Waste treatment system and vibrating device for waste

Abstract

To provide a waste treatment system and a vibrating device for waste that can efficiently sort waste and also recycle waste.SOLUTION: This waste treatment system 100 includes a conveying unit 10 that conveys a container 201 containing multiple types of waste B, a robot 30 that holds and sorts the waste B in the container 201, and a container vibration device 40 that has a vibration unit 40d that vibrates the container 201 conveyed by the conveying unit 10 to a sorting position Pv where the waste B is sorted by the robot 30.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a waste treatment system and a vibrating device for waste. [Background technology]

[0002] BACKGROUND ART Conventionally, a waste treatment system is known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a waste bottle removal facility (waste disposal system).

[0004] The waste bottle removal equipment of Patent Document 1 above comprises a container carry-in device, an inversion frame, an inversion drive device, and a bottle transport conveyor. The container carry-in device is configured to carry a container containing waste bottles (waste) to a holding position where the container is held by the inversion frame. The inversion frame is configured to hold the container in the holding position. The inversion drive device is configured to invert the container held by the inversion frame and discharge the waste bottles in the container onto the bottle transport conveyor. The bottle transport conveyor is configured to transport the discharged waste bottles to a sorting position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-48354 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the waste bottle removal equipment of Patent Document 1, when waste bottles are discharged from a container, the container held by an inversion frame is inverted, causing the waste bottles to be dropped onto a bottle transport conveyor and discharged. Therefore, in the waste bottle removal equipment of Patent Document 1, the waste bottles are sometimes broken due to the impact of dropping them onto the bottle transport conveyor, which is caused by inverting the container to discharge the waste bottles. In this case, if the waste bottles (waste) are broken after discharge, they cannot be sorted efficiently at the sorting position, and the waste bottles (waste) cannot be recycled.

[0007] The present invention has been made to solve the above-mentioned problems, and aims to provide a waste treatment system and a waste vibration device that can efficiently sort waste and also recycle waste. [Means for solving the problem]

[0008] A waste disposal system according to a first aspect includes a transport unit that transports containers containing multiple types of waste, a robot that holds and sorts the waste in the containers, and a container vibration device that includes a vibration unit that vibrates the containers transported by the transport unit to a sorting position where the waste is sorted by the robot.

[0009] As described above, the waste disposal system according to the first aspect includes a transport unit that transports containers containing multiple types of waste, and a robot that holds and sorts the waste in the container. This allows the waste to be removed directly from the container and sorted, which reduces the impact on the waste caused by the waste being fed, unlike when the waste is fed onto a conveyor and then sorted on the conveyor. Therefore, breakage of the waste is reduced, which reduces the difficulty of sorting the waste due to breakage. As a result, the waste can be sorted efficiently and can be recycled. Furthermore, the robot can sort the waste with minimal breakage, which improves the recovery rate and the recycling rate. Furthermore, a container vibration device including a vibration unit that vibrates the container transported by the transport unit to the sorting position where the robot sorts the waste is provided. This allows the robot to hold the waste in the container, even if the waste is in a position that the robot cannot hold, by vibrating the container with the vibration unit, thereby vibrating the waste, thereby changing the position of the waste. As a result, the amount of waste that cannot be held and sorted by the robot can be reduced, allowing the robot to sort the waste more efficiently.

[0010] A waste vibration device according to a second aspect includes a vibration unit that vibrates a container containing multiple types of waste that has been transported to a sorting position where the waste inside the container is sorted by a robot that holds and sorts the waste.

[0011] In the second aspect, the vibrating device for waste includes a vibrating unit that vibrates a container that contains multiple types of waste and is transported to a sorting position where the waste is sorted by a robot that holds and sorts the waste. Even if the waste in the container is in a position that the robot cannot hold, the vibrating unit vibrates the container, causing the waste to vibrate, changing its position. This reduces the amount of waste that the robot cannot hold and sort, allowing for efficient waste sorting and recycling. [Effects of the Invention]

[0012] According to the present disclosure, as described above, it is possible to efficiently sort waste and also to recycle the waste. Furthermore, since the robot can sort the waste with minimal cracking, it is possible to improve the recovery rate and also improve the recycling rate. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing the overall configuration of a waste treatment facility provided with a waste treatment system according to one embodiment. [Figure 2] 1 is a plan view showing an outline of a waste treatment system according to one embodiment. [Figure 3] 1 is a perspective view showing a transport unit and a robot of a waste treatment system according to an embodiment. FIG. [Figure 4] FIG. 2 is a block diagram showing the control configuration of a waste treatment system according to an embodiment. [Figure 5] 1 is a perspective view showing a conveying section and a container vibrating device of a waste treatment system according to one embodiment. FIG. [Figure 6] FIG. 6 is a cross-sectional view of the Zm1 portion of FIG. 5. [Figure 7] 1 is a perspective view illustrating a container vibration device of a waste treatment system according to one embodiment. FIG. [Figure 8] FIG. 2 is a side view showing a drive unit and a support unit of the container vibration device according to one embodiment. [Figure 9] 1 is a schematic diagram illustrating a vibration force generated by a pair of vibration motors of a container vibration device according to an embodiment. FIG. [Figure 10] 10 is a graph showing the relationship between time and transient vibration and steady vibration of a vibration motor of a container vibration device according to an embodiment. [Figure 11] 1 is a side view showing a pair of support frames and an intermediate conveying unit of a container vibration device according to an embodiment. FIG. [Figure 12] FIG. 2 is a plan view of a conveying section of a waste treatment system according to one embodiment. [Figure 13] 10 is a plan view showing the clearance between a pair of conveying direction position regulating units and a container, and the clearance between a pair of width direction position regulating units and a container in a waste treatment system according to one embodiment. FIG. [Figure 14] 1 is a side view showing a state in which positional regulation is performed by an upstream transport section and a downstream transport section of a waste treatment system according to an embodiment. FIG. [Figure 15] 1 is a side view showing a state in which an intermediate conveying unit of a waste treatment system according to an embodiment is raised to a conveying position. [Figure 16] FIG. 2 is a flow chart for explaining a waste removal process of a waste treatment system according to one embodiment. [Figure 17] 10 is a graph showing the relationship between the vibration force and the recognition rate of the container vibration device according to the first example of an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0015] The configuration of a waste treatment system 100 according to an embodiment will be described with reference to FIGS.

[0016] (Overall configuration of waste treatment facility) As shown in FIG. 1, a waste treatment system 100 according to one embodiment is installed in a waste treatment facility 200. At the waste treatment facility 200, collected waste is sorted and treated. Specifically, at the waste treatment facility 200, bottles B (see FIG. 2) serving as waste are sorted and each sorted bottle B is treated. The waste treatment facility 200 includes a waste sorting section 210, a container inverting section 220, and a container cleaning section 230. The bottles B are an example of "waste" in the claims.

[0017] In the waste sorting section 210, multiple types of waste stored in a container 201 are sorted by a robot 30. Once the waste to be sorted is removed from the container 201, the container 201 is transported to a container inversion section 220. Note that multiple types of waste do not necessarily need to be stored in a container 201; depending on the collection format, a single type of waste may be stored in the container.

[0018] The container inverting unit 220 inverts the container 201 after the waste has been removed and sorted. That is, the container inverting unit 220 inverts the container 201, and the waste residue is discharged from the container 201. The discharged residue is sent to the residue storage unit 54 from the chute 54a (see FIG. 2).

[0019] The container 201 inverted by the container inverting unit 220 is transported to the container washing unit 230. The container washing unit 230 washes the container 201. Note that the container washing unit 230 does not necessarily have to be provided.

[0020] (Configuration of waste treatment system) In the waste disposal system 100, bottles B (see FIG. 2) as waste are sorted and disposed of by glass color. That is, the waste includes bottles of multiple colors. The waste also includes bottles B of different sizes and shapes. In the waste disposal system 100, the bottles B are sorted by color regardless of their size and shape. For example, in the waste disposal system 100, the bottles B are sorted into storage sections 50 (see FIG. 1) by color: brown, colorless, and other colors (green, blue, etc.). Note that, depending on the waste disposal facility 200, the waste (bottles B) may be sorted into a total of four or five types, such as blue, black, and green, instead of "other colors." In the waste disposal system 100, the bottles B may also be sorted by color: brown, colorless, green, and other colors. The storage unit 50 includes a cullet storage unit 51 for sorting cullet (glass scraps) of other colors, a cullet storage unit 52 for sorting brown cullet, a cullet storage unit 53 for sorting colorless cullet, and a residue storage unit 54 for storing residue that has not been sorted due to cracks or other reasons. The storage units 50 (cullet storage units 51, 52, 53, and residue storage units 54) are located on lower floors than the upper floors where sorting work takes place. In other words, sorted waste (bottles) are dropped to the lower floors and stored in the storage units 50 (cullet storage units 51, 52, 53, or residue storage units 54). By placing a robot on the floor and providing a replaceable discharge unit, the system can be operated with just one robot, allowing for a variety of implementation configurations.

