Waste material processing system

Abstract

To remove foreign objects more properly when a waste material is regenerated.SOLUTION: A waste material processing system of the disclosure places a waste material on a transport surface of a transport part to transport the waste material in a transport line and regenerate the waste material. The waste material processing system includes a detection part which is disposed at the downstream side of a removal area where foreign objects contained in the waste material are removed in the transport line and detects foreign objects remaining in the transported waste material.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This specification discloses a waste material processing system. [Background technology]

[0002] Conventionally, in a waste material processing system for regenerating roadbed materials, etc., waste materials to be recycled and foreign objects not to be recycled are transported in a mixed state by a transport device such as a conveyor. In such a waste material processing system, for example, a system has been proposed in which foreign objects contained in the waste materials are removed by wind sorting using discharged air (see, for example, Patent Document 1, etc.). In such a waste material processing system, a foreign object removal device has been proposed that rotates a support shaft arranged above the belt conveyor along the transport direction of the waste materials and scrapes out foreign objects into scrap chutes formed on both sides of the belt conveyor with a comb-like scraping comb (see, for example, Patent Document 2). When this foreign object removal device detects a foreign object, it stops the belt conveyor, drives the scraping comb, and removes the foreign object from the belt conveyor. In addition, in a waste material processing system, a system has been proposed that has a crushing device that crushes the waste materials and a conveyor that transports the waste materials, and issues an alarm to the surroundings before the crusher is started (see, for example, Patent Document 3). This waste disposal system is said to be able to give workers advance notice when the equipment is about to start up, thereby preventing danger. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-000172 [Patent Document 2] Japanese Utility Model Application Publication No. 55-140022 [Patent Document 3] Japanese Patent Application Publication No. 11-156227 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the waste material processing systems of Patent Documents 1 and 2, it is unclear whether the removal of foreign matter has been successful, and even if foreign matter remains, the reason for this is unclear, and no method of dealing with it is known. In addition, in the waste material processing systems of Patent Documents 1 and 2, no special consideration is given to the removal of foreign matter, and there is a need to improve the efficiency of removing foreign matter. In addition, in the waste material processing system of Patent Document 3, a warning can be issued to the worker, but a special warning device is required just to warn the worker.

[0005] The present disclosure has been made to solve such problems, and has as its main objective the provision of a waste material processing system that can more appropriately remove foreign matter when regenerating waste materials.

[0006] In order to achieve the above-mentioned main object, the present disclosure has adopted the following means.

[0007] The waste material processing system disclosed in this specification is A waste material processing system that recycles waste materials by transporting the waste materials in a transport line by placing the waste materials on a transport surface of a transport section, a detection unit disposed downstream of a removal area for removing foreign matter contained in the waste material in the transport line, the detection unit detecting foreign matter remaining in the waste material being transported; It is equipped with the following:

[0008] In this waste material processing system, foreign matter can be removed more appropriately when recycling waste materials. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10. [Diagram 2] FIG. 1 is a perspective view showing an example of a schematic configuration of a waste material processing system 30. [Diagram 3] FIG. 4 is an explanatory diagram showing an example of execution condition information 53 stored in a storage unit 52. [Figure 4] FIG. 4 is an explanatory diagram showing an example of history information 60 stored in a storage unit 52. [Diagram 5]11 is a flowchart showing an example of an attention action execution processing routine. [Figure 6] FIG. 4 is an explanatory diagram showing an example of a caution operation performed by the waste material processing system 30. [Figure 7] 10 is a flowchart showing an example of a waste material processing execution recording routine. [Figure 8] 4 is a flowchart showing an example of an execution condition setting and execution processing routine. [Figure 9] FIG. 7 is an explanatory diagram showing an example of a recognition image 70 and a detection image 71 during waste material processing. [Figure 10] 11 is a flowchart showing an example of an analysis processing routine. [Figure 11] FIG. 13 is an explanatory diagram showing an example of a schematic configuration of another waste material processing system 30B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10. FIG. 2 is a perspective view showing an example of a schematic configuration of a waste material processing system 30. FIG. 3 is an explanatory diagram showing an example of execution condition information 53 stored in a storage unit 52. FIG. 4 is an explanatory diagram showing an example of history information 60 stored in a storage unit 52. In this embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIGS. 1 and 2. In this embodiment, the direction in which the waste material 12 is transported is referred to as a transport direction D.

[0011] The waste material 12 processed in the recycling system 1 is a mixture of objects 13 to be recycled, such as stones, sand, and concrete, and foreign objects 14, including paper, resin, wood, metal, etc. As shown in Fig. 1, the recycling system 1 includes a primary crusher 15, a primary magnetic separator 16, a screening machine 17, a waste material processing system 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying sections 20-25.

[0012] The primary crusher 15 is a device that performs primary crushing of the waste material 12, which is the raw material. The primary crusher 15 crushes the waste material 12 to a predetermined primary size or less (for example, 40 cm or less). The primary magnetic separator 16 is a device that removes magnetic foreign matter contained in the waste material 12 by magnetic force. The screener 17 is a device that separates the waste material 12 into the primary size or more and the waste material 12 less than the primary size, for example, by passing the waste material 12 over a mesh. The secondary crusher 18 is a device that performs secondary crushing of the waste material 12 into a size smaller than that of the primary crusher 15. The secondary crusher 18 crushes the waste material 12 to a predetermined secondary size or less (for example, 10 cm or less). The secondary magnetic separator 19 is a device that removes magnetic material from the waste material 12 that could not be completely removed by the primary magnetic separator 16 and the waste material processing system 30.

[0013] The conveying sections 20-25 as the conveying lines are devices that place the waste material 12 on a conveying surface and convey it along the conveying direction D, and are configured as, for example, a belt conveyor. Note that the conveying sections 20-25 may be configured as anything other than a belt conveyor as long as they convey the waste material 12.

[0014] The waste material processing system 30 is a system that places the waste material 12 on the conveying surface of the conveying unit 22, conveys the waste material 12 within a conveying line, removes foreign matter 14, and recycles the waste material 12. As shown in Fig. 2, the waste material processing system 30 includes the conveying unit 22, a recognition unit 32, a detection unit 37, a removal unit 40, and a control device 50. The conveying unit 22 places the waste material 12 on the conveying surface, and conveys the waste material 12 on the conveying line at a conveying speed set as an execution condition.

