Waste management system

Abstract

To provide a waste management system capable of managing a waste while sorting the waste.SOLUTION: A waste management system for managing a waste includes a control device capable of acquiring an image of a mounted waste, wherein the control device specifies the type of the waste on the basis of the image, and creates a first list including the specified type.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to waste management systems. [Background technology]

[0002] 2. Description of the Related Art Waste management systems that manage waste are known in the art. These waste management systems manage the types and amounts of waste from waste generators to final disposal sites. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6989835 Summary of the Invention [Problem to be solved by the invention]

[0004] There are many types of waste to be disposed of, including metals, wood, stone, etc. When this type of waste is brought to a final disposal site, it must be manually sorted and managed.

[0005] An object of the present disclosure is to provide a waste management system that can manage waste while sorting it. [Means for solving the problem]

[0006] The waste management system according to the present disclosure is a waste management system that manages waste, The system includes a control device capable of acquiring an image of the placed waste, the control device identifying a type of the waste based on the image, and generating a first list including the identified type. Effect of the Invention

[0007] This waste management system allows waste to be managed while being sorted. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 illustrates a waste disposal process according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 illustrates a waste management system according to an embodiment of the present disclosure. [Diagram 3] 4 is a flowchart (1) showing a processing procedure of a control device according to an embodiment of the present disclosure. [Figure 4] 11 is a flowchart (2) showing a processing procedure of the control device according to the embodiment of the present disclosure. [Diagram 5] 1 is an example of a list according to an embodiment of the present disclosure. [Figure 6] 13 is an example of an input screen according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0010] The waste management system 1 of the present disclosure is a system for managing the type and weight of the waste placed while sorting it. As shown in FIG. 1, in the waste disposal process, the waste generator, transporter, and disposal operator are required to manage the waste and share information on the managed waste with each other as a manifest. For example, the manifest managed by the waste generator that discharges the waste is shared with the transporter. The manifest managed by the transporter is shared with the waste generator and the disposal operator. Similarly, the manifest managed by the disposal operator includes at least the type and weight of the waste. The manifest includes at least the type and weight. By sharing the manifest between the operators that carry out the waste processing process in this way, illegal dumping of waste is prevented.

[0011] In recent years, there has been a demand to digitize such manifests and register them at a management center. In order to digitize the manifests, it is necessary to sort and list the waste. However, it requires a lot of manpower to manually sort each piece of waste placed at a disposal site, record the type and weight, and list it. Therefore, the inventors have invented a waste management system 1 that can simultaneously sort and create a list even when waste of mixed types is placed there.

[0012] As shown in Fig. 2, the waste management system 1 according to the first embodiment of the present disclosure includes a camera 2, a display 4, a control device 6, a transport device 8, and a sorting area 10. In this embodiment, the waste management system 1 is a system that sorts multiple wastes X that are a mixture of wastes of various materials and shapes, such as wood, metal, rubber, glass, and resin, that have been brought into a waste treatment plant. When such wastes X are brought into the waste treatment plant, they are temporarily piled up in a bulk state.

[0013] The camera 2 captures images of multiple waste materials X. In this embodiment, the camera 2 is attached to a boom 8a of the transport device 8, which will be described later. However, the camera 2 may be attached to a ceiling or beams of the factory where sorting is performed. Furthermore, the camera 2 may be attached to a location other than the boom 8a of the transport device 8. Furthermore, in this embodiment, the camera 2 is a camera that captures video. However, the camera 2 may also be a camera 2 that captures still images. The camera 2 is electrically connected to the control device 6, and transmits the captured video to the control device 6.

[0014] The display 4 displays the image data D captured by the camera 2. In this embodiment, the display 4 is a touch panel type display 4. The display 4 is electrically connected to the control device 6, and displays the image data D and transmits the touched position on the image data D to the control device 6.

[0015] The control device 6 is provided to control the waste management system 1. The control device 6 has a memory unit 6a. The control device 6 is actually configured by a microcomputer including the memory unit 6a, the calculation unit 6b, an input / output buffer, etc. The memory unit 6a stores training data for determining the waste X. Here, the training data is, for example, the color and shape of wood. The control device 6 stores the colors and shapes of various materials as training data, and uses the calculation unit 6b to compare the image data D acquired by the camera 2 with the training data, thereby automatically selecting the first waste X1 that can be selected from the multiple wastes X by image processing.

