Waste disposal system

Abstract

To provide a waste disposal system capable of suppressing generation of unsorted wastes.SOLUTION: A waster disposal system 100 includes: a conveyance part 10 for conveying a plurality of kinds of wastes; a take-in part 12 for taking in the wastes conveyed by the conveyance part 10; an imaging part 40 for imaging the wastes which are taken in the take-in part 12 and in a static state; a robot 20 for sorting the waste in the static state taken in the take-in part 12; and a system control part 30 for discriminating the wastes on the basis of the image of the waste imaged by the imaging part 40, and performing control to allow the robot 20 to sort the wastes.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a waste treatment system, and more particularly to a waste treatment system equipped with a robot that sorts waste. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a waste treatment system equipped with a robot that sorts waste has been known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a waste sorting system (waste treatment system) including a transport means for transporting multiple types of waste, an imaging device for imaging the waste transported by the transport means, a robot for sorting the waste transported by the transport means, and a control unit for identifying the material of the waste based on the image of the waste captured by the imaging device and controlling the robot to sort the waste. In the waste sorting system of Patent Document 1, the robot is configured to grasp and sort the waste passing in front of the robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5969685 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the waste sorting system (waste treatment system) of Patent Document 1, the robot grasps and sorts waste passing in front of the robot, so it cannot sort waste that is transported downstream from in front of the robot. This causes a problem that some waste may not be sorted.

[0006] The present invention has been made in order to solve the above-mentioned problems, and one object of the present invention is to provide a waste treatment system that can reduce the occurrence of waste remaining unsorted. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a waste treatment system according to one aspect includes a transporting unit that transports multiple types of waste, an intake unit that takes in the waste transported by the transporting unit, an imaging unit that images the waste that has been taken into the intake unit and is in a stationary state or in a slower state being transported at a speed slower than that of the transporting unit, a robot that sorts the stationary or slow-moving waste that has been taken into the intake unit, and a control unit that identifies the waste based on images of the waste taken by the imaging unit and controls the robot to sort the waste.

[0008] In the waste treatment system according to one aspect, as described above, by providing a robot that sorts waste taken into the intake section in a stationary or slow-moving state, the waste can be sorted in a state in which the waste is taken into the intake section from the transport section, and thus the waste can be prevented from flowing downstream by the transport section. This can prevent waste from remaining unsorted. Furthermore, by controlling the control section to distinguish waste based on an image of waste in a stationary or slow-moving state and to have the robot sort the waste, it is possible to ensure sufficient time to recognize the waste from the image, and therefore the time restriction on the process of recognizing the waste to be sorted from the image of the waste captured can be alleviated between the image of the waste captured by the imaging section and the waste sorting process by the robot. This can allow the waste to be sorted to be recognized with high accuracy. Furthermore, since the robot sorts waste in a stationary or slow-moving state, the process of picking up the waste can be easily performed by the robot.

[0009] In the waste disposal system according to the above aspect, the control unit is preferably configured to control the intake of new waste from the transport unit to the intake unit when the amount of waste taken into the intake unit becomes less than a predetermined amount based on the image captured by the imaging unit. With this configuration, the waste can be taken into the intake unit just right, so that the waste in the intake unit can be efficiently sorted by the robot.

[0010] In the waste treatment system according to the above aspect, preferably, the system further includes a switching unit that switches between a state in which waste is taken in from the transport unit to the intake unit and a state in which waste is not taken in from the transport unit to the intake unit. With this configuration, the switching unit can easily switch between a state in which waste is taken in from the transport unit to the intake unit and a state in which waste is not taken in.

[0011] The waste treatment system according to the aforementioned aspect preferably further comprises a discharge mechanism for discharging residue from the intake section. With this configuration, accumulation of residue in the intake section can be suppressed.

[0012] In this case, the control unit is preferably configured to control the discharge mechanism to discharge the residue from the intake unit when the amount of waste taken into the intake unit becomes less than a predetermined amount based on the image captured by the imaging unit. With this configuration, it is possible to prevent the waste to be sorted from being discharged from the intake unit together with the residue.

[0013] In the waste treatment system having the discharge mechanism, the discharge mechanism preferably includes a conveyor provided in the intake section or a scraper movable above the intake section. With this configuration, the residue can be easily discharged from the intake section by driving the conveyor or moving the scraper.

[0014] In the waste treatment system according to the above aspect, the control unit is preferably configured to control the termination of the intake of waste from the transport unit to the intake unit when a predetermined time has elapsed since the start of the intake of waste or when the weight of the waste taken in by the intake unit reaches or exceeds a predetermined weight. With this configuration, it is possible to prevent waste from being continuously taken in by the intake unit, and therefore to prevent the waste from overflowing from the intake unit.

