Foreign matter removal method

Abstract

To enable a foreign matter removal system to accurately remove a foreign matter.SOLUTION: A foreign matter removal system according to the present disclosure comprises: a conveyance device that conveys a waste material in which a target object and a foreign matter are mixed; a detection module that detects the foreign matter contained in the waste material; and a foreign matter removal module that is provided further downstream of the conveyance device in the conveyance direction than the detection module, and removes the foreign matter detected by the detection module from the waste material.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This specification discloses a foreign body removal system. [Background technology]

[0002] Conventionally, robot systems have been known that use a conveying device to convey an object in a conveying direction while performing a predetermined task on the object. For example, Non-Patent Documents 1 to 4 disclose foreign object removal systems that convey a mixture of an object and foreign objects on a conveyor and use a picking robot to remove the foreign objects from the conveyor. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] SamurAI Machinex Sorting Robot - Lakeshore Recycling Systems [Searched October 5, 2020], Internet<URL:https: / / www.youtube.com / watch?v=2OY80BwaJH8&feature=emb_logo> [Non-patent document 2] Waste Robotics Sorting-as-a-Service (SaaS) introduction [Retrieved October 5, 2020], Internet<URL:https: / / www.youtube.com / watch?v=9rA8NpURkLQ> [Non-patent document 3] ZenRobotics in action [Retrieved October 5, 2020], Internet<URL:https: / / www.youtube.com / watch?v=EfTLyZuujFM> [Non-patent document 4] ABB AI-assisted trash sorting [Retrieved October 5, 2020], Internet<URL:https: / / www.youtube.com / watch?v=SVHVMVuhXjA> Summary of the Invention [Problem to be solved by the invention]

[0004] In such a foreign matter removal system, in order for the picking robot to accurately remove the foreign matter, it is necessary to accurately distinguish between the target object and the foreign matter contained in the mixture being transported by the transport device.

[0005] The present disclosure has been made to solve such problems, and a main object of the present disclosure is to enable accurate removal of foreign matter in a foreign matter removal system. [Means for solving the problem]

[0006] The foreign body removal system of the present disclosure comprises: a conveying device that conveys waste material containing a mixture of target objects and foreign objects; a detection module for detecting the foreign matter contained in the waste material; a foreign matter removal module that is provided downstream of the detection module in the conveying direction of the conveying device and that removes the foreign matter detected by the detection module from the waste material; It is equipped with the following.

[0007] In this foreign matter removal system, a detection module is provided upstream of the foreign matter removal module in the conveying direction of the conveying device to detect foreign matter contained in the waste material, thereby enabling accurate removal of foreign matter from the waste material. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a recycling system 1. [Figure 2] 1 is a perspective view showing a schematic configuration of a foreign matter removal system 10. FIG. [Figure 3] FIG. 2 is a perspective view showing a schematic configuration of a clamp mechanism 19. [Figure 4] FIG. 2 is a perspective view showing a schematic configuration of an imaging module 15. [Figure 5]FIG. 2 is a perspective view showing a schematic configuration of a picking module 16. [Figure 6] FIG. 2 is a block diagram showing the electrical connections of the foreign matter removal system 10. [Figure 7] 10 is a flowchart showing an example of a flag setting routine. [Figure 8] 10 is a flowchart illustrating an example of a conveying direction switching routine. [Figure 9] 10A to 10C are explanatory diagrams showing an example of a time series when a conveying direction switching routine is executed. [Figure 10] FIG. 2 is a perspective view showing the configuration of a foreign matter removal system 110. [Figure 11] FIG. 2 is a perspective view showing the configuration of a foreign matter removal system 210. [Figure 12] FIG. 3 is a perspective view showing the configuration of a foreign matter removal system 310. [Figure 13] FIG. 4 is an explanatory diagram showing the configuration of a recycling system 401. [Figure 14] FIG. 4 is a perspective view showing a schematic configuration of a foreign matter removal system 410. [Figure 15] FIG. 4 is a side view showing a schematic configuration of a foreign matter removal system 410. [Figure 16] FIG. 4 is a plan view showing a schematic configuration of a foreign matter removal system 410. [Figure 17] FIG. 4 is a block diagram showing the electrical connections of the foreign matter removal system 410. [Figure 18] FIG. 4 is an explanatory diagram showing an example of how a foreign substance 4 is removed by a foreign substance removal system 410. [Figure 19] 10 is a flowchart showing an example of a foreign matter disposal processing routine. [Figure 20] FIG. 10 is an explanatory diagram showing an example of an operation selection state. DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] Next, an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing the configuration of a recycling system 1, FIG. 2 is a perspective view showing the schematic configuration of a foreign matter removal system 10, FIG. 3 is a perspective view showing the schematic configuration of a clamping mechanism 19, FIG. 4 is a perspective view showing the schematic configuration of a photography module 15, FIG. 5 is a perspective view showing the schematic configuration of a picking module 16, and FIG. 6 is a block diagram showing the electrical connections of the foreign matter removal system 10. In this embodiment, the left-right direction, front-rear direction, and up-down direction are as shown in FIGS. 1 and 2 (in FIG. 1, the front-rear direction is perpendicular to the paper). In this embodiment, the direction in which the waste material 2 is transported by the first transport unit 22a is referred to as the first transport direction D1, and the direction in which the waste material 2 is transported by the second transport unit 22b is referred to as the second transport direction D2.

[0010] The waste material 2 processed in the recycling system 1 is a mixture of materials 3 to be recycled, such as stone, sand, and concrete, and foreign materials 4, such as paper, resin, wood, and metal.

[0011] As shown in FIG. 1, the recycling system 1 includes primary and secondary crushers 11a and 11b, primary and secondary magnetic separators 12a and 12b, a screening machine 13, conveying devices 20 to 25, and a foreign matter removal system 10.

[0012] The primary crusher 11a is a device that performs primary crushing of the waste material 2, which is the raw material. This primary crusher 11a crushes the waste material 2, for example, to a predetermined primary size or less (for example, 40 cm or less). The primary magnetic separator 12a is a device that removes magnetic foreign matter contained in the waste material 2 by magnetic force. The screening machine 13 is a device that separates the waste material 2 into waste material 2 that is equal to or larger than the primary size and waste material 2 that is smaller than the primary size, for example, by having the waste material 2 pass over a mesh. The secondary crusher 11b is a device that performs secondary crushing of the waste material 2 into a size smaller than that of the primary crusher 11a. This secondary crusher 11b crushes the waste material 2 to a predetermined secondary size or less (for example, 10 cm or less). The secondary magnetic separator 12b is a device that removes magnetic material from the waste material 2 that was not completely removed by the primary magnetic separator 12a and the foreign matter removal system 10.

[0013] The conveying devices 20-25 are devices that place the waste material 2 on a conveying surface and convey it along the first conveying direction D1, and are configured as belt conveyors, for example. Note that the conveying devices 20-25 may be configured as anything other than belt conveyors as long as they can convey the waste material 2.

[0014] 2, the foreign matter removal system 10 includes a transport device 22, a waste material processing line 17, a photography module 15, a picking module 16, and a control device 80 (see FIG. 6). As shown in FIG. 2, the transport device 22 includes first to third transport units 22a to 22c.

[0015] The first conveying section 22a is a conveying device that conveys the waste material 2 in the first conveying direction D1. The first conveying section 22a includes a conveying surface 30 on which the waste material 2 is placed and conveyed, and a switching unit 31 provided at a branching point 33. The first conveying section 22a places the waste material 2 on the conveying surface 30 and conveys the waste material 2 at a constant speed (for example, 40 m / min). The switching unit 31 is a device that switches between conveying the waste material 2 in the first conveying direction D1 and conveying the waste material 2 in the second conveying direction D2. Specifically, as shown in FIG. 2, the switching unit 31 is a device that drops the waste material 2 from the first conveying section 22a to the second conveying section 22b by tilting the conveying surface 30 toward the second conveying section 22b.