[0021] In the waste treatment system 100, a robot 30 sorts waste (bottles B) from a container 201. As shown in FIGS. 1 and 2, the waste treatment system 100 includes a conveying unit 10, a first imaging unit 21, second imaging units 22a and 22b, the robot 30, and a container vibration device 40.

[0022] As shown in Fig. 1, the waste treatment system 100 includes a system control unit 101, a discrimination control unit 102, and a robot control unit 103. When the waste treatment system 100 uses four robots and has sorting operations on upper floors and storage units on lower floors, it includes chutes 51a, 51b, 52a, 52b, 53a, 53b, 53c, 53d, 54a, 55a, 55b, 55c, and 55d as shown in Fig. 2.

[0023] (Configuration around the robot) This has been described above as an overall configuration of the waste treatment system 100. Below, the configuration of the vicinity of the robot 30 in the waste treatment system 100 will be described with reference to Figures 3 to 15, but since the configuration of the vicinity of each of the multiple robots 30 is similar, only the configuration of the Pa portion shown in Figure 2 will be described.

[0024] As shown in Fig. 3, the waste treatment system 100 includes a transport unit 10, a first imaging unit 21, a second imaging unit 22a, a second imaging unit 22b, a robot 30, a container vibration device 40, a system control unit 101 (see Fig. 4), a discrimination control unit 102 (see Fig. 4), and a robot control unit 103 (see Fig. 4). Each of the system control unit 101 and the discrimination control unit 102 is an example of the "control unit" in the claims.

[0025] Here, the conveying direction of the conveying unit 10 is the X1 direction, the opposite direction to the X1 direction is the X2 direction, and the combined direction of the X1 and X2 directions is the X direction. The horizontal direction perpendicular to the X direction is the Y direction, one of the Y directions is the Y1 direction, and the other of the Y directions is the Y2 direction. The vertical direction is the Z direction, the upward direction is the Z1 direction, and the downward direction is the Z2 direction. The Y direction is an example of the "width direction" in the claims.

[0026] The conveying unit 10 is configured to convey containers 201 containing multiple types of bottles B (see FIG. 6). The conveying unit 10 includes an upstream conveying unit 10a, a downstream conveying unit 10b, and an intermediate conveying unit 10c. The upstream conveying unit 10a is adjacent to the intermediate conveying unit 10c on the X2 side. The containers 201 conveyed from the upstream side are conveyed into the upstream conveying unit 10a. The downstream conveying unit 10b is adjacent to the intermediate conveying unit 10c on the X1 side. The downstream conveying unit 10b conveys the containers 201 conveyed from the intermediate conveying unit 10c to the next location. The containers 201 conveyed from the upstream conveying unit 10a are conveyed into the intermediate conveying unit 10c. The robot 30 sorts the bottles B from the containers 201 conveyed into the intermediate conveying unit 10c. The intermediate conveying unit 10c will be described in detail later.

[0027] The first imaging unit 21 is configured to capture images of the bottles B in the container 201 so that the robot 30 can sort the bottles B. The first imaging unit 21 is configured to capture images of the storage space in the container 201 from the Z1 direction. The first imaging unit 21 is disposed on the Z1 side of the intermediate conveying unit 10c. The second imaging unit 22a is configured to capture images of the bottles B held by the robot 30 from an oblique direction with respect to the X1 direction. The second imaging unit 22b is configured to capture images of the bottles B held by the robot 30 from an oblique direction with respect to the X2 direction. The position of the bottles B in the container 201 is acquired based on the images captured by the first imaging unit 21. The color of the bottles B is determined based on the images captured by the second imaging units 22a and 22b.

[0028] The robot 30 is configured to hold and sort the bottles B in the container 201. That is, although the container vibration device 40 will be described in detail later, after the robot 30 fails to pick up the bottles B, it vibrates the container 201 using the container vibration device 40 to change the position of the bottles B, and then determines the color of the bottles B and sorts and removes the bottles B according to color.

[0029] Specifically, the robot 30 includes a robot arm 30a and a suction hand 31 connected to the tip of the robot arm 30a and having a plurality of suction pads 311 for suctioning the bottles B.

[0030] The robot arm 30a includes, for example, six joints, and each of the joints is driven by a drive unit 30b (see FIG. 4) to move the suction hand 31 to a desired position. The drive unit 30b includes a motor.

[0031] The suction hand 31 sucks and holds the bottle B. The suction hand 31 sucks and holds the bottle B by generating negative pressure at the tip of the suction pad 311. The suction hand 31 generates negative pressure by an ejector 32 (see FIG. 4).

[0032] As will be described in detail later, the container vibration device 40 is configured to vibrate the container 201 in order to change the posture of bottles B that are upright in the container 201 and bottles B that are in a posture that cannot be picked up by the robot hand 30f. The container vibration device 40 is configured to vibrate the container 201 based on a signal from the system control unit 101 when the robot 30 is sorting the bottles B in the container 201.

[0033] As shown in Fig. 4, the system control unit 101 is a control unit that controls the entire waste treatment system 100. The system control unit 101 is communicably connected to the transport unit 10, the container vibration device 40, the discrimination control unit 102, and the like. The system control unit 101 includes a CPU (Central Processing Unit) 101a and a non-volatile memory 101b.

[0034] The discrimination control unit 102 is a control unit that uses machine learning to discriminate the color of the bottles B and foreign objects (such as lids) at the ends of the bottles B, and causes the robot 30 to sort the bottles B. The discrimination control unit 102 is communicatively connected to the first imaging unit 21, the second imaging unit 22a, the second imaging unit 22b, etc. The discrimination control unit 102 includes a CPU 102a and a non-volatile memory 102b.

[0035] The robot control unit 103 is a control unit that controls the operations of the drive unit 30b of the robot arm 30a, the suction hand 31, and the ejector 32. The robot control unit 103 includes a CPU 103a and a non-volatile memory 103b. The robot control unit 103 controls the robot 30a and the ejector 32 by causing the CPU 103a to execute a program stored in the memory 103b.

[0036] (Configuration regarding container vibration) Next, the configuration relating to the vibration of the container 201 will be described with reference to FIGS.

[0037] As shown in Figure 5, the waste treatment system 100 includes, as components related to the vibration of the container 201, a conveying section 10, a container vibration device 40, a pair of width direction position regulating sections 60, a pair of width adjustment sections 70, a pair of conveying direction position regulating sections 80, and a pair of conveying direction adjustment sections 90.

[0038] (Upstream conveying section and downstream conveying section) As described above, the conveying unit 10 includes the upstream conveying unit 10a, the downstream conveying unit 10b, and the intermediate conveying unit 10c. The upstream conveying unit 10a has a plurality of conveying rollers 1001a. The plurality of conveying rollers 1001a are attached to a frame. Containers 201 are placed on the plurality of conveying rollers 1001a. Some of the plurality of conveying rollers 1001a have built-in motors for conveying the placed containers 201. The downstream conveying unit 10b has a plurality of conveying rollers 1001b. The plurality of conveying rollers 1001b are attached to a frame. Containers 201 are placed on the plurality of conveying rollers 1001b. Some of the plurality of conveying rollers 1001b have built-in motors for conveying the placed containers 201.

[0039] (Intermediate conveying section) 6, the intermediate conveying section 10c includes a plurality of conveying rollers 1001c, a pair of lifting sections 1002c, a plurality of guide sections 1003c (see FIG. 7), and a base section 1004c. The plurality of conveying rollers 1001c are an example of the "placing section" in the claims.

[0040] The plurality of conveying rollers 1001c are attached to a frame. Containers 201 are placed on the plurality of conveying rollers 1001c. Some of the plurality of conveying rollers 1001c include built-in motors for conveying the placed containers 201. Each of the pair of lifting units 1002c has a linear movement mechanism such as an electric cylinder. The pair of lifting units 1002c is configured to raise and lower the plurality of conveying rollers 1001c between a conveying position Pc (see FIG. 15) and a vibration position Pv. Here, the conveying position Pc is a height position at which the conveying unit 10 conveys the container 201 in the X1 direction. The vibration position Pv is a height position at which the container vibration device 40 vibrates the container 201 in the Z2 direction from the conveying position Pc. The vibration position Pv is also a sorting position at which the robot 30 sorts the bins B.