[0015] In the waste treatment system according to the above aspect, preferably, the robot is configured to be able to cooperate with the worker, and a plurality of robots are provided on one side of the conveying section along the conveying direction, and the intake section is provided on each of the plurality of robots. With this configuration, waste can be sorted by a plurality of robots that can cooperate, so that the occurrence of waste remaining unsorted due to the collaboration between the worker and the plurality of robots can be effectively suppressed. In addition, since it is possible to easily switch between sorting processing by the robot alone and sorting processing by the collaboration between the worker and the robot that can cooperate with the worker, for example, by performing sorting processing by the robot alone during the worker's break time or at night, and performing sorting processing by the collaboration between the robot and the worker during the day, waste sorting processing can be performed continuously 24 hours a day, and operation can be continued even if an emergency occurs and there is a shortage of workers.

[0016] In this case, preferably, a residue transport unit is provided below the multiple intake units and transports the residue discharged from the multiple intake units to a residue discharge unit where the residue is discharged from the transport unit. With this configuration, the residue discharged from the multiple intake units can be transported and discharged by the common residue transport unit, so that the residue discharged from the multiple intake units can be discharged collectively to one residue discharge unit.

[0017] In the waste treatment system according to the above aspect, the robot is preferably configured to sort stationary waste that has been taken in by the intake section and is not being transported. With this configuration, since the waste to be sorted is not being transported, it is possible to prevent the position or posture of the waste from changing due to transportation after the image of the waste is captured by the imaging section. This effectively prevents the robot from failing to pick up the waste from the intake section.

[0018] In the waste treatment system according to the above aspect, the waste preferably includes bottles of a plurality of colors, and the control unit is configured to distinguish the colors of the bottles and control the robot to sort the bottles as waste according to their colors. With this configuration, the bottles as waste of a plurality of colors can be sorted by the robot. Effect of the Invention

[0019] As described above, it is possible to prevent waste from being left unsorted. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing an overall configuration of a waste treatment facility provided with a waste treatment system according to one embodiment. [Diagram 2] 1 is a plan view showing an outline of a waste treatment system according to one embodiment; [Diagram 3] 1 is a side view showing an outline of a waste treatment system according to one embodiment. [Figure 4] FIG. 2 is a block diagram showing a control configuration of the waste treatment system according to one embodiment. [Diagram 5] FIG. 2 is a side view illustrating a robot of a waste treatment system according to one embodiment. [Figure 6] FIG. 2 is a diagram for explaining the discrimination of waste in the waste treatment system according to one embodiment. [Figure 7]4 is a flowchart for explaining a waste sorting process performed by a system control unit of the waste treatment system according to one embodiment. [Figure 8] FIG. 11 is a plan view showing an outline of a waste treatment system according to a modified example of an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment will be described with reference to the drawings.

[0022] The configuration of a waste treatment system 100 according to one embodiment will be described with reference to Figs.

[0023] (Overall configuration of waste treatment facility) As shown in Fig. 1, a waste treatment system 100 according to one embodiment is provided in a waste treatment facility 200. The waste treatment facility 200 is configured to sort and process collected waste. Specifically, in the waste treatment facility 200, bottles as waste are sorted, and each of the sorted bottles is processed. The waste treatment facility 200 includes an unsuitable material removal section 210, a container inverting device 220, a container transport section 230a, a bottle transport section 230b, and a container cleaning section 240.

[0024] In the unsuitable object removal section 210, waste other than bottles (unsuitable objects (for example, plastic waste such as PET bottles, metal waste, etc.)) is removed by an operator W from the waste contained in the container 201. Note that the unsuitable objects do not have to be completely removed in the unsuitable object removal section 210. In other words, the unsuitable object removal section 210 removes noticeable waste other than bottles. The container 201 from which the unsuitable objects have been removed is transported to the container inversion device 220 by the container transport section 230a.

[0025] The container inverting device 220 inverts the container 201 and transfers the waste (bottles) contained in the container 201 onto the bottle transport section 230b. The container 201 inverted by the container inverting device 220 is transported again by the container transport section 230a and moved to the container cleaning section 240. The container cleaning section 240 is configured to clean the container 201.

[0026] The bottle transport unit 230b is configured to transport waste (bottles) toward the waste treatment system 100. The bottle transport unit 230b transports the waste (bottles) from a lower floor where the waste (bottles) (containers 201) is brought in to an upper floor where the sorting work of the waste treatment system 100 is carried out.

[0027] (Configuration of waste treatment system) In the waste disposal system 100, bottles B (see FIG. 2) as waste are sorted by glass color for disposal. That is, the waste includes bottles of multiple colors. The waste also includes bottles B of different sizes and shapes. In the waste disposal system 100, the bottles B are sorted by color regardless of their size and shape. For example, in the waste disposal system 100, the bottles B are sorted into storage sections 50 (see FIG. 1) by color, such as brown, colorless, and other colors (green, blue, etc.). In the waste disposal system 100, the bottles B may be sorted by color, such as brown, colorless, green, and other colors. The storage section 50 includes a cullet storage section 51 in which cullet (glass scraps) of other colors are sorted, a cullet storage section 52 in which brown cullet is sorted, a cullet storage section 53 in which colorless cullet is sorted, and a residue storage section 54 in which residue that has not been sorted due to cracks or the like is stored. The storage unit 50 (cullet storage units 51, 52, 53 and residue storage unit 54) is located on a lower floor relative to the upper floor where the sorting work is carried out. In other words, the sorted waste (bottles) are dropped to the lower floor and stored in the storage unit 50 (cullet storage units 51, 52, 53 or residue storage unit 54).