[0016] The second conveying section 22b is a device that conveys the waste material 2 in the second conveying direction D2. The second conveying section 22b is provided at a position lower in height than the first conveying section 22a, and is provided at a position where it can receive the waste material 2 dropped by the switching section 31. The second conveying section 22b has a conveying surface 32. The second conveying section 22b places the waste material 2 on the conveying surface 32 and conveys the waste material 2 at a constant speed (for example, 20 [m / min]) that is lower than the conveying speed of the first conveying section 22a.

[0017] The third conveying section 22c is a device that conveys foreign matter 4 removed from the waste material 2 by the second conveying section 22b. The third conveying section 22c is provided at a position where it branches off from the second conveying section 22b, at the same height as the second conveying section 22b. The third conveying section 22c has a conveying surface 34. The third conveying section 22c places the foreign matter 4 removed from the waste material 2 being conveyed by the second conveying section 22b on the conveying surface 34 and conveys it at a constant speed (for example, 40 m / min).

[0018] The waste material processing line 17 includes multiple bases 14 arranged along the first conveying direction D1 and the second conveying direction D2. The bases 14 are components capable of holding various modules that perform predetermined processes on the waste material 2 and include a built-in computer with communication capabilities (not shown). The modules used in this embodiment include a photography module 15 that uses a camera to capture images of foreign objects 4 contained in the waste material 2 and a picking module 16 that removes foreign objects 4 from the waste material 2. The bases 14 include a common clamping mechanism 19 that can hold the various modules. The clamping mechanism 19 includes a pair of guide rails 18 provided on the upper part of the bases 14 and sliders 48 that are provided below the bases 44 of the various modules and slide along the guide rails 18. When the bases 14 use the clamping mechanism 19 to move the bases 44 to the ends 18a of the guide rails 18, a locking mechanism (not shown) is activated, thereby holding the various modules. When the various modules are held in the bases 14, the modules are communicatively connected to the bases 14. Furthermore, the bases 14 are communicatively connected to each other via a network or the like.

[0019] The imaging module 15 is a type of detection module, and as shown in FIG. 4, is a module in which a camera 50 is attached to the tip 46 of the robot arm 40. The camera 50 captures an image of a predetermined imaging area on the conveyance surface to generate image data. The robot arm 40 includes a first arm 41, a second arm 42, a support unit 43, a base unit 44, a tip 46, and a control unit 49. The first arm 41 is a longitudinal member including the tip 46. The first arm 41 includes a first drive unit 41a therein that rotates the tip 46. The second arm 42 is a longitudinal member including the first arm 41. A second drive unit 42a that rotates the first arm 41 is provided at the tip of the second arm 42. The support unit 43 is a box-shaped member including the second arm 42. A third drive unit 43a that rotates the second arm 42 is provided at the tip of the support unit 43. The base 44 supports the support 43 via a support shaft 45 extending in the vertical direction. A fourth drive unit 44a is provided on the base 44, and the support shaft 45 is rotated by the fourth drive unit 44a. The tip 46 is a box-shaped member supported by a horizontal shaft provided at the tip of the first arm 41. A camera 50 is attached to the underside of the tip 46. The tip 46 is moved to a desired position by the first arm 41, the second arm 42, and the support 43. The control unit 49 is configured as a microprocessor centered on a CPU. As shown in FIG. 6, the control unit 49 outputs signals to the first drive unit 41a, the second drive unit 42a, the third drive unit 43a, and the fourth drive unit 44a, and outputs a shooting command signal to the camera 50. The control unit 49 also receives image data from the camera 50. The first drive unit 41a, the second drive unit 42a, the third drive unit 43a, and the fourth drive unit 44a are equipped with position sensors (not shown), and the control unit 49 controls each drive unit while inputting position information from these position sensors.

[0020] In this embodiment, of the photographing modules 15, as shown in Figure 2, the one held on the base 14 upstream of the switching unit 31 in the first conveying direction D1 will be called the first photographing module 15a, the one held on the base 14 located upstream in the second conveying direction D2 will be called the second photographing module 15b, the one held on the base 14 located downstream in the second conveying direction from the base 14 holding the second photographing module 15b will be called the third photographing module 15c, and the one held on the base 14 located downstream in the first conveying direction D1 from the switching unit 31 will be called the fourth photographing module 15d.

[0021] The picking module 16 is a type of foreign body removal module, and as shown in FIG. 5, is a module in which a collection member 52 having a plurality of claws for collecting foreign bodies 4 is attached to the tip 46 of a robot arm 40. The robot arm 40 is the same as the imaging module 15, and therefore a description thereof will be omitted. However, a control unit 49 provided in the robot arm 40 of the picking module 16 controls the gripping operation, such as opening and closing, of the claws provided on the collection member 52.

[0022] As shown in FIG. 6, the control device 80 is a computer including a known CPU 80a, ROM 80b, RAM 80c, HDD 80d, etc., and controls the entire foreign matter removal system 10. The control device 80 is connected to the base 14, the first to fourth imaging modules 15a to 15d, the picking module 16, the switching unit 31, and the first to third transport units 22a to 22c. The control device 80 can communicate with the control units 49 of the first to fourth imaging modules 15a to 15b, the control unit 49 of the picking module 16, and each base 14. The control device 80 also outputs control signals to the switching unit 31, outputs imaging command signals to the first to fourth imaging modules 15a to 15d, and inputs image data from the first to fourth imaging modules 15a to 15d. The base 14 and the imaging modules 15 held therein are connected to each other so as to be able to communicate with each other, and the base 14 and the picking module 16 held therein are also connected to each other so as to be able to communicate with each other. That is, the base 14 and each module are equipped with a common communication interface. This allows the base 14 to recognize the type of module held within it. In addition, the bases 14 are also connected to each other so that they can communicate with each other. This makes it possible, for example, to share information about a problem in a previous process with a subsequent process and take action such as stopping the equipment.

[0023] Next, the operation of the foreign matter removal system 10 configured as above will be described with reference to Figures 7 and 8. Figure 7 is a flowchart showing an example of a flag setting routine, and Figure 8 is a flowchart showing an example of a transport direction switching routine.

[0024] First, the flag setting routine will be described. The flag indicates whether or not switching to the second conveying direction by the switching unit 31 is to be performed. The program for the flag setting routine is stored in the ROM 80b, and is executed by the CPU 80a at predetermined intervals while the foreign matter removal system 10 is removing foreign matter. Here, the predetermined interval is defined as the time when a time T1 has elapsed, which is calculated by dividing the first conveying direction distance L1 (see FIG. 9) of the predetermined imaging range of the first imaging module 15a by the conveying speed of the first conveying unit 22a.

[0025] When this routine starts, the CPU 80a causes the first imaging module 15a to capture an image of a predetermined imaging area on the conveyance surface, and inputs the captured color image data from the first imaging module 15a (S100).

[0026] Next, the CPU 80a calculates the arrival time of the waste material 2 photographed in S100 until it reaches the conveying surface of the switching unit 31 (S110). Specifically, the CPU 80a divides the distance L2 (see FIG. 9) from the leading end of the predetermined photographing range photographed by the camera 50 of the first photographing module 15a on the conveying direction D1 side to the leading end of the switching unit 31 on the conveying direction D1 side by the conveying speed of the first conveying unit 22a to obtain the time T2, and stores the result in the RAM 80c.

