Waste disposal system

Abstract

To provide a waste disposal system that enables a robot to efficiently sort waste substances.SOLUTION: A waste disposal system 100 includes: conveyance units 10 each for conveying containers 201 storing waste substances of multiple kinds; robots 30 for each extracting and sorting the waste substance in the container 201; imaging units for each imaging the waste substance in the container 201 conveyed by the conveyance unit 10, or the waste substance extracted from the container 201 by the robot 30; and a control unit for executing control of discriminating the waste substances to conduct sorting of the water substances using the robots 30, in accordance with images of the waste substances photographed with the imaging units, respectively.SELECTED DRAWING: Figure 1

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] BACKGROUND ART Conventionally, a waste disposal 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 device (waste treatment system) that includes a belt conveyor that transports multiple types of waste and a robot that sorts the waste on the belt conveyor. In the waste sorting device of Patent Document 1, the waste to be sorted is input and supplied from above the belt conveyor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-137738 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the waste sorting device (waste treatment system) of Patent Document 1, the waste to be sorted is fed from above the belt conveyor, as described above. Therefore, if the waste breaks due to the impact when it is fed onto the belt conveyor, it becomes difficult to sort the waste. As a result, there is a problem that the waste collection rate by the robot decreases.

[0006] This was made to solve the above-mentioned problems, and one of the objectives is to provide a waste treatment system that can sort waste using a robot with minimal cracking, thereby increasing the recovery rate and improving the resource recycling rate. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a waste disposal system according to one aspect includes a transport unit that transports containers containing multiple types of waste, a robot that removes and sorts the waste from the containers, an imaging unit that images the waste from the containers transported by the transport unit or the waste removed from the containers by the robot, and a control unit that identifies the waste based on the images of the waste taken by the imaging unit and controls the robot to sort the waste.

[0008] In a waste treatment system according to one aspect, the above configuration allows waste to be removed directly from the container in which it is stored and sorted. This reduces the impact on the waste caused by the waste being fed, unlike when waste is fed onto a conveyor and then sorted on the conveyor. As a result, breakage of the waste can be reduced, and the difficulty of sorting the waste due to breakage of the waste can be reduced. This allows the robot to sort the waste with minimal breakage, and increases the recovery rate and the recycling rate. [Effects of the Invention]

[0009] As described above, the waste can be sorted by the robot with minimal cracking, and the recovery rate can be increased, improving the resource recovery rate. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall configuration of a waste treatment facility provided with a waste treatment system according to one embodiment. [Figure 2] 1 is a plan view showing an outline of a waste treatment system according to one embodiment. [Figure 3] 1 is a perspective view showing a transport unit and a robot of a waste treatment system according to an embodiment. FIG. [Figure 4]FIG. 2 is a block diagram showing the control configuration of a waste treatment system according to an embodiment. [Figure 5] 1 is a side view showing a suction hand of a robot of a waste treatment system according to an embodiment. FIG. [Figure 6] FIG. 1 is a diagram showing an example of waste sorted by a waste treatment system according to an embodiment. [Figure 7] FIG. 2 is a diagram showing a first example of processing an image captured by a first imaging unit of the waste treatment system according to one embodiment. [Figure 8] FIG. 10 is a diagram showing a second example of processing of an image captured by a first imaging unit of the waste treatment system according to the embodiment. [Figure 9] 10A and 10B are diagrams showing an example of processing an image captured by a second imaging unit of the waste treatment system according to one embodiment. [Figure 10] 10A and 10B are diagrams for explaining the determination of a cap in a waste treatment system according to an embodiment. [Figure 11] FIG. 10 is a diagram for explaining bottle discrimination in a waste treatment system according to an embodiment. [Figure 12] FIG. 2 is a flow chart for explaining a waste removal process of a waste treatment system according to one embodiment. [Figure 13] FIG. 2 is a flow chart for explaining the waste sorting process of the waste treatment system according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, specific embodiments will be described with reference to the drawings.

[0012] The configuration of a waste treatment system 100 according to one embodiment will be described with reference to FIGS.

[0013] (Overall configuration of waste treatment facility) As shown in Fig. 1, a waste treatment system 100 according to one embodiment is installed in a waste treatment facility 200. At the waste treatment facility 200, collected waste is sorted and treated. Specifically, at the waste treatment facility 200, bottles as waste are sorted and each sorted bottle is treated. The waste treatment facility 200 includes a waste sorting section 210, a container inverting section 220, and a container cleaning section 230.

[0014] In the waste sorting section 210, multiple types of waste stored in a container 201 are sorted by a robot 30. Once the waste to be sorted is removed from the container 201, the container 201 is transported to a container inversion section 220. Note that multiple types of waste do not necessarily need to be stored in a container 201; depending on the collection format, a single type of waste may be stored in the container.

[0015] The container inverting unit 220 inverts the container 201 after the waste has been removed and sorted. That is, the container inverting unit 220 inverts the container 201, and the waste residue is discharged from the container 201. The discharged residue is sent to the residue storage unit 54 from the chute 54a (see FIG. 2).

[0016] The container 201 inverted by the container inverting unit 220 is transported to the container washing unit 230. The container washing unit 230 washes the container 201. Note that the container washing unit 230 does not necessarily have to be provided.