[0028] Here, in the waste disposal system 100, the robot 20 is configured to sort waste (bottles). As shown in Fig. 2, the waste disposal system 100 includes a transport unit 10 and the robot 20. The transport unit 10 is configured to transport multiple types of waste (bottles). The transport unit 10 is configured by a conveyor.

[0029] The waste treatment system 100 also includes a system control unit 30, an imaging unit 40, and chutes 50a, 50b, 50c, and 50d. The system control unit 30 is an example of a "control unit" in the claims. The chute 50d is an example of a "residue discharge unit" in the claims.

[0030] Here, in this embodiment, the waste treatment system 100 includes a switching unit 11 and an intake unit 12. The waste treatment system 100 also includes a residue transport unit 13 and a transport unit .

[0031] The transport unit 10 is configured to transport waste material along the X direction, as shown in Fig. 2. Specifically, the transport unit 10 receives waste material from an end on the X1 direction side, transports the waste material in the X2 direction by a conveyor, and transports the waste material from the end on the X2 direction side.

[0032] The switching unit 11 is configured to switch between a state in which waste (bins B) is taken in from the transport unit 10 to the intake unit 12 and a state in which waste is not taken in from the transport unit 10 to the intake unit 12. Specifically, the switching unit 11 is configured to be rotatable about a rotation axis 11a. The switching unit 11 also includes a diverter. The switching unit 11 is configured to be movable between a rotation position PA and a rotation position PB. At the rotation position PA, the switching unit 11 is disposed so as to diagonally cross the transport unit 10, and is in a state in which waste is taken in from the transport unit 10 to the intake unit 12. At the rotation position PB, the switching unit 11 is disposed so as not to cross the transport unit 10 (disposed so as to be parallel to the transport unit 10), and is in a state in which waste is not taken in from the transport unit 10 to the intake unit 12.

[0033] Moreover, the switching unit 11 is disposed on the opposite side (Y1 direction side) of the transport unit 10 from the side (Y2 direction side) where the robot 20 is disposed. This allows the tip of the switching unit 11 to move along the transport direction when moving it from rotation position PA to rotation position PB, so that when switching to a state where the switching unit 11 does not take in waste, it is possible to prevent the waste from creating resistance and causing the switching unit 11 to stop rotating. Furthermore, since the switching unit 11 is provided on the opposite side (Y1 direction side) of the transport unit 10 from the intake unit 12 and the robot 20, it is possible to prevent the switching unit 11 from interfering with the intake unit 12, so that the switching unit 11 can be easily installed.

[0034] The intake unit 12 is configured to take in waste (bins B) transported by the transport unit 10. The intake unit 12 is disposed on the same side (Y2 direction side) of the transport unit 10 as the side (Y2 direction side) on which the robot 20 is disposed. The intake unit 12 is provided for each of the multiple robots 20 (20a, 20b, 20c). The intake unit 12 is disposed between the robot 20 and the transport unit 10 in the Y direction.

[0035] The intake section 12 includes a conveyor 12a and a stopper 12b. The conveyor 12a is configured to be able to transport the waste taken in from the transport section 10 in the X direction (X1 direction and X2 direction). The stopper 12b is provided at the upstream end (X1 direction side) of the conveyor 12a. When the conveyor 12a is driven in the X1 direction, the stopper 12b is configured to stop the waste so that the waste is not discharged from the end on the X1 direction side. When discharging the residue, the conveyor 12a is configured to drive in the X2 direction to discharge the residue to the residue transport section 13. In other words, the conveyor 12a functions as a discharge mechanism that discharges the residue from the intake section 12.

[0036] 3, the residue transport section 13 is provided below the multiple intake sections 12. The residue transport section 13 is configured to transport the residue discharged from the multiple intake sections 12 to a chute 50d through which the residue is discharged from the transport section 10. The residue transport section 13 is configured by a conveyor.

[0037] As shown in Fig. 2, the transport unit 14 is disposed behind (in the Y2 direction) the multiple robots 20 (20a to 20c). The transport unit 14 is configured to transport bins B of other colors sorted by the robots 20 to the chute 50c. The transport unit 14 is configured to transport bins B of other colors in the X1 direction. The transport unit 14 is also configured by a conveyor.

[0038] The robot 20 is configured to sort waste transported by the transport section 10 and taken into the intake section 12. Specifically, the robot 20 is configured to sort stationary (not transported) waste taken into the intake section 12. The robot 20 is also configured to be able to cooperate with a worker W. A plurality of robots 20 are provided. Specifically, the plurality of robots 20 (20a, 20b, 20c) are provided (three robots) on one side (Y2 direction side) of the transport section 10 along the transport direction (X direction).

[0039] The robots 20a, 20b, and 20c have the same configuration and will be collectively described as the robot 20. As shown in FIG. 2, the robot 20 includes a plurality of (two) robot arms 22 and 23. The robot 20 also includes a robot control unit 21.