[0027] Next, the CPU 80a detects a foreign matter 4 (S120). Specifically, the CPU 80a first detects the area of ​​the waste material 2 in the image data input in S110. Next, the CPU 80a acquires the RGB values ​​within the area of ​​the waste material 2. Next, the CPU 80a compares the RGB values ​​within the area of ​​the waste material 2 with the range of RGB values ​​of the target object 3 stored in advance in the HDD 80d. Then, the CPU 80a detects the area of ​​the waste material 2 that is outside the range of RGB values ​​of the target object 3 as the area of ​​the foreign matter 4.

[0028] Next, the CPU 80a calculates the amount of the foreign matter 4 (S130). Specifically, the CPU 80a counts the number of areas of the foreign matter 4 detected in S120 and stores the number in the RAM 80c.

[0029] Next, the CPU 80a determines whether the amount of foreign matter 4 calculated in S130 is equal to or greater than a predetermined specified amount (S140). If the amount of foreign matter 4 calculated in S130 is equal to or greater than the specified amount, the CPU 80a sets the flag to ON when time T2 has elapsed from the current time, and ends this routine. If the amount of foreign matter 4 calculated in S130 is less than the specified amount, the CPU 80a sets the flag to OFF when time T2 has elapsed from the current time, and ends this routine.

[0030] Next, the conveying direction switching routine (FIG. 8) will be described. The program for the conveying direction switching routine is stored in the ROM 80b, and is executed by the CPU 80a at predetermined intervals while the foreign matter removal system 10 is removing foreign matter. Here, the predetermined intervals are the intervals at which the aforementioned time T1 has elapsed.

[0031] When this routine starts, the CPU 80a acquires a flag and determines whether the flag is ON or OFF (S200). The flag acquired in S200 is set depending on whether the amount of foreign matter 4 is equal to or greater than a predetermined amount at a time point prior to the current time point T2. Therefore, the flag indicates whether the amount of foreign matter 4 in the waste material 2 currently on the conveying surface of the switching unit 31 is equal to or greater than a predetermined amount. If the flag is ON in S200, the CPU 80a switches the conveying direction to the second conveying direction D2 (S210). Specifically, the CPU 80a controls the switching unit 31 to tilt the switching unit 31 toward the second conveying unit 22b. As a result, any waste material 2 on the conveying surface of the switching unit 31 with an amount of foreign matter 4 equal to or greater than the predetermined amount slides down the switching unit 31 and moves to the second conveying unit 22b. In the second conveying unit 22b, the foreign matter is removed by the picking module 16, as described below. Next, after a predetermined switching time has elapsed, the CPU 80a switches the conveying direction to the first conveying direction D1 (S220), and then ends this routine. Specifically, the CPU 80a controls the switching unit 31 to return the switching unit 31 to a horizontal position. As a result, the waste material 2 passing through the switching unit 31 is conveyed in the first conveying direction D1. The predetermined switching time is the minimum time required for waste material 2 with a specified amount of foreign matter 4 or more on the conveying surface of the switching unit 31 to slide down the switching unit 31 and move to the second conveying unit 22b. On the other hand, if the flag was OFF in S200, the CPU 80a simply ends this routine. As a result, the waste material 2 passing through the switching unit 31 is conveyed in the first conveying direction D1.

[0032] 9A to 9E are explanatory diagrams showing an example of a time series when the conveying direction switching routine is executed. FIG. 9A shows the waste material 2 conveyed by the first conveying unit 22a in the first conveying direction D1 being photographed by the photographing module 15a. The predetermined photographing range of the photographing module 15a is the first conveying direction distance L1. At this time, the waste material 2 photographed within the predetermined photographing range is referred to as waste material 2A. It is assumed that the amount of foreign matter 4 contained in the waste material 2A is less than a specified amount. Therefore, the flag is set to OFF when time T2 (here, twice T1) has elapsed since the waste material 2A was photographed.

[0033] FIG. 9B shows the state when time T1 has elapsed since waste material 2A was photographed. Here, waste material 2B, which was transported next to waste material 2A, is photographed by the photographing module 15a. It is assumed that the amount of foreign matter 4 contained in waste material 2B is equal to or greater than a specified amount. Therefore, the flag is set to ON when time T2 has elapsed since the waste material 2B was photographed.

[0034] FIG. 9C shows the state when time T1 has passed since waste material 2B was photographed. Here, waste material 2C, which was transported after waste material 2B, is photographed by the photographing module 15a. Assume that the amount of foreign matter 4 contained in waste material 2C is less than a specified amount. Therefore, the flag is set to OFF when time T2 has passed since waste material 2C was photographed. FIG. 9C also shows the state when time T2 (= 2 × T1) has passed since waste material 2A was photographed. Therefore, the flag is set to OFF. In the conveying direction switching routine, because the flag is OFF, waste material 2A on the conveying surface of switching unit 31 is conveyed in the first conveying direction D1 as is.

[0035] FIG. 9D shows the state when time T1 has elapsed since waste material 2C was photographed. Here, waste material 2D, which was transported after waste material 2C, is photographed by the photographing module 15a. Assume that the amount of foreign matter 4 contained in waste material 2D is less than a specified amount. The flag is set to OFF when time T2 has elapsed since waste material 2D was photographed. FIG. 9D also shows the state when time T2 has elapsed since waste material 2B was photographed. Therefore, the flag is set to ON. In the conveying direction switching routine, because the flag is ON, the switching unit 31 is controlled to tilt toward the second conveying unit 22b. As a result, waste material 2B, which is on the conveying surface of the switching unit 31 and contains more than the specified amount of foreign matter 4, slides down the switching unit 31 and moves to the second conveying unit 22b, and is then transported in the second conveying direction D2. The switching unit 31 then quickly returns to its original position.

[0036] FIG. 9E shows the state when time T1 has passed since waste material 2D was photographed. Here, waste material 2E, which was transported next to waste material 2D, is photographed by the photographing module 15a. Assume that the amount of foreign matter 4 contained in waste material 2E is less than a specified amount. The flag is set to OFF when time T2 has passed since waste material 2E was photographed. FIG. 9E also shows the state when time T2 has passed since waste material 2B was photographed. Therefore, the flag is set to OFF. In the conveying direction switching routine, because the flag is OFF, waste material 2C in switching unit 31 is conveyed in the first conveying direction D1 as is.

[0037] Next, the operation of removing foreign matter 4 from waste material 2 being transported in the second transport direction D2 by second transport unit 22a will be described. At predetermined times (here, the time when a time has elapsed obtained by dividing the second transport direction distance of a predetermined photographing range of second photographing module 15b by the transport speed of second transport unit 22b), CPU 80a causes second photographing module 15b to photograph a predetermined photographing area on the transport surface, inputs the photographed color image data from second photographing module 15b, and recognizes the XY coordinates of foreign matter 4 based on the color image data. Control unit 49 of picking module 16 acquires the XY coordinates of foreign matter 4 from control device 80 and updates the XY coordinates of foreign matter 4 based on the XY coordinates of foreign matter 4, the transport speed of second transport unit 22b, and the elapsed time since the second photographing module 15b photographed the foreign matter 4. Then, control unit 49 controls robot arm 40 and collection member 52 so that collection member 52 collects foreign matter 4 based on the updated XY coordinates of foreign matter 4. In this way, the foreign matter 4 contained in the waste material 2 is removed by the two picking modules 16 provided downstream of the second photographing module 15b.