[0015] The recognition unit 32 is disposed upstream of a removal area 35 that removes foreign objects 14 contained in the waste material 12 in the conveying line, and is a device that recognizes foreign objects 14 contained in the waste material 12. The recognition unit 32 is disposed on a support member 31 provided above a recognition area 34 that recognizes the target object 13 and foreign objects 14 contained in the waste material 12. The recognition unit 32 has a recognition imaging unit 33 that captures an image of the conveying line and obtains a recognition image. The recognition imaging unit 33 is a camera that captures still images or videos of the recognition area 34. The recognition imaging unit 33 captures images of the waste material 12 at regular intervals from above the conveying surface of the conveying unit 22, and outputs image data of the captured recognition image to the control device 50. The recognition unit 32 may also include one or more of an InGaAs sensor, an infrared thermography, a polarization camera, a hyperspectral camera, and a terahertz camera. The InGaAs sensor is a sensor that can identify objects and their types based on differences in reflection spectrum. Infrared thermography can identify objects and their types based on differences in thermal properties. Polarized cameras obtain differences in the shapes of object surfaces as polarization information and identify the characteristics of the object. Hyperspectral cameras can identify objects and their types based on differences in a wider range of reflection spectra. Terahertz cameras use electromagnetic waves that are intermediate between infrared and radio waves, have high penetration rates, and can recognize the inside of objects. The recognition unit 32 is configured to be able to recognize the location and material of the foreign object 14.

[0016] The detection unit 37 is disposed downstream of the removal area 35 and is a device for detecting the foreign matter 14 remaining in the waste material 12 being transported. The detection unit 37 is disposed on a support member 36 provided above a detection area 39 for recognizing the target object 13 and the foreign matter 14 contained in the waste material 12. The detection unit 37 has a detection imaging unit 38 that captures an image of the transport line and obtains a detection image. The detection imaging unit 38 is a camera that captures a still image or a video of the detection area 39. The detection imaging unit 38 captures an image of the waste material 12 at regular intervals from above the transport surface of the transport unit 22 and outputs image data of the captured detection image to the control device 50. The detection unit 37 may have a configuration similar to that of the recognition unit 32. The detection unit 37 may include one or more of the above-mentioned InGaAs sensor, infrared thermography, polarization camera, hyperspectral camera, and terahertz camera. The detection unit 37 is configured to be able to recognize the location of the foreign matter 14 and its material.

[0017] The removal unit 40 is a device that is disposed in the removal area 35 and performs an operation of removing the foreign matter 14 contained in the waste material 12. The removal unit 40 may have an arm robot 41. For example, as shown in FIG. 2, the arm robot 41 includes a first arm 42, a second arm 43, a base 44, and a tip 45. The arm robot 41 is configured as, for example, a 5-axis or 6-axis articulated robot and is configured to be able to move an object in the removal area 35. The tip 45 is configured as an end effector and has a gripping member, and the gripping member performs a gripping operation to grip an object such as the foreign matter 14. The arm robot 41 receives a command from the control device 50 and performs an operation according to a predetermined execution condition.

[0018] The control device 50 is a device that controls the entire waste material processing system 30, and includes a control unit 51, a storage unit 52, a display unit 56, an input unit 57, and a communication unit 58. The control unit 51 is configured as a microprocessor centered on a CPU, and controls the entire device. The control unit 51 has a function of a processing unit that performs a process of storing removal information regarding the status of foreign matter removal in the removal area in the storage unit 52. The control unit 51 also has a function as an execution unit that causes predetermined operation units including one or more of the transport units 20 to 25 and the removal unit 40 to perform a predetermined caution operation. Furthermore, the control unit 51 has a function as a control unit that sets the operation conditions of the removal unit 40 and controls the removal unit 40 under the set operation conditions. The storage unit 52 is a storage medium that stores information, and is configured, for example, by a HDD or a flash memory. The display unit 56 is a display that displays and outputs images, characters, symbols, and the like. The input unit 57 is a device that has, for example, a keyboard and a mouse, and is used by an operator to input commands to the control device 50. The communication unit 58 is an interface for communicating with external devices.

[0019] The storage unit 52 stores execution condition information 53, history information 60, and the like. As shown in FIG. 3, the execution condition information 53 is information used when setting the operation conditions of the operation units including the removal unit 40 and the transport unit 22 according to the material and weight of the foreign object 14. The execution condition information 53 sets an operation condition for operating the removal unit more quickly as the material of the foreign object 14 is lighter. The execution condition information 53 also sets an operation condition for operating the removal unit 40 more quickly as the weight of the foreign object 14 is lighter. Similarly, the execution condition information 53 sets an operation condition for operating the removal unit 40 more slowly as the material of the foreign object 14 is heavier. The execution condition information 53 also sets an operation condition for operating the removal unit 40 more slowly as the weight of the foreign object 14 is heavier. The control unit 51 can, for example, obtain information on the material and area of ​​the foreign object 14, i.e., the area, by image analysis, and derive the weight of the foreign object 14 by multiplying the weight per unit volume according to the material by the area as the volume.

[0020] The storage unit 52 stores history information 60. The history information 60 is data including information on the situation when the removal unit 40 removed the foreign matter 14. As shown in FIG. 4, the history information 60 may include content information 61, remaining information 62, removal information 63, and work condition information 64. In the history information 60, the above information obtained from the recognition image 70 (see FIG. 9) captured by the recognition unit 32 and the detection image 71 captured by the detection unit 37 is recorded in association with each timing (#1 to #n) of the processing progress. The content information 61 includes information on the foreign matter 14 contained in the waste material 12 recognized by the recognition unit 32. The content information 61 includes information such as the number of foreign matters 14 contained in the waste material 12 at the time of the processing progress, the number, material, weight, location, shape, etc. The remaining information 62 includes information on the foreign matter 14 remaining in the waste material 12 detected by the detection unit 37. The remaining information 62 includes, for example, the number of foreign bodies 14 remaining after the removal of the foreign bodies 14 by the removal unit 40 and information on their positions. The removal information 63 includes information on the foreign bodies 14 removed from the waste material 12, detected by the detection unit 37 and obtained from the remaining information 62. The removal information 63 includes, for example, success information on whether the removal of the foreign bodies 14 was successful, removal position information on the position where the foreign bodies 14 were removed, the number of removed bodies, and other information. The removal information 63 includes information evaluating the situation when the removal unit 40 removed the foreign bodies 14. The information on the evaluation result includes, for example, removal rate information on the removal of the foreign bodies 14 by the removal unit 40 and information on the removal efficiency when the foreign bodies 14 were removed. Note that the removal information 63 and the remaining information 62 may be omitted as they are differences from the content information 61.