[0040] The robot control unit 21 is configured to control the operations of the robot arms 22 and 23. Specifically, as shown in Fig. 4, the robot control unit 21 includes a CPU (Central Processing Unit) 21a and a non-volatile memory 21b. The robot control unit 21 is configured to control the operations of the robot arms 22 and 23 by executing a program stored in the memory 21b by the CPU 21a.

[0041] The robot control unit 21 is also configured to control the operation of the robot arms 22 and 23 that sort the waste bottles B according to color, based on a sorting command including position information transmitted from the system control unit 30. That is, the robot control unit 21 is configured to control the robot arms 22 and 23 to move to positions for holding the bottles B, based on a sorting command transmitted from the system control unit 30. The robot control unit 21 is also configured to control the operation of the robot arm 22 by controlling the drive of the arm drive unit 22a. The robot control unit 21 is also configured to control the operation of the robot arm 23 by controlling the drive of the arm drive unit 23a. The arm drive units 22a and 23a each include a motor and an encoder for detecting the drive amount (rotation angle) of the motor. The arm drive units 22a (23a) including the motor and the encoder are provided for each of the multiple joints of the robot arm 22 (23).

[0042] As shown in FIG. 5, the robot arm 22 has a link 221, a link 222, and a vertical movement unit 223. The hand 224 is attached to the vertical movement unit 223. The robot arm 22 is configured such that the link 221 rotates about the rotation axis A1 relative to the base 2a. The robot arm 22 is also configured such that the link 222 rotates about the rotation axis A2 relative to the link 221. This allows the robot arm 22 to move the hand 224 to a desired horizontal position by rotating each link about the rotation axes A1 and A2. The robot arm 22 is configured such that the vertical movement unit 223 moves up and down in the A3 direction relative to the link 222. This allows the robot arm 22 to move the hand 224 to a desired height position (vertical position).

[0043] The robot arm 23 has a link 231, a link 232, and a vertical movement unit 233. The hand 234 is attached to the vertical movement unit 233. The robot arm 23 is configured such that the link 231 rotates about the rotation axis A1 relative to the base 2a. The robot arm 23 is also configured such that the link 232 rotates about the rotation axis A4 relative to the link 231. This allows the robot arm 23 to move the hand 234 to a desired horizontal position by rotating each link about the rotation axes A1 and A4. The robot arm 23 is configured such that the vertical movement unit 233 moves up and down in the A5 direction relative to the link 232. This allows the robot arm 23 to move the hand 234 to a desired height position (vertical position).

[0044] Moreover, the robot arms 22 and 23 are configured to be driven so as not to interfere with each other.

[0045] The hands 224 and 234 are configured to suck and hold waste materials (bottles). The hand 224 (234) is configured to suck and hold waste materials (bottles) by negative pressure generated at the lower tip. Negative pressure is generated in the hand 224 of the robot arm 22 by the ejector 24 (see FIG. 4). Negative pressure is generated in the hand 234 of the robot arm 23 by the ejector 25 (see FIG. 4).

[0046] The system control unit 30 is configured to use machine learning to identify the waste based on the image of the waste captured by the imaging unit 40, and to cause the robot 20 to sort the waste. Specifically, the system control unit 30 is configured to use machine learning to identify the color of the bottle B, and to cause the robot 20 to sort the bottles as waste according to their color.

[0047] 4, the system control unit 30 includes a CPU (Central Processing Unit) 31 and a non-volatile memory 32. The system control unit 30 is configured to execute a program stored in the memory 32 by the CPU 31 to perform processing.

[0048] The system control unit 30 distinguishes the waste based on the image of the waste captured by the imaging unit 40, and controls the robot 20 to sort the waste. Specifically, the system control unit 30 distinguishes the waste using machine learning based on the image of the waste captured by the imaging unit 40, and specifies the position of the distinguished waste. The system control unit 30 also transmits a sorting command including position information of the distinguished waste to the robot control unit 21.

[0049] The system control unit 30 controls the imaging process by the imaging unit 40. The system control unit 30 causes the imaging unit 40 to capture an image of the waste on the intake unit 12. The system control unit 30 also acquires the image of the waste captured by the imaging unit 40.

[0050] The system control unit 30 acquires the conveying speed of the conveying unit 10 based on a signal from an encoder installed on the conveyor shaft of the conveying unit 10. The system control unit 30 also controls the operation of the switching unit 11. Specifically, the system control unit 30 controls the switching unit 11 to be in rotation position PA when waste is to be taken in from the conveying unit 10 to the intake unit 12. The system control unit 30 also controls the switching unit 11 to be in rotation position PB when waste is not to be taken in from the conveying unit 10 to the intake unit 12.

[0051] The system control unit 30 also controls the driving of the conveyor 12a of the intake unit 12. Specifically, when waste has been taken in from the transport unit 10 to a position upstream (X1 direction) of the intake unit 12 and there is no more waste to be sorted downstream (X2 direction) of the intake unit 12, the system control unit 30 controls the conveyor 12a to drive in the X2 direction to transport the waste to a position downstream of the intake unit 12. At this time, the residue remaining downstream of the intake unit 12 is discharged to the residue transport unit 13.

