Separation system and separation method

Abstract

To separate a foreign matter such as a crushing-unsuitable matter and a contraindication matter from an assembly of objects, and thereby acquire an assembly of desired objects with a smaller ratio of foreign matters.SOLUTION: A separation system includes a sensor for measuring an object on the upstream side of a conveyance device, a determination part for determining a separation object including a foreign matter mixed in an object, on the basis of a measurement result, a separation control part for generating an instruction, on the basis of a determination result of the separation object, and a separation device for separating the separation object from other object, on the downstream side of the conveyance device, on the basis of the instruction, wherein the separation control part generates an instruction of shifting the state of the separation device from a first state in which the separation object is not separated from the other object, to a second state in which the separation object is separated from the other object, at a timing when the separation object reaches a separation region, and generates an instruction of shifting the state of the separation device from the second state to the first state, when a predetermined time elapses.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a separation system and a separation method. [Background technology]

[0002] In recent years, the steel industry has seen an increasing demand for iron recycling, aiming to reduce carbon dioxide emissions and other benefits. To produce high-quality steel using recycled iron (hereinafter referred to as "iron scrap"), it is necessary to remove prohibited materials, including non-ferrous (copper) materials such as motors and conductors. Prohibited materials are generally items prohibited from being brought into iron scrap collection sites by steel companies, particularly motors and electrical distribution boards containing impurities, and sealed objects that may explode during the melting process. Specific examples of systems for removing prohibited materials include manual removal or heavy machinery, and the use of shredder shredding systems. In shredder shredding systems, iron scrap is crushed and then separated into ferrous and non-ferrous materials using magnetic or air-powered separators or manual labor. Shredder shredding systems sometimes fail to completely shred excessively large metals. A technology has been proposed that automatically identifies such shredding problems (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-175575 Summary of the Invention [Problem to be solved by the invention]

[0004] However, some believe it is desirable to prevent materials that are not suitable for shredding (hereinafter referred to as "unsuitable materials for shredding") from being thrown into a shredder in the first place. Specific examples of unsuitable materials for shredding include materials that could potentially damage the shredder if thrown into the shredder. More specific examples include materials that are thicker than a certain amount, materials that are harder than a certain amount, and long, thin objects (e.g., chains) that could become entangled in shredder parts (e.g., hammers). Furthermore, using a shredder can increase the cost and time required for recycling steel scrap. Therefore, by using fewer shredders and separating unsuitable and prohibited materials from steel scrap, it is possible to reduce costs and time. This issue is common when handling a collection of objects that contains both desired objects (e.g., metal objects of the appropriate size and hardness; hereinafter referred to as "desired objects") and foreign objects such as prohibited and unsuitable materials for shredding.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and provides a technology that makes it possible to obtain a collection of desired objects with a lower proportion of foreign objects by separating foreign objects such as objects unsuitable for crushing or prohibited objects from a collection of target objects. [Means for solving the problem]

[0006] (1) One aspect of the present invention is a separation system comprising: a conveying device that conveys multiple objects from upstream to downstream; a sensor upstream of the conveying device that measures the objects; a determination unit that determines separation objects, which are foreign objects mixed in with the multiple objects, based on the measurement results obtained by the sensor; a separation control unit that generates instructions based on the determination results of the separation objects; and a separation device downstream of the conveying device that separates the separation objects from other objects that were not determined to be separation objects based on the instructions, wherein the separation control unit generates the instruction to transition the state of the separation device from a first state, in which the separation object is not separated from the other objects, to a second state, in which the separation object is separated from the other objects, when the separation object arrives at a separation area, and generates the instruction to transition the state of the separation device from the second state to the first state when a predetermined time has elapsed since the separation object arrived.

[0007] (2) In one aspect of the present invention, in the separation system described in (1) above, the separation device is a hanging magnetic separator, a drum magnetic separator, or a pulley having an electromagnet, and the separation control unit generates the instruction to transition the state of the electromagnet from the first state to the second state when the object to be separated arrives, and when the predetermined time has elapsed since the object to be separated arrived, generates the instruction to transition the state of the electromagnet from the second state to the first state.

[0008] (3) In one aspect of the present invention, in the separation system described in (2) above, when the area designated as the destination of the separation object is not at the end of the conveying device, the separation control unit generates the instruction to transition the state of the electromagnet from off to on at the time when the separation object arrives, and when the predetermined time has elapsed from that time, generates the instruction to transition the state of the electromagnet from on to off.

[0009] (4) In one aspect of the present invention, in the separation system described in (2) above, when the area designated as the destination of the separation object is at the end of the conveying device, the separation control unit generates the instruction to transition the state of the electromagnet from on to off at the time the separation object arrives, and generates the instruction to transition the state of the electromagnet from off to on when the predetermined time has elapsed since the time the separation object arrives.

[0010] (5) In one aspect of the present invention, in the separation system described in (1) above, the separation device is a hanging magnetic separator or a drum magnetic separator having a permanent magnet, and the separation control unit generates the instruction to transition the position of the permanent magnet from the first state to the second state at the time when the object to be separated arrives, and generates the instruction to transition the position of the permanent magnet from the second state to the first state when the predetermined time has elapsed since the object to be separated arrived.

[0011] (6) In one aspect of the present invention, in the separation system described in (5) above, when the area designated as the destination of the separation object is not at the end of the conveying device, the separation control unit generates the instruction to transition the position state of the permanent magnet from a state away from the separation area to a state close to the separation area at the time the separation object arrives, and when the predetermined time has elapsed since the time the separation object arrives, generates the instruction to transition the position state of the permanent magnet from a state close to the separation area to a state away from the separation area.

[0012] (7) In one aspect of the present invention, in the separation system described in (5) above, in a structure in which the area designated as the destination of the separation object is at the end of the conveying device, the separation control unit generates the instruction to transition the position state of the permanent magnet from a state close to the separation area to a state away from the separation area at the time the separation object arrives, and when the predetermined time has elapsed since the time the separation object arrives, generates the instruction to transition the position state of the permanent magnet from a state away from the separation area to a state close to the separation area.

[0013] (8) One aspect of the present invention is a separation system as described in (1) above, wherein the separation device is a lifting magnet having an electromagnet, and the separation control unit generates the instruction to move the separation device to the separation area when the object to be separated arrives at the separation area and to change the state of the electromagnet of the separation device from off to on, moves the separation device together with the object to be separated to an area where the object to be separated is to be placed, and when a predetermined time has elapsed since the object to be separated arrived, generates the instruction to change the state of the electromagnet of the separation device from on to off.

[0014] (9) In one aspect of the present invention, in the separation system described in (1) above, the separation control unit receives an operation by an operator and determines the timing at which the separation object will arrive based on the timing of the operation and the conveying speed of the separation object.

[0015] (10) In one aspect of the present invention, in the separation system described in (1) above, the separation device includes a first separation device and a second separation device, and the first separation device and the second separation device each separate different types of separation objects from the object.

[0016] (11) In one aspect of the present invention, in the separation system described in (1) above, the conveying device is operable at a first conveying speed and a second conveying speed slower than the first conveying speed, and the conveying device operates at the first conveying speed when the object to be separated has not arrived, and operates at the second conveying speed when the object to be separated arrives.

[0017] (12) One aspect of the present invention is a separation method performed by a separation system including a conveying device that conveys multiple objects from upstream to downstream, a sensor that measures the objects upstream of the conveying device, a determination device, and a separation device, the separation method including a measurement step that measures the objects upstream of the conveying device, a determination step that determines a separation object that is a foreign object mixed in with the multiple objects based on the measurement result obtained by the sensor, a separation control step that generates instructions based on the determination result of the separation object, and a separation control step that generates instructions based on the determination result of the separation object, and a separation control step that generates instructions based on the instructions downstream of the conveying device, and a separation device that measures the objects upstream of the conveying device. and a separation step of separating the separation object from other objects that were not determined to be the target object, wherein the separation control step includes generating, at the timing when the separation object arrives at the separation area, an instruction to transition the state of the separation device from a first state in which the separation object is not separated from the other objects to a second state in which the separation object is separated from the other objects, and generating, when a predetermined time has elapsed since the arrival of the separation object, an instruction to transition the state of the separation device from the second state to the first state. [Effects of the Invention]

[0018] According to the present invention, by separating foreign matter such as objects unsuitable for crushing or prohibited objects from a collection of target objects, it is possible to obtain a collection of desired objects with a smaller proportion of foreign matter. [Brief explanation of the drawings]