[0021] The work condition information 64 includes information on various situations when the removal unit 40 worked. The work condition information 64 includes, for example, waste material amount information, foreign matter amount information, operating condition information, as well as work time information, work sequence information, and work trajectory information. The waste material amount information is information on the amount of waste material 12 being transported to the transport unit 22. The foreign matter amount information is information on the amount of foreign matter 14 being transported to the transport unit 22. The operating condition information is information on the operating conditions of the removal unit 40 when the removal unit 40 removes the foreign matter 14. The work time information is information on the work time required for the removal unit 40 to remove the foreign matter 14. The work sequence information is information on the order in which the removal unit 40 worked when removing the foreign matter 14. The work trajectory information is information on the operation trajectory that the removal unit 40 moved when removing the foreign matter 14. The history information 60 is used as a guideline for whether the current operation of the waste material processing system 30 is within a normal range, etc.

[0022] Next, the operation of the waste material processing system 30 thus configured will be described. First, the process when the recycling system 10 is started will be described using the waste material processing system 30. FIG. 5 is a flow chart showing an example of a caution operation execution processing routine executed by the control unit 51 of the control device 50. FIG. 6 is an explanatory diagram showing an example of a caution operation by the waste material processing system 30. The caution operation execution processing routine is stored in the memory unit 52 of the control device 50, and is executed by the control unit 51 when the recycling system 10 or the waste material processing system 30 is started. When this routine is started, the control unit 51 causes the operation unit that executes a predetermined operation, such as the conveying unit 22 or the removing unit 40, to execute a repetitive operation within a predetermined movable range as a caution activation operation. The movable range is set to a safe range such that, for example, even if there is a worker in the vicinity, the worker will not be caught in the operation of the operation unit. When the caution activation operation is executed, the operation unit emits an operation sound. Next, the control unit 51 determines whether a predetermined caution time has elapsed (S110). Here, the "warning time" may be set to a time (e.g., 5 seconds or 10 seconds) that allows the worker to recognize that the recycling system 10 or the waste material processing system 30 is about to start up. When the warning time has not elapsed, the control unit 51 executes the process of S100. That is, the control unit 51 continues the repetitive action within a predetermined movable range. On the other hand, when the warning time has elapsed in S110, the control unit 51 ends the repetitive action, transitions to normal waste material 12 processing work (S120), and ends this routine.

[0023] As shown in FIG. 6, when the operating unit of the waste material processing system 30 performs a repetitive operation, the worker M can detect the operation sound audibly and can also visually detect the operation of the operating unit. In the recycling system 10, automation using a robot is attempted, but the work of the worker M is also required. Generally, in such a recycling system 10, from the viewpoint of the safety of the worker M, a safety fence is provided, and when the worker M is inside the fence, measures such as preventing the power supply from being turned on or providing a speaker to emit a warning sound are taken. However, even with such safety measures, the worker M may be in the vicinity of the operating unit, and the measures are not sufficient. In addition, in the recycling system 10, the configuration may be complicated due to the installation of a safety fence, control of the power supply, installation of a speaker, etc. In this recycling system 10, when the system is started, the operating unit performs a safe repetitive operation during the attention warning time, so that the worker M can take safety measures such as moving away from the operating unit without requiring a special configuration.

[0024] Next, a process of removing foreign matter 14 from waste material 12 by waste material processing system 30 and a process of recording the history of the process will be described. FIG. 7 is a flow chart showing an example of a waste material processing execution recording routine executed by control unit 51 of control device 50. FIG. 8 is a flow chart showing an example of an execution condition setting and execution processing routine executed by control unit 51 of control device 50. FIG. 9 is an explanatory diagram showing an example of a recognition image 70 and a detection image 71 when processing waste material 12. The waste material processing execution recording routine is stored in memory unit 52, and is executed after waste material processing system 30 is started up.

[0025] When this routine is started, the control unit 51 drives the transport unit 22 based on the execution conditions (S200), causes the recognition unit 32 to capture a recognition image 70, and causes the detection unit 37 to capture a detection image 71 (S210). The captured image is stored, for example, in the storage unit 52. Next, the control unit 51 executes a process of recognizing the target object 13 as well as the foreign object 14 using the recognition image 70 (S220). The control unit 51 recognizes the position of the foreign object 14 using the function of the recognition unit 32. Next, the control unit 51 determines whether or not the foreign object 14 exists (S230), and if the foreign object 14 exists, sets the removal order based on the position of the foreign object 14 (S240). For example, when there is one or more foreign objects 14 in the recognition image 70, the control unit 51 may assign numbers to the foreign objects 14 in order from the object closest to the removal unit 40.

[0026] After S240, the control unit 51 executes an execution condition setting and execution processing routine shown in FIG. 8 (S250). This routine is stored in the memory unit 52 and is executed by the control unit 51. When this routine is started, the control unit 51 first sets the foreign object 14 to be removed (S400). The control unit 51 can set the foreign object 14 to be removed based on the removal order described above. Next, the control unit 51 uses the function of the recognition unit 32 to determine the type and weight of the foreign object 14 to be removed (S410). The weight of the foreign object 14 can be roughly calculated, for example, from the weight per unit volume determined according to the type and the area of ​​the region of the foreign object 14.