[0052] Furthermore, the system control unit 30 is configured to control the intake of new waste from the conveying unit 10 to the intake unit 12 when the amount of waste (bins B) taken into the intake unit 12 becomes less than a predetermined amount based on the image captured by the imaging unit 40. Specifically, when there is no waste to be sorted on the intake unit 12 based on the image on the intake unit 12 captured by the imaging unit 40, the system control unit 30 drives the switching unit 11 to bring the intake unit 12 into a state in which waste is taken from the conveying unit 10.

[0053] Furthermore, the system control unit 30 is configured to control the conveyor 12a as a discharge mechanism to discharge the residue from the intake unit 12 when the amount of waste (bins B) taken into the intake unit 12 becomes less than a predetermined amount based on the image captured by the imaging unit 40. Specifically, when there is no waste to be sorted on the intake unit 12 based on the image on the intake unit 12 captured by the imaging unit 40, the system control unit 30 drives the conveyor 12a of the intake unit 12 in the X2 direction to discharge the residue from the intake unit 12.

[0054] In addition, the system control unit 30 is configured to control the termination of the intake of waste from the conveying unit 10 to the intake unit 12 when a predetermined time has elapsed since the start of the intake of waste (bin B) or when the weight of the waste taken into the intake unit 12 becomes equal to or greater than a predetermined weight.

[0055] The machine learning for identifying waste is performed in advance based on images of multiple types of bottles B and instruction information in which a person instructs the color of the bottles B based on the images. This machine learning may be performed in advance by the system control unit 30, or may be performed by another control unit (computer), and the results of the machine learning may be reflected in the system control unit 30.

[0056] As shown in FIG. 6, the system control unit 30 is configured to obtain a heat map based on an image of the waste captured by the imaging unit 40. Specifically, the system control unit 30 obtains an image captured by the imaging unit 40 as shown in FIG. 6(A). Then, the system control unit 30 creates heat maps H1-H4 for the waste by inference using artificial intelligence as shown in FIG. 6(B). The heat maps H1-H4 are created so that values ​​are large for a portion inferred to be the center of the waste. The system control unit 30 is also configured to obtain detection points P1-P4 of the waste based on the obtained heat maps H1-H4. Specifically, the system control unit 30 sets the locations where the values ​​of the heat maps H1-H4 are large as detection points P1-P4 of the waste, respectively, as shown in FIG. 6(C). The values ​​of the heat map are processed by a threshold value. The system control unit 30 is also configured to cause the robot 20 to sort the waste based on the obtained detection points P1-P4. That is, the system control unit 30 transmits to the robot control unit 21 position information of the waste based on the detection points P1 to P4.

[0057] As shown in FIG. 2, the imaging unit 40 is configured to capture an image of waste that has been captured by the capture unit 12 and is in a stationary state. The imaging unit 40 is provided above the capture unit 12. Moreover, the imaging unit 40 is provided in each of the multiple capture units 12. The imaging unit 40 is configured to capture an image of the imaging range 40a in one capture. The imaging unit 40 is configured to transmit the captured image to the system control unit 30. Moreover, the imaging unit 40 is configured with a single monocular camera. That is, the imaging unit 40 is configured to capture monocular images mainly in visible light.

[0058] The chutes 50a, 50b, 50c, and 50d are each connected to a corresponding storage section 50 (cullet storage sections 51, 52, 53 or residue storage section 54) and are configured to guide the input waste to the corresponding storage section 50. The chute 50a is configured to guide brown bottles B sorted into the cullet storage section 52. The chute 50b is configured to guide colorless bottles B sorted into the cullet storage section 53. The chute 50c is configured to guide bottles B of other colors sorted into the cullet storage section 51. The chute 50d is configured to guide waste residue to the residue storage section 54.

[0059] The chutes 50a and 50b are configured to receive waste (bottles) sorted by the robot 20. The chute 50a is configured to receive brown bottles B, as shown in FIG. 3. The chutes 50a are provided at two locations, one on the X1 direction side of the robot 20a and one between the robots 20b and 20c, as shown in FIGS. 2 and 3. The robot arm 23 of the robot 20a is configured to sort the brown bottles B into the chute 50a on the X1 direction side. The robot arm 22 of the robot 20b and the robot arm 23 of the robot 20c are configured to sort the brown bottles B into the chute 50a provided between them.

[0060] The chute 50b is configured to feed colorless bottles B, as shown in Fig. 3. The chutes 50b are provided in two locations, one between the robots 20a and 20b and one on the X2 direction side of the robot 20c, as shown in Figs. 2 and 3. The robot arm 22 of the robot 20a and the robot arm 23 of the robot 20b are configured to sort colorless bottles B into the chute 50b provided between them. The robot arm 22 of the robot 20c is also configured to sort colorless bottles B into the chute 50b on the X2 direction side.

[0061] The robot arms 22 and 23 of the robots 20a to 20c are configured to sort the bins B of other colors into a transport section 14 provided at the rear.

[0062] (Waste sorting and processing) The waste (bottles) sorting process performed by the system control unit 30 will be described with reference to FIG.

[0063] 7, in step S1, the system control unit 30 acquires an image of the waste (bottle) on the intake unit 12. In step S2, the system control unit 30 estimates the type of waste (bottle) and the position of the representative point (adsorption point).