[0017] (Configuration of waste treatment system) In the waste disposal system 100, bottles B (see FIG. 2) as waste are sorted and disposed of by glass color. 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: brown, colorless, and other colors (green, blue, etc.). Note that, depending on the waste disposal facility 200, the waste (bottles B) may be sorted into a total of four or five types, such as blue, black, and green, instead of "other colors." In the waste disposal system 100, the bottles B may also be sorted by color: brown, colorless, green, and other colors. The storage unit 50 includes a cullet storage unit 51 for sorting cullet (glass scraps) of other colors, a cullet storage unit 52 for sorting brown cullet, a cullet storage unit 53 for sorting colorless cullet, and a residue storage unit 54 for storing residue that has not been sorted due to cracks or other reasons. The storage unit 50 (cullet storage units 51, 52, 53 and residue storage unit 54) is located on a lower floor than the upper floor where sorting work takes place. In other words, 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). By placing a robot on the floor and providing a replaceable discharge unit, the system can be operated with just one robot, allowing for a variety of implementation configurations.

[0018] In the waste disposal system 100, a robot 30 sorts waste (bottles) from a container 201. As shown in FIGS. 1 and 2, the waste disposal system 100 includes a transport unit 10, a first imaging unit 21, second imaging units 22a and 22b, the robot 30, and a vibration unit 40.

[0019] As shown in Fig. 1, the waste treatment system 100 includes a system control unit 101, a discrimination control unit 102, and a robot control unit 103. When the waste treatment system 100 uses four robots 30 and has sorting operations on an upper floor and storage units 50 on a lower floor, it includes chutes 51a, 51b, 52a, 52b, 53a, 53b, 53c, 53d, and 54d as shown in Fig. 2.

[0020] The waste disposal system 100 is provided with a plurality of robots 30, each of which sorts waste from a container 201. For example, four robots 30 are provided. Each sorting robot 30 is provided with a first imaging unit 21, second imaging units 22a and 22b, and a vibration unit 40.

[0021] As shown in FIGS. 1 and 2, the conveying unit 10 conveys a container 201 containing multiple types of waste. The conveying unit 10 conveys the container 201 from the upstream X1 side toward the downstream X2 side. The conveying unit 10 includes a plurality of rollers, and conveys the container 201 by rotating some of the rollers. The conveying unit 10 includes a conveying unit 11 that is movable in the vertical direction at the sorting position of the robot 30. Specifically, the conveying unit 11 is movable in the vertical direction between an elevated position where the container 201 can be conveyed and a lowered position where the container 201 is lowered.

[0022] The first imaging unit 21 captures an image of the waste inside the container 201 transported by the transport unit 10. Specifically, as shown in FIG. 3, the first imaging unit 21 is disposed above the transport unit 10 together with lighting equipment. The first imaging unit 21 also captures an image of the container 201 transported downward from above. When the first imaging unit 21 is capturing an image of the container 201, the robot 30 retreats from above the container 201.

[0023] The second imaging units 22a and 22b capture images of the waste removed from the container 201 by the robot 30. Specifically, the second imaging units 22a and 22b are disposed above the top surface of the container 201. The second imaging units 22a and 22b capture images of the waste held by the robot 30 and removed from the container 201 from the side. The second imaging units 22a and 22b capture images of the waste removed from the container from different directions. That is, the second imaging units 22a and 22b include multiple cameras. For example, the imaging directions of the second imaging units 22a and 22b differ from each other by 90 degrees or more and 270 degrees or less in plan view.

[0024] As shown in Fig. 3, the robot 30 is a vertical articulated robot including multiple joints. The robot 30 removes and sorts waste from a container 201. The robot 30 also sorts waste from a container 201 that has been transported by the transport unit 10 and is at rest.

[0025] As shown in FIG. 2, the robot 30 is disposed on the side of the transfer section 11.

[0026] As shown in FIG. 3, the robot 30 includes a robot arm 30a and a suction hand 31 connected to the tip of the robot arm 30a and having a plurality of suction pads 311 (see FIG. 5) that suck up waste.

[0027] The robot arm 30a includes, for example, six joints, and each of the joints is driven by a drive unit 30b (see FIG. 4) to move the suction hand 31 to a desired position. The drive unit 30b includes a motor.

[0028] The suction hand 31 sucks and holds the waste (bottles). The suction hand 31 sucks the waste (bottles) by generating negative pressure at the tip of the suction pad 311. The suction hand 31 generates negative pressure by the ejector 32 (see FIG. 4).

[0029] 5, the suction hand 31 includes a plurality of suction pads 311, a shaft 312 connected to the suction pads 311, and fixing portions 313a and 313b that fix the vertical position of the shaft 312. The suction hand 31 can perform suction by arranging the plurality of suction pads 311 so that they conform to a suction surface that has a slope or an uneven surface. In other words, the suction hand 31 is a conforming suction hand.

[0030] The suction pad 311 is provided at the lower end (end on the Z2 direction side) of the suction hand 31. The suction pad 311 is made of an elastic material. The suction pad 311 is formed to be expandable and contractible in the vertical direction. The shaft 312 supports the suction pad 311 from above. The shaft 312 is formed in a cylindrical shape so as to transmit negative pressure to the suction pad 311.

[0031] One of fixing portions 313a and 313b restricts downward movement of shaft 312, and the other restricts upward movement of shaft 312. When fixed portions 313a and 313b are unlocked, they do not restrict vertical movement of shaft 312, and the shaft moves downward due to the spring. When fixed portions 313a and 313b are locked, they restrict vertical movement of shaft 312.