[0016] The transport device 8 transports a plurality of wastes X. In this embodiment, the transport device 8 is a gantry-type robot. In such a gantry-type robot, the boom 8a moves forward and backward on a pair of rails 8b, and the arm 8c attached to the boom 8a moves left and right and up and down. The rails 8b may be attached to a structural member of a building of a waste treatment plant to which the wastes X are carried. The transport device 8 is electrically connected to the control device 6, and when it receives from the control device 6 the position information of the wastes X to be transported and the information of the sorting area 10 to be transported, it moves the arm 8c according to the position information. When the transport device 8 reaches the position of the wastes X, it opens a jig for gripping the wastes X and grabs the wastes X. When the transport device 8 grabs the wastes X, it moves the arm 8c toward the sorting area 10 and transports the wastes X to a predetermined sorting area in the sorting area 10. The transport device 8 includes a weight sensor capable of measuring the weight of the grabbed wastes X. When the transport device 8 grabs the wastes X, it measures the weight of the wastes X. The transport device 8 is not limited to a gantry-type robot, but may be any device, such as a robot arm, that can transport the waste X. Furthermore, a plurality of transport devices 8 may be provided.

[0017] The sorting area 10 has a plurality of sorting areas. In this embodiment, the sorting area includes six sorting areas: a first sorting area 10a in which waste X made of wood is sorted, a second sorting area 10b in which waste X made of metal material is sorted, a third sorting area 10c in which waste X made of resin is sorted, a fourth sorting area 10d in which waste X made of rubber material is sorted, a fifth sorting area 10e in which waste X made of glass material is sorted, and a sixth sorting area 10f in which waste X made of other materials is sorted. However, there may be more than one sorting area, and different sorting areas may be provided according to not only the material but also the size and shape of the waste. In this embodiment, the first sorting area 10a to the third sorting area 10c are provided to the right of the position where the waste X is carried in, and the fourth sorting area 10d to the sixth sorting area 10f are provided on the left side opposite the waste X. By arranging the sorting areas in this way, the transport device 8 can efficiently transport the waste X. However, the sorting areas only need to be provided within a range that the transport device 8 can transport. In addition, each transport area is The device may include a weight sensor that measures the weight of the device.

[0018] Next, the process executed by the control device 6 up to the generation of an electronic manifesto will be described with reference to the flowchart of FIG.

[0019] As shown in Fig. 3, in step S1, the control device 6 detects that the waste X has been placed in a bulk state. The bulk state may be detected, for example, by the control device 6 storing an image of a state in which the waste X is not placed, and comparing the image with a video captured by the camera 2. Alternatively, a weight sensor may be provided at the location where the waste X is placed, and when the weight sensor detects the weight of the waste X, it may be detected that the waste X in a bulk state has been placed. When the control device 6 detects that the waste X in a bulk state has been placed, the process proceeds to step S2.

[0020] In step S2, the control device 6 identifies the graspable waste X. The graspable waste X may be identified, for example, by identifying the waste X at the top from the video captured by the camera 2, and identifying the topmost waste X as the graspable waste. When the control device 6 identifies the graspable waste X, the process proceeds to step S3.

[0021] In step S3, the control device 6 acquires an image of the graspable waste X. The control device 6 operates the camera 2 to capture an image of the waste X. After operating the camera 2, the control device 6 advances the process to step S4.

[0022] In step S4, the control device 6 acquires an image (a moving image in this embodiment) captured by the camera 2. After acquiring the image, the control device 6 advances the process to step S5.

[0023] In step S5, the control device 6 moves the arm 8c to the position of the identified waste X. The control device 6 moves the arm 8c to the position of the identified waste X, and proceeds to step S6.

[0024] In step S6, the control device 6 determines whether or not the arm 8c has gripped the identified waste X. If the control device 6 determines that the arm 8c has gripped the waste X (YES in step S6), the control device 6 proceeds to step S7.

[0025] In step S7, the control device 6 acquires the training data, and the process proceeds to step S8. In step S8, the control device 6 compares the training data with the image of the identified waste X, and the process proceeds to step S9.

[0026] In step S9, the control device 6 searches for waste X in the teacher data that matches the image of the identified waste X at a predetermined matching rate or higher. More specifically, the control device 6 identifies waste X in the teacher data that matches the image of the waste X at a predetermined matching rate (e.g., 90%). Here, the predetermined matching rate is the matching rate with the color and shape stored as the teacher data. When the control device 6 determines that the matching rate between the image of the waste X and the waste X in the teacher data is the predetermined matching rate or higher (step S9 YES), the control device 6 proceeds to step S10.

[0027] In step S10, the control device 6 identifies the type, shape, weight, and destination of the waste X identified from the waste X in the bulk state. Specifically, the control device 6 identifies the type of the identified waste X from the data of the waste X in the teacher data identified in step S9. For example, the control device 6 stores the color and shape of wood as teacher data, and if the image of the waste X identified from the waste X in the bulk state matches the color and shape of wood in the teacher data by 90% or more, the control device 6 determines that the type of the identified waste X is wood. If the control device 6 determines that the identified waste X is wood, it determines the first sorting area 10a (see FIG. 2) to which the wood waste X is transported as the destination. At the same time, the control device 6 acquires the weight of the waste X from the weight sensor. The control device 6 further stores the acquired image as shape data of the waste X. The control device 6 may acquire the size (dimensions) of the identified waste X from the shape data. After the control device 6 identifies the type, shape, weight, and destination of the identified waste X from the waste X in the bulk state, the control device 6 proceeds to step S11.