[0038] Next, we will explain the inspection of whether the waste material 2 after the foreign matter 4 has been removed by the second conveying section 22b is appropriate. The CPU 80a causes the third imaging module 15c to capture an image of a predetermined imaging area on the conveying surface at predetermined timings (the same as the timings when the second imaging module 15b captures images), inputs the captured color image data from the third imaging module 15c, calculates the amount of foreign matter 4 based on the color image data, and determines whether the amount of foreign matter 4 is within the allowable range. This is similar to S100 and S120 of the flag setting routine. If the amount of foreign matter 4 is within the allowable range, the CPU 80a does not issue a warning. On the other hand, if the amount of foreign matter 4 is outside the allowable range, the CPU 80a notifies the user that the amount of foreign matter 4 is outside the allowable range. The notification may be output as text on a display (not shown) or as audio from a speaker (not shown). When the operator receives this notification, they can change the system configuration depending on the amount of foreign matter 4. For example, if the upper limit of the allowable range is exceeded, a picking module 16 may be added to an empty base 14 of the second transport unit 22b, or the transport speed of the second transport unit 22b may be slowed down. If the lower limit of the allowable range is exceeded, the number of picking modules 16 arranged on the second transport unit 22b may be reduced, or the transport speed of the second transport unit 22b may be increased.

[0039] Next, we will explain the inspection of whether the waste material 2 after passing through the switching unit 31 on the first conveying unit 22a is appropriate. The CPU 80a causes the fourth imaging module 15d to capture an image of a predetermined imaging area on the conveying surface, inputs the captured color image data from the fourth imaging module 15d, calculates the amount of foreign matter 4 based on the color image data, and determines whether the amount of foreign matter 4 is equal to or greater than the allowable amount. This is similar to S100 and S120 of the flag setting routine. If the amount of foreign matter 4 is less than the allowable amount, the CPU 80a does not issue a warning. On the other hand, if the amount of foreign matter 4 is equal to or greater than the allowable amount, the CPU 80a notifies the operator of this. When the operator receives this notification, for example, the operator may lower the specified amount in the flag setting routine or slow down the conveying speed of the first conveying unit 22a.

[0040] The foreign matter removal system 10 described above detects foreign matter 4 contained in the waste material 2 using the second imaging module 15b, which is provided upstream of the picking module 16 in the second conveying direction D2 of the second conveying section 22b. Therefore, the foreign matter 4 can be accurately removed from the waste material 2.

[0041] The foreign matter removal system 10 also includes a base 14 capable of holding, by a common clamping mechanism 19, one module selected from a group including a picking module 16 that removes foreign matter 4 detected by a photography module 15 contained in the waste material 2 from the waste material 2. Because the base 14 can hold the module by the common clamping mechanism 19, the held module can be replaced with another module. The system also includes a waste material processing line 17 in which a plurality of bases 14 are arranged along the conveying direction of the conveying device 22, with the bases 14 that hold the photography modules 15 positioned upstream and the bases 14 that hold the picking modules 16 positioned downstream. The waste material processing line 17 includes a base 14 that holds the photography module 15, a base 14 that holds the picking module 16, and an empty base 14 that does not hold any module. Therefore, if the workload of any module is too heavy, the module can be added to an empty base 14 and held thereon. On the other hand, if the workload of any module is too light, the module can be removed from the base 14 that holds it. The removed module can be used in another foreign matter removal system. In this way, the foreign matter removal system 10 of the present disclosure allows the system configuration to be flexibly changed depending on the amount of waste material 2 to be processed, the amount of foreign matter 4 contained in the waste material 2, and the like.

[0042] Furthermore, in the foreign matter removal system 10, bases 14 that do not hold modules are arranged in the waste material processing line 17. Therefore, if any module needs to be added, the module can be added to the empty base 14.

[0043] In the foreign matter removal system 10, the conveying device 22 includes a first conveying section 22a that conveys the waste material 2 in a first conveying direction D1, a second conveying section 22b that is connected to a predetermined branch point 33 in the first conveying direction D1 and conveys the waste material 2 in a second conveying direction D2 branching off from the first conveying direction D1, and a switching section 31 that is provided at the branch point 33 and switches between conveying the waste material 2 in the first conveying direction D1 or the second conveying direction D2. The base 14 that holds the first imaging module 15a is provided upstream of the branch point 33 in the first conveying direction D1, and the base 14 that holds the picking module 16 is provided downstream of the branch point 33 in the second conveying direction D2. The foreign matter removal system 10 is equipped with a control device 80 that controls the switching unit 31 so that the waste material 2 is transported by the first transport unit 22a if the amount of foreign matter 4 detected by the first imaging module 15a does not exceed a predetermined specified amount, and controls the switching unit 31 so that the waste material 2 is transported by the second transport unit 22b if the amount exceeds the specified amount. Therefore, the portion of the waste material that was being transported by the first transport unit 22a that contains a large amount of foreign matter is transported by the second transport unit 22b, and then the foreign matter 4 is removed. Furthermore, the control device 80 calculates the arrival time from the time the first photographing module 15a detects the foreign object 4 until the foreign object 4 detected by the first photographing module 15a reaches the switching unit 31, and if the amount of foreign object 4 does not exceed a specified amount, controls the switching unit 31 to transport the waste material 2 by the first conveying unit 22a when the arrival time has elapsed since the time the foreign object 4 was detected, and if the amount of foreign object 4 exceeds the specified amount, controls the switching unit 31 to transport the waste material 2 by the second conveying unit 22b when the arrival time has elapsed since the time the foreign object 4 was detected. This makes it possible to prevent a situation in which waste material between the first photographing module 15a and the switching unit 31 is transported by the second conveying unit 22b more than necessary during the time from the time the first photographing module 15a detects the foreign object 4 until the arrival time has elapsed. When the switching unit 31 causes the second conveying unit 22b to convey the waste material 2, the switching unit 31 causes the waste material 2 to drop from the first conveying unit 22a to the second conveying unit 22b, which is provided at a lower height than the first conveying unit 22a. Therefore, it is relatively easy to make the portion of the waste material 2 that is being conveyed by the first conveying unit 22a and that contains a large amount of foreign matter 4 be conveyed by the second conveying unit 22b.Furthermore, the conveying speed of the second conveying unit 22b is set lower than the conveying speed of the first conveying unit 22a. Therefore, the picking module 16 held by the base 14 can easily remove foreign matter 4 contained in the waste material 2 conveyed by the second conveying unit 22b. Furthermore, a base 14 holding a fourth imaging module 15d is further disposed downstream of the switching unit 31 in the first conveying direction D1. Therefore, the waste material 2 after passing through the switching unit 31 can be inspected by the fourth imaging module 15d downstream of the switching unit. Therefore, it can be determined whether or not the waste material 2 after passing through the switching unit 31 contains more foreign matter 4 than the allowable amount.

[0044] Furthermore, in the foreign matter removal system 10, a base 14 that holds a third imaging module 15c is further arranged on the waste material processing line 17 downstream in the second conveying direction D2 from the base 14 that holds the picking module 16. Therefore, the waste material 2 after the foreign matter 4 has been removed by the picking module 16 can be inspected by the third imaging module 15c downstream of the picking module 16. Therefore, it can be determined whether the foreign matter 4 has been sufficiently removed.