[0027] Next, the control unit 51 sets the execution conditions of the operation unit including the removal unit 40 using the execution condition information 53 according to the type and weight of the foreign object 14 (S420). Based on the setting of the execution condition information 53, the control unit 51 sets the execution conditions so that, for example, the lighter the material of the foreign object 14, the faster the operation speed, and the heavier the material of the foreign object 14, the slower the operation speed. When the weight of the foreign object 14 is light, it is desirable from the viewpoint of processing efficiency that the removal unit 40 moves the foreign object 14 at a higher speed according to the inertia, etc. Also, when the weight of the foreign object 14 is heavy, it is desirable to move the removal unit 40 at a lower speed according to the inertia, etc., from the viewpoint of the risk of the foreign object 14 falling or the arm robot 41 being damaged. In this way, the control unit 51 sets the execution conditions according to the foreign object 14.

[0028] Next, the control unit 51 operates the removal unit 40 under the set execution conditions (S430). The removal unit 40 operates under execution conditions suitable for the material and weight of the foreign object 14, and removes the foreign object 14 from the conveying line. The control unit 51 then determines whether or not there is a foreign object 14 to be removed next (S440), and if there is a foreign object 14 to be removed next, executes the processes from S400 onwards. That is, the control unit 51 sets the foreign object 14 to be removed next, sets execution conditions according to the type and weight of the foreign object 14, and operates the removal unit 40 under the set execution conditions. On the other hand, if there is no foreign object 14 to be removed next in S440, the control unit 51 ends this routine.

[0029] After executing the execution condition setting and execution process routine in S250, the control unit 51 reads out and acquires the recognition image 70 corresponding to the captured detection image 71 (S260). Here, the control unit 51 calculates the time from the transport speed, and acquires the recognition image 70 including the same object 13 as the detection image 71 from the storage unit 52 (see FIG. 9). Next, the control unit 51 acquires the execution conditions and execution status of the removal unit 40 and the transport unit 22 when the image was captured by the detection unit 37 (S270). The execution conditions include the operating conditions, and the execution status includes the amount of waste material being transported, the amount of foreign matter, the order of removal of the foreign matter 14, the operation time, the movement trajectory of the removal unit 40, and the like. Next, the control unit 51 acquires the content information regarding the foreign matter 14 included in the recognition image 70 (S280). The content information includes the number, material, weight, and position of the foreign matter 14 included in the recognition image 70, and the like. Next, the control unit 51 acquires remaining information and removal information regarding the foreign matter 14 contained in the detection image 71 (S290). The remaining information includes the number of foreign matter 14 remaining in the detection image 71, their remaining positions, etc. The removal information includes information on whether the removal of the foreign matter 14 was successful or unsuccessful, the removal positions, the number of removed foreign matter, etc.

[0030] After S290, the control unit 51 derives removal rate information, efficiency information, and success information (S300). The removal rate can be calculated from the number of foreign bodies 14 that existed before removal and the number of foreign bodies 14 that remain after removal. The removal efficiency can be calculated as the number of foreign bodies 14 removed per unit time from the work time and the number of removed bodies. The success information can be, for example, success when the foreign bodies 14 are removed, and failure in removing the foreign bodies 14 when the foreign bodies 14 remain and their positions have changed. Next, the control unit 51 associates the foreign body amount information, waste material amount information, sequence information, trajectory information, and condition information with the content information, removal information, and remaining information, and further the removal rate information and efficiency information with the number of the processing elapsed time (S310). By this association, the content information 61, removal information 63, remaining information 62, and work condition information 64 are associated with each other as shown in FIG. 4.

[0031] After S310 or when there is no foreign matter 14 in S230, the control unit 51 updates the history information 60 (S320). When there is a foreign matter 14, the control unit 51 executes a process of including the associated inclusion information 61, removal information 63, remaining information 62, and work condition information 64 in the history information 60 and storing them in the storage unit 52. That is, the control unit 51 acquires information about the foreign matter 14 contained in the waste material 12, and executes a process of storing the inclusion information 61 before the removal of the foreign matter 14, the removal information 63 and remaining information 62 related to the state of the foreign matter removal in the removal area 35 in the storage unit 52. The control unit 51 also adds information such as the execution conditions and execution state of the removal unit 40 to these pieces of information. When there is no foreign matter 14, the control unit 51 stores information that there was no foreign matter 14 in the history information 60. After S320, the control unit 51 judges whether or not the processing of all the waste materials 12 has been completed (S330), and if the processing of all the waste materials 12 has not been completed, executes the processing from S210 onwards. That is, the recognition unit 32 and the detection unit 37 take images, and if there is a foreign object, it removes it under execution conditions according to its material and weight, and stores in the history information 60 whether the removal was successful or whether any foreign object 14 remains. On the other hand, when the processing of all the waste materials 12 has been completed in S330, this routine ends. In this way, the control unit 51 updates the history information 60 while controlling the removal unit 40 to remove the foreign object 14.

[0032] Next, a process of analyzing whether the removal process of the foreign matter 14 by the waste material processing system 30 is appropriate using the history information 60 will be described. FIG. 10 is a flow chart showing an example of an analysis process routine executed by the control unit 51 of the control device 50. This routine is stored in the storage unit 52, and is executed after the operator inputs an execution command through the input unit 57. When this routine is executed, the control unit 51 first reads and acquires the history information 60 from the storage unit 52 (S500), and judges whether or not there is any foreign matter 14 remaining in the waste material 12 (S510). When there is any remaining foreign matter 14, the control unit 51 analyzes the mass, position, waste material amount at that time, foreign matter amount, and other trends of the foreign matter 14 (S520), and judges whether or not the remaining foreign matter 14 can be eliminated by lowering the operating conditions of the conveying unit 22 (S530). The control unit 51 can make this judgment, for example, when multiple foreign matters 14 are mixed in the waste material 12, based on the relationship between the conveying speed of the conveying unit 22 and the removal efficiency. In addition, when making this determination, the control unit 51 may take into consideration the movement trajectory of the removal unit 40, the order of removal, the material of the foreign object 14, the amount of waste material, the amount of foreign object, and the like. When the remaining foreign object 14 can be eliminated by lowering the operating conditions of the transport unit 22, the control unit 51 proposes changing the operating conditions of the transport unit 22 (S530). The control unit 51, for example, displays and outputs an image including the lowering of the operating conditions of the transport unit 22 on the display unit 56. On the other hand, when the remaining foreign object 14 cannot be eliminated by lowering the operating conditions of the transport unit 22, the control unit 51 proposes expanding or changing the removal unit 40 (S540). When it is determined that the operation of the transport unit 22 is lowered, that is, that the foreign object 14 cannot be completely removed even by moving the foreign object 14 slowly, the control unit 51 proposes increasing the removal unit 40. When the removal of a foreign object 14 of a specific material fails, the control unit 51 may propose changing the end effector, or the like.