[0041] The pair of lifting / lowering units 1002c are arranged symmetrically with respect to the center line C of the container vibration device 40 when viewed from the Y1 direction side. The Z2 direction end of the X1 direction side lifting / lowering unit 1002c of the pair of lifting / lowering units 1002c is attached to the X1 direction side of the base unit 1004c. The Z1 direction end of the X1 direction side lifting / lowering unit 1002c is attached to the X1 direction end of the frame to which the multiple conveying rollers 1001c are attached. The Z2 direction end of the X2 direction side lifting / lowering unit 1002c of the pair of lifting / lowering units 1002c is attached to the X2 direction side of the base unit 1004c. The Z1 direction end of the X2 direction side lifting / lowering unit 1002c is attached to the X2 direction end of the frame to which the multiple conveying rollers 1001c are attached.

[0042] As shown in FIG. 7, each of the multiple guide units 1003c is configured to guide the pair of lifting units 1002c to lift and lower a frame to which multiple conveying rollers 1001c are attached. Each of the multiple guide units 1003c is a linear bushing. The pair of guide units 1003c on the X1 direction side of the multiple guide units 1003c are arranged symmetrically on both sides of the lifting unit 1002c on the X1 direction side with respect to a line extending in the direction in which the pair of lifting units 1002c are aligned. The pair of guide units 1003c on the X2 direction side of the multiple guide units 1003c are arranged symmetrically on both sides of the lifting unit 1002c on the X2 direction side with respect to a line extending in the direction in which the pair of lifting units 1002c are aligned.

[0043] The base portion 1004c is a portion that is installed on the floor surface of the waste treatment facility 200.

[0044] The upstream conveying section 10a is arranged on the X2 side of the vibration position Pv of the intermediate conveying section 10c, and the downstream conveying section 10b is arranged on the X1 side of the vibration position Pv of the intermediate conveying section 10c.

[0045] (Container vibration device) 6, the container vibration device 40 of this embodiment is configured to vibrate the container 201 in order to change the posture of a bin B1 that is upright in the container 201 and a bin B2 that is in a posture that makes it impossible for the robot hand 30f to pick it up. The container vibration device 40 is configured to vibrate the container 201 that is placed on a plurality of conveying rollers 1001c that are lowered to the vibration position Pv while being disposed inside the base portion 1004c.

[0046] Specifically, the container vibration device 40 includes a base portion 40a, a plurality of (four) elastic members 40b, a mounting base 40c, a vibration portion 40d, and a control board (not shown).

[0047] The base portion 40a is a portion that is installed on the floor surface of the waste treatment facility 200. The multiple elastic members 40b are attached to the upper surface of the base portion 40a and the lower surface of the mounting base 40c. The Z1 direction end of each of the multiple elastic members 40b is attached to a corner of the lower surface of the mounting base 40c. The multiple elastic members 40b are, for example, rubber members. The multiple elastic members 40b are members that absorb vibrations of the vibrating portion 40d. The mounting base 40c is a base to which the Z2 direction end of the vibrating portion 40d is attached.

[0048] <Vibration part> The vibration unit 40d is configured to vibrate the container 201 transported by the transport unit 10 to a sorting position (vibration position Pv) where the containers are sorted by the robot 30. Specifically, the vibration unit 40d has a drive unit 401d and a support unit 402d.

[0049] As shown in FIGS. 7 and 8, the driving unit 401d is configured with a vibration motor. The vibration motor is configured to generate vibrations by centrifugal force resulting from the vibration force setting value of an unbalanced weight 4011d (see FIG. 9) attached to the rotating shaft of the motor and the frequency setting value of the power supplied to the motor. The direction of the vibration generated by the vibration motor is adjusted by changing the installation orientation of the vibration motor. The driving unit 401d is adjusted to vibrate the container 201 in each of the V1 direction and the V2 direction. The V1 direction is a direction along the Z1 direction, and the V2 direction is a direction along the Z2 direction.

[0050] As shown in FIGS. 8 and 9, a pair of driving units 401d are provided on each of the Y1 direction side and the Y2 direction side of the support unit 402d. Each of the pair of driving units 401d is the same vibration motor. When viewed from the X2 direction side, each of the pair of driving units 401d is arranged symmetrically with respect to the center line C. The pair of driving units 401d are provided to rotate the unbalanced weights 4011d of each of the pair of driving units 401d in synchronous directions opposite to each other, thereby generating synchronous torque and linearly vibrating the container 201 via the support unit 402d with an excitation force F, which is a force only in the vertical direction (V1 direction). Three or more driving units 401d may be provided as long as they rotate the unbalanced weights 4011d in synchronous directions opposite to each other. In this way, the vibrating unit 40d is configured to vibrate the container 201 in the Z direction by the excitation force F, which is a force along the V1 direction that is generated by synchronously rotating the unbalanced weights 4011d of the pair of driving units 401d in opposite directions to each other to cancel out forces other than those along the Z direction. At this time, the excitation force F causes the support unit 402d to vibrate in both the V1 direction and the V2 direction.

[0051] 9, the excitation force F generated by the pair of driving units 401d is calculated based on the centrifugal force f of each of the pair of driving units 401d. That is, F=2f=Wαω 2 =2mrω 2where W is the mass of the container 201, α is the distance over which the container 201 vibrates, and ω is the angular velocity of the unbalanced weight 4011d. ω is obtained from the angular velocity ω of the unbalanced weight 4011d corresponding to the frequency setting value, which is the frequency of the power supplied to the motor. Here, f=mrω 2 It is calculated as follows.

[0052] The vibration force setting value will now be explained. The vibration force setting value is set to a value between 0% and 100%. First, the mr value when the vibration force setting value is 100%, which is the maximum value, is calculated. The mr value when the vibration force setting value is 100%, which is the maximum value, is calculated as Fmax / ω 2 Fmax is the maximum value of the centrifugal force of each of the pair of driving parts 401d.

[0053] For example, if Fmax is 1.5 kN and the frequency setting is 60 Hz, the mr value when the vibration force setting is at its maximum value of 100% is 1.5 / (188.5). 2 This gives the mr value of 0.042 [kg m] when the vibration force setting is 60%. 100% The value of 0.042 x 0.6 is calculated as 0.025 [kg m]. When the vibration force setting is 40%, the mr value is 100% The value is calculated as 0.017 kg m by multiplying the value by 0.042 x 0.4.

[0054] The excitation force F is the mr 100% ω 2 For example, if the frequency setting is 60 Hz, F = 2 × mr 100% ×ω 2 = 3.0 [kN], and when the frequency setting is 50 [Hz], F = 2 × mr 100% ×ω 2 = 2.1 [kN], and when the frequency setting is 40 [Hz], F = 2 × mr 100% ×ω 2 =1.3[kN].

[0055] In this way, the excitation force F is set based on the vibration force setting value, which is an index value indicating the vibration force based on the centrifugal force f generated in each of the pair of drive units 401d, and the frequency of the power supplied to each of the pair of drive units 401d.

[0056] The amplitude of vibration of the support part 402d in the V1 direction (or V2 direction) is preferably set to 1 mm or more and 10 mm or less, but this is merely an example. In this case, the vibration motor output of the vibration motor is adjusted so that the amplitude of vibration of the support part 402d in the V1 direction (or V2 direction) is 1 mm or more and 10 mm or less. As an example, if the amplitude of vibration of the support part 402d in the V1 direction (or V2 direction) is set to 5 mm, the container 201 vibrates at a distance Vc1 or a distance VC2 of about 5 mm in each of the V1 direction and the V2 direction (see FIG. 6).

[0057] As shown in FIG. 10 , each of the pair of driving units 401d is configured to vibrate the container 201 using transient vibrations Tv1 and Tv2, thereby changing the orientation of the bottles B in the container 201. The transient vibration Tv1 is a vibration that occurs during an acceleration period in which the rotational speed of the vibration motor is accelerated to a predetermined rotational speed. The transient vibration Tv2 is a vibration that occurs during a deceleration period in which the rotational speed of the vibration motor is reduced from the predetermined rotational speed to a stop. A steady vibration Stv occurs between the transient vibrations Tv1 and Tv2. Each of the pair of driving units 401d is configured to vibrate the container 201 not only using the transient vibrations Tv1 and Tv2 but also using the steady vibration Stv, thereby changing the orientation of the bottles B in the container 201. Here, the vibration time, which is the time from when the vibrating unit 40d receives a vibration start signal to when the vibrating unit 40d receives a vibration stop signal, is the time from the start of the transient vibration Tv1 to the end of the steady vibration Stv. Furthermore, the vibration time is preferably short, and by way of example only, it is preferably within 10 seconds, and more preferably between 1 and 3 seconds.