[0064] In step S3, the system control unit 30 generates an index. In step S4, the system control unit 30 causes a display unit (not shown) to display the captured image and the index.

[0065] In step S5, the system control unit 30 stores the captured image and the estimated type and position of the waste (bin).In step S6, the system control unit 30 determines the suction position.

[0066] In step S7, the system control unit 30 transmits the target object data to the robot 20. That is, the system control unit 30 transmits operation command information to the robot 20 for absorbing and transporting the waste to be sorted. In step S8, the system control unit 30 judges whether or not there is waste (bottles) to be processed. If there is waste (bottles) to be processed, the process returns to step S1. If there is no waste (bottles) to be processed, the process proceeds to step S9.

[0067] In step S9, the system control unit 30 drives the conveyor 12a of the intake unit 12, which serves as a discharge mechanism, in the X2 direction to discharge the residue from the intake unit 12. In step S10, the system control unit 30 drives the switching unit 11 to bring the intake unit 12 into a state in which the waste is taken in from the transport unit 10. Specifically, the system control unit 30 moves the switching unit 11 to the rotation position PA.

[0068] In step S11, when a predetermined time has elapsed since the switching unit 11 was moved to the rotation position PA, or when a weight scale (not shown) provided in the intake unit 12 indicates that the weight of the waste taken into the intake unit 12 exceeds a predetermined weight, the system control unit 30 drives the switching unit 11 to set the intake unit 12 in a state in which waste is not taken in from the transport unit 10. Specifically, the system control unit 30 moves the switching unit 11 to the rotation position PB.

[0069] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0070] In this embodiment, by providing the robot 20 that sorts stationary waste (bins B) taken into the intake section 12, the waste can be sorted while it is taken into the intake section 12 from the transport section 10, so that the waste can be prevented from flowing downstream by the transport section 10. This can prevent waste from remaining unsorted. In addition, the system control section 30 distinguishes waste based on an image of stationary waste and controls the robot 20 to sort the waste, so that it is possible to ensure sufficient time to recognize the waste from the image, and therefore it is possible to alleviate the time restriction of the process of recognizing the waste to be sorted from the image of the waste captured between the image of the waste captured by the imaging section 40 and the waste sorting process by the robot 20. This can allow the waste to be sorted to be recognized with high accuracy. In addition, since the robot 20 sorts stationary waste, the robot 20 can easily pick up the waste.

[0071] Furthermore, in this embodiment, the system control unit 30 is configured to control the intake of new waste from the transport unit 10 to the intake unit 12 when the amount of waste (bins B) taken into the intake unit 12 becomes less than a predetermined amount based on the image captured by the imaging unit 40. This allows the intake unit 12 to take in just the right amount of waste, allowing the robot 20 to efficiently sort the waste in the intake unit 12.

[0072] Furthermore, in this embodiment, a switching unit 11 is provided that switches between a state in which waste (bottles B) are taken in from the transport unit 10 to the intake unit 12 and a state in which waste is not taken in from the transport unit 10 to the intake unit 12. This allows the switching unit 11 to easily switch between a state in which waste is taken in from the transport unit 10 to the intake unit 12 and a state in which waste is not taken in.

[0073] In addition, in this embodiment, a conveyor 12a is provided as a discharge mechanism for discharging residue from the intake unit 12. This makes it possible to prevent residue from accumulating in the intake unit 12.

[0074] In this embodiment, the system control unit 30 is configured to control the conveyor 12a as a discharge mechanism to discharge the residue from the intake unit 12 when the amount of waste (bottles B) taken into the intake unit 12 becomes less than a predetermined amount based on the image captured by the imaging unit 40. This makes it possible to prevent the waste to be sorted from being discharged from the intake unit 12 together with the residue.

[0075] In this embodiment, the discharge mechanism includes a conveyor 12a provided in the intake section 12. This makes it possible to easily discharge the residue from the intake section 12 by driving the conveyor 12a.

[0076] Furthermore, in this embodiment, the system control unit 30 is configured to control the end of the intake of waste from the transport unit 10 to the intake unit 12 when a predetermined time has elapsed since the start of the intake of waste (bin B) or when the weight of the waste taken into the intake unit 12 reaches or exceeds a predetermined weight. This makes it possible to prevent waste from being continuously taken into the intake unit 12, thereby making it possible to prevent the waste from overflowing from the intake unit.

[0077] In this embodiment, the robots 20 are configured to be able to cooperate with the worker W, and are provided in multiple numbers along the conveying direction on one side of the conveying section 10. The intake section 12 is provided on each of the multiple robots 20 (20a to 20c). As a result, waste (bins B) can be sorted by the multiple collaborative robots 20 (20a to 20c), and therefore, the occurrence of waste remaining unsorted can be effectively prevented by the cooperation between the worker W and the multiple robots 20 (20a to 20c). In addition, it is possible to easily switch between sorting processing performed only by the robots 20 (20a-20c) and sorting processing performed in collaboration with the worker W and the robots 20 (20a-20c) that can cooperate with the worker W. For example, by performing sorting processing only by the robots 20 (20a-20c) during the worker W's break time or at night, and performing sorting processing in collaboration with the robots 20 (20a-20c) and the worker W during the day, waste sorting can be performed continuously 24 hours a day, and operation can be continued even if an emergency occurs and there is a shortage of workers W.