[0019] [Figure 1]1 is a schematic block diagram showing a system configuration of a separation system in a first embodiment. [Figure 2] 1 is a diagram showing an outline of a collection (collected objects) of objects (objects) to be processed by a separation system in a first embodiment. FIG. [Figure 3] FIG. 2 is a diagram showing a state of a collection object before processing by a separation system in the first embodiment. [Figure 4] FIG. 4 is a diagram showing a state of a collection object after processing by the separation system in the first embodiment. [Figure 5] FIG. 10 is a diagram showing another specific example of the state of the collected objects before processing by the separation system in the first embodiment. [Figure 6] FIG. 10 is a diagram showing another specific example of the state of the collected objects after processing by the separation system in the first embodiment. [Figure 7] FIG. 2 is a diagram showing a specific example of a separation system in the first embodiment. [Figure 8] 2 is a schematic block diagram showing a specific example of the functional configuration of a determination device in the first embodiment. FIG. [Figure 9] 5 is a flowchart showing a specific example of the flow of operations of the separation system in the first embodiment. [Figure 10] FIG. 4 is a diagram showing a processing flow for an object separated by a separation device when the foreign matter is a prohibited substance in the first embodiment. [Figure 11] FIG. 4 is a diagram showing a processing flow for an object separated by a separation device when the foreign object is an object unsuitable for crushing in the first embodiment. [Figure 12] 1 is a diagram illustrating an outline of an example of the hardware configuration of an information processing device applied to a first embodiment. [Figure 13] FIG. 2 is a diagram illustrating a specific example of a providing device in the first embodiment. [Figure 14] FIG. 10 is a diagram showing a modified example of the separation system in the first embodiment. [Figure 15] FIG. 2 is a diagram showing a specific example of a separation system in the first embodiment. [Figure 16]2 is a schematic block diagram showing a specific example of the functional configuration of a demultiplexer in the first embodiment. FIG. [Figure 17] FIG. 2 is a diagram showing a specific example of a separation device in the first embodiment. [Figure 18] FIG. 2 is a diagram showing a first specific example of a separation process in the first embodiment, viewed from the transport direction of a transport device. [Figure 19] FIG. 2 is a diagram showing a first specific example of a separation process in the first embodiment, viewed from the transport direction of a transport device. [Figure 20] FIG. 10 is a diagram showing a second specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 21] FIG. 10 is a diagram showing a second specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 22] FIG. 10 is a diagram showing a third specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 23] FIG. 10 is a diagram showing a third specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 24] FIG. 10 is a diagram showing a fourth specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 25] FIG. 10 is a diagram showing a fourth specific example of the separation process in the first embodiment, viewed from the transport direction of the transport device. [Figure 26] 5 is a flowchart showing a specific example of the flow of operations of the separation system in the first embodiment. [Figure 27] FIG. 4 is a diagram showing a first modified example of the separation device in the first embodiment. [Figure 28] FIG. 4 is a diagram showing a first modified example of the separation device in the first embodiment. [Figure 29] FIG. 10 is a diagram showing a second modified example of the separation device in the first embodiment. [Figure 30] FIG. 10 is a diagram showing a second modified example of the separation device in the first embodiment. [Figure 31] FIG. 10 is a diagram showing a third modified example of the separation device in the first embodiment. [Figure 32]FIG. 10 is a diagram showing a third modified example of the separation device in the first embodiment. [Figure 33] FIG. 10 is a diagram showing a fourth modified example of the separation device in the first embodiment. [Figure 34] FIG. 10 is a diagram showing a fourth modified example of the separation device in the first embodiment. [Figure 35] FIG. 10 is a diagram showing a fifth modified example of the separation device in the first embodiment. [Figure 36] FIG. 10 is a diagram showing a fifth modified example of the separation device in the first embodiment. [Figure 37] FIG. 10 is a diagram showing a sixth modified example of the separation device in the first embodiment. [Figure 38] FIG. 10 is a diagram showing a sixth modified example of the separation device in the first embodiment. [Figure 39] FIG. 10 is a diagram showing a seventh modified example of the separation device in the first embodiment. [Figure 40] FIG. 10 is a diagram showing a seventh modified example of the separation device in the first embodiment. [Figure 41] FIG. 10 is a diagram showing an eighth modified example of the separation device in the first embodiment. [Figure 42] FIG. 10 is a diagram showing an eighth modified example of the separation device in the first embodiment. [Figure 43] FIG. 13 is a diagram showing a ninth modified example of the separation device in the first embodiment. [Figure 44] FIG. 13 is a diagram showing a ninth modified example of the separation device in the first embodiment. [Figure 45] FIG. 4 is a diagram showing a specific configuration of a modified example of the separation system in the first embodiment. [Figure 46] FIG. 10 is a diagram showing a specific example of a separation device in the second embodiment. [Figure 47] FIG. 10 is a diagram showing a specific example of a separation device in the second embodiment. [Figure 48] FIG. 10 is a schematic block diagram showing a specific example of the functional configuration of a demultiplexer in a second embodiment. [Figure 49] 10 is a flowchart showing a specific example of the flow of operations of the separation system in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. (First embodiment) FIG. 1 is a schematic block diagram showing the system configuration of a separation system 100. The separation system 100 includes a conveying device 10, a sensor 20, a separation device 30, and a determination device 40. The sensor 20, the separation device 30, and the determination device 40 are communicatively connected via a network 70. The network 70 may be a network using wireless communication or a network using wired communication. The network 70 may be configured using, for example, the Internet or a local area network (LAN). The network 70 may also be configured by combining multiple networks.

[0021] FIG. 2 is a diagram showing an outline of a collection (hereinafter referred to as a "collected object") of objects (hereinafter referred to as "objects") to be processed by the separation system 100. The collected object 80 includes a plurality of objects to be processed by the separation system 100. The objects include desired objects 81 and foreign objects 82. Note that in FIG. 2, the proportion of desired objects 81 is much higher than the proportion of foreign objects 82, but the proportion of desired objects 81 and foreign objects 82 included in the collected object 80 may be any value. In the separation system 100, by separating foreign objects 82 from the collected object 80, a collection of desired objects 81 with a smaller proportion of foreign objects 82 is obtained.

[0022] FIG. 3 is a diagram showing the state of the collected object 80 before processing by the separation system 100. FIG. 4 is a diagram showing the state of the collected object 80 after processing by the separation system 100. In the separation system 100, foreign objects 82 are treated as objects to be separated (hereinafter referred to as "separation objects"). While it is desirable to be able to separate only the foreign objects 82, which are the separation objects, from the target object, it is not always possible to separate only the foreign objects 82. For example, as shown in FIG. 4, a collection 83 of the foreign objects 82 and the desired objects 81 located around them may be separated together. FIGS. 3 and 4 show a specific example in which separation is performed by a separator that pushes the collection 83 from the conveyor 10 (a push-type separator). Therefore, in FIGS. 3 and 4, the collection 83 of the desired objects 81 and foreign objects 82 located in an area corresponding to the row pushed out by the push-type separator is separated. Furthermore, although it is desirable to be able to separate all of the foreign objects 82, it is not always possible to separate all of the foreign objects 82 as separation objects. For example, as shown on the left side of Fig. 4, there are cases where foreign matter 82 remains even after processing by separation system 100. However, as shown in Fig. 3 and Fig. 4, by processing by separation system 100, it is possible to separate collection 83 containing foreign matter 82 from collection target objects 80, thereby obtaining a collection of desired objects 81 with a smaller proportion of foreign matter 82.

[0023] Fig. 5 is a diagram showing another specific example of the state of the collection object 80 before processing by the separation system 100. Fig. 6 is a diagram showing another specific example of the state of the collection object 80 after processing by the separation system 100. Figs. 5 and 6 show a specific example of separation by a separation device 30 as shown in Figs. 7 and 15, which will be described later. Therefore, in Figs. 7 and 15, a collection 83 of desired objects 81 and foreign objects 82 located in a relatively narrow area is separated compared to Figs. 3 and 4.

[0024] FIG. 7 is a diagram showing a specific example of a separation system 100. In the separation system 100, a conveying device 10 conveys collected objects (e.g., a collection of iron scrap with foreign matter still mixed in) placed on a conveying surface 101 in a conveying direction. The collected objects are placed on the conveying device 10 of the separation system 100 and conveyed. The conveying direction of the conveying device 10 is the direction indicated by an arrow 111. A sensor 20 is installed upstream of the conveying device 10. The sensor 20 is installed so that the conveying surface 101 on the upstream side of the conveying device 10 is included in a detection range 21. The sensor 20 measures an object (e.g., an object) located inside the detection range 21 to obtain predetermined information (hereinafter referred to as "sensor information") related to the object. The sensor 20 transmits the obtained sensor information to a determination device 40.

[0025] A separation device 30 is installed downstream of the detection range 21 in the conveying direction of the conveying device 10. The separation device 30 separates objects (e.g., separation targets) placed in a separation region 11 on the conveying surface 101 of the conveying device 10 from objects placed on the conveying surface 101. The separation region 11 is provided downstream of the detection range 21. The separation targets placed in the separation region 11 on the conveying surface 101 are attracted by magnetic force to the separation device 30 located above the conveying surface 101. The conveying belt of the separation device 30 rotates so as to push the attracted objects in the direction of arrow 301. As a result, the separation targets attracted to the separation device 30 move to the second region 13 along arrow 131.

