditions (e.g., the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 and the foreign object D) based on the determination information of the foreign object D (e.g., the type of the foreign object D, the estimated weight of the foreign object D, and at least one of the length or size of the foreign object D).

[0151] Next, in step S30, the transport device transport condition control unit 39 of the control device 30 controls the lifting magnet 21 to lift the foreign object D on which the lifting magnet 21 is placed and transport it to the foreign object placement position 52 according to the transport conditions of the lifting magnet 21 of the transport device 20 set in step S29 (transport device transport condition control step).

[0152] In addition, if it is determined in step S24 that the object cannot be moved and is moved to step S31, in step S31, the cover waste position determination unit 42 of the control device 30 determines the position (position coordinates) of the foreign object D in the cover waste group SS based on the captured image G (cover waste position determination step).

[0153] Next, in step S32, the transport control unit 40 controls the lifting magnet 21, which is a transport device 20, to lift the waste S covering the foreign object D in the waste group SS and transport it to the waste storage location 51 (covering waste transport control step).

[0154] Furthermore, if no foreign object D is detected in step S23 and the process moves to step S33, in step S33, the process moves to normal operation, and the transport control unit 40 of the control device 30 controls the lifting magnet 21, which is a transport device 20, to lift the waste S in the waste group SS and transport it to the waste placement location 51 (waste transport control step).

[0155] Then, if steps S27, S30, S32, and S33 are completed, proceed to step S34.

[0156] In step S34, the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 give shooting instructions to the shooting control unit 31 (shooting instruction step).

[0157] Thus, the processing in foreign matter separation system 1 is completed.

[0158] Then, by repeating steps S21 to S34 above, all the waste S in the waste group SS placed on the cargo platform of the semi-trailer 50 is transported to the waste storage location 51, and all the foreign objects D in the waste group SS are transported to the foreign object storage location 52.

[0159] Here, about Figure 10 The illustrated image G is an example of the processing flow in the foreign object separation system 1.

[0160] Initially, when the waste material SS is placed on the cargo platform of the semi-trailer 50, after steps S21 (photo capture step) and S22 (image acquisition step), the image acquisition unit 32 of the control device 30 acquires the image captured in step S21. Figure 10 The image G shown on the upper side.

[0161] Next, in step S23 (foreign object detection step), the foreign object detection unit 33 of the control device 30 detects foreign objects D in the waste group SS from the captured image G. Figure 10 In the case shown above, two foreign objects D are detected in the waste group SS. One of the foreign objects D (the part indicated by symbol W) is not covered by the waste S, and the degree of exposure of foreign object D is large. The other foreign object D (the part indicated by symbol X) is covered by the waste S, and the degree of exposure of foreign object D is small.

[0162] Then, since two foreign objects D were detected in the waste group SS, the process moves to step S24.

[0163] In step S24 (transferability determination step), since a foreign object D is detected in the loaded waste group SS, the transferability determination unit 41 determines whether the foreign object D can be transferred based on the degree of exposure of the foreign object D in the captured image G. Here, in Figure 10 In the case shown above, one of the detected foreign objects D (the part indicated by reference numeral W) is not covered by waste S, and the degree of exposure of foreign object D is large. Therefore, the degree of exposure of foreign object D is above the specified threshold, and it is determined that it can be handled. On the other hand, the other detected foreign object D (the part indicated by reference numeral X) is covered by waste S, and the degree of exposure of foreign object D is small. Therefore, the degree of exposure of foreign object D is less than the specified threshold, and it is determined that it cannot be handled.

[0164] Furthermore, since it is determined that the foreign object D (the part shown by the reference numeral W) is capable of being moved, it is moved to step S25 and step S28.

[0165] In step S25 (foreign object location information determination step), the foreign object location information determination unit 34 of the control device 30 determines the location (location coordinates) of the foreign object D in one of the waste groups SS based on the captured image G obtained in step S22 (foreign object location information determination step).

[0166] Next, in step S26 (transport device movement condition setting step), the transport device movement condition setting unit 35 of the control device 30 sets the movement conditions of the lifting magnet 21 constituting the transport device 20 based on the position (position coordinates) of the foreign object D in one of the determined waste groups SS. Figure 10 In the case of a foreign object D on one side of the upper part of the waste group SS, the movement condition of the hanging magnet 21 is the position W directly above the foreign object D in the waste group SS.