[0058] Each of the pair of driving units 401d realizes effective vibration of the container 201 by the excitation force F. This excitation force F is based on the above-mentioned vibration force setting value and the frequency of the short-period power. That is, each of the pair of driving units 401d realizes effective vibration of the container 201 by the excitation force F. 100% and an angular velocity ω corresponding to the frequency of the short-cycle power. As a result, the container 201 vibrates in each of the Vc1 direction and the V2 direction with an excitation force F based on a predetermined vibration force setting value and the frequency of the short-cycle power. Here, although this is merely an example, it is preferable that the vibration force setting value be 40% or more and 100% or less. Furthermore, it is preferable that the frequency of the short-cycle power be based on a frequency of 40 Hz or more and 100 Hz or less, and more preferably based on a frequency of 40 Hz or more and 60 Hz or less.

[0059] <Support part> 11, the support part 402d is configured to support the container 201 that has been moved to the vibration position Pv (see FIG. 6) by the lifting part 1002c. The support part 402d has a frame member 4021d, a mounting plate 4022d, and a pair of support frames 4023d.

[0060] The frame member 4021d is a hollow hexahedron-shaped member. A drive unit 401d is fixed to each of the Y1-direction side surface and the Y2-direction side surface of the frame member 4021d. The Z2-direction side portion of the frame member 4021d is attached to the mounting base 40c. A mounting plate 4022d is attached to the upper surface of the frame member 4021d. The mounting plate 4022d has a flat plate shape. A pair of support frames 4023d are attached to the upper surface of the mounting plate 4022d.

[0061] Each of the pair of support frames 4023d is a metal frame. The support frame 4023d on the X1 side of the pair of support frames 4023d is disposed at the X1 side end portion of the upper surface of the mounting plate 4022d. The support frame 4023d on the X2 side of the pair of support frames 4023d is disposed at the X2 side end portion of the upper surface of the mounting plate 4022d. In this way, the pair of support frames 4023d are disposed symmetrically with respect to the center line C when viewed from the Y1 side.

[0062] Each of the pair of support frames 4023d extends along the Y direction. Each of the pair of support frames 4023d is disposed in the gap Mar between the plurality of transport rollers 1001c at the vibration position Pv. Each of the pair of support frames 4023d has a portion that protrudes in the Z1 direction from the plurality of transport rollers 1001c at the vibration position Pv. Since the positional relationship between each of the pair of support frames 4023d is the same, the support frame 4023d on the X2 direction side of the pair of support frames 4023d will be described.

[0063] The support frame 4023d on the X2 side is disposed within the gap Mar between the plurality of conveying rollers 1001c, with a gap Maf in each of the X1 and X2 directions. The gap Maf is, for example, approximately 30 mm. The support frame 4023d on the X2 side protrudes in the Z1 direction by a height H from the ends of the plurality of conveying rollers 1001c on the Z1 side. The height H is, for example, approximately 20 mm. Here, each of the pair of support frames 4023d supports the container 201 at a height H without fixing the container 201.

[0064] (Pair of width direction position regulation parts) 12, the pair of width direction position restricting portions 60 are members that restrict the position in each of the Y1 direction and the Y2 direction of the container 201 vibrated by each of the pair of support frames 4023d of the container vibration device 40. The pair of width direction position restricting portions 60 are members that guide the movement of the container 201 in the X1 direction. The pair of width direction position restricting portions 60 have restricting portions 60a and guide portions 60b.

[0065] The regulating portion 60a extends along the X1 direction. The regulating portion 60a is a rod-shaped member extending across the upstream conveying portion 10a, the intermediate conveying portion 10c, and the downstream conveying portion 10b. Although not shown, a rail portion extending along the X1 direction is formed on the upper surface of the regulating portion 60a. The guiding portion 60b is configured to guide the container 201 carried into the upstream conveying portion 10a toward the center of the conveying portion 10. The guiding portion 60b is provided at the end of the regulating portion 60a on the X2 direction side. The guiding portion 60b is provided to be rotatable around a rotation center axis extending along the Z direction. This allows the angle of the guiding portion 60b to be adjusted.

[0066] (Width adjustment section) As shown in FIG. 12, the pair of width adjustment portions 70 are configured to be able to adjust the pair of width direction position restriction portions 60 in each of the directions in which they approach and move away from each other in the Y direction.

[0067] Of the pair of width adjustment units 70, the width adjustment unit 70 on the Y1 direction side is attached to each of the upstream conveying unit 10a and the downstream conveying unit 10b. The width adjustment unit 70 on the Y1 direction side of the pair of width adjustment units 70 is capable of adjusting the Y direction position of the Y1 direction side width direction position restricting unit 60. The Y1 direction side width adjustment unit 70 is attached to the Y1 direction side width adjustment unit 70 so that the Y1 direction side width direction position restricting unit 60 can be switched between a held state and a held state. The Y1 direction side width adjustment unit 70 extends along the Y2 direction.

[0068] Of the pair of width adjustment units 70, the width adjustment unit 70 on the Y2 direction side is attached to each of the upstream conveyance unit 10a and the downstream conveyance unit 10b. The width adjustment unit 70 on the Y2 direction side of the pair of width adjustment units 70 is capable of adjusting the Y direction position of the width direction position restricting unit 60 on the Y2 direction side. The width adjustment unit 70 on the Y2 direction side has the width direction position restricting unit 60 attached to it so that it can be switched between a held state and a held release state. The width adjustment unit 70 on the Y2 direction side extends along the Y1 direction.

[0069] Although not shown, a rail portion extending along the Y direction is formed on the upper surface of each of the pair of width adjustment portions 70. An operator moves the Y1-side width direction position restricting portion 60 in the released state along this rail portion, and then switches the Y1-side width direction position restricting portion 60 from the held state to the held state, thereby adjusting the Y-direction position of the Y1-side width direction position restricting portion 60 on the Y1-side width adjustment portion 70. An operator moves the Y2-side width direction position restricting portion 60 in the released state along the rail portion, and then switches the Y2-side width direction position restricting portion 60 to the held state, thereby adjusting the Y-direction position of the Y2-side width direction position restricting portion 60 on the Y2-side width adjustment portion 70.

[0070] Such adjustments are made by an operator when installing the components of the waste treatment system 100 in the waste treatment facility 200, to match the dimensions of the container 201 to be used in the waste treatment facility 200. Also, as shown in Fig. 13, the width direction position restricting unit 60 on the Y1 direction side is disposed on the Y1 direction side away from the container 201 disposed at the vibration position Pv by a clearance Ce1. The width direction position restricting unit 60 on the Y2 direction side is disposed on the Y2 direction side away from the container 201 disposed at the vibration position Pv by a clearance Ce1. The clearance Ce1 is, for example, approximately 10 mm.

[0071] (Transport direction position regulation unit) 13, the pair of conveying direction position regulating units 80 are configured to regulate the position of the container 201 placed at the vibration position Pv in each of the X1 direction and the X2 direction. The pair of conveying direction position regulating units 80 are stoppers having cylinders that advance and retreat based on signals from the system control unit 101. The pair of conveying direction position regulating units 80 are disposed on each of the X1 direction side and the X2 direction side. Furthermore, the pair of conveying direction position regulating units 80 are attached to the width direction position regulating unit 60 on the Y1 direction side and the width direction position regulating unit 60 on the Y2 direction side, respectively, via a pair of conveying direction adjustment units 90.

[0072] (Transport direction adjustment unit) The pair of conveying direction adjustment units 90 are configured to be able to adjust the pair of conveying direction position regulation units 80 in directions toward and away from each other. The pair of conveying direction adjustment units 90 are arranged on each of the X1 direction side and the X2 direction side. The pair of conveying direction adjustment units 90 are attached to the rail portions of the width direction position regulation unit 60 on the Y1 direction side and the width direction position regulation unit 60 on the Y2 direction side so as to be switchable between a holding state and a holding release state.

[0073] The operator moves the X1-side and X2-side conveying direction adjustment units 90 in the released state along the rail portions of the Y1-side width-direction position restriction units 60, and then switches the X1-side and X2-side conveying direction adjustment units 90 to the held state, thereby adjusting the X-direction positions of the X1-side and X2-side conveying direction adjustment units 90 on the Y1-side width-direction position restriction units 60. The operator moves the X1-side and X2-side conveying direction adjustment units 90 in the released state along the rail portions of the Y2-side width-direction position restriction units 60, and then switches the X1-side and X2-side conveying direction adjustment units 90 to the held state, thereby adjusting the X-direction positions of the X1-side and X2-side conveying direction adjustment units 90 on the Y2-side width-direction position restriction units 60.