[0032] The vibration unit 40 vibrates the container 201 placed on the transfer unit 11. Specifically, the vibration unit 40 vibrates the container 201. For example, the vibration unit 40 vibrates the container 201 at a frequency of several tens of Hz.

[0033] In this embodiment, the system control unit 101, the discrimination control unit 102, and the robot control unit 103 discriminate waste based on images of the waste captured by the first imaging unit 21 and the second imaging units 22a and 22b, and control the robot 30 to sort the waste. Specifically, the discrimination control unit 102 discriminates waste based on images of the waste captured by the first imaging unit 21 and the second imaging units 22a and 22b. The robot control unit 103 also controls the robot 30 to remove the waste identified by the discrimination control unit 102. That is, the robot control unit 103 receives a position of the waste to be removed from the robot 30 from which the discrimination control unit 102 specifies the location, and controls the robot 30 to pick up the waste at that position. The robot control unit 103 also controls the robot 30 to transport the waste identified by the discrimination control unit 102 and designated as a destination to the designated destination.

[0034] In addition, the system control unit 101, the discrimination control unit 102, and the robot control unit 103 discriminate the color of the bottles B as waste and control the robot 30 to sort the bottles B as waste according to their color.

[0035] The system control unit 101 controls the entire waste treatment system 100. Specifically, as shown in FIG. 4, the system control unit 101 includes a CPU (Central Processing Unit) 101a and a non-volatile memory 101b. The system control unit 101 performs control processing by having the CPU 101a execute a program stored in the memory 101b. The system control unit 101 controls the transport operation of the transport unit 10. The system control unit 101 also controls the vibration unit 40.

[0036] The discrimination control unit 102 performs control to discriminate waste based on images of the waste captured by the first imaging unit 21 and the second imaging units 22a and 22b. Furthermore, the discrimination control unit 102 transmits a command to the robot control unit 103 to operate the robot 30 based on the discrimination result. As shown in FIG. 4, the discrimination control unit 102 includes a CPU (Central Processing Unit) 102a and a non-volatile memory 102b. The discrimination control unit 102 performs control processing by having the CPU 102a execute a program stored in the memory 102b.

[0037] The discrimination control unit 102 uses machine learning to discriminate waste based on images of waste captured by the first imaging unit 21 and the second imaging units 22a and 22b, and causes the robot 30 to sort the waste. Specifically, the discrimination control unit 102 uses machine learning to determine the position of waste within the container 201 based on images of waste within the container 201 captured by the first imaging unit 21. The discrimination control unit 102 also uses machine learning to discriminate waste that can be absorbed based on images of waste within the container 201 captured by the first imaging unit 21. The discrimination control unit 102 also uses machine learning to discriminate the color of bottle B based on images of waste captured by the second imaging units 22a and 22b, and causes the robot 30 to sort the bottles as waste according to color. The discrimination control unit 102 also uses machine learning to discriminate whether or not bottle B contains an object unsuitable for sorting, based on images of waste captured by the second imaging units 22a and 22b. Furthermore, the discrimination control unit 102 transmits a sorting command including the location information of the discriminated waste to the robot control unit 103 .

[0038] The machine learning for distinguishing waste is performed in advance based on images of multiple types of bottles B and instruction information that teaches the colors of the bottles B for these images. This machine learning may be performed in advance by the discrimination control unit 102, or may be performed by a separate control unit (computer), and the results of the machine learning may then be reflected in the discrimination control unit 102.

[0039] The robot control unit 103 controls the operation of the robot 30. As shown in Fig. 3, the robot control unit 103 includes a CPU (Central Processing Unit) 103a and a non-volatile memory 103b. The robot control unit 103 controls the operation of the robot 30 by causing the CPU 103a to execute a program stored in the memory 103b.

[0040] Furthermore, the robot control unit 103 controls the operation of the robot 30, which sorts the bottles B as waste according to color, based on a sorting command including position information transmitted from the discrimination control unit 102. That is, the robot control unit 103 controls the robot 30 to move to a position where the bottles B are to be held, based on the sorting command transmitted from the discrimination control unit 102.

[0041] Furthermore, the discrimination control unit 102 and the robot control unit 103 determine whether or not there are any items unsuitable for sorting on the waste based on images of the waste captured by the second imaging units 22a and 22b and held by the robot 30, and control the robot 30 to sort the waste in the container 201. For example, as shown in FIG. 6, items unsuitable for sorting include at least one of caps C (including stoppers), dirt, and contents D. Note that labels attached to the waste (bottles B) are sorted together with the waste.

[0042] 7, the discrimination control unit 102 acquires the outer periphery of the container 201 based on the image of the container 201 captured by the first imaging unit 21. For example, the discrimination control unit 102 acquires the positions of the four corners of the container 201 based on the image of the container 201. Then, the discrimination control unit 102 sets the operating range of the robot 30 based on the acquired outer periphery of the container 201. Specifically, the discrimination control unit 102 sets the operating range of the robot 30 so that the suction hand 31 at the tip of the robot 30 can move within the container 201.