[0033] After S540, or after S530, or if there is no foreign object 14 remaining in S510, the control unit 51 determines whether there is an inquiry about maintenance of the removal unit 40 (S550). The inquiry about maintenance is input by the operator when starting this routine. When there is an inquiry about maintenance, if there is a foreign object 14 that has not been successfully removed, the process content of the foreign object 14 is excluded and the maintenance time of the removal unit 40 is derived (S560), and the information about the derived maintenance time is displayed and output on the display unit 56 (S570). When the removal unit 40 actually moves the foreign object 14, for example, a heavy object, the device is worn out. Therefore, if the movement of the foreign object 14 fails, the removal unit 40 hardly suffers such wear. The control unit 51 can derive a more appropriate maintenance time by taking into account the failure to remove the foreign object 14. After S570, or if there is no inquiry about maintenance in S550, the control unit 51 ends this routine.

[0034] Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The waste material processing system 30 of this embodiment corresponds to the waste material processing system of this disclosure, the conveying unit 22 corresponds to the conveying unit and the operating unit, the detecting unit 37 corresponds to the detecting unit, the detecting and imaging unit 38 corresponds to the detecting and imaging unit, the recognizing unit 32 corresponds to the recognizing unit, the recognizing and imaging unit 33 corresponds to the recognizing and imaging unit, the removing unit 40 corresponds to the removing unit and the operating unit, the arm robot 41 corresponds to the arm robot, the memory unit 52 corresponds to the memory unit, and the control unit 51 corresponds to the processing unit, the executing unit, and the control unit. In addition, the waste material 12 corresponds to the waste material, the foreign matter 14 corresponds to the foreign matter, the removal area 35 corresponds to the removal area, the content information 61 corresponds to the content information, the remaining information 62 corresponds to the remaining information, the recognition image 70 corresponds to the recognition image, and the detection image 71 corresponds to the detection image.

[0035] The above-described waste material processing system 30 is a waste material processing system that transports the waste material 12 on the transport surface of the transport section 22 in a transport line and regenerates the waste material 12. The waste material processing system 30 is provided downstream of a removal area 35 in which foreign objects 14 contained in the waste material 12 are removed in the transport line, and includes a detection section 37 that detects foreign objects 14 remaining in the transported waste material 12. By using the waste material processing system 30, the worker M can obtain information about the foreign objects 14 remaining after removing the foreign objects 14 from the waste material 12, such as information about the number, size, and shape, and can improve the removal process in the removal area 35 based on the information. Therefore, in the waste material processing system 30, the removal of the foreign objects 14 can be more appropriately performed when the waste material 12 is regenerated. The waste material processing system 30 also includes a control section 51 that obtains information about the foreign objects 14 remaining in the waste material 12 from the detection section 37 and stores removal information 63 about the status of the foreign object removal in the removal area 35 in the storage section 52. In this waste material processing system 30, by storing removal information 63 relating to the status of foreign matter removal in the removal area 35 in the storage unit 52, the worker M can utilize the removal information 63. Then, the worker M can use the removal information 63 to improve the removal process in the removal area 35.

[0036] The control unit 51 also obtains content information 61 on the foreign matter 14 contained in the waste material 12 from the recognition unit 32, which is disposed upstream of the removal area 35 and recognizes the foreign matter 14 contained in the waste material 12, and obtains remaining information 62 on the foreign matter 14 remaining in the waste material 12 from the detection unit 37. Using the content information 61 and remaining information 62, the control unit 51 obtains removal information 63 including one or more of removal rate information on the removal rate of the foreign matter, removal position information on the removal position of the foreign matter, success information on the success or failure of the removal of the foreign matter, and efficiency information on the removal efficiency of the foreign matter. In this waste material processing system 30, it is possible to grasp the presence of foreign matter before and after the removal area 35 and the status of the removal of the foreign matter, and it is possible to improve the removal process in the removal area 35 by using one or more of the removal rate information, removal position information, success information, and efficiency information obtained thereby. As a result, in this waste material processing system 30, it is possible to more appropriately remove the foreign matter.

[0037] The recognition unit 32 has a recognition imaging unit 33 that images the conveying line and obtains a recognition image 70, the detection unit 37 has a detection imaging unit 38 that images the conveying line and obtains a detection image 71, and the control unit 51 obtains the recognition image 70 corresponding to the detection image 71 based on the conveying speed of the conveying line to obtain the content information 61 and the remaining information 62, and obtains the removal information 63 including one or more of the removal rate information, the removal position information, the success information, and the efficiency information. In this waste material processing system 30, information on the foreign matter 14 can be obtained more easily by using the captured image. Furthermore, the control unit 51 obtains one or more of the foreign matter amount information on the amount of the foreign matter 14 being conveyed to the conveying unit 22 and the waste material amount information on the amount of the waste material 12 being conveyed to the conveying unit 22, and stores the information in the storage unit 52 in association with the removal information 63. In this waste material processing system 30, the removal process in the removal area 35 can be improved using the foreign matter amount information and the waste material amount information, and as a result, the removal of the foreign matter 14 can be more appropriately performed.

[0038] The waste material processing system 30 also includes a removal unit 40 that is disposed in the removal area 35 and removes foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires information about the foreign matter 14 remaining in the waste material 12 from the detection unit 37 and acquires removal information 63 about the status of foreign matter removal in the removal area 35, and the control unit 51 acquires one or more of work sequence information about the order in which the removal unit 40 operates to remove the foreign matter 14, work trajectory information about the removal operation trajectory, and operating condition information about the operating conditions of the removal unit, and stores the information in the storage unit 52 in association with the removal information 63. In this waste material processing system 30, the removal process in the removal area 35 can be improved using the work sequence information, work trajectory information, operating condition information, etc., and as a result, the removal of the foreign matter 14 can be more appropriately performed.