[0074] Such adjustments are made by an operator when installing the components of the waste treatment system 100 in the waste treatment facility 200, to match the dimensions of the container 201 to be used in the waste treatment facility 200. The X1-direction conveying direction position regulating unit 80 is disposed on the X1-direction side away from the container 201 disposed at the vibration position Pv by a clearance Ce2. The X2-direction conveying direction position regulating unit 80 is disposed on the X2-direction side away from the container 201 disposed at the vibration position Pv by a clearance Ce2. The clearance Ce2 is, for example, approximately 5 mm.

[0075] (Position regulation by the upstream and downstream conveying sections) 14, in the waste disposal system 100, the pair of width direction position restricting units 60, the pair of conveying direction adjusting units 90, the upstream conveying unit 10a and the downstream conveying unit 10b are configured to restrict the position of the container 201 placed at the vibration position Pv in the Y direction and the X direction. Here, at the vibration position Pv, ​​the intermediate conveying unit 10c is positioned further towards the Z2 direction than the upstream conveying unit 10a and the downstream conveying unit 10b, so that movement of the container 201 at the vibration position Pv placed on the intermediate conveying unit 10c in the X1 direction and the X2 direction due to vibration by the vibrating unit 40d is restricted.

[0076] (Waste removal control) The waste removal control using the system control unit 101, the discrimination control unit 102, and the robot control unit 103 will be described below.

[0077] The system control unit 101 controls the transport of the container 201 carried into the upstream transport unit 10a to the intermediate transport unit 10c. The system control unit 101 controls the pair of elevators 1002c to lower the intermediate transport unit 10c and the container 201 to the sorting position (vibration position Pv) (see FIG. 5).

[0078] When sorting bottles B in a container 201 placed at a sorting position, the discrimination control unit 102 uses machine learning to control the position of the bottles B based on images of the bottles B in the container 201 captured by the first imaging unit 21, the second imaging unit 22a, and the second imaging unit 22b. The discrimination control unit 102 also uses machine learning to control the identification of bottles B that can be picked up based on images of the bottles B in the container 201 captured by the first imaging unit 21. The discrimination control unit 102 also uses machine learning to control the identification of the colors of the bottles B based on images of the bottles B captured by the second imaging unit 22a and the second imaging unit 22b. Based on the discrimination results, the discrimination control unit 102 sends a command to the robot control unit 103 to have the robot 30 sort the bottles B by color.

[0079] Here, the discrimination control unit 102 determines whether the robot hand 30f of the robot 30 has succeeded or failed in picking up the bottle B based on the imaging results captured by the second imaging unit 22a and the second imaging unit 22b. In other words, the discrimination control unit 102 captures images of the area around the robot hand 30f of the robot 30 using the second imaging unit 22a and the second imaging unit 22b, and determines whether the bottle B is present.

[0080] The discrimination control unit 102 performs control to vibrate the container 201 based on the robot hand 30f's consecutive failure to pick up the bottle B (see FIG. 6). For example, the discrimination control unit 102 performs control to vibrate the container 201 when the robot hand 30f fails to pick up the bottle B consecutively between two and six times. Furthermore, when the robot hand 30f fails to pick up the bottle B consecutively, the discrimination control unit 102 sends a command to the system control unit 101 to drive the vibration unit 40d.

[0081] After sorting of the bins B in the container 201 is completed, the system control unit 101 causes the pair of elevators 1002c to raise the intermediate conveyance unit 10c and the container 201 to the conveyance position Pc after a predetermined time has elapsed, as shown in Figure 15. After the intermediate conveyance unit 10c has been raised, the system control unit 101 removes the container 201 from the conveyance unit 10c and moves on to processing the next container 201.

[0082] (Waste removal and processing) The waste removal process performed by the system control unit 101, the discrimination control unit 102, and the robot control unit 103 will be described with reference to FIG.

[0083] In step S1, the discrimination control unit 102 uses the first imaging unit 21 to capture an image of waste (bottle B) in the container 201. In step S2, the discrimination control unit 102 determines whether or not waste has been detected in the container 201 based on the image captured by the first imaging unit 21. If waste is detected, the process proceeds to step S3, and if waste is not detected, the process proceeds to step S12.

[0084] In step S3, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the first target waste (bottle B). Specifically, the discrimination control unit 102 transmits a removal command including the position of the first target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the first target waste based on the removal command received from the discrimination control unit 102.

[0085] In step S4, the discrimination control unit 102 determines whether or not the waste (bottle B) has been successfully adsorbed. Specifically, the discrimination control unit 102 captures images of the area around the robot hand 30f of the robot 30 using the second imaging unit 22a and the second imaging unit 22b, and determines whether or not the waste has been successfully adsorbed based on the captured images. If the waste has been successfully adsorbed, the process ends. If the waste has not been successfully adsorbed, the process proceeds to step S5.

[0086] In step S5, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the second target waste (bottle B). Specifically, the discrimination control unit 102 transmits a removal command including the position of the second target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the second target waste based on the removal command received from the discrimination control unit 102.

[0087] In step S6, the discrimination control unit 102 determines whether or not the waste (bottle B) has been successfully adsorbed. Specifically, the discrimination control unit 102 captures images of the area around the robot hand 30f of the robot 30 using the second imaging unit 22a and the second imaging unit 22b, and determines whether or not the waste has been successfully adsorbed based on the captured images. If the waste has been successfully adsorbed, the process ends. If the waste has not been successfully adsorbed, the process proceeds to step S7.

[0088] In step S7, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the third target waste (bottle B). Specifically, the discrimination control unit 102 transmits a removal command including the position of the third target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the third target waste based on the removal command received from the discrimination control unit 102.

[0089] In step S8, the discrimination control unit 102 determines whether or not the waste (bottle B) has been successfully adsorbed. Specifically, the discrimination control unit 102 captures images of the area around the robot hand 30f of the robot 30 using the second imaging unit 22a and the second imaging unit 22b, and determines whether or not the waste has been successfully adsorbed based on the captured images. If the waste has been successfully adsorbed, the process ends. If the waste has not been successfully adsorbed, the process proceeds to step S9.

[0090] In step S9, the discrimination control unit 102 and the robot control unit 103 perform control to pick up and remove the fourth target waste (bottle B). Specifically, the discrimination control unit 102 transmits a removal command including the position of the fourth target waste to the robot control unit 103. Then, the robot control unit 103 controls the operation of the robot 30 to pick up the fourth target waste based on the removal command received from the discrimination control unit 102.

[0091] In step S10, the discrimination control unit 102 determines whether or not the waste (bottle B) has been successfully adsorbed. Specifically, the discrimination control unit 102 captures images of the area around the robot hand 30f of the robot 30 using the second imaging unit 22a and the second imaging unit 22b, and determines whether or not the waste has been successfully adsorbed based on the captured images. If the waste has been successfully adsorbed, the process ends. If the waste has not been successfully adsorbed, the process proceeds to step S11.

[0092] In step S11, the discrimination control unit 102 and the system control unit 101 perform control to vibrate the container 201. Specifically, the discrimination control unit 102 transmits a vibration command to the system control unit 101 to cause the vibration unit 40d to vibrate the container 201. Then, the system control unit 101 performs control to drive the container vibration device 40 based on the vibration command received from the discrimination control unit 102. After that, the process returns to step S1.

[0093] If waste (bin B) cannot be detected in step S2, then in step S12, the discrimination control unit 102 and the system control unit 101 perform control to vibrate the container 201. In step S13, the discrimination control unit 102 causes the first imaging unit 21 to capture an image of the waste in the container 201. In step S14, the discrimination control unit 102 determines whether or not waste has been detected in the container 201 based on the image captured by the first imaging unit 21. If waste is detected, the process proceeds to step S3; if waste is not detected, the process ends.