[0043] Furthermore, if the suction hand 31 fails to pick up a waste, the discrimination control unit 102 controls the switching of the waste to be picked up. Specifically, as shown in FIG. 8 , the discrimination control unit 102 extracts multiple wastes to be picked up based on an image of the inside of the container 201 captured by the first imaging unit 21. The discrimination control unit 102 also ranks the multiple wastes to be picked up. For example, the discrimination control unit 102 ranks the multiple wastes based on the reliability of the waste pick-up and the accuracy of the waste discrimination. The discrimination control unit 102 then transmits a command to the robot control unit 103 to pick up the higher-ranked waste. That is, the discrimination control unit 102 first transmits a command to the robot control unit 103 to pick up the first-ranked waste. If the suction hand 31 fails to pick up the first-ranked waste, the discrimination control unit 102 transmits a command to the robot control unit 103 to pick up the second-ranked waste. If the suction hand 31 fails to pick up the first-ranked waste, the discrimination control unit 102 switches the target waste to be picked up to the lower-ranked waste and transmits a command to the robot control unit 103. In addition, if the adsorption is successful, the discrimination control unit 102 takes an image of the container 201 using the first imaging unit 21, and based on the image of the inside of the container 201, again extracts multiple waste items to be adsorbed and ranks the multiple waste items.

[0044] 9, the discrimination control unit 102 acquires the state of the waste attracted to the robot 30 based on images of the waste captured from different directions by the second imaging units 22a and 22b. Based on the images captured by the second imaging units 22a and 22b, the discrimination control unit 102 discriminates the presence or absence of a cap C, the color of the bottle, the presence or absence of dirt and contents D, and other foreign matter.

[0045] 10, the discrimination control unit 102 discriminates the presence of a cap based on both the image captured by the second imaging unit 22a and the image captured by the second imaging unit 22b. The discrimination control unit 102 performs a retention determination when the cap cannot be detected in the image captured by the second imaging unit 22a and when the cap cannot be detected in the image captured by the second imaging unit 22b. In the retention determination, the discrimination control unit 102 determines that a pickup error has occurred because the cap and the bottle are not detected in either of the second imaging units 22a and 22b.

[0046] When it is determined that there is no cap based on both the image captured by the second imaging unit 22a and the image captured by the second imaging unit 22b, the discrimination control unit 102 performs a color discrimination of the bottle.

[0047] When the discrimination control unit 102 determines that a cap is present based on at least one of the images from the second imaging unit 22a and the second imaging unit 22b, it controls the robot 30 to discharge the waste picked up by the robot 30 into the unsuitable waste chutes 55a to 55d that sort waste with caps.

[0048] When the discrimination control unit 102 detects multiple caps from at least one of the images from the second imaging unit 22a and the second imaging unit 22b, it controls the robot 30 to discharge the waste picked up by the robot 30 directly into the container 201 and return it.

[0049] 11, the discrimination control unit 102 discriminates bottles based on both the image captured by the second imaging unit 22a and the image captured by the second imaging unit 22b. If there are no bottles in the image captured by the second imaging unit 22a and there are no bottles in the image captured by the second imaging unit 22b, and if there are caps, the discrimination control unit 102 controls the robot 30 to discharge the waste picked up by the robot 30 into a cap chute that sorts capped waste. If there are no caps, the discrimination control unit 102 controls the robot 30 to pick up the next object to be picked up.

[0050] The discrimination control unit 102 performs a bottle color judgment when one bottle is detected in both the image from the second imaging unit 22a and the image from the second imaging unit 22b, or when one bottle is detected in one image and zero bottles in the other image. In the bottle color judgment, the color of the bottle is judged.

[0051] When the discrimination control unit 102 detects multiple bottles from at least one of the images from the second imaging unit 22a and the second imaging unit 22b, it controls the robot 30 to discharge the waste picked up by the robot 30 directly into the container 201 and return it.

[0052] Furthermore, the discrimination control unit 102 determines whether the suction hand 31 of the robot 30 has successfully or unsuccessfully picked up the waste based on the AI ​​discrimination results of the images captured by the second imaging units 22a and 22b. That is, the discrimination control unit 102 captures images of the area around the suction hand 31 of the robot 30 with the second imaging units 22a and 22b, and determines whether waste is present.

[0053] Furthermore, the discrimination control unit 102 performs control to vibrate the container 201 when the suction hand 31 fails to pick up the waste material consecutively. For example, the discrimination control unit 102 performs control to vibrate the container 201 when the suction hand 31 fails to pick up the waste material consecutively multiple times (for example, approximately two to six times). Furthermore, the discrimination control unit 102 sends a command to the system control unit 101 to drive the vibration unit 40 when the suction hand 31 fails to pick up the waste material consecutively.

[0054] As shown in FIG. 2, chutes 51a and 51b receive waste (bottles) of other colors sorted by the robot 30. Chutes 51a and 51b guide the waste to the corresponding storage section 50 (cullet storage section 51). Chutes 52a and 52b receive brown waste (bottles) sorted by the robot 30. Chutes 52a and 52b guide the waste to the corresponding storage section 50 (cullet storage section 52). Chutes 53a, 53b, 53c, and 53d receive colorless waste (bottles) sorted by the robot 30. Chutes 53a, 53b, 53c, and 53d guide the waste to the corresponding storage section 50 (cullet storage section 53). Chutes 54a receive waste (bottle residue) discharged from the container 201 inverted by the container inverting section 220. Chutes 54a guide the waste to the corresponding storage section 50 (residue storage section 54). The wastes sorted by the robot 30 that are not suitable for sorting are put into the chutes 55a, 55b, 55c, and 55d.