[0039] The waste material processing system 30 also includes a removal unit 40 that is disposed in the removal area 35 and removes foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires information about the foreign matter 14 remaining in the waste material 12 from the detection unit 37 and acquires removal information 63 about the status of foreign matter removal in the removal area 35. The control unit 51 acquires remaining information 62 about the foreign matter 14 remaining in the waste material 12 from the detection unit 37 and sets the timing of maintenance of the removal unit 40 according to the remaining information 62. The removal unit 40 is subject to wear and tear, for example, when the foreign matter 14 is actually removed, but is less likely to be worn out when the removal of the foreign matter 14 fails. In this waste material processing system 30, the remaining information 62 is used to further suppress excessive maintenance and perform more appropriate maintenance.

[0040] The waste material processing system 30 is provided with a removal unit 40 disposed in the removal area 35, which removes foreign matter 14 contained in the waste material 12, and a control unit 51 which causes a predetermined operating unit, including the transport unit 22 and / or the removal unit 40, to execute a predetermined caution operation before the waste material processing system 30 executes the recycling process of the waste material 12. In this waste material processing system 30, a predetermined operating unit is caused to execute a predetermined caution operation before the waste material processing system 30 executes the recycling process of the waste material 12. This allows the worker M to recognize that the waste material processing system 30 is about to start operating. Therefore, in this waste material processing system 30, for example, no equipment such as an alarm device is required, and the safety of the worker M can be improved when recycling the waste material 12 while suppressing the complication of the configuration.

[0041] The waste material processing system 30 also includes a removal unit 40 disposed in the removal area 35 for removing foreign matter 14 contained in the waste material 12, a recognition unit 32 disposed upstream of the removal area 35 for removing foreign matter 14 contained in the waste material 12 in the conveying line for recognizing foreign matter 14 contained in the waste material 12, and a control unit 51 for acquiring foreign matter information on the amount and / or material of the foreign matter 14 from the recognition unit 32, setting operating conditions for the removal unit 40 based on the foreign matter information, and controlling the removal unit 40 under the set operating conditions. In this waste material processing system 30, the removal unit 40 can be controlled under operating conditions according to the amount and material of the foreign matter 14, so that the removal of the foreign matter 14 can be more efficiently performed when recycling the waste material 12.

[0042] The control unit 51 also performs one or more of the following: setting an operating condition for operating the removal unit 40 more quickly as the material of the foreign object 14 is lighter; setting an operating condition for operating the removal unit 40 more quickly as the weight of the foreign object 14 obtained from the information on the material and area of ​​the foreign object 14 is lighter; setting an operating condition for operating the removal unit 40 more slowly as the material of the foreign object 14 is heavier; setting an operating condition for operating the removal unit 40 more slowly as the weight of the foreign object 14 obtained from the information on the material and area of ​​the foreign object 14 is heavier. In this waste material processing system 30, the removal unit 40 can be operated quickly or slowly depending on the amount and material of the foreign object 14, thereby reducing the load on the removal unit 40 and increasing the removal success rate, such as dropping the foreign object 14. In this way, in this waste material processing system 30, the removal of the foreign object 14 can be performed more efficiently when recycling the waste material 12. Furthermore, as a warning operation, the control unit 51 causes the operating unit to perform a repetitive operation within a predetermined movable range for a predetermined warning time, and then performs recycling processing of the waste material 12. In this waste material processing system 30, the repetitive operation of the operating unit can make the worker M aware that the waste material processing system 30 is about to start operating. Furthermore, since the removal unit 40 has an arm robot 41, in this waste material processing system 30, the foreign object 14 can be removed by the arm robot 41.

[0043] It goes without saying that the present disclosure is in no way limited to the above-described embodiment, and can be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0044] For example, in the above embodiment, the control unit 51 acquires the removal information 63 including removal rate information on the removal rate of the foreign matter 14, removal position information on the removal position of the foreign matter 14, success information on the success or failure of the removal of the foreign matter 14, and efficiency information on the removal efficiency of the foreign matter 14, but these are merely examples and are not limited to these, and one or more of these pieces of information may be omitted, or other information may be added. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0045] In the above-described embodiment, the recognition unit 32 has the recognition image capturing unit 33, the detection unit 37 has the detection image capturing unit 38, and the recognition image 70 corresponding to the detection image 71 is acquired based on the conveying speed of the conveying unit 22, but this is not particularly limited. For example, the recognition unit 32 and the detection unit 37 may be synchronized to acquire the recognition image 70 corresponding to the detection image 71 without using the conveying speed. In addition, the recognition unit 32 and the detection unit 37 are described as intermittently capturing still images of the object conveyed by the conveying unit 22, but may be described as continuously capturing moving images. In addition, the recognition unit 32 and the detection unit 37 are described as recognizing or detecting the position of the foreign object 14 using the captured images, but this is not particularly limited, and the recognition unit 32 and the detection unit 37 may be described as recognizing or detecting the position of the foreign object 14 without using the captured images.

[0046] In the above-described embodiment, the working condition information 64 includes foreign matter amount information regarding the amount of foreign matter 14 being transported to the transport unit 22 and waste material amount information regarding the amount of waste material 14 being transported to the transport unit 22, but these are only examples and are not particularly limited to these, and one or more of these may be omitted, or other information may be added. Also, in the above-described embodiment, work order information regarding the order in which the removal unit 40 operates to remove the foreign matter 14, work trajectory information regarding the removal operation trajectory, and operating condition information regarding the operating conditions of the removal unit 40 are obtained and stored in the storage unit 52 in association with the removal information 63, but these are only examples and are not particularly limited to these, and one or more of these pieces of information may be omitted, or other information may be added.