[0026] Objects not separated by the separator 30 are conveyed by the conveying device 10 as they are, moving along arrow 121 to a first region 12 located downstream of the conveying device 10. The first region 12 may be defined in any manner. For example, the first region 12 may be defined as a first container. The objects separated by the separator 30 move along arrow 131 to reach a second region 13, which is different from the first region 12. The second region 13 may be defined in any manner. For example, the second region 13 may be defined as a second container. The first container and the second container are both containers that accommodate the objects conveyed by the conveying device 10. The first container and the second container may be configured in any manner as long as they are capable of accommodating the conveyed objects. In this way, the objects conveyed by the conveying device 10 are separated and conveyed to the first region 12 and the second region 13. Note that the shapes and operations of each device shown in FIG. 7 are merely specific examples and are not limited to the shapes and operations shown in FIG. 7.

[0027] The sensor 20 acquires predetermined information (sensor information) about an object (e.g., scrap iron). The object is, for example, scrap iron before being shredded by a shredder. Scrap iron before being shredded includes objects that have been reduced in size using equipment such as a guillotine (downsized for easier handling by steel mills). The object may include objects that could cause problems if placed in the shredder as is (the aforementioned objects that are unsuitable for shredding). A specific example of a problem that may occur with a shredder is when an object fed into the shredder is too thick or too hard, causing a breakdown in a shredder component (e.g., blades). Another specific example of a problem that may occur with a shredder is when an object fed into the shredder has a long, thin shape (e.g., a chain shape) and becomes tangled in a shredder component (e.g., hammer), causing a breakdown. The sensor 20 may acquire any information as sensor information, as long as the information is capable of determining whether the object, scrap iron, is a foreign object. For example, the sensor 20 may be configured using an imaging device. In this case, the sensor 20 generates image data of the object based on electromagnetic waves of a predetermined wavelength. The sensor 20 may generate image data of the object based on, for example, visible light or infrared light.

[0028] The sensor 20 may be a three-dimensional shape information acquisition device. In this case, the sensor 20 acquires information about the shape of an object (hereinafter referred to as "shape information"). The shape information may be, for example, information about the three-dimensional shape of the object. In this case, the sensor 20 may be configured using a device that measures the distance between the sensor 20 and each point on the surface of the object. More specifically, the sensor 20 may be configured using a measurement device that measures the distance from the sensor 20 to each part on the surface of the object by irradiating the object with a laser and measuring scattered light. A specific example of such a sensor 20 is LIDAR (Laser Imaging Detection and Ranging). A specific example of shape information acquired by such a sensor 20 is point cloud data. In this way, shape information is information acquired by the sensor 20 and is information that directly or indirectly indicates the shape of the object.

[0029] The sensor 20 may be a component measuring device. In this case, the sensor 20 acquires information about the components of the substance constituting the object. Specific examples of such component measuring devices include devices that apply laser-induced breakdown spectroscopy (LIBS) and devices that apply X-ray fluorescence spectroscopy (XRF). Devices that apply LIBS quantify the elements in the object by irradiating the object (e.g., scrap iron) with a laser and analyzing the light emitted from plasma generated from the surface using a spectrometer. Devices that apply XRF quantify the elements in the object by irradiating the object with X-rays and measuring the intensity of fluorescent X-rays generated from the object. The component measuring device applied to the sensor 20 may also be a device that measures components non-invasively. In this way, information about the components of the substance constituting the object is information acquired by the sensor 20 and is information that directly or indirectly indicates the substance constituting the object. The above-mentioned shape information and information about the components of the substance constituting the object are specific examples of information about the object. That is, the sensor 20 measures, for example, the shape, color, surface structure (information indicating texture), hardness, or components of the object.

[0030] The separation device 30 is a device that separates objects (separation objects) being transported that have been determined by the determination device 40 to be separation objects. The separation objects are foreign objects such as materials unsuitable for crushing and prohibited materials (hereinafter, when the objects are iron scrap, the separation objects are also referred to as "separation object scrap"). The separation device 30 is, for example, a device that sends the separation objects (separation object scrap) to the second area 13. The separation device 30 may be configured in any manner as long as it is a device that can send the separation objects to the second area 13. For example, as shown in FIG. 7 , the separation device 30 moves in the separation area 11 of the transport device 10 in a direction (indicated by arrow 301) that intersects the conveying direction on the conveying surface 101, thereby sending objects (the separation object and objects located around it) located in the separation area 11 to the second area 13. Other aspects of the separation device 30 will be described later. Information acquired by the sensor 20 about an object determined as a separation object (for example, the shape information described above and information about the components of the substance that makes up the object) is a specific example of information about the separation object.

[0031] The determination device 40 determines whether or not an object to be determined is an object to be separated. The determination device 40 determines that foreign matter such as objects unsuitable for crushing or prohibited objects is an object to be separated. The determination device 40 is configured using an information processing device such as a personal computer or a server device.

[0032] 8 is a schematic block diagram showing a specific example of the functional configuration of the determination device 40. As shown in the example, the determination device 40 includes a communication unit 41, a storage unit 42, and a control unit 43.

[0033] The communication unit 41 is a communication device. The communication unit 41 may be configured as, for example, a network interface. The communication unit 41 communicates data with other devices via the network 70 in accordance with the control of the control unit 43. The communication unit 41 may be a device that performs wireless communication or a device that performs wired communication.

[0034] The storage unit 42 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 42 stores data used by the control unit 43. The storage unit 42 may function as an estimation model storage unit 421, for example.

[0035] The estimation model storage unit 421 stores information about an estimation model previously constructed by a model construction process. Such a model construction process may be performed, for example, manually, by another device (e.g., a model construction device), or by the device itself (the determination device 40). When performed manually, data (e.g., a lookup table) may be generated that associates values ​​of sensor information acquired by the sensor 20 with information indicating whether an object (hereinafter referred to as a "detected object") located in the detection range 21 at the time the value was acquired is a separation object. When performed by another device or the device itself, a trained model may be constructed as an estimation model by executing a supervised learning process using known data as training data. Specific examples of the learning process include multivariate analysis, so-called machine learning, and deep learning. As the learning process, a learning process for classification or a learning process for regression may be used depending on the ground truth information used as training data. The training data may be configured to include, for example, the value of sensor information obtained by a sensor of the same type as sensor 20 used in separation system 100, and label information indicating whether the detected object at the time the value was obtained is the object to be separated.

[0036] For example, the estimation model may be constructed using images (also referred to as reference images or teacher images) prepared in advance. Such teacher images may be prepared, for example, by computer generation, or by computer processing of previously captured images. When a trained model is constructed as such an estimation model, a trained model trained to determine whether an image is a separation target may be generated using multiple reference images obtained by previously capturing images of the separation target. When images other than the separation target are also used as reference images in the learning process, a label (also referred to as a teacher label) indicating whether an object in the reference image is a separation target may be assigned. When a lookup table is used as such an estimation model, image features obtained from the reference image (e.g., a value indicating the outline of the object or a value indicating the color of the object) may be associated with a value indicating whether the object (object in the reference image) from which the feature was obtained is a separation target. The reference images and labels used in such processing may be independently generated, or existing data provided by a third party may be used. Furthermore, such estimation models may be independently generated, or may be generated and provided by a third party.

[0037] For example, the estimation model may be constructed using three-dimensional shape information (reference three-dimensional shape information) generated in advance. When a trained model is constructed as such an estimation model, the trained model may be generated by using multiple pieces of three-dimensional shape information obtained by measuring the object to be separated in advance, and trained to determine whether the information is the three-dimensional shape information of the object to be separated. When three-dimensional shape information other than the object to be separated is also used in the learning process as reference three-dimensional shape information, a label indicating whether the object indicated by the reference three-dimensional shape information is the object to be separated may be assigned. When a lookup table is used as such an estimation model, a feature amount obtained from the reference three-dimensional shape information (e.g., a value indicating the contour of the object or a value indicating unevenness) may be associated with a value indicating whether the object from which the feature amount was obtained (the object from the reference three-dimensional shape information) is the object to be separated. The reference three-dimensional shape information and labels used in such processing may be independently generated or may be existing data provided by a third party. Furthermore, such an estimation model may be independently generated or may be generated and provided by a third party.

[0038] Next, the control unit 43 will be described. The control unit 43 is configured using one or more hardware processors such as a CPU (Central Processing Unit) and one or more memories (main storage devices). The memory is configured using storage devices such as RAM (Random Access Memory) and ROM (Read Only Memory). The control unit 43 functions by having one or more hardware processors execute one or more programs stored in the memory to perform various calculations. The control unit 43 functions as, for example, an information control unit 431, a determination unit 432, and a separation control unit 433. Note that all or part of the functions of the control unit 43 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The above programs may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, and a semiconductor storage device (e.g., a solid-state drive (SSD)), as well as storage devices such as a hard disk or semiconductor storage device built into a computer system. The above programs may be transmitted via a telecommunications line.

[0039] The information control unit 431 acquires information from other devices such as the sensor 20. A specific example of the acquired information is sensor information acquired by the sensor 20. The information control unit 431 records the acquired information in a storage device such as a memory. Such exchange of information between the information control unit 431 and other devices may be performed by communication using the communication unit 41, for example.