[0055] (Waste Disposal Control) An overview of waste treatment control by the system control unit 101, the discrimination control unit 102, and the robot control unit 103 will be described.

[0056] When the system control unit 101 detects the container 201 using a detection device such as an inlet-side photoelectric sensor upstream of the conveying unit 10, it opens the stopper on the inlet side of the conveying unit 10. The system control unit 101 drives the conveying rollers of the inlet-side conveying unit 10 and the conveying unit 11 above the vibrating unit 40 to carry the container 201 into the conveying unit 11. The system control unit 101 closes the stopper on the inlet side after a predetermined time has elapsed. The system control unit 101 also stops driving the conveying rollers of the inlet-side conveying unit 10 and the conveying unit 11 above the vibrating unit 40.

[0057] The system control unit 101 activates the container positioning device. The container positioning device positions the transported container 201 at the sorting position. The system control unit 101 also lowers the transport unit 11.

[0058] The discrimination control unit 102 and the robot control unit 103 then control the robot 30 to sort the waste in the container 201 on the transport unit 11 .

[0059] After sorting of the waste in the container 201 is completed, the system control unit 101 raises the conveying unit 11 after a predetermined time has elapsed. After raising the conveying unit 11, the system control unit 101 opens the stopper on the exit side of the conveying unit 10. The system control unit 101 drives the conveying rollers of the conveying unit 10 on the exit side and the conveying unit 11 above the vibration unit 40 to carry the container 201 out of the conveying unit 11. Thereafter, the system control unit 101 detects the container 201 using the exit-side photoelectric sensor downstream of the conveying unit 10, and when the container 201 is no longer detected, closes the stopper on the exit side of the conveying unit 10. Then, the system control unit 101 proceeds to process the next container 201.

[0060] (Waste removal and processing) The waste removal process performed by the system control unit 101, the discrimination control unit 102, and the robot control unit 103 will be described with reference to FIG.

[0061] In step S1, the discrimination control unit 102 uses the first imaging unit 21 to capture an image of waste in the container 201. In step S2, the discrimination control unit 102 determines whether or not waste has been detected in the container 201 based on the image captured by the first imaging unit 21. If waste is detected, the process proceeds to step S3, and if waste is not detected, the process proceeds to step S12.

[0062] In step S3, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the first target waste (bottle). Specifically, the discrimination control unit 102 transmits a removal command including the position of the first target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the first target waste based on the removal command received from the discrimination control unit 102.

[0063] In step S4, the discrimination control unit 102 determines whether or not the suction of the waste material has been successful. Specifically, the discrimination control unit 102 uses the second imaging units 22a and 22b to capture images of the area around the suction hand 31 of the robot 30, and determines whether or not the suction of the waste material has been successful based on the captured images. If the suction of the waste material has been successful, the process ends. If the suction of the waste material has not been successful, the process proceeds to step S5.

[0064] In step S5, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the second target waste (bottle). Specifically, the discrimination control unit 102 transmits a removal command including the position of the second target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the second target waste based on the removal command received from the discrimination control unit 102.

[0065] In step S6, the discrimination control unit 102 determines whether or not the suction of the waste material has been successful. Specifically, the discrimination control unit 102 uses the second imaging units 22a and 22b to capture images of the area around the suction hand 31 of the robot 30, and determines whether or not the suction of the waste material has been successful based on the captured images. If the suction of the waste material has been successful, the process ends. If the suction of the waste material has not been successful, the process proceeds to step S7.

[0066] In step S7, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the third target waste (bottle). Specifically, the discrimination control unit 102 transmits a removal command including the position of the third target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 so as to pick up the third target waste based on the removal command received from the discrimination control unit 102.

[0067] In step S8, the discrimination control unit 102 determines whether or not the suction of the waste material has been successful. Specifically, the discrimination control unit 102 uses the second imaging units 22a and 22b to capture images of the area around the suction hand 31 of the robot 30, and determines whether or not the suction of the waste material has been successful based on the captured images. If the suction of the waste material has been successful, the process ends. If the suction of the waste material has not been successful, the process proceeds to step S9.

[0068] In step S9, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the fourth target waste (bottle). Specifically, the discrimination control unit 102 transmits a removal command including the position of the fourth target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the fourth target waste based on the removal command received from the discrimination control unit 102.

[0069] In step S10, the discrimination control unit 102 determines whether or not the suction of the waste material has been successful. Specifically, the discrimination control unit 102 uses the second imaging units 22a and 22b to capture images of the area around the suction hand 31 of the robot 30, and determines whether or not the suction of the waste material has been successful based on the captured images. If the suction of the waste material has been successful, the process ends. If the suction of the waste material has not been successful, the process proceeds to step S11.

[0070] In step S11, the discrimination control unit 102 and the system control unit 101 perform control to vibrate the container 201. Specifically, the discrimination control unit 102 transmits a vibration command to the system control unit 101 to cause the vibration unit 40 to vibrate the container 201. Then, the system control unit 101 performs control to drive the vibration unit 40 based on the vibration command received from the discrimination control unit 102. Then, the process returns to step S1.