[0078] Furthermore, in this embodiment, a residue transport unit 13 is provided below the multiple intake units 12 and transports the residue discharged from the multiple intake units 12 to a chute 50d where the residue is discharged from the transport unit 10. This allows the residue discharged from the multiple intake units 12 to be transported and discharged by the common residue transport unit 13, so that the residue discharged from the multiple intake units 12 can be discharged collectively to a single chute 50d.

[0079] Moreover, in this embodiment, the robot 20 is configured to sort stationary waste (bins B) that have been taken in by the intake unit 12 and are not being transported. As a result, since the waste to be sorted is not being transported, it is possible to prevent the position and posture of the waste from changing due to transportation after the waste is imaged by the imaging unit 40. This makes it possible to effectively prevent the robot 20 from failing to pick up the waste from the intake unit 12.

[0080] In this embodiment, the waste includes bottles B of multiple colors, and the system control unit 30 is configured to determine the colors of the bottles B and control the robot 20 to sort the bottles B as waste according to their colors. This allows the robot 20 to sort the bottles B of multiple colors as waste.

[0081] (Modification) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0082] For example, in the above embodiment, the robot has two robot arms, but the present invention is not limited to this. The robot may have one or three or more robot arms. The robot arm may be a vertical articulated robot.

[0083] In addition, in the above embodiment, an example of a configuration in which three robots are arranged is shown, but the present invention is not limited to this, and one, two, or four or more robots may be arranged.

[0084] In the above embodiment, an example of a configuration in which bottles as waste are sorted by color has been shown, but this is not limited to the above. The waste may be something other than bottles. For example, the waste may be plastic, metal, or non-burnable garbage. The waste may also be sorted by material or size.

[0085] In the above embodiment, the conveyor 12a is provided in the intake unit 12, but the present invention is not limited to this. For example, as in a modified waste treatment system 300 shown in Fig. 8, the intake unit 15 may be provided with a scraper 15a capable of moving the information of the intake unit 15. The scraper 15a is configured to move in the X2 direction to discharge the residue on the intake unit 15 to the residue transport unit 13.

[0086] In the above embodiment, the switching unit 11 is provided on the opposite side (Y1 direction side) of the intake unit 12 and the robot 20 with respect to the transport unit 10, but the present invention is not limited to this. For example, as in a modified waste treatment system 300 shown in Fig. 8, the switching unit 11 may be provided on the same side (Y2 direction side) of the transport unit 10 as the intake unit 15 and the robot 20.

[0087] In the above embodiment, an example of a configuration in which the waste in a stationary state taken into the intake section is imaged by the imaging section and the waste in a stationary state taken into the intake section is sorted by the robot is shown, but this is not limited to the above. Waste in a slow state taken into the intake section and transported at a speed slower than that of the transport section may be imaged by the imaging section and the waste in a slow state taken into the intake section may be sorted by the robot.

[0088] In the above embodiment, a configuration example is shown in which new waste is taken in from the transport unit to the take-in unit when the amount of waste taken in the take-in unit becomes less than a predetermined amount based on the image captured by the imaging unit, but this is not limited to this. New waste may be taken in from the transport unit to the take-in unit at predetermined time intervals, or new waste may be taken in from the transport unit to the take-in unit when the weight of the waste in the take-in unit becomes equal to or less than a predetermined weight.

[0089] In the above embodiment, an example of a configuration in which a system control unit that distinguishes waste and a robot control unit that controls the operation of the robot are provided separately has been shown, but the present invention is not limited to this. The system control unit and the robot control unit may be a common unit, and the system control unit that distinguishes waste may control the operation of the robot.

[0090] In the above embodiment, a single monocular camera is provided as the imaging unit, but the present invention is not limited to this. A plurality of cameras may be provided as the imaging unit, or a stereo camera may be provided as the imaging unit.

[0091] In the above embodiment, an example of a configuration in which a worker cooperates with a robot to sort waste materials is shown, but the present invention is not limited to this. The worker may remotely monitor the sorting work of the robot. In this case, the worker may perform an operation to correct the waste material determination process based on the image of the waste material captured by the imaging unit.

[0092] In the above embodiment, an example of a configuration in which waste is put into a container and collected at a waste treatment facility in which a waste treatment system is installed is shown, but this is not limited to the above. Waste may be collected in something other than a container. For example, waste may be collected in a bag, or directly loaded onto a truck or the like. In this case, the configuration of the previous stage for feeding waste into the transport section of the waste treatment system may be appropriately changed according to the waste collection form.

[0093] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0094] (Aspect 1) A transport unit that transports multiple types of waste; an intake section into which the waste transported by the transport section is taken in; an imaging unit that images the waste taken into the intake unit and in a stationary state or in a low-speed state being transported at a speed slower than that of the transport unit; a robot for sorting the waste in the stationary or slow-moving state that is taken into the intake section; A control unit that identifies waste based on images of the waste captured by the imaging unit and controls the robot to sort the waste.