[0094] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0095] In this embodiment, as described above, the waste treatment system 100 includes a conveying unit 10 that conveys a container 201 containing multiple types of bottles B, and a robot 30 that holds and sorts the bottles B in the container 201. This allows the bottles B to be directly removed from the container 201 and sorted. This prevents the bottles B from being subjected to impacts due to insertion, unlike when the bottles B are inserted into a conveyor and then sorted on the conveyor. This prevents the bottles B from being broken, thereby preventing the bottles from becoming difficult to sort due to breakage. As a result, the robot 30 can efficiently sort the bottles B and also recycle the bottles B. Furthermore, since the robot 30 can sort the bottles B with minimal breakage, the recovery rate and the recycling rate can be improved. The waste treatment system 100 also includes a container vibration device 40 that includes a vibration unit 40d that vibrates the container 201 transported by the conveying unit 10 to the sorting position (vibration position Pv) where the bottles are sorted by the robot 30. As a result, when the robot 30 holds the bottles B in the container 201, even if the bottles B are in a position that cannot be held by the robot 30, the vibration unit 40d vibrates the container 201, which causes the bottles B to vibrate, thereby changing the position of the bottles B. As a result, the number of bottles B that the robot 30 cannot hold and sort can be reduced, allowing the robot 30 to sort the bottles B more efficiently.

[0096] Furthermore, in this embodiment, as described above, the vibrating unit 40d is configured to vibrate the container 201 in the vertical direction. As a result, the vertical vibration of the container 201 can also vibrate the bottles B loaded in the container 201 in the vertical direction, so that the weight of the bottles B can be counteracted by the vibration. As a result, the bottles B become more easily movable, and the posture of the bottles B can be changed by the vibration.

[0097] Furthermore, in this embodiment, as described above, the vibration unit 40d is configured to vibrate the container 201 without fixing the container 201. As a result, since the container 201 is not fixed, it is possible to vibrate the container 201 as well, and therefore the bins B can be vibrated by the vibration of the vibration unit 40d and the vibration of the container 201. As a result, compared to the case where only the vibration unit 40d vibrates, the bins B can be vibrated more, and the position of the bins B can be changed more easily.

[0098] Furthermore, in this embodiment, as described above, the waste treatment system 100 is equipped with a system control unit 101 and a discrimination control unit 102 that control the vibration unit 40d to vibrate the container 201 based on the robot 30 failing to hold the bottle B. This allows the vibration unit 40d to vibrate the container 201 to change the posture of the bottle B when suction fails, thereby preventing the bottle B from remaining housed in the container 201 in a posture that makes it difficult to suction the bottle B.

[0099] Furthermore, in this embodiment, as described above, the system control unit 101 and the discrimination control unit 102 perform control to vibrate the container 201 based on the robot 30's consecutive failure to hold a bottle B. This reduces the number of times the container 201 is vibrated compared to vibrating the container 201 every time the robot 30 fails to hold a bottle B, thereby preventing an increase in the time required to sort the bottles B.

[0100] Furthermore, in this embodiment, as described above, the vibration unit 40d includes a plurality of drive units 401d. The vibration unit 40d is configured to vibrate the container 201 in the Z direction by an excitation force F, which is a force along the Z direction generated by synchronously rotating each of the plurality of drive units 401d in opposite directions to each other and canceling out forces other than those along the Z direction. As a result, the Z-direction excitation force F generated by the plurality of drive units 401d can cancel out the weight of the bin B in the container 201 and move the bin B, thereby changing the orientation of the bin B as it moves.

[0101] Furthermore, in this embodiment, as described above, the excitation force F is adjusted based on the vibration force set value, which is an index value indicating the vibration force based on the centrifugal force f generated in each of the plurality of drive units 401d, and the frequency of the power supplied to each of the plurality of drive units 401d. This allows the excitation force F to be adjusted based on the vibration force set value and the frequency of the power, so that the container 201 can be vibrated with an optimal excitation force F.

[0102] Furthermore, in this embodiment, as described above, the vibrating unit 40d is configured to vibrate the container 201 in the vertical direction with the vibration force F based on the frequency of the short-period power. This ensures that the vibration force F of the vibrating unit 40d is large enough even in a short period of time, so that the bottles B in the container 201 can be sufficiently vibrated. As a result, the attitude of the bottles B loaded in the container 201 can be changed more reliably.

[0103] Furthermore, in this embodiment, as described above, the vibration unit 40d includes a vibration motor that is driven to vibrate the container 201 using transient vibrations Tv1, Tv2, and steady vibrations Stv, thereby changing the position of the bins B within the container 201. This allows the container 201 to be vibrated using transient vibrations Tv1 and Tv2, thereby minimizing the increase in waste disposal time. Furthermore, when the rotation speed of the vibration motor temporarily increases during transient vibrations Tv1 and Tv2, the vibration unit 40d can apply a vibration to the container 201 that is greater than the steady vibration Stv, thereby causing the container 201 to vibrate significantly in the vertical direction. Furthermore, since the vibration motor can apply vibrations to the container 201 from the vibration unit 40d, the weight of the bins B within the container 201 can be counteracted, causing the bins B to move. As a result, the transient vibrations Tv1, Tv2, and steady vibrations Stv can more reliably change the position of the bins B.

[0104] Furthermore, in this embodiment, as described above, the intermediate conveyance unit 10c includes a plurality of conveyance rollers 1001c on which the containers 201 are placed. The intermediate conveyance unit 10c includes a lifting unit 1002c that raises and lowers the plurality of conveyance rollers 1001c between a conveyance position Pc for the containers 201 conveyed by the conveyance unit 10 and a vibration position Pv below the conveyance position Pc, which is a sorting position where the vibrating unit 40d vibrates the containers 201. This reduces the driving force required for the lifting unit 1002c compared to when the container vibration device 40 is raised and lowered, thereby preventing the lifting unit 1002c from becoming larger.

[0105] Furthermore, in this embodiment, as described above, the vibrating unit 40d has a support unit 402d that supports the container 201 moved to the vibration position Pv by the lifting unit 1002c, and a drive unit 401d to which the support unit 402d is attached and that drives the support unit 402d to vibrate. This makes it possible to prevent a load caused by vibration from being applied to the intermediate conveying unit 10c, unlike when the intermediate conveying unit 10c on which the container 201 is placed is vibrated by a drive unit, and therefore makes it possible to suppress the occurrence of distortion and the like caused by the vibration of the intermediate conveying unit 10c.

[0106] In addition, in this embodiment, as described above, a plurality of driving units 401d are provided to vibrate the support units 402d, which increases the driving force that vibrates the container 201, so that the container 201 can be sufficiently vibrated even when the container 201 is fully loaded with bottles B.

[0107] Furthermore, in this embodiment, as described above, the waste disposal system 100 includes a pair of width-direction position restricting units 60 that extend along the X1 direction (conveying direction) and restrict the position in the Y direction (width direction) of the container 201 vibrated by the vibrating unit 40d. The waste disposal system 100 also includes a pair of conveying direction position restricting units 80 that restrict the position in each of the X1 and X2 directions of the container 201 disposed at the vibration position Pv. The pair of width-direction position restricting units 60 and the pair of conveying direction position restricting units 80 restrict the position in each of the Y and X directions of the container 201 disposed at the vibration position Pv caused by the vibration by the vibrating unit 40d. This prevents the pair of width-direction position restricting units 60 and the pair of conveying direction position restricting units 80 from moving to a position significantly deviated from the vibration position Pv, ​​thereby preventing the container 201 from moving out of the imaging range of the first imaging unit 21 that recognizes the container 201 when the robot 30 sorts the bins B.

[0108] In this embodiment, as described above, the conveying unit 10 includes an upstream conveying unit 10a located upstream of the vibration position Pv in the X1 direction and a downstream conveying unit 10b located downstream of the vibration position Pv. The pair of widthwise position restricting units 60, the pair of conveying direction position restricting units 80, the upstream conveying unit 10a, and the downstream conveying unit 10b restrict the positions of the container 201 in the Y and X directions, respectively, at the vibration position Pv caused by the vibration unit 40d. This allows the upstream conveying unit 10a and the downstream conveying unit 10b to reliably prevent the container 201 from moving to a position significantly deviated from the vibration position Pv due to the vibration caused by the vibration unit 40d. The pair of widthwise position restricting units 60 function to guide the conveyance of the container 201, and the upstream conveying unit 10a and the downstream conveying unit 10b function to convey the container 201. As a result, by utilizing a pair of widthwise position regulating units 60, an upstream conveying unit 10a and a downstream conveying unit 10b, the configuration for regulating the position of the container 201 due to vibration by the vibrating unit 40d and the configuration for guiding and conveying can be made common, thereby preventing the system from becoming larger.

[0109] Furthermore, in this embodiment, as described above, the waste treatment system 100 is provided with width adjustment units 70 that adjust the pair of width direction position restriction units 60 in the Y direction in both directions toward and away from each other. This allows the pair of width direction position restriction units 60 to be adjusted to match the dimensions of the container 201 of the waste treatment facility 200 to which the waste treatment system 100 is applied, thereby improving the versatility of the waste treatment system 100.