[0071] If waste cannot be detected in step S2, then in step S12, the discrimination control unit 102 and the system control unit 101 perform control to vibrate the container 201. In step S13, the discrimination control unit 102 causes the first imaging unit 21 to capture an image of the waste in the container 201. In step S14, the discrimination control unit 102 determines whether or not waste has been detected in the container 201 based on the image captured by the first imaging unit 21. If waste is detected, the process proceeds to step S3; if waste cannot be detected, the process ends.

[0072] (Waste sorting and processing) With reference to FIG. 13, the waste sorting process performed by the system control unit 101, the discrimination control unit 102, and the robot control unit 103 will be described.

[0073] In step S21, the discrimination control unit 102 causes the first imaging unit 21 to capture an image of the waste in the container 201. In step S22, the discrimination control unit 102 and the robot control unit 103 remove the waste from the container 201.

[0074] In step S23, the discrimination control unit 102 uses the second imaging units 22a and 22b to capture images of the area around the suction hand 31 of the robot 30. In step S24, the discrimination control unit 102 discriminates whether or not a cap is present. If the discrimination result indicates the presence of a cap, the process proceeds to step S25. If the discrimination result indicates the absence of a cap, the process proceeds to step S26. If the discrimination result indicates that a cap cannot be detected, that is, if it cannot be determined whether or not a cap is present, the process proceeds to step S27. If the discrimination result indicates that two or more caps are detected, the process proceeds to step S28.

[0075] In step S25, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to discharge the waste (bottle) picked up into an unsuitable waste chute 55a, 55b, 55c or 55d that sorts waste with caps.

[0076] In step S26, the discrimination control unit 102 discriminates the bottle. If the discrimination result shows that the bottle is a colorless bottle, the process proceeds to step S29. If the discrimination result shows that the bottle is a brown bottle, the process proceeds to step S30. If the discrimination result shows that the bottle is a bottle of any other color, the process proceeds to step S31. If the discrimination result shows that the waste is unsuitable for sorting, the process proceeds to step S32. If the discrimination result shows that two or more bottles have been detected, the process proceeds to step S33.

[0077] In step S29, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to discharge the waste (bottles) picked up into the chute 53a, 53b, 53c, or 53d for colorless bottles. In step S30, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to discharge the waste (bottles) picked up into the chute 52a or 52b for brown bottles. In step S31, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to discharge the waste (bottles) picked up into the chute 51a or 51b for bottles of other colors. In step S32, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to discharge the waste (bottles) picked up into the chute 55a, 55b, 55c, or 55d for unsuitable items.

[0078] In step S33, the discrimination control unit 102 and the robot control unit 103 perform control so that the waste (bottles) picked up by the robot 30 are discharged and returned to the container 201.

[0079] In step S27, the discrimination control unit 102 discriminates the bin. If the discrimination result indicates that the bin has been detected, the process proceeds to step S34. If the discrimination result indicates that the bin has not been detected, the process proceeds to step S35.

[0080] In step S34, the discrimination control unit 102 and the robot control unit 103 perform control so that the waste (bottle) picked up by the robot 30 is discharged and returned to the container 201. In step S35, the discrimination control unit 102 and the robot control unit 103 perform control so that the next target waste (bottle) is picked up from the container 201.

[0081] In step S28, the discrimination control unit 102 and the robot control unit 103 perform control so that the waste (bottles) picked up by the robot 30 are discharged and returned to the container 201.

[0082] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0083] This embodiment includes a robot 30 that removes and sorts waste (bins B) from a container 201; a first imaging unit 21 and a second imaging unit 22a and 22b that capture images of waste in the container 201 transported by the transport unit 10 or removed from the container 201 by the robot 30; and a discrimination control unit 102 and a robot control unit 103 that identify the waste based on the images of the waste captured by the first imaging unit 21 and the second imaging unit 22a and 22b and control the robot 30 to sort the waste. Because the waste can be directly removed from the container 201 and sorted, impacts on the waste due to the waste being inserted can be reduced, unlike when the waste is inserted onto a conveyor and then sorted on the conveyor. As a result, breakage of the waste can be reduced, which can prevent the waste from becoming difficult to sort due to breakage. This allows the robot to sort the waste with minimal breakage, increasing the recovery rate and improving the resource recovery rate.

[0084] Furthermore, in this embodiment, the robot 30 sorts waste in the container 201 that has been transported by the transport unit 10 and is in a stopped state. This allows the robot 30 to easily remove waste from the stopped container 201, unlike when the container 201 is moving on a conveyor.

[0085] Furthermore, in this embodiment, the discrimination control unit 102 and the robot control unit 103 control the robot 30 to remove waste from the container 201 based on an image of the waste inside the container 201 captured by the first imaging unit 21. This makes it possible to easily obtain the position of the waste inside the container 201 based on the image captured by the first imaging unit 21, and therefore makes it possible to easily remove the waste from the container 201 by the robot 30.

[0086] Furthermore, in this embodiment, the discrimination control unit 102 and the robot control unit 103 determine whether or not the waste has any objects unsuitable for sorting attached based on images of the waste held by the robot 30 that have been captured by the second imaging units 22a and 22b, and control the robot 30 to sort the waste in the container 201. This allows waste with unsuitable objects attached to be collected in a separate location, thereby preventing waste with unsuitable objects from being sorted into the same location as items to be sorted.