[0040] The determination unit 432 determines whether or not the detected object indicated by the sensor information is a separation target object using the estimation model stored in the estimation model storage unit 421. For example, the determination unit 432 acquires the sensor information as an explanatory variable. The determination unit 432 acquires a value indicating whether or not the detected object is a separation target object as a response variable based on the estimation model. At this time, a value indicating the likelihood that the detected object is a separation target object or a value indicating the possibility that the detected object is a separation target object may be obtained as the response variable. In this case as well, the determination unit 432 determines whether or not the detected object is a separation target object based on the obtained value.

[0041] The separation control unit 433 controls the operation of the separation device 30 in accordance with the determination result of the determination unit 432. In this way, the separation control unit 433 separates the separation target object into the second region 13. For example, the separation control unit 433 determines the timing at which the target object located in the detection range 21 when the sensor information is obtained will reach the separation region 11, based on the timing at which the determination unit 432 determines that the target object is a separation target object and the conveying speed of the conveying device 10. The separation control unit 433 controls the operation of the separation device 30 so that the separation device 30 separates the target object in the separation region 11 on the conveying surface 101 at that timing.

[0042] FIG. 9 is a flowchart showing a specific example of the operation flow of the separation system 100. The sensor 20 acquires sensor information about an object being transported (an object located in the detection range 21). The determination device 40 acquires the sensor information acquired by the sensor 20 (step S101). The determination device 40 determines whether the detected object is a separation object based on the acquired sensor information (step S102). For example, the determination device 40 reads an estimation model from the estimation model storage unit 421. The determination device 40 performs processing using the read estimation model and the acquired sensor information. Specifically, the determination device 40 acquires a response variable using the sensor information as an explanatory variable of the read estimation model. The determination device 40 determines whether the detected object is a separation object based on the response variable. If the detected object is not a separation object (step S102-NO), the separation control unit 433 does not cause the separation device 30 to perform the separation operation. In this case, the object being transported by the transport device 10 is transported to the first region 12 without being separated.

[0043] On the other hand, if the detected object is a separation target (step S102-YES), the separation control unit 433 determines the timing when the separation target will reach the separation region 11 (step S103). For example, this process may be performed as follows: The storage unit 42 of the determination device 40 pre-stores the distance between the detection range 21 and the separation region 11. The separation control unit 433 acquires information on the conveying speed from the conveying device 10. Based on the timing when the sensor information indicating that the determination unit 432 determined that the object is a separation target is obtained, the conveying speed, and the distance, the separation control unit 433 determines the timing when the object located in the detection range 21 when the sensor information was obtained will reach the separation region 11. The separation control unit 433 causes the separation device 30 to perform a separation operation at the determined timing (step S104). In this case, the object being conveyed by the conveying device 10 is separated and reaches the second region 13. Through this operation, separation targets determined to be foreign objects are separated into a region different from objects determined to contain almost no foreign objects.

[0044] FIG. 10 illustrates the processing flow for objects separated by the separator 30 when the foreign matter is a taboo object. When the foreign matter is a taboo object, many of the taboo objects are separated as objects to be separated. Therefore, the proportion of taboo objects in the objects that reach the first area 12 after separation by the separator 30 is lower than before separation. Such objects can be directly fed into an electric furnace. This processing reduces the time and cost required for processing the objects. On the other hand, objects that reach the second area 13 after separation by the separator 30 contain many taboo objects. Since directly feeding such objects into an electric furnace can cause significant quality issues, additional sorting is required. Additional sorting involves a process to separate the objects into iron scrap and non-ferrous metals (such as taboo objects) using a mechanism different from that used by the separator 30. For example, this process may be performed manually or using a shredder shredding system including a magnetic separator or a wind separator. Items selected as iron scrap in the additional sorting are fed into an electric furnace. Items selected as non-ferrous metals in the additional sorting may be handed over to a non-ferrous recycling company or discarded. Note that the destination of items selected as iron scrap in the additional sorting does not have to be limited to the electric furnace described above. For example, they may be fed into a converter or other melting furnace.

[0045] FIG. 11 illustrates a process flow for objects separated by the separator 30 when the foreign objects are unsuitable for shredding. When the foreign objects are unsuitable for shredding, the separated objects may contain many unsuitable objects. Therefore, the objects that reach the first area 12 after the separation process by the separator 30 contain few unsuitable objects. However, such objects may contain prohibited objects. If such prohibited objects are directly fed into the electric furnace, quality issues may arise. Therefore, it is preferable to separate the prohibited objects through additional sorting. Additional sorting involves separation using the separation system 100, which treats prohibited objects as foreign objects, or a process to separate the scrap metal and non-ferrous metals (e.g., prohibited objects) using a system different from the separator 30. For example, the process performed by a system different from the separator 30 may be performed manually or using a shredder shredding system. When using a shredder crushing system, since the material contains at least very few materials that are unsuitable for shredding, the shredding process can be omitted and only the sorting process (such as magnetic sorting or wind sorting) can be performed. Materials selected as scrap iron through this additional sorting process are fed into an electric furnace. Materials selected as unsuitable materials through this additional sorting process can be handed over to a non-ferrous metal recycler or disposed of.

[0046] Furthermore, the objects that reach the second area 13 after separation processing by the separator 30 contain a large amount of materials that are unsuitable for crushing. Such materials are likely to be high-quality iron scrap that does not contain many prohibited components. Therefore, objects containing a large amount of materials that are unsuitable for crushing can be directly fed into an electric furnace. By processing the objects in this way, it is possible to reduce the time and cost required for processing the objects.

[0047] 12 is a diagram illustrating an outline of an example of the hardware configuration of an information processing device 90 applied to this embodiment. The information processing device 90 includes a processor 91, a main memory device 92, a communication interface 93, an auxiliary memory device 94, an input / output interface 95, and an internal bus 96. The processor 91, the main memory device 92, the communication interface 93, the auxiliary memory device 94, and the input / output interface 95 are communicably connected to each other via the internal bus 96. The information processing device 90 may be applied to, for example, the determination device 40. In this case, for example, the communication unit 41 may be configured using the communication interface 93. For example, the memory unit 42 may be configured using the auxiliary memory device 94. Furthermore, the control unit 43 may be configured using the processor 91 and the main memory device 92.

[0048] (Variations of the separation system) The determination device 40 may be implemented using a plurality of information processing devices. For example, the determination device 40 may be implemented using a device such as a cloud. For example, in the determination device 40, the storage unit 42 and the control unit 43 may be implemented in different information processing devices. For example, the storage unit 42 of the determination device 40 may be implemented in a distributed manner in a plurality of information processing devices.

[0049] The separation system 100 may further include a providing device 50. FIG. 13 is a diagram showing a specific example of the providing device 50. The providing device 50 places multiple objects on the conveying device 10 so that the distance between them becomes greater. The providing device 50 vibrates itself to provide the objects to the conveying device 10 little by little. By operating in this manner, the providing device 50 can increase the distance between the objects, particularly in the conveying direction of the conveying device 10. A specific example of such a providing device 50 is a vibrating feeder.

[0050] In the above-described separation system 100, foreign objects such as taboo objects and objects unsuitable for crushing are separated from other objects (desired objects). Alternatively, the system may be configured so that objects unsuitable for crushing and objects containing almost no taboo objects reach the same region (e.g., first region 12) and the taboo objects reach another region (e.g., second region 13). This configuration may be realized, for example, by a processing flow as shown in FIG. 14.

[0051] In the process flow shown in Figure 14, the separator 30 first operates to separate materials unsuitable for shredding into the first area 12. After the separation process by the separator 30, the materials that reach the first area 12 contain many materials unsuitable for shredding. Such materials unsuitable for shredding are likely to be high-quality iron scrap that does not contain many prohibited components. Therefore, materials containing many materials unsuitable for shredding can be directly fed into an electric furnace.

[0052] The objects that reach the second area 13 after separation processing by the separator 30 include many objects with few unsuitable materials for crushing. These objects may contain non-ferrous metals, such as prohibited materials. If these objects are directly fed into the electric furnace, quality issues may arise. Therefore, additional sorting is preferable. Therefore, objects with few unsuitable materials for crushing are further separated by the separator 30, which operates to further separate prohibited materials. In the latter separator 30, objects with few prohibited materials are separated into the first area 12, and objects containing many prohibited components are separated into the second area 13. Objects with few prohibited materials can be directly fed into the electric furnace, just like objects with many unsuitable materials for crushing. Processing in this manner can reduce the time and cost required for processing the objects.

[0053] Objects containing a large amount of inappropriate components are subjected to additional sorting. In the additional sorting, a process for separating the objects into scrap iron and non-ferrous metals (inappropriate materials, etc.) is performed using a different mechanism than the separation device 30. For example, this process may be performed manually or using a shredder crushing system. Objects selected as scrap iron in the additional sorting are fed into an electric furnace. Objects selected as non-ferrous metals in the additional sorting may be delivered to a non-ferrous recycler or discarded. To achieve this configuration, the separation system 100 may include a separation device 30 in an upstream (upstream) and downstream (downstream) stage. The upstream separation device 30 separates objects containing a large amount of inappropriate materials for shredding under the control of the determination device 40 and prevents them from flowing to the downstream stage. Objects containing fewer inappropriate materials for shredding flow to the downstream stage. The downstream separation device 30 separates the objects flowing to the downstream stage into inappropriate materials and scrap iron under the control of the determination device 40.