[0110] Furthermore, in this embodiment, as described above, the waste treatment system 100 is equipped with a conveying direction adjustment unit 90 that adjusts the pair of conveying direction position regulation units 80 in each of the directions toward and away from each other. This makes it possible to adjust the pair of conveying direction position regulation units 80 to match the dimensions of the container 201 in the waste treatment facility 200 to which the waste treatment system 100 is applied, thereby reliably regulating movement of the container 201 in the X1 direction and the X2 direction due to vibration.

[0111] Furthermore, in this embodiment, as described above, the container vibration device 40 includes a vibration unit 40d that vibrates the container 201 that contains multiple types of bottles B (waste) and is transported to a sorting position where the bottles B are sorted by the robot 30 that holds and sorts the bottles B in the container 201. As a result, when the robot 30 holds the bottles B in the container 201, even if the bottles B are in a position that the robot 30 cannot hold, the vibration unit 40d vibrates the container 201, thereby vibrating the bottles B, thereby changing the position of the bottles B. As a result, the number of bottles B that the robot 30 cannot hold and sort can be reduced, allowing the robot 30 to sort the bottles B more efficiently.

[0112] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0113] For example, in the above embodiment, the robot 30 is a vertical articulated robot, but the present invention is not limited to this. In the present invention, the robot may be a horizontal articulated robot or a parallel link robot. Furthermore, one robot may include two or more robot arms.

[0114] Furthermore, in the above embodiment, an example in which four robots 30 are arranged is shown, but the present invention is not limited to this. In the present invention, one, two, three, or five or more robots may be arranged.

[0115] In the above embodiment, the bottles B as waste are sorted by color, but the present invention is not limited to this. In the present invention, the waste may be something other than bottles. For example, the waste may be plastic, metal, or non-burnable garbage. The waste may also be sorted by material or size.

[0116] In the above embodiment, the vibrating unit 40d is configured to vibrate the container 201 mainly in the vertical direction, but the present invention is not limited to this. In the present invention, the vibrating unit may be configured to vibrate the container mainly in the horizontal or oblique direction.

[0117] In the above embodiment, the vibrating unit 40d is configured to vibrate the container 201 without fixing the container 201, but the present invention is not limited to this. In the present invention, the vibrating unit may be configured to vibrate the container while the container is fixed to a support unit.

[0118] In the above embodiment, the intermediate conveying unit 10c (conveying unit) includes the lifting unit 1002c that raises and lowers the plurality of conveying rollers 1001c (mounting unit) between the conveying position Pc and the vibration position Pv, ​​but the present invention is not limited to this. In the present invention, the vibration unit may be raised and lowered by the lifting unit relative to the conveying unit.

[0119] In the above embodiment, the pair of drive units 401d are configured to vibrate the support unit 402d in the V1 direction and the V2 direction in synchronization with each other, but the present invention is not limited to this. In the present invention, the pair of drive units may be configured to vibrate the support unit asynchronously.

[0120] In the above embodiment, each of the pair of support frames 4023d extends along the Y direction, but the present invention is not limited to this. In the present invention, each of the pair of support frames may be divided into multiple pieces in the Y direction.

[0121] In the above embodiment, for convenience of explanation, the control processing of the system control unit 101 and the discrimination control unit 102 (control unit) is explained using a flow-driven flowchart in which processing is performed in order according to a processing flow, but the present invention is not limited to this. In the present invention, the control processing of the control unit may be performed by an event-driven processing in which processing is performed on an event-by-event basis. In this case, the control processing may be performed completely event-driven, or may be performed in a combination of event-driven and flow-driven.

[0122] The results of experiments conducted to confirm the effects obtained by the above embodiment will be described below as first to third examples.

[0123] [First Example] Referring to Figure 17, in the first example, the effect of the vibration force setting value of the vibration motor of the container vibration device 40 of the above embodiment and the frequency of the power supplied to the vibration motor will be described. In the first example, the change in the recognition rate relative to the change in the excitation force is used as an indicator of the effect. The recognition rate indicates whether or not a bottle B that could not be recognized before the test was recognized due to a change in posture caused by vibration by the container vibration device 40. The recognition rate is a value obtained by dividing the number of tests in which recognition was performed by the total number of tests.

[0124] 17 is a graph showing the change in recognition rate with respect to the change in excitation force when the vibration force setting value [%] of the vibration motor and the frequency [Hz] of the power supplied to the vibration motor are set to P1 (60%, 40 Hz), P2 (60%, 50 Hz), P3 (40%, 60 Hz), P4 (100%, 40 Hz), P5 (60%, 60 Hz), P6 (100%, 50 Hz), and P7 (100%, 60 Hz). The vibration time of the container vibration device 40 during the test was 3 seconds.

[0125] Here, the excitation force and recognition rate at P1 are (0.8 kN, 50%). The excitation force and recognition rate at P2 are (1.3 kN, 50%). The excitation force and recognition rate at P3 are (1.2 kN, 60%). The excitation force and recognition rate at P4 are (1.3 kN, 60%). The excitation force and recognition rate at P5 are (1.8 kN, 66.6%). The excitation force and recognition rate at P6 are (2.1 kN, 80%). The excitation force and recognition rate at P7 are (3.0 kN, 80%). The graph showing the change in recognition rate relative to the change in excitation force is an approximation curve for P1 to P7.

[0126] As shown in Figure 17, the change in recognition rate relative to the change in excitation force shows a positive correlation. Furthermore, the R-squared value of the approximation curve is 0.8073, which is close to 1, so the accuracy of the obtained approximation curve is high. As shown above, the greater the excitation force of the vibration motor, the more the posture of bin B changes and the higher the recognition rate becomes.

[0127] [Second Example] In the second example, the effect of the vibration time of the vibration motor of the container vibration device 40 of the above embodiment will be described with reference to the following Table 1. In the second example, the change in the recognition rate in response to the change in the vibration time of the vibration motor is used as an index showing the effect. [Table 1]

[0128] Table 1 shows the results when the container 201 is fully loaded with bottles B, the vibration force setting value is set to 60%, the frequency of the power supplied to the vibration motor is set to 60 Hz, and the vibration time is set to 3 seconds or 1 second. A test was conducted 10 times to vibrate the container 201 using the container vibration device 40.

[0129] As shown in Table 1, there is no significant change in the recognition rate even when the vibration time is shortened from 3 seconds to 1 second, shortening the time for which the container 201 is vibrated by the container vibration device 40. This shows that when the container 201 is fully loaded with bottles B, the vibration time has little effect, and the transient vibration Tv1 in the acceleration section and the transient vibration Tv2 in the deceleration section are very effective in detecting changes in the posture of the bottles B.

[0130] [Third Example] In the third example, the effect of the time of the constant speed section of the vibration motor of the container vibration device 40 of the above embodiment will be described with reference to the following Table 2. In the third example, the change in the recognition rate relative to the change in the vibration time of the vibration motor is used as an index showing the effect. [Table 2]

[0131] Table 2 shows the results when bin B is placed upright at the first, second, and third locations of container 201, the vibration force setting value is set to 60%, the frequency of the power supplied to the vibration motor is set to 60 Hz, and the vibration time is set to 3 seconds or 1 second. Five tests were conducted to vibrate container 201 using container vibration device 40.

[0132] As shown in Table 2, there is no significant change in the recognition rate even when the vibration time is shortened from 3 seconds to 1 second, shortening the time for which the container 201 is vibrated by the container vibration device 40. This shows that even when the container 201 is loaded with a small number of bottles B, the impact of the vibration time is small, and the transient vibration Tv1 in the acceleration section and the transient vibration Tv2 in the deceleration section are very effective in detecting changes in the posture of the bottles B.

[0133] [Aspect] The above-described embodiment is a specific example of the following aspects.

[0134] (Aspect 1) a transport unit that transports containers containing multiple types of waste; a robot that holds and sorts the waste within the container; a container vibration device including a vibration unit that vibrates the container transported by the transport unit to a sorting position where the container is sorted by the robot.

[0135] (Aspect 2) 2. The waste treatment system of claim 1, wherein the vibration unit is configured to vibrate the container in an up-and-down direction.

[0136] (Aspect 3) 3. The waste treatment system of claim 1, wherein the vibration unit is configured to vibrate the container without fixing the container.

[0137] (Aspect 4) A waste treatment system according to any one of aspects 1 to 3, further comprising a control unit that controls the vibration unit to vibrate the container based on the robot's failure to hold the waste.