[0095] (Aspect 2) The waste treatment system of aspect 1, wherein the control unit is configured to control the intake of new waste from the transport unit to the intake unit based on the image captured by the imaging unit and based on the amount of waste taken into the intake unit being less than a predetermined amount.

[0096] (Aspect 3) The waste treatment system according to aspect 1 or 2, further comprising a switching unit configured to switch between a state in which waste is taken in from the transport unit to the intake unit and a state in which waste is not taken in from the transport unit to the intake unit.

[0097] (Aspect 4) The waste treatment system according to any one of aspects 1 to 3, further comprising a discharge mechanism for discharging residue from the intake section.

[0098] (Aspect 5) A waste treatment system as described in aspect 4, wherein the control unit is configured to control the discharge mechanism to discharge residue from the intake section based on the image captured by the imaging unit and based on the amount of waste taken into the intake section being less than a predetermined amount.

[0099] (Aspect 6) A waste treatment system according to aspect 4 or 5, wherein the discharge mechanism includes a conveyor provided in the intake section or a scraper movable above the intake section.

[0100] (Aspect 7) A waste treatment system as described in any one of aspects 1 to 5, wherein the control unit is configured to control the termination of the intake of waste from the transport unit to the intake unit when a predetermined time has elapsed since the start of the intake of waste or when the weight of the waste taken into the intake unit becomes equal to or greater than a predetermined weight.

[0101] (Aspect 8) The robot is configured to be able to cooperate with an operator, and a plurality of robots are provided on one side of the transport section along a transport direction, 8. The waste treatment system according to any one of aspects 1 to 7, wherein the intake unit is provided in each of the plurality of robots.

[0102] (Aspect 9) The waste treatment system of embodiment 8 further comprises a residue transport section provided below the multiple intake sections and transporting the residue discharged from the multiple intake sections to a residue discharge section where the residue is discharged from the transport section.

[0103] (Aspect 10) 10. The waste treatment system according to any one of aspects 1 to 9, wherein the robot is configured to sort the stationary waste that has not been taken in by the intake section and transported.

[0104] (Aspect 11) The waste includes multiple colored bins, The waste treatment system according to any one of aspects 1 to 10, wherein the control unit is configured to determine the color of the bottles and control the robot to sort the bottles as waste according to their color. [Explanation of symbols]

[0105] 10. Conveyor 11 Switching section 12, 15 Intake section 12a Conveyor (discharge mechanism) 13 Residue transport section 15a Scraper (discharge mechanism) 20, 20a, 20b, 20c Robot 30 System control section (control section) 40 Imaging unit 50d Chute (residue discharge section) 100, 300 Waste treatment system B Bottle (waste) W Worker

Claims

1. A transport unit that transports multiple types of waste; an intake section into which the waste transported by the transport section is taken in; an imaging unit that images the waste taken into the intake unit and in a stationary state or in a low-speed state being transported at a speed slower than that of the transport unit; a robot for sorting the waste in the stationary or slow-moving state that is taken into the intake section; A control unit that identifies waste based on images of the waste captured by the imaging unit and controls the robot to sort the waste.

2. The waste treatment system of claim 1, wherein the control unit is configured to control the intake of new waste from the transport unit to the intake unit based on an image captured by the imaging unit and based on the amount of waste taken into the intake unit being less than a predetermined amount.

3. The waste treatment system according to claim 1 , further comprising a switching unit that switches between a state in which waste is taken in from the transport unit to the intake unit and a state in which waste is not taken in from the transport unit to the intake unit.

4. The waste treatment system according to claim 1 , further comprising a discharge mechanism for discharging residue from the intake section.

5. The waste treatment system of claim 4, wherein the control unit is configured to control the discharge mechanism to discharge residue from the intake section based on the image captured by the imaging unit and based on the amount of waste taken into the intake section becoming less than a predetermined amount.

6. The waste treatment system according to claim 4 , wherein the discharge mechanism includes a conveyor provided in the intake section, or a scraper movable above the intake section.

7. The waste treatment system of claim 1, wherein the control unit is configured to control the termination of the intake of waste from the transport unit to the intake unit when a predetermined time has elapsed since the start of the intake of waste or when the weight of the waste taken into the intake unit becomes equal to or greater than a predetermined weight.

8. The robot is configured to be able to cooperate with an operator, and a plurality of robots are provided on one side of the transport section along a transport direction, The waste treatment system according to claim 1 , wherein the intake unit is provided in each of the plurality of robots.

9. The waste treatment system according to claim 8 , further comprising a residue transport section provided below the plurality of intake sections and transporting the residue discharged from the plurality of intake sections to a residue discharge section where the residue is discharged from the transport section.

10. The waste treatment system of claim 1 , wherein the robot is configured to sort the stationary waste that has not been taken into the intake section and transported.

11. The waste includes multiple colored bins, 2. The waste treatment system according to claim 1, wherein the control unit is configured to determine the color of each bottle and to control the robot to sort the bottles as waste according to their colors.

Images