[0167] Next, in step S27 (transport device movement condition control step), the transport device movement condition control unit 36 ​​of the control device 30 controls the lifting magnet 21 to move in a manner that meets the movement conditions of the lifting magnet 21 constituting the transport device 20 set in step S26. Figure 10 In the case of a foreign object D on one side of the upper part of the waste material group SS, the moving condition control unit 36 ​​of the conveying device controls the lifting magnet 21 to move horizontally to a position W directly above the foreign object D on one side of the waste material group SS.

[0168] In addition, in step S28 (foreign object determination information determination step), the foreign object determination information determination unit 37 of the control device 30 determines the determination information of foreign object D in one of the waste groups SS (at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D).

[0169] Next, in step S29 (transportation device transport condition setting step), the transport device transport condition setting unit 38 of the control device 30 sets the transport conditions of the lifting magnet 21 of the transport device 20 for the foreign object D based on the determined information of one of the foreign objects D. Specifically, the transport device transport condition setting unit 38 sets the transport conditions (at least one of the following: the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area between the lifting magnet 21 and the foreign object D) so that only one of the foreign objects D can be lifted, based on the determined information of the foreign object D (the type of foreign object D, the estimated weight of the foreign object D, and the length or size of the foreign object D).

[0170] Next, in step S30 (transportation device transport condition control step), the transport device transport condition control unit 39 of the control device 30 controls the lifting magnet 21 to lift the foreign object D, which is equipped with the lifting magnet 21, and transport it to the foreign object placement location 52 in accordance with the transport conditions set in step S29 for the lifting magnet 21 of the transport device 20 on one of the foreign objects D. Figure 10 In the case of a foreign object D on one side of the waste material group SS, the transport condition control unit 39 of the transport device moves the lifting magnet 21, which is located at a position W directly above the foreign object D in the waste material group SS, vertically downward. Then, the transport condition control unit 39 moves the lifting magnet 21 vertically upward, so that the lifting magnet 21 is raised to lift the foreign object D in the waste material group SS according to the set transport conditions of the foreign object D (at least one of the magnitude of the magnetic force of the lifting magnet 21, the distance d between the magnet surface 21a of the lifting magnet 21 and the foreign object D, and the contact area of ​​the lifting magnet 21 relative to the foreign object D). Furthermore, the transport condition control unit 39 moves the lifting magnet 21 horizontally above the foreign object placement location 52 to weaken the magnetic force, so that the foreign object D falls into the foreign object placement location 52.

[0171] In addition, for Figure 10 The foreign object D on the other side of the upper part is moved to step S31 because it is determined that it cannot be moved in step S24 (movability determination step).

[0172] In step S31 (covered waste location determination step), the covered waste location determination unit 42 of the control device 30 determines the location (location coordinates) of the waste S of the foreign object D in the covered waste group SS based on the captured image G.

[0173] Next, in step S32 (covered waste handling control step), the handling control unit 40 controls the lifting magnet 21, which acts as a handling device 20, to lift and transport the waste S covering the foreign object D in the waste group SS to the waste placement location 51. Figure 10 In the case of a foreign object D on the other side of the waste material SS covering the foreign object D, the transport control unit 40 controls the lifting magnet 21 to move horizontally towards a position X directly above the waste material S covering the foreign object D in the waste material SS. Then, the transport control unit 40 moves the lifting magnet 21 at position X vertically downward. Furthermore, the transport control unit 40 uses the magnetic force to lift the waste material S to move the lifting magnet 21 vertically upward, so that the lifting magnet 21 lifts the waste material S covering the foreign object D in the waste material SS. Then, the transport control unit 40 moves the lifting magnet 21 horizontally above the waste material placement area 51 to weaken the magnetic force, so that the waste material S covering the foreign object D falls into the waste material placement area 51.

[0174] Then, in step S34 (shooting instruction step), the transport device movement condition control unit 36, the transport device transport condition control unit 39, and the transport control unit 40 give shooting instructions to the shooting control unit 31.

[0175] Then, returning to step S21 (shooting step), the shooting control unit 31 controls the shooting device 10 to shoot the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform, and the shooting device 10 shoots the waste group SS.

[0176] Next, in step S22 (image acquisition step), the image acquisition unit 32 acquires the image G captured in step S21. At this time, the image G, through the aforementioned processing, removes the foreign object D covering the more exposed side and the waste S covering the less exposed side of the foreign object D. In the waste group SS, the more exposed foreign object D and the waste S remain, thus becoming... Figure 10 Image G taken from the lower side.

[0177] Subsequently, through steps S23 (foreign object detection step), S24 (transferability determination step), S25 (foreign object location information determination step), S26 (transfer device movement condition setting step), S27 (transfer device movement condition control step), S28 (foreign object determination information determination step), S29 (transfer device transport condition setting step), and S30 (transfer device transport condition control step), the foreign object D from the other party is caused to fall to the foreign object placement location 52.