[0045] [Second embodiment] Fig. 13 is an explanatory diagram showing the configuration of the recycling system 401, Fig. 14 is a perspective view showing the schematic configuration of the foreign matter removal system 410, Fig. 15 is a side view showing the schematic configuration of the foreign matter removal system 410, Fig. 16 is a plan view showing the schematic configuration of the foreign matter removal system 410, and Fig. 17 is a block diagram showing the electrical connection relationship of the foreign matter removal system 410. In this embodiment, the left-right direction, front-rear direction, and up-down direction are as shown in Figs. 13 to 16 (in Figs. 13 and 15, the front-rear direction is the direction perpendicular to the paper surface, and in Fig. 16, the up-down direction is the direction perpendicular to the paper surface). In this embodiment, the direction in which the waste material 2 is transported by the transport device 422 is referred to as the transport direction D3.

[0046] The recycling system 401 includes primary and secondary crushers 11a and 11b, primary and secondary magnetic separators 12a and 12b, a screening machine 13, conveying devices 20, 21, 422, 23 to 25, and a foreign matter removal system 410. Here, the primary and secondary crushers 11a and 11b, the primary and secondary magnetic separators 12a and 12b, the screening machine 13, and the conveying devices 20, 21, 23 to 25 have the same configurations as those in the first embodiment, and therefore their explanations will be omitted. In addition, the waste material 2 processed in the recycling system 401 is also the same as that in the first embodiment, and therefore its explanation will be omitted.

[0047] As shown in FIGS. 13 to 16, the foreign matter removal system 410 includes a transport device 422, a detection module 415, a foreign matter removal module 416, a foreign matter storage member 418, a sub-transport device 417, and a control device 480 (see FIG. 17).

[0048] The conveying device 422 is a device that places the waste material 2 on a conveying surface 430 and conveys it along a conveying direction D3, and is configured as, for example, a belt conveyor. The conveying device 422 places the waste material 2 on the conveying surface 430 and conveys the waste material 2 at a constant speed (for example, 40 [m / min]).

[0049] The detection module 415 is a device that detects foreign matter 4 contained in the waste material 2, and is configured, for example, as a color camera that captures color images of the waste material 2 placed on and transported on the transport surface 430 of the transport device 422. The detection module 415 is held above the transport surface 430 of the transport device 422 by a holding member 419 that is provided so as to straddle the transport device 422 in the front-to-rear direction. The detection module 415 captures an image of the waste material 2 from above the transport surface 430 of the transport device 422, and outputs the color image data to the control device 480 (see FIG. 17).

[0050] The foreign matter removal module 416 is a device that removes the foreign matter 4 detected by the detection module 415 from the waste material 2, and is configured as, for example, an XY robot. The foreign matter removal module 416 is provided downstream of the detection module 415 in the conveying direction D3. The foreign matter removal module 416 includes a Y-axis slider 445, an X-axis slider 443, an elevator device 450 (see FIG. 17), a collection member 452, and a collection member drive unit 448 (see FIG. 17). The Y-axis slider 445 is supported by a pair of upper and lower guide rails 444 that are provided on the left surface of the X-axis slider 443 and extend in the Y-axis direction. The Y-axis slider 445 can be moved in the Y-axis direction by driving a Y-axis motor (not shown) provided on the Y-axis slider 445. The X-axis slider 443 is supported by a pair of front and rear guide rails 442 mounted on a pair of left and right rail mounting sections 440 arranged to straddle the conveying device 422 in the front-rear direction. The X-axis slider 443 can move in the X-axis direction (along the conveying direction D3) by driving an X-axis motor (not shown) provided on the X-axis slider 443. A storage box 451 is attached to the left surface of the Y-axis slider 445. The storage box 451 houses an elevating device 450 that moves the collecting member 452 in the Z-axis direction. The elevating device 450 can raise and lower the collecting member 452 by driving a Z-axis motor (not shown) provided on the elevating device 450. The collecting member 452 has multiple claws that can collect foreign matter 4 from the waste material 2 by opening and closing the claws. The collecting member 452 can hold and release the foreign matter 4 by opening and closing the claws. The sampling member driving unit 448 is housed in a storage box 451, and is a driving device that rotates the sampling member 452 about its axis and opens and closes the claws of the sampling member 452 when driven.

[0051] The foreign matter storage member 418 is a box-shaped member that stores the foreign matter 4 and has an open top. The foreign matter storage member 418 is provided adjacent to the transport device 422 on both the front and rear sides of the transport device 422 along the transport direction D3.

[0052] The sub-conveyor device 417 is a conveying device that conveys the foreign objects 4 removed from the waste material 2 by the foreign object removal module 416 to the foreign object storage member 418 for disposal, and is configured as, for example, a belt conveyor. The sub-conveyor device 417 is arranged above the conveying device 422 so as to intersect with the conveying device 422 at an intersection. The sub-conveyor device 417 includes a first sub-conveyor unit 417a, a second sub-conveyor unit 417b, and a sub-conveyor device moving unit 424. The first and second sub-conveyors 417a and 417b are provided above the sub-conveyor device moving unit 424. The first sub-conveyor unit 417a is configured as, for example, a belt conveyor, and is a member that conveys the foreign objects 4 to the foreign object storage member 418 at a constant speed (for example, 40 m / min) along a conveying direction D4 (see FIG. 16) from the center side to the front side (outside) of the conveying device 422, and then discards the foreign objects. The second sub-conveyor 417b is configured as, for example, a belt conveyor, and is a member that transports and discards the foreign matter 4 at a constant speed (for example, 40 m / min) along a transport direction D5 (see FIG. 16) from the center of the transport device 422 toward the rear (outside) to the foreign matter storage member 418. In this way, the sub-conveyor 417 transports the foreign matter 4 from the center toward the outside. The sub-conveyor moving unit 424 is supported by a pair of front and rear guide rails 421 that are installed on a pair of left and right rail installation units 420 that are arranged to straddle the transport device 422 in the front-to-rear direction. The sub-conveyor 417 is movable in the X-axis direction (along the transport direction D3) by driving a motor (not shown) installed in the sub-conveyor moving unit 424, and can move toward or away from the collecting member 452.

[0053] 17 , the control device 480 is a computer including a known CPU 480a, ROM 480b, RAM 480c, HDD 480d, etc., and controls the entire foreign substance removal system 410. The control device 480 is connected to the detection module 415, the foreign substance removal module 416, and the sub-conveyance device 417. The control device 480 outputs an imaging command signal to the detection module 415 and inputs image data from the detection module 415. The control device 480 also controls the X-axis slider 443 to move the foreign substance removal module 416 in the X-axis direction, the Y-axis motor to move the foreign substance removal module 416 in the Y-axis direction, the lifting device 450 to move the collecting member 452 in the Z-axis direction, the collecting member drive unit 448 to control the opening and closing of the claws of the collecting member 452, and the sub-conveyance device moving unit 424 to move the sub-conveyance device 417 in the X-axis direction. In addition, the control device 480 receives signals from encoders (not shown) provided on the X-axis slider 443, the Y-axis slider 445, and the lifting device 450 to determine the position of the collection member 452, and receives signals from an encoder (not shown) provided on the sub-conveying device moving section 424 to determine the position of the sub-conveying device 417.

[0054] Next, the operation of the foreign matter removal system 410 configured as described above will be described with reference to Figures 18 to 20. Figures 18A to 18D are explanatory diagrams showing an example of how foreign matter 4 is removed by the foreign matter removal system 410, Figure 19 is a flowchart showing an example of a foreign matter disposal processing routine, and Figure 20 is an explanatory diagram showing an example of how an operation is selected. The foreign matter disposal processing routine is stored in ROM 480b, and is executed by CPU 480a at predetermined intervals while foreign matter is being removed by the foreign matter removal system 410.

[0055] When this routine starts, the CPU 480a causes the detection module 415 to capture an image of a predetermined image capture area on the transport surface 430, and inputs the captured color image data from the detection module 415 (S400).