[0087] Furthermore, in this embodiment, the discrimination control unit 102 determines whether or not an unsuitable object, including at least one of a cap (including a stopper), dirt, and contents, is attached to a container as waste, based on the images of the waste captured by the second imaging units 22a and 22b. This makes it possible to easily obtain from the images captured by the second imaging units 22a and 22b whether or not an unsuitable object, such as a cap (including a stopper), dirt, or contents, is attached to a container as waste.

[0088] In this embodiment, the second imaging units 22a and 22b capture images of the waste removed from the container from different directions. The discrimination control unit 102 determines whether or not the waste contains unsuitable materials based on the image capture results of the multiple cameras of the second imaging units 22a and 22b. This allows the blind spots of the cameras to be captured by other cameras, so the entire waste can be captured without omission by the multiple cameras. As a result, it is possible to accurately determine whether or not the waste contains unsuitable materials.

[0089] In this embodiment, the robot 30 includes a robot arm 30a and a suction hand 31 connected to the tip of the robot arm 30a and having a plurality of suction pads 311 for suctioning waste. The suction hand 31 also has fixing portions 313a and 313b that fix the suction height positions of the plurality of suction pads 311 independently of one another. This allows even waste with surfaces inclined relative to the horizontal direction to be reliably sucked up by the plurality of suction pads 311 that can be fixed at different height positions. As a result, failure to suck up waste can be effectively prevented.

[0090] Furthermore, in this embodiment, the discrimination control unit 102 controls the switching of the waste to be picked up when the suction hand 31 fails to pick up a waste. This allows the robot 30 to postpone picking up the failed waste, and sequentially remove the waste that can be picked up. As a result, it is possible to prevent an increase in the number of times that the same waste fails to be picked up, and therefore to prevent a decrease in the efficiency of sorting the waste by the robot 30.

[0091] Furthermore, in this embodiment, when the suction hand 31 fails to pick up the waste repeatedly, the discrimination control unit 102 performs control to vibrate the container 201. This allows the orientation of the waste within the container 201 to be changed by vibrating the container 201, thereby preventing the waste from being stored in the container 201 in an orientation that makes it difficult to pick up the waste.

[0092] Furthermore, in this embodiment, the discrimination control unit 102 acquires the outer periphery of the container 201 based on the image of the container 201 captured by the first imaging unit 21, and sets the movement range of the robot 30. This allows the movement range of the robot 30 to be set to be within the container 201 based on the image captured by the first imaging unit 21.

[0093] In this embodiment, the control unit includes a discrimination control unit 102 that discriminates waste based on images of the waste captured by the first imaging unit 21 and the second imaging units 22a and 22b, and a robot control unit 103 that controls the robot 30 to remove the waste discriminated by the discrimination control unit 102. This allows the robot 30 to be operated so that the robot control unit 103 sorts the waste based on information obtained by discriminating the waste by the discrimination control unit 102.

[0094] In addition, in this embodiment, a container inverting unit 220 is provided to invert the container 201 after the waste has been removed and sorted. This allows waste residue and unsuitable materials remaining in the container 201 after sorting to be discharged from the container 201 by inverting it.

[0095] In this embodiment, the waste includes bottles of multiple colors, and the control unit distinguishes the colors of the bottles and controls the robot to sort the bottles as waste according to color. This allows the bottles B of multiple colors as waste to be identified by color and sorted from the container by the robot 30.

[0096] (Variation) It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0097] For example, in the above embodiment, the robot is a vertical articulated robot, but this is not limiting. The robot may be a horizontal articulated robot or a parallel link robot. Furthermore, one robot may include two or more robot arms.

[0098] Furthermore, in the above embodiment, an example in which four robots are arranged is shown, but the present invention is not limited to this, and one, two, three, or five or more robots may be arranged.

[0099] In the above embodiment, bottles as waste are sorted by color, but this is not limiting. The waste may be 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.

[0100] In the above embodiment, an example in which two second imaging units are provided for one robot is shown, but this is not limited to this. One or three or more second imaging units may be provided for one robot. Furthermore, when one second imaging unit is provided for one robot, the second imaging unit may capture an image of the waste picked up by the robot while rotating the waste.

[0101] Furthermore, in the above embodiment, an example was shown in which one first imaging unit is provided for one robot, but this is not limiting, and two or more first imaging units may be provided for one robot.

[0102] In the above embodiment, the container is vibrated by a vibrating unit, but this is not limiting. The container may be vibrated by a robot, or by the reciprocating movement of a transport unit.

[0103] In the above embodiment, an example of a configuration in which the discrimination control unit that discriminates waste and the robot control unit that controls the operation of the robot are provided separately has been shown, but this is not limiting. The discrimination control unit and the robot control unit may be a common unit, and the discrimination control unit that discriminates waste may control the operation of the robot.

[0104] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0105] (Aspect 1) a transport unit that transports containers containing multiple types of waste; a robot that removes and sorts waste from the container; an imaging unit that images the waste in the container that has been transported by the transport unit or the waste that has been removed from the container by the robot; A waste disposal system comprising: a control unit that identifies waste based on images of waste captured by the imaging unit and controls the robot to sort the waste.

[0106] (Aspect 2) 2. The waste treatment system according to claim 1, wherein the robot sorts the waste in the container that has been transported by the transport unit and is at rest.

[0107] (Aspect 3) the imaging unit includes a first imaging unit that images the waste inside the container, A waste treatment system according to aspect 1 or 2, wherein the control unit controls the robot to remove waste from the container based on an image of the waste inside the container captured by the first imaging unit.