[0028] In step S11, the control device 6 determines whether or not the transportation of the identified waste X has been completed. The control device 6 may determine that the exhaust of the identified waste X has been completed when the arm 8c transports the identified waste X to the correct transport area and releases the grip. When the control device 6 determines that the transportation of the identified waste X has been completed (YES in step S11), the process proceeds to step S12.

[0029] In step S12, the control device 6 generates a list (an example of a first list). As shown in Fig. 5, the list may be, for example, a list of the type, size, weight, image, waste generator, and transport company of the identified waste X. In order to generate the list, the control device 6 adds these pieces of information about the identified waste X to the list. After generating the list, the control device 6 proceeds to step S13.

[0030] In step S13, the control device 6 judges whether the movement of the bulk waste X has been completed. For example, the control device 6 may judge that the movement of the bulk waste X has been completed when the control device 6 stores an image of a state in which the waste X is not placed and the image matches the video captured by the camera 2. Alternatively, a weight sensor may be provided at the location where the waste X is placed, and the control device 6 may judge that the movement of the bulk waste X has been completed when the weight sensor does not detect the weight of the waste X. If the control device 6 judges that the movement of the bulk waste X has been completed (step S13 YES), the process proceeds to step S14.

[0031] In step S14, the control device 6 counts the total weight of each type of waste X transported to each sorting area. The control device 6 may add up the weight of the identified waste X for each type to count the total weight. Alternatively, the total weight of each type may be counted using a weight sensor provided in each sorting area. After counting the total weight of each type of waste X transported to each sorting area, the control device 6 proceeds to step S15.

[0032] In step S15, the control device 6 generates pre-authentication data for the electronic manifest. Specifically, the control device 6 acquires information according to the input form for the electronic manifest from the list, and generates an electronic manifest (an example of a first list). For example, unlike the list in FIG. 5, the electronic manifest may list the weights of each type of waste X corresponding to the type. After generating the electronic manifest, the control device 6 proceeds to the next step (see A in FIG. 3 and A in FIG. 4).

[0033] If the control device 6 determines in step S6 that the arm 8c is not gripping the identified waste X (step S6 NO), the control device 6 returns to the process of step S4 and continues acquiring images. If the images of the waste X are compared with the teacher data even though the arm 8c is not gripping the identified waste X, there is a risk that a list of waste that has not been transported will be generated. For this reason, the control device 6 continues acquiring images until the identified waste is gripped.

[0034] If the control device 6 determines in step S9 that the matching rate between the waste X in the image and the waste X in the training data is not equal to or higher than a predetermined matching rate (NO in step S9), the control device 6 advances the process to step S16.

[0035] In step S16, the control device 6 generates a type identification screen (an example of an input screen) that allows the user of the waste management system 1 to identify the type, and displays it on the display 4. As shown in Fig. 6, the type identification screen may be a screen that displays waste whose type cannot be identified (waste X in the frame in Fig. 6) and displays an icon for each type next to it to identify the type of waste. The icon may, for example, indicate each sorting area. After generating and displaying the type identification screen, the control device 6 proceeds to step S17.

[0036] In step S16, the control device 6 detects that the user has input type information. The control device 6 records the type information input by the user and proceeds to step S10. In step S12, the control device 6 generates a list from the recorded type information.

[0037] If the control device 6 determines in step S11 that the transport of the identified waste X has not been completed (NO in step S11), the control device 6 proceeds to step S5 and continues moving the arm 8c. If the list is generated even though the transport of the identified waste X has not been completed, there is a risk that the list will be generated for waste that has not been transported. For this reason, the control device 6 does not generate a list until the transport of the identified waste X has been completed.

[0038] If the control device 6 determines in step S13 that the transport of all the waste has not been completed (NO in step S13), the control device 6 advances the process to step S1 and continues the process until the transport of all the waste has been completed.

[0039] Next, the process executed by the control device 6 after the generation of the electronic manifest until the type information input in step S17 is reflected in the teacher data will be described with reference to the flowchart of FIG.

[0040] In step S17, the control device 6 acquires the manifest information (an example of the second list) submitted by the waste generator to the management center. Note that the information on the waste X removed from the waste generator may be listed and registered in the management center, similar to the list in Fig. 5. After acquiring the electronic manifest of the waste generator, the control device 6 proceeds to step S19.

[0041] In step S18, the control device 6 acquires the manifest information (an example of the second list) submitted by the transport company to the management center. Note that, like the waste generator, the transport company's waste may be listed and registered in the management center in the same manner as the list in Fig. 5. After acquiring the transport company's electronic manifest, the control device 6 proceeds to step S20.