[0047] In the above embodiment, the control unit 51 as a processing unit acquires the remaining information 62 on the foreign matter 14 remaining in the waste material 12 from the detection unit 37, and sets the timing of maintenance of the removal unit 40 according to the remaining information 62, but this is not particularly limited, and the setting of the timing of maintenance of the removal unit 40 may be omitted. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0048] In the above-mentioned embodiment, the control unit 51 as an execution unit executes a warning operation on the operation unit including the transport unit 22 and / or the removal unit 40 before the waste material processing system 30 executes the regeneration process of the waste material 12, but is not limited to this, and may execute a warning operation on an operation unit of the recycling system 10 other than the waste material processing system 30. Examples of the operation unit include the primary crusher 15, the primary magnetic separator 16, the screen machine 17, the secondary crusher 18, the secondary magnetic separator 19, and one or more of the transport units 20 to 25. In the above-mentioned embodiment, the control unit 51 executes a repetitive operation as a warning operation, but is not limited to this, and may execute an operation different from the repetitive operation. In the above-mentioned embodiment, the warning operation is performed to notify the operator M of the system startup by an auditory operation sound and a visual operation, but the warning operation may be either auditory or visual. In the above embodiment, the control unit 51 as the execution unit executes a predetermined caution operation for a predetermined operation unit, but this is not particularly limited, and the execution of this caution operation may be omitted. In this waste material processing system 30, the removal information 63 can also be used to improve the removal process in the removal area 35.

[0049] In the above embodiment, the control unit 51 as a control unit sets the operating conditions of the removal unit 40 based on the amount and / or material of the foreign matter 14 so that the lighter the foreign matter 14, the faster the removal unit 40 operates, or the heavier the foreign matter 14, the slower the removal unit 40 operates, but this is not particularly limited. For example, the control unit 51 may set the operating conditions so that the lighter the amount and / or material of the foreign matter 14, the faster the removal unit 40 operates, and the heavier the amount and / or material of the foreign matter 14, the slower the removal unit 40 operates. That is, the control unit 51 may set operating conditions that are generally faster but may have some regions that are contrary to this, and may set operating conditions that are generally slower but may have some regions that are contrary to this. Alternatively, the control unit 51 sets the operating conditions of the removal unit based on foreign matter information regarding the amount and / or material of the foreign matter 14, but this is not particularly limited, and the setting of the operating conditions may be omitted. In this waste material processing system 30, the removal information 63 can also be used to improve the removal process in the removal area 35.

[0050] In the above embodiment, the removal unit 40 has been described as having an arm robot 41, but is not particularly limited thereto as long as it removes the foreign object 14 from the waste material 12. For example, the removal unit 40 may be an XY robot that moves in the XY directions with a slider and has a tip 45 attached thereto. The removal unit 40 may also be a unit that scrapes out the foreign object with a bucket (shovel) like a power shovel.

[0051] In the above embodiment, the waste material processing system 30 has been described as having the recognition unit 32, but as long as the foreign object 14 remaining in the waste material 12 is detected, the present invention is not limited to this, and the recognition unit 32 may be omitted. In this waste material processing system 30, the result of the removal work in the removal area 35 can be known by using the remaining information 62, so that the removal process in the removal area 35 can be improved. In the above embodiment, the removal unit 40 removes the foreign object 14, but the present invention is not limited to this, and the removal unit 40 may be omitted. FIG. 11 is an explanatory diagram showing an example of a schematic configuration of another waste material processing system 30B. In this waste material processing system 30B, the support member 31, the recognition unit 32, and the removal unit 40 are omitted from the above waste material processing system 30, and the worker M removes the foreign object 14. In this waste material processing system 30B, the result of the removal work in the removal area 35 can be known by using the remaining information 62 obtained by the detection unit 37, so that the removal process in the removal area 35 can be improved.

[0052] Here, the waste material processing system 30 of the present disclosure may be configured as follows. For example, the waste material processing system 30 may be a waste material processing system that transports the waste material 12 on the transport surface of the transport unit 22 in a transport line to regenerate the waste material 12, and may include a removal unit 40 that is disposed in a removal area 35 that removes foreign matter 14 contained in the waste material 12 in the transport line and removes the foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires foreign matter information on the amount and / or material of the foreign matter from a recognition unit 32 that is disposed upstream of the removal area 35 and recognizes the foreign matter 14 contained in the waste material 12, sets operating conditions for the removal unit 40 based on the foreign matter information, and controls the removal unit under the set operating conditions. In this waste material processing system 30, the removal unit 40 can be controlled under operating conditions according to the amount and material of the foreign matter 14, so that the removal of the foreign matter 14 can be more efficiently performed when the waste material 12 is regenerated.

[0053] Alternatively, the waste material processing system 30 may be a waste material processing system 30 that transports and regenerates the waste material 12, and includes a control unit 51 as an execution unit that causes a predetermined operation unit, including at least one of the transport unit 22 that places the waste material 12 on a transport surface and transports the waste material 12 on a transport line, and the removal unit 40 that is disposed in a removal area 35 that removes foreign matter 14 contained in the waste material 12 within the transport line, to perform a predetermined caution operation before the waste material processing system 30 performs the regeneration process of the waste material 12. In this waste material processing system 30, a predetermined caution operation is caused to be performed by the predetermined operation unit before the waste material processing system 30 performs the regeneration process of the waste material 12. Therefore, the worker M can recognize that the waste material processing system 30 is about to start operating. Therefore, in this waste material processing system 30, for example, no special configuration such as an alarm device is required, and the safety of the worker M can be improved when the waste material 12 is regenerated while suppressing the complication of the configuration. [Industrial Applicability]

[0054] The present disclosure is applicable to technical fields such as recycling of industrial waste. [Explanation of symbols]

[0055] 10 recycling system, 12 waste material, 13 target object, 14 foreign object, 15 primary crusher, 16 primary magnetic separator, 17 screener, 18 secondary crusher, 19 secondary magnetic separator, 20-25 conveying section, 30, 30B waste material processing system, 31 support member, 32 recognition section, 33 recognition imaging section, 34 recognition area, 35 removal area, 36 support member, 37 detection section, 38 detection imaging section, 39 detection area, 40 removal section, 41 arm robot, 42 first arm, 43 second arm, 44 base section, 45 tip section, 50 control device, 51 control section, 52 memory section, 53 execution condition information, 56 display section, 57 input section, 58 communication section, 60 history information, 61 content information, 62 remaining information, 63 Removal information, 64 work condition information, 70 recognition image, 71 detection image, D conveying direction, M worker.