[0054] FIG. 15 is a diagram showing a specific example of the separation system 100 in the first embodiment. The separation system 100 includes a conveying device 10, a sensor 20, a separating device 30, and a determining device 40. The sensor 20, the separating device 30, and the determining device 40 are communicably connected via a network 70. The network 70 may be a network using wireless communication or a network using wired communication. The network 70 may be configured using, for example, the Internet or a local area network (LAN). The network 70 may also be configured by combining multiple networks.

[0055] The heavy equipment 60 is equipped with a lift magnet 61 (lifting magnet). Therefore, the lift magnet 61 moves together with the heavy equipment 60. The electromagnet state (on and off) of the lift magnet 61 is switched in response to operation by the operator of the heavy equipment 60. The lift magnet 61 places the object (iron scrap) on the upper surface of the providing device 50 in response to operation by the operator of the heavy equipment 60. The providing device 50 vibrates itself to provide the object little by little onto the conveying surface of the conveying device 10.

[0056] The conveying device 10 conveys objects placed on the conveying surface in the conveying direction. The sensor 20 acquires sensor information. The sensor 20 transmits the acquired sensor information to the determination device 40. The determination device 40 determines whether the object to be determined is an object to be separated. The determination device 40 determines that an object containing foreign matter such as an object unsuitable for crushing or a prohibited object is an object to be separated. Prohibited objects are, for example, objects containing a large amount of tramp elements and sealed objects.

[0057] The separation device 30 is, for example, a suspended magnetic separator (a suspended magnetic conveyor). The separation device 30 is installed, for example, downstream of the conveyance device 10, in a direction perpendicular to the conveyance direction of the objects. The separation device 30, downstream of the conveyance device 10, separates the separation object determined by the determination unit 432 on the conveyance device 10 from the objects.

[0058] The separation control unit 433 controls the operation of the separation device 30 in accordance with the determination result of the determination unit 432. As a result, the separation control unit 433 separates the separation target object into the second area 13. For example, based on the timing at which sensor information indicating that the determination unit 432 determined that the target object is a separation target and the conveying speed of the conveying device 10 was obtained, the separation control unit 433 determines the timing at which the target object, which was located in the detection range 21 when the sensor information was obtained, will reach the separation area. For example, the separation control unit 433 may receive an operation by an operator visually observing the conveyance of the target object, and determine the timing at which the target object will reach the separation area based on the timing of the operation and the conveying speed of the target object. For example, the separation control unit 433 may determine the timing at which the target object will reach the separation area based on the timing of the operation by the operator and the conveying history of the target object (e.g., the rotation history of a pulley).

[0059] The separation control unit 433 controls the state of the separation device 30. When the object to be separated reaches a predetermined separation area, the separation control unit 433 transitions the state of the separation device 30 to a state in which the object to be separated is separated from other objects.

[0060] 16 is a schematic block diagram showing a specific example of the functional configuration of the separation device 30 in the first embodiment. The separation device 30 includes a state control unit 302 and a magnet 303. The magnet 303 is, for example, an electromagnet (coil) or a permanent magnet.

[0061] The separation control unit 433 transitions the state of the separation device 30 to a state in which the separation target object is separated from other targets at the timing when the separation target object reaches the separation area. For example, the separation control unit 433 transitions the state of the magnet 303 of the separation device 30 to a predetermined state in which the separation target object is separated at the timing when the separation target object reaches the separation area. Furthermore, when a predetermined time (e.g., a predetermined number of seconds) has elapsed since that timing, the separation control unit 433 transitions the state of the magnet 303 of the separation device 30 to a predetermined state in which the separation target object is not separated.

[0062] The state control unit 302 transitions the state of the magnet 303 (electromagnet) of the separation device 30 to ON based on an ON instruction (an instruction to pass current through the electromagnet) from the separation control unit 433. The state control unit 302 also transitions the state of the magnet 303 (electromagnet) of the separation device 30 to OFF based on an OFF instruction (an instruction to stop passing current through the electromagnet) from the separation control unit 433.

[0063] The state control unit 302 may change the distance between the separation device 30 having a permanent magnet and the object by moving the separation device 30 having a permanent magnet based on a movement instruction from the separation control unit 433. Furthermore, the state control unit 302 may restore the distance between the separation device 30 having a permanent magnet and the object based on a return instruction from the separation control unit 433.

[0064] 17 is a diagram showing a specific example of the separator 30 in the first embodiment. The separator 30 (hanging magnetic separator) includes a state control unit 302, a magnet 303, a motor 304, and a conveyor belt 305. Partitions are arranged at predetermined intervals on the conveyor belt 305.

[0065] FIG. 18 is a diagram showing a first specific example of separation processing in the first embodiment from the transport direction of the transport device 10. In FIGS. 18 and 19, a first region 12 is arranged in the direction in which the objects are transported by the transport device 10. That is, FIGS. 18 and 19 illustrate a structure in which the second region 13 (the region designated as the destination of the objects to be separated) is not at the end of the transport device 10. The separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the first state (off in FIG. 18) to the second state (on in FIG. 18) when the objects to be separated arrive at the separation region. In addition, the state control unit 302 drives the transport belt 305 by controlling the driving of the motor 304. Each partition arranged on the conveying belt 305 moves the object to be separated (scrap to be separated that has been determined to contain foreign matter) attracted to the magnet 303 by magnetic force away from the magnet 303 in the direction of the second region 13 by the conveying belt 305 driving in the direction of the second region 13.

[0066] 19 is a diagram showing a first specific example of separation processing in the first embodiment from the transport direction of the transport device 10. When a predetermined time has elapsed since the object to be separated arrived at the separation area, the separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the second state (on in FIG. 19) to the first state (off in FIG. 19). The transport device 10 transports the object to the first area 12.

[0067] The state control unit 302 may drive the conveyor belt 305 at all times, or may drive the conveyor belt 305 depending on the state of the magnet 303. That is, the state control unit 302 may drive the conveyor belt 305 when the state of the magnet 303 is on, and may stop driving the conveyor belt 305 when the state of the magnet 303 is off.

[0068] FIG. 20 is a diagram showing a second specific example of separation processing in the first embodiment from the transport direction of the transport device 10. In FIGS. 20 and 21, a second region 13 is arranged in the direction in which the objects are transported by the transport device 10. That is, FIGS. 20 and 21 illustrate a structure in which the second region 13 (the region designated as the destination of the objects to be separated) is at the end of the transport device 10. The separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the first state (on in FIG. 20) to the second state (off in FIG. 20) when the objects to be separated arrive at the separation region. The transport device 10 transports the objects to be separated to the second region 13.

[0069] 21 is a diagram showing a second specific example of the separation process in the first embodiment, viewed from the conveying direction of the conveying device 10. The state control unit 302 drives the conveyor belt 305 by controlling the driving of the motor 304. The separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the second state (off in FIG. 21) to the first state (on in FIG. 21) when a predetermined time has elapsed since the objects to be separated arrived at the separation area. Each partition arranged on the conveyor belt 305 moves the objects (iron scrap determined to contain almost no foreign matter) attracted to the magnet 303 by magnetic force away from the magnet 303 in the direction of the first area 12 by driving the conveyor belt 305 in the direction of the first area 12.

[0070] FIG. 22 is a diagram showing a third specific example of the separation process in the first embodiment, viewed from the conveying direction of the conveying device 10. In FIGS. 22 and 23, the first region 12 is arranged in the direction in which the conveying device 10 conveys the objects. That is, FIGS. 22 and 23 illustrate a structure in which the second region 13 is not at the end of the conveying device 10. The state control unit 302 controls the driving of the motor 304 to drive the conveying belt 305. When the objects to be separated arrive at the separation region, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the first state (in FIG. 22, a state in which the magnet is separated from the separation region) to the second state (in FIG. 22, a state in which the magnet is moved closer to the separation region). Each partition arranged on the conveying belt 305 moves the objects to be separated (scrap determined to contain foreign matter) attracted to the magnet 303 by magnetic force toward the second region 13 by driving the conveying belt 305 toward the second region 13.

[0071] 23 is a diagram showing a third specific example of separation processing in the first embodiment from the transport direction of the transport device 10. When a predetermined time has elapsed since the object to be separated reached the separation area, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the second state (a state in which the magnet is close to the separation area in FIG. 23) to the first state (a state in which the magnet is away from the separation area in FIG. 23). The transport device 10 transports the object to the first area 12.

[0072] FIG. 24 is a diagram showing a fourth specific example of separation processing in the first embodiment from the transport direction of the transport device 10. In FIGS. 24 and 25, the second region 13 is arranged in the direction in which the objects are transported by the transport device 10. That is, FIGS. 24 and 25 illustrate a structure in which the second region 13 is at the end of the transport device 10. When the objects to be separated arrive at the separation region, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from a first state (a state in which the magnet is close to the separation region in FIG. 24) to a second state (a state in which the magnet is away from the separation region in FIG. 24). The transport device 10 transports the objects to be separated to the second region 13.