[0108] (Aspect 4) the imaging unit includes a second imaging unit that images the waste held by the robot and removed from the container; A waste treatment system described in any one of aspects 1 to 3, wherein the control unit determines whether or not the waste has any items unsuitable for sorting attached based on an image of the waste held by the robot taken by the second imaging unit, and controls the robot to sort the waste in the container.

[0109] (Aspect 5) A waste treatment system as described in aspect 4, wherein the control unit determines whether or not the container contains unsuitable items for sorting, including at least one of caps, stoppers, foreign objects, dirt, and contents, based on an image of the waste captured by the second imaging unit.

[0110] (Aspect 6) the second imaging unit includes a plurality of cameras that capture images of the waste removed from the container from different directions; A waste treatment system according to aspect 4 or 5, wherein the control unit determines whether or not the waste contains any material unsuitable for sorting based on the imaging results of the plurality of cameras of the second imaging unit.

[0111] (Aspect 7) the robot includes a robot arm and a suction hand connected to a tip of the robot arm and having a plurality of suction pads that suck up waste; Aspect 7. The waste treatment system according to any one of aspects 1 to 6, wherein the suction hand has a fixing portion that fixes the suction height positions of the plurality of suction pads independently of one another.

[0112] (Aspect 8) A waste treatment system according to aspect 7, wherein the control unit performs control to switch the waste to be sucked when the suction hand fails to suck the waste.

[0113] (Aspect 9) A waste treatment system according to aspect 7 or 8, wherein the control unit performs control to vibrate the container when the suction hand fails to suck up the waste continuously.

[0114] (Aspect 10) A waste treatment system as described in aspect 3, wherein the control unit acquires the outer periphery of the container based on an image of the container captured by the first imaging unit and sets the operating range of the robot.

[0115] (Aspect 11) A waste treatment system according to any one of aspects 1 to 10, wherein the control unit includes a discrimination control unit that discriminates waste based on an image of the waste captured by the imaging unit, and a robot control unit that controls the robot to remove the waste identified by the discrimination control unit.

[0116] (Aspect 12) The waste includes multiple colored bins, 12. The waste disposal system according to any one of aspects 1 to 11, wherein the control unit determines the color of each bottle and controls the robot to sort the bottles as waste according to color. [Explanation of symbols]

[0117] 10 Conveying section 21 First imaging unit (imaging unit) 22a, 22b Second imaging unit (imaging unit) 30 Robot 30a Robot Arm 31 Suction Hand 100 Waste Treatment System 101 System control unit (control unit) 102 Discrimination control unit (control unit) 103 Robot control unit (control unit) 201 Container 230 Container Turnover Section 313a, 313b fixed part B Bottle (waste)

Claims

1. a transport unit that transports containers containing multiple types of waste; a robot that removes and sorts waste from the container; an imaging unit that images the waste in the container that has been transported by the transport unit or the waste that has been removed from the container by the robot; A waste disposal system comprising: a control unit that identifies waste based on images of waste captured by the imaging unit and controls the robot to sort the waste.

2. The waste treatment system according to claim 1 , wherein the robot sorts the waste in the container that has been transported by the transport unit and is in a stopped state.

3. the imaging unit includes a first imaging unit that images the waste inside the container, The waste treatment system according to claim 1 , wherein the control unit controls the robot to remove waste from the container based on an image of the waste inside the container taken by the first imaging unit.

4. the imaging unit includes a second imaging unit that images the waste held by the robot and removed from the container; The waste treatment system described in claim 1, wherein the control unit determines whether or not the waste has any items unsuitable for sorting attached based on an image of the waste held by the robot taken by the second imaging unit, and controls the robot to sort the waste in the container.

5. The waste treatment system of claim 4, wherein the control unit determines whether or not the container contains unsuitable items for sorting, including at least one of caps, stoppers, foreign objects, dirt, and contents, based on an image of the waste captured by the second imaging unit.

6. the second imaging unit includes a plurality of cameras that capture images of the waste removed from the container from different directions; The waste disposal system according to claim 4 , wherein the control unit determines whether or not the waste contains any of the objects unsuitable for sorting based on the imaging results of the plurality of cameras of the second imaging unit.

7. the robot includes a robot arm and a suction hand connected to a tip of the robot arm and having a plurality of suction pads that suck up waste; 2. The waste treatment system according to claim 1, wherein the suction hand has a fixing portion that fixes the suction height positions of the plurality of suction pads independently of one another.

8. The waste disposal system according to claim 7 , wherein the control unit performs control to switch the waste to be sucked when the suction hand fails to suck the waste.

9. The waste treatment system according to claim 7 , wherein the control unit performs control to vibrate the container when the suction hand fails to suck up the waste repeatedly.

10. The waste treatment system according to claim 3 , wherein the control unit acquires the outer periphery of the container based on an image of the container captured by the first imaging unit, and sets the operating range of the robot.

11. The waste treatment system of claim 1, wherein the control unit includes a discrimination control unit that discriminates waste based on an image of the waste captured by the imaging unit, and a robot control unit that controls the robot to remove the waste identified by the discrimination control unit.

12. The waste includes multiple colored bins, 2. The waste disposal system according to claim 1, wherein the control unit distinguishes the color of each bottle and controls the robot to sort the bottles as waste according to color.

Images