Claims

1. A waste material processing system that recycles waste materials by transporting the waste materials in a transport line by placing the waste materials on a transport surface of a transport section, a detection unit disposed downstream of a removal area for removing foreign matter contained in the waste material in the transport line, the detection unit detecting foreign matter remaining in the waste material being transported; A waste disposal system equipped with

2. 2. The waste material processing system according to claim 1, A waste material processing system comprising: a processing unit that acquires information regarding foreign matter remaining in the waste material from the detection unit and stores removal information regarding the status of foreign matter removal in the removal area in a memory unit.

3. The processing unit acquires content information regarding foreign matter contained in the waste material from a recognition unit arranged upstream of the removal area and recognizing foreign matter contained in the waste material, and acquires remaining information regarding foreign matter remaining in the waste material from the detection unit, and uses the content information and the remaining information to acquire the removal information including one or more of removal rate information regarding the removal rate of the foreign matter, removal position information regarding the removal position of the foreign matter, success information regarding the success or failure of foreign matter removal, and efficiency information regarding the efficiency of foreign matter removal, according to the waste material processing system of claim 2.

4. The recognition unit includes a recognition imaging unit that captures an image of the conveying line to obtain a recognition image, The detection unit has a detection and imaging unit that images the transport line and obtains a detection image, The waste material processing system of claim 3, wherein the processing unit acquires the recognition image corresponding to the detection image based on the conveying speed of the conveying line, acquires the content information and the remaining information, and acquires the removal information including one or more of the removal rate information, the removal position information, the success information, and the efficiency information.

5. The processing unit acquires one or more of foreign matter amount information regarding the amount of foreign matter being transported to the transport section and waste material amount information regarding the amount of the waste material being transported to the transport section, and stores the information in association with the removal information in a memory unit.

6. A waste material processing system according to any one of claims 1 to 5, a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; a processing unit that acquires information about foreign matter remaining in the waste material from the detection unit and acquires removal information about a status of foreign matter removal in the removal area, The processing unit acquires one or more of sequence information regarding the order in which the removal unit operated when removing foreign matter, trajectory information regarding the removal operation trajectory, and condition information regarding the operating conditions of the removal unit, and stores the information in association with the removal information in a memory unit.

7. A waste material processing system according to any one of claims 1 to 6, a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; a processing unit that acquires information about foreign matter remaining in the waste material from the detection unit and acquires removal information about a status of foreign matter removal in the removal area, The processing unit acquires remaining information regarding foreign matter remaining in the waste material from the detection unit, and sets a timing for maintenance of the removal unit in accordance with the remaining information.

8. A waste material processing system that transports and regenerates waste materials, A conveying section that conveys the waste material on a conveying line by placing the waste material on a conveying surface; a recognition unit disposed upstream of a removal area in the conveying line for removing foreign matter contained in the waste material, the recognition unit recognizing foreign matter contained in the waste material; a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; A storage unit that stores information; A detection unit according to any one of claims 1 to 7, a processing unit that acquires information about foreign matter remaining in the waste material from the detection unit, and stores removal information about a state of foreign matter removal in the removal area in the storage unit; A waste disposal system equipped with

9. A waste material processing system according to any one of claims 1 to 8, a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; an execution unit that causes a predetermined operation unit including the transport unit and / or the removal unit to execute a predetermined caution operation before the waste material recycling process is performed by the waste material processing system; A waste disposal system equipped with

10. A waste material processing system according to any one of claims 1 to 9, a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; a recognition unit disposed upstream of a removal area in the conveying line for removing foreign matter contained in the waste material, the recognition unit recognizing foreign matter contained in the waste material; a control unit that acquires foreign matter information related to the amount and / or material of the foreign matter from the recognition unit, sets operating conditions of the removal unit based on the foreign matter information, and controls the removal unit under the set operating conditions; A waste disposal system equipped with

11. A waste material processing system that recycles waste materials by transporting the waste materials in a transport line by placing the waste materials on a transport surface of a transport section, a removal unit that removes foreign matter contained in the waste material and is disposed in a removal area in the conveying line, the removal unit removing foreign matter contained in the waste material; a control unit that acquires foreign matter information relating to the amount and / or material of the foreign matter from a recognition unit that is disposed upstream of the removal area and recognizes foreign matter contained in the waste material, sets operating conditions for the removal unit based on the foreign matter information, and controls the removal unit under the set operating conditions; A waste disposal system equipped with

12. The waste material processing system described in claim 10 or 11, wherein the control unit performs one or more of the following: setting the operating conditions to operate the removal unit more quickly the lighter the material of the foreign object, setting the operating conditions to operate the removal unit more quickly the lighter the weight of the foreign object calculated from the information on the material and area of ​​the foreign object, setting the operating conditions to operate the removal unit more slowly the heavier the material of the foreign object, or setting the operating conditions to operate the removal unit more slowly the heavier the weight of the foreign object calculated from the information on the material and area of ​​the foreign object.

13. A waste material processing system that transports and regenerates waste materials, an execution unit that causes a predetermined operation unit, which includes at least one of a conveying unit that places the waste material on a conveying surface and conveys the waste material on a conveying line before the waste material is recycled by the waste material processing system, and a removal unit that is disposed in a removal area within the conveying line and removes foreign matter contained in the waste material and removes foreign matter contained in the waste material; A waste disposal system equipped with

14. The waste material processing system of claim 9 or 13, wherein the execution unit causes the operating unit to perform a repetitive action within a predetermined movable range for a predetermined attention time as the attention action, and then causes the operating unit to perform a recycling process of the waste material.

15. A waste material processing system according to any one of claims 1 to 14, a removal unit disposed in the removal area and configured to remove foreign matter contained in the waste material; A waste material processing system, wherein the removal unit has an arm robot.

Images