[0073] FIG. 25 is a diagram showing a fourth specific example of the separation process in the first embodiment, viewed from the conveying direction of the conveying device 10. The state control unit 302 controls the driving of the motor 304 to drive the conveyor belt 305. When a predetermined time has elapsed since the objects to be separated reached the separation area, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the second state (a state in FIG. 25 where the magnet is removed from the separation area) to the first state (a state in FIG. 25 where the magnet is brought closer to the separation area). Each partition arranged on the conveyor belt 305 moves the objects (iron scrap determined to contain almost no foreign matter) attracted to the magnet 303 by magnetic force away from the magnet 303 in the direction of the first area 12 by driving the conveyor belt 305 in the direction of the first area 12.

[0074] Next, a specific example of the operation flow of the separation system 100 will be described. 26 is a flowchart showing a specific example of the operation flow of the separation system 100 in the first embodiment. The sensor 20 acquires sensor information about an object being transported (an object positioned in the detection range 21). The determination device 40 acquires the sensor information acquired by the sensor 20 (step S201). The determination device 40 determines whether the object is a separation object based on the acquired sensor information (step S202). If the object is not a separation object (step S202-NO), the separation system 100 returns the process to step S201.

[0075] On the other hand, if the object is a separation object (step S202-YES), the separation control unit 433 determines the timing when the separation object will arrive at the separation area (step S203). The separation control unit 433 causes the separation device 30 to perform a separation operation at the determined timing. That is, the separation control unit 433 transitions the state of the separation device 30 to a state in which the object is separated (for example, the electromagnet is on) at the arrival timing (step S204). After a predetermined time has elapsed from the arrival timing, the separation control unit 433 transitions the state of the separation device 30 to a state in which the object is not separated (for example, the electromagnet is off) (step S205). The separation system 100 returns the process to step S201.

[0076] As described above, the conveying device 10 conveys the aggregated object 80 (plurality of objects) from upstream to downstream. The plural objects are plural desired objects 81 and plural foreign objects 82. The sensor 20 measures the objects upstream of the conveying device 10. The determination unit 432 determines foreign objects 82 (objects to be separated) mixed in the aggregated object 80 (plurality of objects) based on the measurement results obtained by the sensor 20. The separation control unit 433 generates instructions based on the determination results of the foreign objects 82. The separation device 30, downstream of the conveying device 10, separates the foreign objects 82 (objects to be separated) in the aggregated object 80 from other objects in the aggregated object 80 that are not determined to be foreign objects 82 (other foreign objects 82 that are not determined and desired objects 81 that are not determined) based on the instructions generated by the separation control unit 433. Here, the separation device 30 may separate the collection 83 including the determined foreign object 82 from other objects in the collection object 80 that were not determined to be foreign objects 82 (other foreign objects 82 that were not determined, and the desired object 81 that was not determined).

[0077] Here, the separation control unit 433 generates an instruction to transition the state of the separation device 30 from the first state to the second state when the separation object reaches the separation area, regarding a transition between a first state in which the separation object is not separated from other objects and a second state in which the separation object is separated from other objects. When a predetermined time has elapsed since the separation object reaches the separation area, the separation control unit 433 generates an instruction to transition the state of the separation device 30 from the second state to the first state.

[0078] This allows foreign matter such as objects unsuitable for crushing or prohibited objects to be efficiently separated from the collection of target objects, thereby making it possible to obtain a collection of desired objects with a lower proportion of foreign matter.

[0079] Separation device 30 is, for example, a suspended magnetic separator having an electromagnet (magnet 303). In a structure in which second region 13, which is determined as the destination of the objects to be separated, is not at the end of conveyance device 10, separation control unit 433 transitions the state of the electromagnet of separation device 30 to ON at the timing when the objects to be separated arrive at the separation region. When a predetermined time has elapsed from that timing, separation control unit 433 transitions the state of the electromagnet of separation device 30 to OFF.

[0080] In a structure in which the second region 13, which is determined as the destination of the objects to be separated, is at the end of the conveyance device 10, the separation control unit 433 may transition the state of the electromagnet of the separation device 30 to OFF at the timing when the objects to be separated arrive at the separation region. When a predetermined time has elapsed from that timing, the separation control unit 433 transitions the state of the electromagnet of the separation device 30 to ON.

[0081] Separation device 30 may be, for example, a suspended magnetic separator having a permanent magnet (magnet 303). Separation control unit 433 moves the permanent magnet of separation device 30 closer to the separation area when the objects to be separated reach the separation area. When a predetermined time has elapsed since that time, separation control unit 433 moves the permanent magnet of separation device 30 away from the separation area.

[0082] The separation control unit 433 may move the permanent magnet of the separation device 30 away from the separation area at the timing when the object to be separated reaches the separation area. When a predetermined time has elapsed from that timing, the separation control unit 433 moves the permanent magnet of the separation device closer to the separation area.

[0083] (Variation) FIG. 27 is a diagram showing a first modified example of the separation device 30 in the first embodiment. FIG. 27 illustrates a structure in which the second region 13 is not located at the end of the conveying device 10. The separation device 30 is, for example, a suspended magnetic separator having an electromagnet. The separation device 30 is installed in a region downstream of the conveying device 10, facing in the same direction as the conveying direction of the objects. The separation control unit 433 transitions the state of the magnet 303 (electromagnet) from a first state (off in FIG. 27) to a second state (on in FIG. 27) when the objects to be separated reach the separation region defined at the end of the conveying device 10. The separation device 30 separates the objects to be separated that have been removed from the conveying device 10 after the conveying device 10 has completed its conveyance into the second region 13 in the conveying direction of the objects.

[0084] 28 is a diagram showing a first modified example of the separation device 30 in the first embodiment. FIG. 28 illustrates a structure in which the second region 13 is not at the end of the transport device 10. When a predetermined time has elapsed since the object to be separated arrived at the separation region, the separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the second state (on in FIG. 28) to the first state (off in FIG. 28). The transport device 10 transports the object to the first region 12.

[0085] 29 is a diagram showing a second modified example of the separation device 30 in the first embodiment. FIG. 29 illustrates a structure in which the second region 13 is located at the end of the transport device 10. The separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the first state (on in FIG. 29) to the second state (off in FIG. 29) at the timing when the object to be separated reaches the separation region defined at the end of the transport device 10. The transport device 10 transports the object to be separated to the second region 13.

[0086] Fig. 30 is a diagram showing a second modified example of the separation device 30 in the first embodiment. Fig. 30 illustrates a structure in which the second area 13 is at the end of the conveying device 10. A state control unit 302 drives a conveying belt 305 by controlling the driving of a motor 304. A separation control unit 433 transitions the state of the magnet 303 (electromagnet) from the second state (off in Fig. 30) to the first state (on in Fig. 30) when a predetermined time has elapsed since the object to be separated arrived at the separation area.

[0087] FIG. 31 is a diagram showing a third modified example of the separation device 30 in the first embodiment. FIG. 31 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. The separation device 30 may be, for example, a suspended magnetic separator having a permanent magnet. The state control unit 302 drives the conveying belt 305 by controlling the driving of the motor 304. The separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the first state (a state away from the separation region in FIG. 31) to the second state (a state close to the separation region in FIG. 31) when the separation object reaches the separation region defined at the end of the conveying device 10.

[0088] FIG. 32 is a diagram showing a third modified example of the separation device 30 in the first embodiment. FIG. 32 illustrates a structure in which the second region 13 is not at the end of the transport device 10. When a predetermined time has elapsed since the object to be separated reached the separation region, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the second state (a state in FIG. 32 where the magnet is close to the separation region) to the first state (a state in FIG. 32 where the magnet is away from the separation region). The transport device 10 transports the object to the first region 12.

[0089] FIG. 33 is a diagram showing a fourth modified example of the separation device 30 in the first embodiment. FIG. 33 illustrates a structure in which the second region 13 is located at the end of the transport device 10. The separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from a first state (a state in FIG. 33 where the magnet is close to the separation region) to a second state (a state in FIG. 33 where the magnet is away from the separation region) when the object to be separated reaches the separation region defined at the end of the transport device 10. The transport device 10 transports the object to be separated to the second region 13.

[0090] Fig. 34 is a diagram showing a fourth modified example of the separation device 30 in the first embodiment. Fig. 34 illustrates a structure in which the second area 13 is at the end of the conveying device 10. The state control unit 302 drives the conveying belt 305 by controlling the driving of the motor 304. When a predetermined time has elapsed since the object to be separated reached the separation area, the separation control unit 433 transitions the state of the magnet 303 (permanent magnet) from the second state (a state away from the separation area in Fig. 34) to the first state (a state close to the separation area in Fig. 34).