[0056] Next, the CPU 480a detects the foreign matter 4 (S410). Specifically, the CPU 480a executes the same process as S120 of the flag setting routine of the first embodiment, and recognizes the XY coordinates of the foreign matter 4 at the time of image capture by the detection module 415 from the color image data input in S400.

[0057] Next, the CPU 480a calculates the size and shape of the foreign matter 4 (S420). Specifically, the CPU 480a calculates the number of pixels in the area of ​​the foreign matter 4 detected in S410, multiplies the calculated number of pixels by the area per pixel to calculate the size of the area of ​​the foreign matter 4, and detects the outline of the area of ​​the foreign matter 4 when viewed from above to calculate the shape of the area of ​​the foreign matter 4.

[0058] Next, the CPU 480a sets a foreign object collection position P1 for the collection member 452 and a standby position P2 for the sub-transport device 417 (S430). Here, the position at which the collection member 452 starts its operation to collect the foreign object 4 is referred to as the foreign object collection position P1, and the position at which the sub-transport device 417 waits near the collection member 452 while the collection member 452 of the foreign object removal module 416 is collecting the foreign object 4 is referred to as the standby position P2 (see FIG. 18A). The CPU 480a sets the foreign object collection position P1 and the standby position P2 as follows. That is, the CPU 480a first inputs signals from encoders (not shown) provided on the X-axis slider 443 and the Y-axis slider 445 to determine the position of the collection member 452 at the time of foreign object detection (referred to as the current position P0). Next, the CPU 480a sets the foreign object collection position P1. The foreign object collecting position P1 is set on a straight line parallel to the Y-axis direction and passing through the foreign object 4 detected in S410. The foreign object collecting position P1 is set to a position where the collecting member 452 can move from the current position P0 to reach the foreign object collecting position P1 and collect the foreign object 4 before the detected foreign object 4 is transported to directly below the foreign object collecting position P1. If there are multiple such positions, the most upstream position is set as the foreign object collecting position P1. The CPU 480a then sets the standby position P2 to a position that is a predetermined distance N away from the foreign object collecting position P1 in the X-axis direction, the distance N being determined based on the size and shape of the foreign object 4 calculated in S420. The method for setting the predetermined distance N will be described later.

[0059] 18B, the CPU 480a drives and controls the sub-conveyor moving unit 424 to move the sub-conveyor 417 to a standby position P2 before the foreign matter 4 is transported to a position directly below the foreign matter collecting position P1, and drives and controls the X-axis slider 443 and the Y-axis slider 445 to move the collecting member 452 to the foreign matter collecting position P1 before the foreign matter 4 is transported to a position directly below the foreign matter collecting position P1.

[0060] Next, the CPU 480a removes the foreign object 4 using the collection member 452 of the foreign object removal module 416 (S450). Specifically, the CPU 480a first updates the X and Y coordinates of the foreign object 4 based on the X and Y coordinates of the foreign object 4 recognized in S410, the conveying speed of the conveying device 422, and the elapsed time since the foreign object was detected. Then, based on the updated X and Y coordinates of the foreign object 4, when the foreign object 4 reaches directly below the foreign object collection position P1, the CPU 480a drives and controls the lifting device 450 and the collection member drive unit 448 so that the collection member 452 collects the foreign object 4, as shown in FIG. 18C. Then, as shown in FIG. 18D, with the collection member 452 holding the foreign object 4, the CPU 480a drives and controls the lifting device 450 to raise the collection member 452 and remove the foreign object 4 from the waste material 2. While the CPU 480a is executing these processes, the sub-conveyance device 417 is on standby at standby position P2. The standby position P2 of the sub-conveyance device 417 is the position where the sub-conveyance device 417 does not come into contact with the foreign matter 4 or the collection member 452 and is closest to the collection member 452 when the collection member 452 is being raised. The predetermined distance N is set based on the size and shape of the foreign matter 4 so that the standby position P2 is at such a position.

[0061] Next, the CPU 480a calculates the times required for the foreign object discarding operation and the foreign object placing operation (S460). Here, the operation in which the collecting member 452 of the foreign object removal module 416 directly discards the foreign object 4 into the foreign object storage member 418 is referred to as the foreign object discarding operation, and the operation in which the collecting member 452 of the foreign object removal module 416 places the foreign object 4 on the sub-transport device 417 is referred to as the foreign object placing operation. The time required for the foreign object discarding operation is the time required for the collecting member 452 to move a distance M in the Y-axis direction, as shown in FIG. 20. The distance M is the moving distance required for the foreign object 4 collected by the collecting member 452 to be discarded into the foreign object storage member 418. The time required for the foreign object placing operation is the time required for the collecting member 452 to move a distance L in the X-axis direction, as shown in FIG. 20. The distance L is the moving distance required for the foreign matter 4 collected by the collecting member 452 to be placed on the transport surface of the sub-transport device 417.

[0062] Next, the CPU 480a selects an operation (S470). Specifically, if the required time for the foreign object disposal operation is shorter than the required time for the foreign object placement operation, the CPU 480a selects the foreign object disposal operation. On the other hand, if the required time for the foreign object placement operation is shorter than the required time for the foreign object disposal operation, the CPU 480a selects the foreign object placement operation.

[0063] If the foreign object placement operation is selected in S470, the CPU 480a executes the foreign object placement operation (S480). Specifically, the CPU 480a controls the drive of the X-axis slider 443 to move the collection member 452 to directly above the sub-conveyance device 417. Then, the CPU 480a controls the collection member drive unit 448 to open the claws of the collection member 452 and place the foreign object 4 on the sub-conveyance device 417. In this way, the foreign object 4 is transported by the sub-conveyance device 417 to the foreign object storage member 418 and discarded.

[0064] On the other hand, if the foreign matter disposal operation is selected in S470, the CPU 480a executes the foreign matter disposal operation (S490). Specifically, the CPU 480a drives and controls the Y-axis slider 445 to move the collection member 452 to directly above the foreign matter storage member 418. Then, the CPU 480a drives and controls the collection member drive unit 448 to open the claws of the collection member 452 and discard the foreign matter 4 into the foreign matter storage member 418.

[0065] After S480 or S490, the CPU 480a ends this routine.

[0066] The foreign matter removal system 410 described above detects foreign matter 4 contained in the waste material 2 using the detection module 415, which is provided upstream of the foreign matter removal module 416 in the conveying direction D3 of the conveying device 422. Therefore, the foreign matter 4 can be accurately removed from the waste material 2.

[0067] The foreign matter removal system 410 also includes a foreign matter storage member 418 that is disposed adjacent to the transport device 422 and stores the foreign matter 4, and a sub-transport device 417 that is disposed above the transport device 422 and transports the foreign matter 4 removed from the waste material 2 by the foreign matter removal module 416 to the foreign matter storage member 418 for disposal. Therefore, by placing the foreign matter 4 removed from the waste material 2 by the foreign matter removal module 416 on the sub-transport device 417, the sub-transport device 417 transports the foreign matter 4 to the foreign matter storage member 418 for disposal. Therefore, while the sub-transport device 417 transports the foreign matter 4 to the foreign matter storage member 418, the foreign matter removal module 416 can remove other foreign matter 4 contained in the waste material 2. Therefore, foreign matter removal can be performed efficiently.