[0178] Thus, foreign matter D is removed from the loaded waste group SS.

[0179] Then, by repeating steps S21 to S34, all the waste S in the waste group SS placed on the cargo platform of the semi-trailer 50 is moved to the waste storage location 51, and all the foreign objects D in the waste group SS are moved to the foreign object storage location 52.

[0180] Furthermore, in the case of residual waste S containing foreign matter D with a small degree of exposure, the residual waste S can be transported by repeatedly performing steps S21, S22, S23, S24, S31, and S32.

[0181] Thus, according to the foreign object separation system 1 of the second embodiment, the control device 30 includes a transportability determination unit 41. This unit 41, upon detecting a foreign object D in the waste mass SS, determines whether the foreign object D can be transported based on the degree of exposure of the foreign object D in the captured image G. Then, if the transportability determination unit 41 determines that the foreign object D can be transported, the control device 30 controls the lifting magnet 21, which is the transport device 20, to lift the foreign object D from the waste mass SS and transport it to the foreign object placement location 52. Figure 9 (Steps S25 to S30). Furthermore, if the handling feasibility determination unit 41 determines that the foreign object D cannot be handled, the control device 30 performs a process to control the handling device to move the waste S covering the foreign object D in the waste group SS to the waste storage location 51. Figure 9 Steps S31 and S32 in the process.

[0182] Therefore, before lifting the foreign object D in the waste group SS and determining whether the foreign object D can be moved, if the foreign object D can be moved, the foreign object D is moved to the foreign object placement location 52. If the foreign object D cannot be moved, the waste S covering the foreign object D is moved to the waste placement location 51. Thus, the situation of removing the waste S and the foreign object D together in the waste group SS can be further suppressed.

[0183] The embodiments of the present invention have been described above, but the present invention is not limited thereto and various changes and improvements can be made.

[0184] For example, the foreign matter separation system 1 according to the first and second embodiments uses a lifting magnet 21 as a transport device 20, but is not limited to the use of a lifting magnet 21. For example, it can also be as follows: Figure 11 The grab bucket 22 is shown as the transport device 20, or as shown in the diagram. Figure 12 The figure shows the use of a loader 23 as a transport device.

[0185] Using Grab 22 as Figure 11In the case of the conveying device 20 shown, the conveying conditions for the grab 22 of the conveying device 20 to convey foreign object D are, for example, at least one of the holding force of each of the multiple gripping parts 22a of the grab 22 and the distance B between the gripping parts 22a. The conveying device conveying condition setting unit 38 sets the conveying conditions based on the grab 22 for foreign object D, such that only foreign object D can be lifted, according to the determination information of foreign object D (at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D). Furthermore, the conveying device conveying condition control unit 39 controls the grab 22 to lift foreign object D from the waste group SS in a manner that uses the set conveying conditions for foreign object D (at least one of the holding force of each of the multiple gripping parts 22a of the grab 22 and the distance between the gripping parts 22a), thereby preventing the situation where waste S other than foreign object D is lifted up at the same time when lifting and removing foreign object D.

[0186] In addition, using the loader 23 as Figure 12 In the case of the conveying device 20 shown, the conveying conditions for the loader 23 of the conveying device 20 to convey the foreign object D are, for example, the tilt of the loader 23's arm 23a (tilt angle θ of arm 23a relative to the horizontal direction), the tilt of arm 23b, the tilt of bucket 23c, etc. The conveying device conveying condition setting unit 38 sets the conveying conditions of the loader 23 that can lift only the foreign object D (tilt angle θ of arm 23a relative to the horizontal direction, tilt of arm 23b, the tilt of bucket 23c) based on the determination information of the foreign object D (at least one of the type of foreign object D, the estimated weight of foreign object D, and the length or size of foreign object D). Furthermore, the handling condition control unit 39 of the handling device controls the loader 23 to lift the foreign object D from the waste group SS according to the set handling conditions of the foreign object D (the tilt of the arm 23a of the loader 23 (the tilt angle θ of the arm 23a relative to the horizontal direction), the tilt of the arm 23b, and the tilt of the bucket 23c). This can prevent the waste S other than the foreign object D from being lifted and removed at the same time.

[0187] In addition, in the foreign object separation system 1 according to the first embodiment, the imaging device 10 captures the waste group SS, and the control device 30 controls the lifting magnet 21 to lift the foreign object D and transport it to the foreign object placement location 52 when the foreign object D is detected in the captured image G.