[0138] (Aspect 5) A waste treatment system according to aspect 4, wherein the control unit controls the container to vibrate based on the robot's consecutive failure to hold the waste.

[0139] (Aspect 6) the vibration unit includes a plurality of vibration motors, A waste treatment system as described in aspect 2, wherein the vibration unit is configured to vibrate the container in the vertical direction using an excitation force, which is a force along the vertical direction generated by rotating each of the multiple vibration motors in synchronous opposite directions to each other to cancel out forces other than those along the vertical direction.

[0140] (Aspect 7) A waste treatment system as described in aspect 6, wherein the vibration force is adjusted based on a vibration force setting value, which is an index value indicating the vibration force based on the centrifugal force generated in each of the plurality of vibration motors, and the frequency of the power supplied to each of the plurality of vibration motors.

[0141] (Aspect 8) A waste treatment system as described in aspect 7, wherein the multiple vibration motors are configured to vibrate the container in the vertical direction using the excitation force based on the frequency of the short-cycle power.

[0142] (Aspect 9) A waste treatment system described in any one of aspects 1 to 7, wherein the vibration unit includes a vibration motor that drives the container to vibrate using at least one of transient vibration and steady vibration, thereby changing the posture of the waste within the container.

[0143] (Aspect 10) The conveying unit is a placement section on which the container is placed; A waste treatment system as described in any one of aspects 1 to 9, including a lifting unit that raises and lowers the placement unit to a transport position for the container transported by the transport unit and a vibration position serving as the sorting position below the transport position where the vibration unit vibrates the container.

[0144] (Aspect 11) The vibration unit is a support unit that supports the container that has been moved to the vibration position by the lifting unit; A waste treatment system according to aspect 10, further comprising: a drive unit attached to the support unit and configured to drive the support unit to vibrate.

[0145] (Aspect 12) A waste treatment system according to aspect 11, wherein the driving unit is provided in plurality to vibrate the support unit.

[0146] (Aspect 13) a pair of width direction position regulating portions extending along the conveying direction of the conveying unit and regulating the position of the container vibrated by the vibrating portion in a width direction perpendicular to the conveying direction; a pair of conveying direction position regulating units that regulate the position of the container placed at the vibration position in the conveying direction and in a direction opposite to the conveying direction, A waste treatment system as described in aspect 10, wherein the pair of widthwise position regulating units and the pair of conveying direction position regulating units regulate the positions of the container in the widthwise direction and the conveying direction when the container is placed at the vibration position caused by vibration by the vibration unit.

[0147] (Aspect 14) the transport section includes an upstream transport section provided upstream of the vibration position in the transport direction and a downstream transport section provided downstream of the vibration position, A waste treatment system as described in aspect 13, wherein the pair of widthwise position regulating units, the pair of conveying direction position regulating units, the upstream conveying unit and the downstream conveying unit regulate the positions in the widthwise direction and the conveying direction of the container placed at the vibration position caused by vibration by the vibration unit.

[0148] (Aspect 15) A waste disposal system according to aspect 13, further comprising a width adjusting unit that adjusts the pair of width direction position restricting units in each of directions toward and away from each other in the width direction perpendicular to the conveying direction.

[0149] (Aspect 16) 15. The waste treatment system according to aspect 13 or 14, further comprising a conveying direction adjusting unit that adjusts the pair of conveying direction position restricting units in each of the directions toward and away from each other.

[0150] (Aspect 17) the waste comprises bottles of multiple colors; A waste treatment system according to any one of aspects 1 to 14, wherein the robot is configured to vibrate the container using the vibration unit to change the orientation of the bottles, and then determine the color of the bottles and sort and remove the bottles as waste according to color.

[0151] (Aspect 18) A waste vibration device comprising a vibration unit that vibrates a container containing multiple types of waste that has been transported to a sorting position where the waste is sorted by a robot that holds and sorts the waste. [Explanation of symbols]

[0152] 10 Conveying section 10a Upstream transport section 10b Downstream conveying section 10c Intermediate conveying section (conveying section) 30 Robot 40 Container Vibration Device 40d vibrating part 60 Width direction position regulation part 70 Width adjustment section 80 Conveying direction position regulation unit 90 Conveying direction adjustment unit 100 Waste Treatment System 101 System control unit (control unit) 102 Discrimination control unit (control unit) 201 Container 401d drive unit 402d Support part 1001c Conveyor roller (loading section) 1002c Elevating section B, B1, B2 bins f centrifugal force F Excitation force PC transport position Pv vibration position Stv Steady Vibration Tv1, Tv2 transient vibration

Claims

1. a transport unit that transports containers containing multiple types of waste; a robot that holds and sorts the waste within the container; a container vibration device including a vibration unit that vibrates the container transported by the transport unit to a sorting position where the container is sorted by the robot.

2. The waste treatment system according to claim 1 , wherein the vibration unit is configured to vibrate the container in an up-and-down direction.

3. The waste treatment system according to claim 1 , wherein the vibrating unit is configured to vibrate the container without fixing the container.

4. The waste treatment system according to claim 1 , further comprising a control unit that controls the vibration unit to vibrate the container based on the robot failing to hold the waste.

5. The waste treatment system according to claim 4 , wherein the control unit performs control to vibrate the container based on successive failures of the robot to hold the waste.

6. the vibration unit includes a plurality of vibration motors, The waste treatment system of claim 2, wherein the vibration unit is configured to vibrate the container in the vertical direction by an excitation force that is a force along the vertical direction generated by rotating each of the plurality of vibration motors in synchronous directions opposite to each other to cancel out forces other than those along the vertical direction.

7. 7. The waste treatment system of claim 6, wherein the excitation force is adjusted based on a vibration force setting value, which is an index value indicating the vibration force based on the centrifugal force generated in each of the plurality of vibration motors, and the frequency of the power supplied to each of the plurality of vibration motors.

8. The waste treatment system according to claim 7 , wherein the plurality of vibration motors are configured to vibrate the container in the up and down direction by the excitation force based on the frequency of the short-cycle electric power.

9. The waste treatment system according to claim 1 , wherein the vibration unit includes a vibration motor that is driven to vibrate the container by at least one of transient vibration and steady vibration, thereby changing the attitude of the waste within the container.

10. The conveying unit is a placement section on which the container is placed; 2. The waste treatment system of claim 1, further comprising a lifting unit that raises and lowers the placement unit to a transport position for the container transported by the transport unit and a vibration position serving as the sorting position below the transport position where the vibration unit vibrates the container.

11. The vibration unit is a support unit that supports the container that has been moved to the vibration position by the lifting unit; 11. The waste treatment system according to claim 10, further comprising a drive unit to which the support unit is attached and which drives the support unit to vibrate.

12. The waste treatment system according to claim 11 , wherein a plurality of the driving units are provided to vibrate the support unit.

13. a pair of width direction position regulating portions extending along the conveying direction of the conveying unit and regulating the position of the container vibrated by the vibrating portion in a width direction perpendicular to the conveying direction; a pair of conveying direction position regulating units that regulate the position of the container placed at the vibration position in the conveying direction and in a direction opposite to the conveying direction, The waste treatment system described in claim 10, wherein the pair of width direction position regulating units and the pair of conveying direction position regulating units regulate the positions of the container in the width direction and the conveying direction when the container is placed at the vibration position caused by vibration by the vibration unit.

14. the transport section includes an upstream transport section provided upstream of the vibration position in the transport direction and a downstream transport section provided downstream of the vibration position, The waste treatment system described in claim 13, wherein the pair of width direction position regulating units, the pair of conveying direction position regulating units, the upstream conveying unit and the downstream conveying unit regulate the positions in the width direction and the conveying direction of the container placed at the vibration position caused by vibration by the vibration unit.

15. The waste disposal system according to claim 13 , further comprising a width adjusting section that adjusts the pair of width direction position restricting sections in each of directions toward and away from each other in the width direction perpendicular to the transport direction.

16. The waste treatment system according to claim 13 , further comprising a conveying direction adjusting section that adjusts the pair of conveying direction position regulating sections in each of directions in which they approach and move away from each other.

17. the waste comprises bottles of multiple colors; The waste treatment system of claim 1, wherein the robot is configured to vibrate the container using the vibration unit to change the orientation of the bottles, and then determine the color of the bottles and sort and remove the bottles as waste according to color.

18. A waste vibration device comprising a vibration unit that vibrates a container containing multiple types of waste that has been transported to a sorting position where the waste is sorted by a robot that holds and sorts the waste.

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