[0068] The foreign matter removal system 410 further includes a collection member 452 provided in the foreign matter removal module 416 and capable of collecting foreign matter 4 from the waste material 2, a sub-conveyor device movement unit 424 that moves the sub-conveyor device 417 toward or away from the foreign matter removal module 416, and a control device 480 that executes standby position control to control the sub-conveyor device movement unit 424 so that the sub-conveyor device 417 waits at a standby position P2 near the collection member 452 while the collection member 452 collects the foreign matter 4 from the waste material 2. This allows for more efficient foreign matter removal. Furthermore, when executing standby position control, the control device 480 sets the standby position of the sub-conveyor device 417 based on the size and shape of the foreign matter 4 detected by the detection module 415. Therefore, for example, if the size of the foreign object 4 detected by the detection module 415 is large, by setting the standby position P2 at a position away from the collection member 452, it is possible to prevent the foreign object 4 from coming into contact with the sub-conveyance device 417 when the foreign object removal module 416 discards the foreign object 4 into the foreign object storage member 418 or places the foreign object 4 on the sub-conveyance device 417. Also, for example, if the size of the foreign object 4 detected by the detection module 415 is small, by setting the standby position P2 at a position close to the collection member 452, it is possible to sufficiently efficiently remove the foreign object. Furthermore, the control device 480 selects the operation requiring the shortest time from among the discarding operation in which the collection member 452 of the foreign object removal module 416 discards the foreign object 4 directly into the foreign object storage member 418 and the placing operation in which the collection member 452 of the foreign object removal module 416 places the foreign object on the sub-conveyance device 417, and controls the foreign object removal module 416 to execute the selected operation. This allows for more efficient foreign object removal.

[0069] In the foreign matter removal system 410, the foreign matter storage members 418 are provided on both sides of the transport device 422 along the transport direction D3, and the sub-transport device 417 transports the foreign matter 4 from the center toward the outside. This reduces the time it takes for the foreign matter 4 to be placed on the sub-transport device 417 and then transported and disposed of in the foreign matter storage member 418.

[0070] It goes without saying that the present invention is not limited to the above-described embodiment, and can be embodied in various forms as long as they fall within the technical scope of the present invention.

[0071] For example, in the first embodiment described above, the second conveying unit 22b is provided at a lower height than the first conveying unit 22a, and the switching unit 31 drops the material from the first conveying unit 22a to the second conveying unit 22b. However, this is not limited to this. For example, as in the foreign matter removal system 10 shown in FIG. 10, the second conveying unit 122b may branch off from the first conveying unit 22a and be provided at the same height as the first conveying unit 22a. In this case, switching from the first conveying direction D1 to the second conveying direction D2 may be performed by controlling the orientation of the pair of partition plates 131a, 131b of the switching unit 131. Note that in FIG. 10, components similar to those in the above-described embodiment are denoted by the same reference numerals, and their description will be omitted.

[0072] In the first embodiment, the conveying device 22 includes the first conveying section 22a and the second conveying section 22b, and the waste material processing line 17 is provided along the first conveying direction D1 and the second conveying direction D2. However, this is not limited to this. For example, as in the foreign matter removal system 210 shown in FIG. 11, the waste material processing line 17 may be provided with only the first conveying section 22a without the second conveying section 22b. Furthermore, in the above-described embodiment, the waste material processing line 17 is provided with empty bases 14 that do not hold modules. However, this is not limited to this. For example, as in the foreign matter removal system 310 shown in FIG. 12, the waste material processing line 17 may not be provided with empty bases 14. Note that in FIGS. 11 and 12, components similar to those in the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted.

[0073] In the first embodiment, the camera 50 provided in the imaging module 15 is a camera that captures color images, but this is not limited to this. For example, the camera 50 may be an infrared camera that detects infrared rays. In this case, the camera may detect infrared rays from the waste material 2 being transported, and detect the area of ​​the target object 3 and the area of ​​the foreign object 4 based on the amount of infrared rays.

[0074] In the first embodiment, when the amount of detected foreign matter 4 exceeds a specified amount, a flag is set and the conveying direction is switched, but this is not limited to this. For example, when the ratio of foreign matter 4 to waste material 2 exceeds a predetermined specified ratio, a flag may be set and the conveying direction may be switched. In this case, for example, in S140, the ratio of foreign matter 4 to waste material 2 may be found by calculating the ratio of the number of pixels in the area of ​​foreign matter 4 to the number of pixels in the area of ​​detected waste material 2.

[0075] In the first and second embodiments, the collection member is a mechanical chuck that has multiple claws and grips and collects the foreign matter 4, but is not limited to this. For example, the collection member may be a nozzle that sucks and collects the foreign matter 4.

[0076] In the first embodiment, the photographing module 15 and the picking module 16 are separate modules, but this is not limiting. For example, the picking module 16 may include a camera that detects foreign matter 4 contained in the waste material 2.

[0077] In the second embodiment, the predetermined distance N and the standby position P2 are set based on the size and shape of the foreign object 4, but this is not limiting. For example, the predetermined distance N and the standby position P2 may be set based on either the size or the shape of the foreign object 4. Alternatively, the predetermined distance N and the standby position P2 may be set based on the length of the foreign object 4 in the transport direction (X-axis direction). In this way, the standby position P2 can be set to a more appropriate position.

[0078] In the second embodiment, the foreign object removal module 416 is configured as an XY robot, but is not limited to this. For example, it may be configured as an articulated robot like the picking module 16 of the first embodiment. In this case, the articulated robot may be disposed outside the foreign object storage member 418. In this case, the articulated robot may be held by the base 14 of the first embodiment, and the base 14 may be provided so as to be movable along the transport direction D3.

[0079] In the second embodiment, when executing the foreign object placing operation, the X-axis slider 443 is driven and controlled to move the collection member 452 directly above the sub-conveyor device 417, and then the foreign object 4 is placed on the sub-conveyor device 417. However, this is not limiting. For example, the CPU 480a may drive and control the sub-conveyor device moving unit 424 to move the sub-conveyor device 417 to directly below the collection member 452, and then the foreign object 4 may be placed on the sub-conveyor device 417.

[0080] In the second embodiment, the foreign matter storage member 418 is disposed on both the front and rear sides of the transport device 422, but this is not limiting. For example, the foreign matter storage member 418 may be disposed only in front of the transport device 422, or only behind the transport device 422. When the foreign matter storage member 418 is disposed only in front of the transport device 422, the sub-transport device 417 may transport the foreign matter 4 in a direction from the rear side to the front side, and when the foreign matter storage member 418 is disposed only behind the transport device 422, the sub-transport device 417 may transport the foreign matter 4 in a direction from the front side to the rear side.

[0081] In the second embodiment, the CPU 480a selects the foreign object placement operation or the foreign object disposal operation, whichever requires the shorter time, and controls the foreign object removal module 416 to execute the selected operation, but this is not limited to this. For example, the CPU 480a may control the X-axis slider 443 of the foreign object removal module 416 so that the foreign object placement operation is always executed.

[0082] 18A is set according to the size of the foreign matter 4, the interval between the collecting member 452 and the sub-conveyor device 417 may be a fixed interval regardless of the size of the foreign matter 4. In this case, the interval between the collecting member 452 and the sub-conveyor device 417 may be set based on the predicted maximum size of the foreign matter 4. Specifically, the interval between the collecting member and the sub-conveyor device 417 may be set so that when the foreign matter removal module 416 places the predicted largest foreign matter 4 on the sub-conveyor device 417, the respective members do not come into contact with the foreign matter 4.

[0083] In the second embodiment, the standby position P2 is set at a position spaced a distance N to the left of the foreign matter collecting position P1, but this is not limiting. For example, the standby position P2 may be set at a position spaced a distance N to the right of the foreign matter collecting position P1.