[0188] Alternatively, as in the modified example of the foreign object separation system (not shown), the imaging device images the waste group SS, and the control device, when detecting a foreign object D in the waste group SS from the image G, controls the lifting magnet to lift and transport only the waste S other than the detected foreign object D in the waste group SS to the waste placement location 51.

[0189] Specifically, refer to Figure 13 To explain, the control device is controlled to make the camera take pictures of the waste group SS placed on the cargo platform of the semi-trailer 50 from above the cargo platform, and the camera takes pictures of the waste group SS.

[0190] Next, the control device acquires the captured image G (refer to) taken by the imaging device. Figure 13 ).

[0191] Then, the control device detects foreign objects D in the waste group SS based on the captured image G.

[0192] Next, in Figure 13 In the process, since a foreign object D is detected in the waste group SS, the control device determines the position (position coordinates) of the foreign object D in the waste group SS based on the captured image G, and determines the determination information of the foreign object D in the waste group SS.

[0193] Next, the control device controls the lifting magnet to move horizontally to a position Z directly above the location (where waste S exists) that avoids the foreign object D in the waste group SS.

[0194] Next, the control device moves the lifting magnet at position Z, which is located directly above the foreign object D (where waste S is present) in the waste pile SS, vertically downwards, and moves the lifting magnet vertically upwards in such a way that it lifts the waste S in the waste pile SS with a magnetic force equal to that used to lift the waste S. Then, the control device moves the lifting magnet horizontally above the waste placement area 51 to weaken the magnetic force, causing the waste S to fall into the waste placement area 51.

[0195] By repeating the above process, waste S can be transported to waste disposal site 51 while foreign matter D remains.

[0196] Furthermore, in the foreign object separation system involved in the modified example, if the foreign object D cannot lift the waste material S due to obstruction, such as Figure 14 As shown, the foreign object D can also be appropriately removed to lift the waste material S for handling. That is, in Figure 14In the case where foreign object D prevents the lifting of waste material S due to obstruction, a portion T1 of the waste material group SS including foreign object D is withdrawn, and the remaining collection U1 of waste material S is lifted and transported. Furthermore, for a portion T1 of the waste material group SS including the withdrawn foreign object D, a portion T2 of the waste material group SS including that portion T1 is withdrawn, and the remaining collection U2 of waste material S is lifted and transported. This operation can be repeated. When withdrawing foreign object D towards the floor or ground, similar to the first and second embodiments, the transport conditions of the transport device are set based on foreign object determination information, and foreign object D is lifted and placed on the floor or ground.

[0197] In addition, the location for placing the waste group SS is not limited to the cargo platform of the semi-trailer 50, but can also be a site, etc.

[0198] Explanation of reference numerals in the attached figures

[0199] 1: Foreign object separation system; 10: Imaging device; 20: Handling device; 21: Lifting magnet; 22: Waste; 22a: Holding part; 23: Shovel loader; 23a: Arm; 23b: Arm; 23c: Bucket; 30: Control device; 31: Imaging control unit; 32: Imaging image acquisition unit; 33: Foreign object detection unit; 34: Foreign object position information determination unit; 35: Handling device movement condition setting unit; 36: Handling device movement condition control unit; 37: Foreign object determination information determination unit; 38: Handling device handling condition setting unit; 39: Handling device handling condition control unit; 40: Handling control unit; 301: Processing unit; 302: CPU; 303: Internal bus; 304: Internal storage device; 305: External storage device; 306: Input device; 307: Output device; 308: Storage medium; D: Foreign object; G: Imaging image; S: Waste; SS: Waste group.

Claims

1. A foreign matter separation system for separating foreign matter included in a waste group from a waste, characterized by, have: The camera device is used to film the loaded waste material. A handling device that lifts and moves foreign objects or waste from a loaded waste mass; as well as The control device controls the shooting device and the transport device. The control device detects foreign objects in the waste group based on the images captured by the imaging device. Upon detecting foreign objects, it determines the location information and identification information of the foreign objects. Based on the determined location information, it sets the movement conditions of the conveying device and the handling conditions based on the determined identification information of the foreign objects. This allows the conveying device to move according to the set movement conditions and to lift and transport the loaded foreign objects to the designated loading location according to the set handling conditions.

2. The foreign matter separation system according to claim 1, characterized in that, The information used to identify the foreign object is at least one of the following: the type of the foreign object, the estimated weight of the foreign object, and the length or size of the foreign object.

3. The foreign matter separation system according to claim 2, characterized in that, The control device inputs the captured image into a learned model that associates images of each type of foreign object with the type name, weight, or length or size of the foreign object, and determines the identification information of the foreign object.