[0042] In step S20, the control device 6 determines whether the electronic manifest of the removal company and / or the transport company matches the electronic manifest generated in step S15. If the control device 6 determines that the electronic manifest of the removal company and / or the transport company matches the electronic manifest generated in step S15 (YES in step S20), the control device 6 proceeds to step S21.

[0043] In step S21, the control device 6 determines whether or not type information was input in step S 17. If type information was input (YES in step S21), the control device 6 advances the process to step S22.

[0044] In step S22, the control device 6 adds the type information input in step S17 to the teacher data, and proceeds to step S23.

[0045] In step S23, the control device 6 assigns authentication information to the electronic manifest generated in step S15, transmits it to the management center, and ends the process. Specifically, the control device 6 assigns identification information (ID) to the list generated in step S12 to generate electronic manifest information. Alternatively, the control device 6 may assign identification information to the weight of each type of electronic manifest generated in step S15. The electronic manifest information is information for proving that there is no waste that has not been treated due to illegal dumping or the like between the time the waste is discharged and the time it is disposed of. Therefore, it is preferable that the control device 6 assigns authentication information only when at least one of the electronic manifest registered by the waste generator or the electronic manifest registered by the transporter matches the electronic manifest generated in step S15.

[0046] If the control device 6 determines in step S20 that the electronic manifest of the removal company and / or the transport company does not match the electronic manifesto generated in step S15 (NO in step S20), the control device 6 advances the process to step S24.

[0047] In step S24, the control device 6 generates a warning screen, transmits it to the display 4 for display, and proceeds to step S25. If the electronic manifest of the removal company and / or transport company does not match the electronic manifest generated in step S15, there is a possibility that the type information entered in step S17 was incorrect. Therefore, the control device 6 displays candidates for erroneous input in step S26 on the display 4, and proceeds to step S26. The control device 6 may obtain differences between the electronic manifest of the removal company and / or transport company and the electronic manifest generated in step S15, and determine that the type information entered in step S17 that corresponds to the differences is a candidate for erroneous input.

[0048] In step S25, the control device 6 determines whether or not a correction to the category information has been input. If a correction to the category information has been input (step S26: YES), the control device 6 proceeds to step S20 and determines whether or not the corrected electronic manifesto matches the electronic manifesto of the removal company and / or the transport company.

[0049] If no correction to the type information has been input (NO in step S26), the control device 6 advances the process to step S24 and prompts the user to input.

[0050] As described above, according to the waste management system 1 of the present disclosure, the control device 6 can manage waste while sorting it.

[0051] Furthermore, according to the waste management system 1 of the present disclosure, the control device 6 generates electronic manifest information, which leads to a paperless system.

[0052] Furthermore, according to the waste management system 1 of the present disclosure, the sorting process in the waste treatment process can be automated using the transport device 8, allowing for safe waste sorting and resolving labor shortages.

[0053] Furthermore, waste disposal businesses that introduce such a waste management system 1 can be proven to be carrying out proper waste disposal through the authentication information in the electronic manifest information. This makes it easier for them to gain the trust of waste generating businesses as good waste disposal businesses.

[0054] <Other embodiments> Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the invention.

[0055] For example, in the first and second embodiments, the camera control computer 4a, the control device 6, and the processes of the steps executed by the control device 6 may be executed by different computers. That is, which computer executes the processes from step S1 to step S39 may be changed as appropriate. [Explanation of symbols]

[0056] 1: Waste management system 2: Camera 4: Display 6: Control device 8c: Arm 10: Sorting area

Claims

1. A waste management system for managing waste, comprising: A control device capable of acquiring an image of the placed waste, The control device includes: Identifying the type of waste based on the image; generating a first list including the identified types; Waste management systems.

2. Further comprising an arm capable of acquiring the waste material, The control device stores teacher data that can identify the type of waste, The control device identifies the waste material to be acquired by the arm, Acquire an image of the identified waste; comparing the image with the training data, identifying the type of the waste, and generating the first list; The waste management system of claim 1.

3. The control device compares the image with the teaching data, and if the type of the waste cannot be identified, generates an input screen on which the type of the waste can be input. The waste management system of claim 2.

4. Further comprising a plurality of sorting areas according to the types of waste, The control device moves the arm to transport the waste to a sorting area corresponding to the type of the waste, generating the first list when the waste is delivered to the sorting area; The waste management system of claim 1.

5. The control device obtains a second list that is different from the first list and that includes the type of waste; Matching the first list with the second list; When at least type information of the first list and the second list matches, providing authentication information to the first list; The waste management system of claim 1.

6. updating the teacher data when at least type information of the first list and the second list coincide with each other; The waste management system of claim 5.

7. The control device has a step of generating electronic manifest information. A waste management system according to any one of claims 1 to 6.

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