[0084] In the second embodiment, when calculating the time required for the foreign object disposal process in S460 of the foreign object disposal process routine, the CPU 480a may set the distance M based on the size of the foreign object 4 calculated in S410 of the foreign object disposal process routine. In this case, the distance M is set as follows. That is, the CPU 480a first selects, from the foreign object storage members 418 arranged in front of and behind the transport device 422 from the collection member 452, the one that is closest in the Y-axis direction from the collection member. Then, the CPU 480a sets the distance M to the shortest distance from the collection member 452 that will reliably allow the foreign object 4 to enter the foreign object storage member 418 when the collection member drive unit 448 is driven above the selected foreign object storage member 418 to release the hold of the foreign object 4.

[0085] In the second embodiment, when calculating the time required for the foreign object placement process in S460 of the foreign object disposal process routine, the CPU 480a may set the distance L based on the size of the foreign object 4 calculated in S410 of the foreign object disposal process routine. In this case, the distance L is set as follows: That is, the CPU 480a sets the distance L to the shortest distance from the collection member 452 that will prevent the foreign object 4 from falling into the transport device 422 when the collection member 452 releases the foreign object 4 and places it on the sub-transport device 417, or when the sub-transport device 417 moves the foreign object 4 in the X-axis direction.

[0086] This application claims priority from international application PCT / JP2020 / 042643, filed on November 16, 2020, the entire contents of which are incorporated herein by reference. [Industrial Applicability]

[0087] The present disclosure can be used for recycling industrial waste, etc. [Explanation of symbols]

[0088] 1,401 Recycling system, 2, 2A to 2E Waste material, 3 Target object, 4 Foreign object, 10, 110, 210, 310, 410 Foreign object removal system, 11a Primary crusher, 11b Secondary crusher, 12a Primary magnetic separator, 12b Secondary magnetic separator, 13 Screening machine, 14 Base, 15 Photography module, 15a First photography module, 15b Second photography module, 15c Third photography module, 15d Fourth photography module, 16 Picking module, 17 Waste material processing line, 18 Guide rail, 18a End, 19 Clamping mechanism, 20 to 25, 422 Conveyor device, 22a First conveyor section, 22b Second conveyor section, 22c Third conveyor section, 30, 430 Conveyor surface, 31 Switching section, 32 Conveyor surface, 33 Branch point, 34 Conveying surface, 40 robot arm, 41 first arm, 41a first driving unit, 42 second arm, 42a second driving unit, 43 support unit, 43a third driving unit, 44 base unit, 44a fourth driving unit, 45 support shaft, 46 tip unit, 48 slider, 49 control unit, 50 camera, 52 sampling member, 80 control device, 80a CPU, 80b ROM, 80c RAM, 80d HDD, 122b second conveying unit, 131 switching unit, 131a, 131b partition plate, 415 detection module, 416 foreign object removal module, 417 sub-conveying device, 417a first sub-conveying unit, 417b second sub-conveying unit, 418 foreign object storage member, 419 holding member, 420, 440 rail installation unit, 421, 442, 444 Guide rail, 424 sub-transport device moving part, 443 X-axis slider, 445 Y-axis slider, 448 collection member drive part, 450 lifting device, 451 storage box, 452 collection member, 480 control device, 480a CPU, 480b ROM, 480c RAM, 480d HDD.

Claims

1. a conveying device that conveys waste material containing a mixture of target objects and foreign objects; a detection module for detecting the foreign matter contained in the waste material; a foreign matter removal module that is provided downstream of the detection module in the conveying direction of the conveying device and that removes the foreign matter detected by the detection module from the waste material; A foreign body removal system.

2. 10. The foreign body removal system according to claim 1, a foreign matter storage member disposed adjacent to the transport device and configured to store the foreign matter; a sub-transport device disposed above the transport device, which transports the foreign matter removed from the waste material by the foreign matter removal module to the foreign matter storage member and discards the foreign matter; A foreign body removal system.

3. 3. The foreign matter removal system according to claim 2, a collecting member provided in the foreign matter removal module and capable of collecting the foreign matter from the waste material; a sub-transport device moving unit that moves the sub-transport device toward or away from the foreign substance removal module; a control device that executes standby position control to control the sub-conveyance device moving unit so that the sub-conveyance device waits at a standby position near the collecting member while the collecting member collects the foreign matter from the waste material; A foreign body removal system.

4. When executing the standby position control, the control device sets the standby position of the sub-conveyance device based on at least one of the size and shape of the foreign matter detected by the detection module. The foreign matter removal system according to claim 3 .

5. the control device selects an operation requiring a shorter time from a discarding operation in which the collecting member of the foreign matter removal module discards the foreign matter directly into the foreign matter storage member and a placing operation in which the collecting member of the foreign matter removal module places the foreign matter on the sub-conveyance device, and controls the foreign matter removal module to execute the selected operation. The foreign matter removal system according to claim 3 or 4.

6. the foreign matter storage members are provided on both sides of the transport device along the transport direction, the sub-conveyance device conveys the foreign matter from the center toward the outside. The foreign matter removal system according to any one of claims 2 to 5.

7. 10. The foreign body removal system according to claim 1, a base capable of holding one module selected from a group including the detection module and the foreign object removal module by a common clamp mechanism; a waste material processing line in which a plurality of the bases are arranged along the conveying direction of the conveying device, and the base holding the detection module is arranged on the upstream side, and the base holding the foreign matter removal module is arranged on the downstream side; A foreign body removal system.

8. the base not holding the module is disposed in the waste material processing line; The foreign matter removal system according to claim 7 .

9. The foreign matter removal system according to claim 7 or 8, The conveying device is a first conveying unit that conveys the waste material in a first conveying direction; a second conveying unit connected to a predetermined branch point in the first conveying direction and configured to convey the waste material in a second conveying direction branching from the first conveying direction; a switching unit provided at the branch point and configured to switch whether the waste material is conveyed in the first conveying direction or the second conveying direction; Equipped with the base that holds the detection module is provided upstream of the branch point in the first conveying direction, the base for holding the foreign substance removal module is provided downstream of the branch point in the second transport direction, a control device that controls the switching unit so that the waste material is transported by the first transport unit if the amount of the foreign matter detected by the detection module does not exceed a predetermined specified amount, and controls the switching unit so that the waste material is transported by the second transport unit if the amount of the foreign matter detected by the detection module exceeds the predetermined specified amount; A foreign body removal system.

10. The control device calculates an arrival time from the time when the detection module detects the foreign object until the foreign object detected by the detection module reaches the switching unit, and if the amount of the foreign object does not exceed the specified amount, controls the switching unit so that the waste material is transported by the first transport unit when the arrival time has passed since the time when the foreign object was detected, and if the amount of the foreign object exceeds the specified amount, controls the switching unit so that the waste material is transported by the second transport unit when the arrival time has passed since the time when the foreign object was detected. The foreign body removal system according to claim 9.

11. When the waste material is transported by the second transport unit, the switching unit drops the waste material from the first transport unit onto the second transport unit, which is provided at a position lower in height than the first transport unit. The foreign matter removal system according to claim 9 or 10.

12. The conveying speed of the second conveying unit is set lower than the conveying speed of the first conveying unit. The foreign matter removal system according to any one of claims 9 to 11.

13. the waste material processing line further includes a base for holding the detection module, the base being disposed downstream of the switching unit in the first conveying direction. The foreign matter removal system according to any one of claims 9 to 12.

14. the waste material processing line further includes a base for holding the detection module, the base being located downstream in the conveying direction from the base for holding the foreign matter removal module. The foreign matter removal system according to any one of claims 7 to 13.

Images