4. The foreign matter separation system according to claim 3, characterized in that, The transport device is a magnetic lifting device that uses magnetic force to magnetically attract and lift foreign objects or waste materials for transport. The transport conditions for foreign objects based on the transport device are at least one of the following: the magnitude of the magnetic force, the distance between the magnetic surface of the magnetic lifting device and the foreign object, and the contact area of ​​the magnetic lifting device relative to the foreign object.

5. The foreign matter separation system according to claim 3, characterized in that, The conveying device is a grab bucket that holds and lifts the foreign object or waste material by means of multiple gripping parts for conveying. The conveying conditions of the foreign object based on the conveying device are at least one of the gripping force of each of the multiple gripping parts of the grab bucket and the spacing between the gripping parts.

6. The foreign matter separation system according to any one of claims 1 to 5, characterized in that, The control device includes a transportability determination unit. When a foreign object is detected in a waste group, the transportability determination unit determines whether the foreign object can be transported based on the degree of exposure of the foreign object in the camera image. If the transportability determination unit determines that the foreign object can be transported, the transport device is controlled to lift the foreign object in the waste group and transport it to the foreign object placement location. If the transportability determination unit determines that the foreign object cannot be transported, the transport device is controlled to transport the waste covering the foreign object in the waste group to the waste placement location.

7. A foreign matter separation method of separating foreign matter included in a waste group from a waste, characterized by, include: The shooting process involves controlling the camera to photograph the loaded waste mass. In the foreign object detection step, the control device detects foreign objects in the waste group based on the images captured in the shooting step. In the foreign object location information determination step, if a foreign object is detected in the waste group during the foreign object detection step, the control device determines the location information of the foreign object in the waste group. The foreign object determination information determination step determines the determination information of the foreign object in the waste group when a foreign object is detected in the foreign object detection step. In the process of setting the movement conditions of the conveying device, the control device sets the movement conditions of the conveying device based on the position information of the foreign object determined in the process of determining the position information of the foreign object. In the handling device handling condition setting step, the control device sets the handling conditions for the foreign object based on the foreign object determination information determined in the foreign object determination information determination step. A transport device movement condition control step, wherein the control device controls the transport device to move in a manner that allows the transport device to move according to the movement conditions of the transport device set in the transport device movement condition setting step; as well as The transport device transport condition control step involves a control device that controls the transport device to lift and transport a foreign object to a foreign object placement location in accordance with the foreign object transport conditions set in the transport device transport condition setting step.

8. A program, characterized by, The control device shall perform the following steps: The shooting procedure involves controlling the shooting device to photograph the loaded waste material. The foreign object detection step detects foreign objects in the waste group based on the images captured in the shooting step. The foreign object location information determination step determines the location information of the foreign object in the waste group when a foreign object is detected in the foreign object detection step. Foreign object determination information determination step: when a foreign object is detected in the waste group during the foreign object detection step, the determination information of the foreign object in the waste group is determined. The moving condition setting step of the conveying device sets the moving conditions of the conveying device based on the position information of the foreign object determined in the foreign object position information determination step. The handling device handling condition setting step sets handling conditions for foreign objects based on the foreign object determination information determined in the foreign object determination information determination step. A transport device movement condition control step, wherein the transport device is controlled to move in a manner that is set in the transport device movement condition setting step; as well as The transport device transport condition control step controls the transport device to lift the foreign object and transport it to the foreign object placement location in a manner based on the foreign object transport conditions set in the transport device transport condition setting step.

9. A computer-readable storage medium, characterized in that, The system stores a program for causing the control device to perform the following steps: The shooting procedure involves controlling the shooting device to photograph the loaded waste material. The foreign object detection step detects foreign objects in the waste group based on the images captured in the shooting step. The foreign object location information determination step determines the location information of the foreign object in the waste group when a foreign object is detected in the foreign object detection step. Foreign object determination information determination step: when a foreign object is detected in the waste group during the foreign object detection step, the determination information of the foreign object in the waste group is determined. The moving condition setting step of the conveying device sets the moving conditions of the conveying device based on the position information of the foreign object determined in the foreign object position information determination step. The handling device handling condition setting step sets handling conditions for foreign objects based on the foreign object determination information determined in the foreign object determination information determination step. A transport device movement condition control step, wherein the transport device is controlled to move in a manner that is set in the transport device movement condition setting step; as well as The transport device transport condition control step controls the transport device to lift the foreign object and transport it to the foreign object placement location in a manner based on the foreign object transport conditions set in the transport device transport condition setting step.

Images