[0091] FIG. 35 is a diagram showing a fifth modified example of the separation device 30 in the first embodiment. FIG. 35 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. The separation device 30 is, for example, a drum magnetic separator having an electromagnet. The state control unit 302 rotates the separation device 30. The separation control unit 433 transitions the state of the electromagnet of the separation device 30 from a first state (off in FIG. 35) to a second state (on in FIG. 35) when the object to be separated arrives at the separation region. The separation region is, for example, a region downstream of the conveying device 10. The separation device 30 separates the object to be separated that has left the conveying device 10 after the conveying device 10 has completed its conveyance into the second region 13 in the conveying direction of the object.

[0092] Fig. 36 is a diagram showing a fifth modified example of the separation device 30 in the first embodiment. Fig. 36 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. When a predetermined time has elapsed since the object to be separated arrived at the separation region, the separation control unit 433 transitions the state of the electromagnet of the separation device 30 from the second state (on in Fig. 36) to the first state (off in Fig. 36). The separation device 30 separates the object that has been removed from the conveying device 10 after the conveying device 10 has completed its conveyance into the first region 12 in the conveying direction of the object.

[0093] Fig. 37 is a diagram showing a sixth modified example of the separation device 30 in the first embodiment. Fig. 37 illustrates a structure in which the second region 13 is at the end of the conveying device 10. The separation control unit 433 transitions the state of the electromagnet of the separation device 30 from the first state (on in Fig. 37) to the second state (off in Fig. 37) at the timing when the object to be separated arrives at the separation region. The separation device 30 separates the object to be separated that has left the conveying device 10 after the conveying device 10 has completed its conveyance into the second region 13 in the conveying direction of the object.

[0094] FIG. 38 is a diagram showing a sixth modified example of the separation device 30 in the first embodiment. FIG. 38 illustrates a structure in which the second region 13 is at the end of the conveying device 10. The state control unit 302 rotates the separation device 30. When a predetermined time has elapsed since the object to be separated arrived at the separation region, the separation control unit 433 transitions the state of the electromagnet of the separation device 30 from the second state (off in FIG. 38) to the first state (on in FIG. 38). The separation device 30 separates the object that has been released from the conveying device 10 after the conveying device 10 has completed its conveyance into the first region 12 in the conveying direction of the object.

[0095] FIG. 39 is a diagram showing a seventh modified example of the separation device 30 in the first embodiment. FIG. 39 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. The separation device 30 may be, for example, a drum magnetic separator having a permanent magnet. The state control unit 302 rotates the separation device 30. The separation control unit 433 transitions the state of the permanent magnet of the separation device 30 from a first state (a state away from the separation region in FIG. 39) to a second state (a state close to the separation region in FIG. 39) when the object to be separated arrives at the separation region.

[0096] Fig. 40 is a diagram showing a seventh modified example of the separation device 30 in the first embodiment. Fig. 40 illustrates a structure in which the second area 13 is not at the end of the transport device 10. When a predetermined time has elapsed since the object to be separated reaches the separation area, the separation control unit 433 transitions the state of the permanent magnet of the separation device 30 from the second state (a state in Fig. 40 where the magnet is close to the separation area) to the first state (a state in Fig. 40 where the magnet is away from the separation area).

[0097] Fig. 41 is a diagram showing an eighth modified example of the separation device 30 in the first embodiment. Fig. 41 illustrates a structure in which the second area 13 is at the end of the transport device 10. When the object to be separated reaches the separation area, the separation control unit 433 transitions the state of the permanent magnet of the separation device 30 from the first state (a state in Fig. 41 where the magnet is close to the separation area) to the second state (a state in Fig. 41 where the magnet is away from the separation area).

[0098] Fig. 42 is a diagram showing an eighth modified example of the separation device 30 in the first embodiment. Fig. 42 illustrates a structure in which the second region 13 is at the end of the transport device 10. The state control unit 302 rotates the separation device 30. When a predetermined time has elapsed since the object to be separated reached the separation region, the separation control unit 433 transitions the state of the permanent magnet of the separation device 30 from the second state (a state away from the separation region in Fig. 42) to the first state (a state close to the separation region in Fig. 42).

[0099] FIG. 43 is a diagram showing a ninth modified example of the separation device 30 in the first embodiment. FIG. 43 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. The separation device 30 is, for example, a pulley having an electromagnet (magnet 303) in the conveying device 10. The separation control unit 433 transitions the state of the electromagnet of the separation device 30 from a first state (off in FIG. 43) to a second state (on in FIG. 43) when the object to be separated reaches the separation region. The separation region is, for example, determined at the end of the conveying device 10. The separation device 30 separates the object to be separated that has been released from the conveying device 10 after the conveying device 10 has completed its conveyance into the second region 13 below the conveying device 10.

[0100] Fig. 44 is a diagram showing a ninth modified example of the separation device 30 in the first embodiment. Fig. 44 illustrates a structure in which the second region 13 is not at the end of the conveying device 10. When a predetermined time has elapsed since the object to be separated arrived at the separation region, the separation control unit 433 transitions the state of the electromagnet of the separation device 30 from the second state (on in Fig. 44) to the first state (off in Fig. 44). The separation device 30 conveys the object that has been released from the conveying device 10 after the conveying by the conveying device 10 has completed, to the first region 12 in the conveying direction of the object.

[0101] (Specific configuration of modified example) FIG. 45 is a diagram showing a specific configuration of a modified example of the separation system 100. In the separation system 100 shown in FIG. 45, a plurality of separation devices 30 (e.g., separation devices 30a and 30b) are provided along the conveying path of the conveying device 10. The separation device 30 is, for example, a suspended magnetic separator having an electromagnet (magnet 303). The separation device 30a corresponds to the first separation device, and the separation device 30b corresponds to the second separation device. The objects separated by the separation device 30a move along the arrow 131a and reach the second area 13a. The objects separated by the separation device 30b move along the arrow 131b and reach the second area 13b. The separation devices 30a and 30b may be configured to separate different types of separation objects (e.g., first separation objects and second separation objects). For example, the first separation object may be a taboo object (separation object), and the second separation object may be an object unsuitable for crushing (separation object). In this case, the separator 30a may be configured to separate prohibited materials (materials to be separated), and the separator 30b may be configured to separate materials unsuitable for shredding. In other words, the separator 30a may be configured to separate materials that cannot be used as scrap iron, and the separator 30b may be configured to separate thick or hard scrap iron that can be used as scrap iron but is not suitable for shredding. The determination device 40 determines whether the material to be separated is a first separation material or a second separation material based on sensor information. The determination device 40 determines whether to operate the separator 30a or the separator 30b based on the determination result. Depending on the separator 30 to be operated, the determination device 40 determines the timing at which the material to be separated reaches the separation zone of the separator 30 to be operated, and operates the separator 30 at that timing. This configuration facilitates post-processing. For example, materials separated by the separator 30a may be treated as prohibited materials, while materials separated by the separator 30b may be directly melted in an electric furnace. Although the above example has two separators 30, three or more separators 30 may be provided.

[0102] In the specific configuration of the modified example illustrated in FIG. 45, the determination device 40 (e.g., a separation control device) may control the conveying device 10 to reduce the conveying speed of the conveying device 10 when separation is performed by the separator 30. For example, the conveying device 10 conveys at a first conveying speed when separation is not performed, and conveys at a second conveying speed (a speed slower than the first conveying speed) when separation is performed (e.g., a predetermined period including the timing when the separator performs separation). The determination device 40 instructs the conveying device 10 to operate at the second conveying speed when separation is performed by the separator 30. Upon receiving an instruction to operate at the second conveying speed, the conveying device 10 may convey at the second conveying speed for a predetermined period (e.g., one second) from the instruction, and then convey at the first conveying speed again. This configuration enables separation of the separation target objects with higher accuracy. The conveying device 10 is operable at a first conveying speed and a second conveying speed slower than the first conveying speed. The transport device 10 operates at a first transport speed when the object to be separated has not yet arrived, and operates at a second transport speed when the object to be separated has arrived.

[0103] (Second embodiment) The second embodiment is mainly different from the first embodiment in that the separation device 30 is a lift magnet (lifting magnet). The second embodiment will be described mainly focusing on the differences from the first embodiment.

[0104] FIG. 46 is a diagram showing a specific example of the separation device 30 in the second embodiment. The separation device 30 is a lift magnet having an electromagnet (magnet 303) in the transport device 10. The separation control unit 433 stops the transport of the object in the transport device 10 when the object to be separated arrives at the separation area. The separation control unit 433 moves the separation device 30 to the separation area. The separation control unit 433 transitions the state of the electromagnet of the separation device 30 to ON. The separation control unit 433 moves the separation device 30 to above the second area 13. When the separation device 30 moves above the second area 13, the separation control unit 433 transitions the state of the electromagnet of the separation device 30 to OFF.

[0105] 47 is a diagram showing a specific example of the separation device 30 in the second embodiment. When a predetermined time has elapsed since the arrival of the separation object, the separation control unit 433 changes the state of the electromagnet of the separation device 30 from on to off. In addition, the separation control unit 433 returns the separation device 30 to its original position. The separation control unit 433 resumes the transportation of the object in the transport device 10.

[0106] 48 is a schematic block diagram showing a specific example of the functional configuration of the separation device 30 in the second embodiment. The separation device 30 includes a state control unit 302, a magnet 303, a transport control unit 306, a transport instruction unit 307, a movement control unit 308, and a drive unit 309.

[0107] The transport control unit 306 controls the on / off of transport of objects in the transport device 10. The transport instruction unit 307 (communication unit) transmits a control signal to the transport device 10 based on the control by the transport control unit 306. The control signal is, for example, a signal for controlling the on / off of transport of objects in the transport device 10. The movement control unit 308 uses the drive unit 309 to move the separation device 30 to a predetermined position based on instructions (control) from the separation control unit 433. The drive unit 309 is a motor.

[0108] Next, a specific example of the operation flow of the separation system 100 will be described. Fig. 49 is a flowchart showing a specific example of the operation flow of the separation system 100 in the second embodiment. Steps S301 to S303 are the same as steps S201 to S203 illustrated in Fig. 26. The transport control unit 306 uses the transport instruction unit 307 (communication unit) to stop the transport of the objects in the transport device 10 when the objects to be separated arrive at the separation area (step S304). The separation control unit 433 transitions the state of the separation device 30 to a state in which the objects to be separated are separated (for example, the electromagnet is turned on) (step S305).

[0109] The movement control unit 308 drives the drive unit 309 based on instructions (control) from the separation control unit 433, thereby moving the separation device 30 to the second area 13 (an area where the objects to be separated are placed). In this case, the objects being transported by the transport device 10 are separated and reach the second area 13 (step S306). The separation control unit 433 transitions the state of the separation device 30 to a state in which the objects to be separated are not separated (for example, the electromagnet is turned off) (step S307).

[0110] The movement control unit 308 drives the drive unit 309 based on instructions (control) from the separation control unit 433 to return the separation device 30 to its original position (for example, near the separation area) (step S308). The transport control unit 306 uses the transport instruction unit 307 to resume transport of the object in the transport device 10 (step S309). The separation system 100 returns the process to step S301.

[0111] As described above, the separation device 30 is, for example, a lift magnet (lifting magnet). The separation control unit 433 moves the separation device 30 to the separation region and transitions the state of the electromagnet (magnet 303) of the separation device 30 to ON. The separation control unit 433 moves the separation device 30 to the second region 13 where the objects to be separated are placed and transitions the state of the electromagnet (magnet 303) of the separation device 30 to OFF.

[0112] This allows foreign matter such as objects unsuitable for crushing or prohibited objects to be efficiently separated from the collection of target objects, thereby making it possible to obtain a collection of desired objects with a lower proportion of foreign matter.

[0113] The separation system 100 (including modifications) configured as described above can properly separate foreign matter such as materials unsuitable for crushing and prohibited materials from the target object. In particular, when the target object is iron scrap, it is difficult to separate the foreign matter using a mechanism that grips the target object, such as a robot arm. In response to this problem, the separation system 100 described above can properly separate the foreign matter through the operation of the separator 30, even when the target object is iron scrap.

[0114] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention. [Explanation of symbols]

[0115] 10...conveying device, 11...separation area, 12...first area, 13...second area, 20...sensor, 21...detection range, 30...separating device, 31...conveying direction switch, 40...determination device, 41...communication unit, 42...memory unit, 43...control unit, 50...providing device, 60...heavy machinery, 61...lift magnet, 70...network, 80...collecting object, 81...desired object, 82...foreign object, 83...collection, 90...information processing device, 91...processor, 92...main memory device, 93...communication interface interface, 94...auxiliary storage device, 95...input / output interface, 96...internal bus, 100...separation system, 101...transport surface, 111...arrow, 121...arrow, 131...arrow, 301...arrow, 302...status control unit, 303...magnet, 304...motor, 305...transport belt, 306...transport control unit, 307...transport instruction unit, 308...movement control unit, 309...drive unit, 421...estimation model storage unit, 431...information control unit, 432...determination unit, 433...separation control unit

Claims

1. a conveying device that conveys a plurality of objects from upstream to downstream; a sensor for measuring the object on the upstream side of the conveying device; a determination unit that determines a separation target that is a foreign object mixed in the plurality of targets based on the measurement results obtained by the sensor; a separation control unit that generates an instruction based on the determination result of the separation object; a separation device that is located downstream of the conveying device and that separates the separation object from other objects that are not determined to be the separation object based on the instruction; Equipped with the separation control unit generates the instruction to transition the state of the separation device from a first state, in which the separation object is not separated from the other objects, to a second state, in which the separation object is separated from the other objects, at a timing when the separation object arrives at a separation area, and generates the instruction to transition the state of the separation device from the second state to the first state when a predetermined time has elapsed since the separation object arrives. Separation system.

2. The separating device is a suspended magnetic separator, a drum magnetic separator, or a pulley having an electromagnet; 2. The separation system according to claim 1, wherein the separation control unit generates the instruction to transition the state of the electromagnet from the first state to the second state at the timing when the object to be separated arrives, and generates the instruction to transition the state of the electromagnet from the second state to the first state when the predetermined time has elapsed since the object to be separated arrived.

3. 3. The separation system according to claim 2, wherein, in a structure in which the area designated as the destination of the object to be separated is not at the end of the conveying device, the separation control unit generates the instruction to transition the state of the electromagnet from off to on at the timing when the object to be separated arrives, and generates the instruction to transition the state of the electromagnet from on to off when the predetermined time has elapsed from the timing.

4. 3. The separation system according to claim 2, wherein, in a structure in which an area designated as the destination of the object to be separated is at the end of the conveying device, the separation control unit generates the instruction to transition the state of the electromagnet from on to off when the object to be separated arrives, and generates the instruction to transition the state of the electromagnet from off to on when the predetermined time has elapsed since the object to be separated arrived.

5. The separation device is a suspended magnetic separator or a drum magnetic separator having a permanent magnet, 2. The separation system according to claim 1, wherein the separation control unit generates the instruction to transition the position of the permanent magnet from the first state to the second state at the timing when the object to be separated arrives, and generates the instruction to transition the position of the permanent magnet from the second state to the first state when the predetermined time has elapsed since the object to be separated arrived.

6. 6. The separation system according to claim 5, wherein, in a structure in which the area designated as the destination of the separation object is not at the end of the conveying device, the separation control unit generates the instruction to transition the position state of the permanent magnet from a state away from the separation area to a state close to the separation area at the time the separation object arrives, and when the predetermined time has elapsed since the time the separation object arrives, generates the instruction to transition the position state of the permanent magnet from a state close to the separation area to a state away from the separation area.

7. 6. The separation system according to claim 5, wherein, in a structure in which the area designated as the destination of the separation object is at the end of the conveying device, the separation control unit generates the instruction to transition the position state of the permanent magnet from a state close to the separation area to a state away from the separation area at the time when the separation object arrives, and generates the instruction to transition the position state of the permanent magnet from a state away from the separation area to a state close to the separation area when the predetermined time has elapsed since the time when the separation object arrives.

8. The separating device is a lifting magnet having an electromagnet, 2. The separation system according to claim 1, wherein the separation control unit generates the instruction to move the separation device to the separation area at the timing when the object to be separated arrives at the separation area and to transition the state of the electromagnet of the separation device from off to on, moves the separation device together with the object to be separated to the area where the object to be separated is to be placed, and when a predetermined time has elapsed since the object to be separated arrives, generates the instruction to transition the state of the electromagnet of the separation device from on to off.

9. The separation system according to claim 1 , wherein the separation control unit receives an operation by an operator and determines the timing at which the object to be separated will arrive based on the timing of the operation and a transport speed of the object to be separated.

10. the separation device includes a first separation device and a second separation device; The separation system according to claim 1 , wherein the first separation device and the second separation device separate different types of the separation objects from the object.

11. the conveying device is operable at a first conveying speed and a second conveying speed that is slower than the first conveying speed; The separation system according to claim 1 , wherein the conveying device operates at the first conveying speed when the object to be separated has not arrived, and operates at the second conveying speed when the object to be separated has arrived.

12. A separation method performed by a separation system including a conveying device that conveys a plurality of objects from upstream to downstream, a sensor that measures the objects upstream of the conveying device, a determination device, and a separation device, the method comprising: a measuring step of measuring the object on the upstream side of the conveying device; a determination step of determining a separation target, which is a foreign object mixed in the plurality of targets, based on the measurement results obtained by the sensor; a separation control step of generating an instruction based on the determination result of the separation object; a separating step of separating the object to be separated from other objects that have not been determined to be the object to be separated based on the instruction, on the downstream side of the conveying device; Equipped with The separation control step includes generating the instruction to transition the state of the separation device from a first state, in which the separation object is not separated from the other objects, to a second state, in which the separation object is separated from the other objects, at a timing when the separation object arrives at a separation area, and generating the instruction to transition the state of the separation device from the second state to the first state when a predetermined time has elapsed since the separation object arrives. Separation method.

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