Home appliance waste treatment equipment

Abstract

To provide a waste treatment device capable of identifying home electric waste with a built-in rechargeable battery and removing it from a transport path. [Solution] The system comprises a transport path that transports electrical waste by intermittent operation, a first imaging means that captures the external shape of the electrical waste using a camera or soft X-rays, a second imaging means that captures the interior using hard X-rays, a first database that stores the external shape of electrical waste containing a rechargeable battery as a reference case image, a second database that stores X-ray images of the rechargeable battery as a reference battery image linked to the reference case image, a first image processing unit that compares an identification case image extracted from an image captured by the first imaging means with a reference case image in the first database, a second image processing unit that compares an identification battery image extracted from an X-ray image captured by the second imaging means with a reference battery image in the first database, and a removal unit that removes the electrical waste from the transport path when the comparisons of the first image processing unit and the second image processing unit both match.

Description

[Technical Field]

[0001] The present invention relates to an electric appliance waste disposal device that can separate and remove electric appliance waste that has a built-in rechargeable battery from electric appliance waste. [Background technology]

[0002] Rechargeable batteries such as lithium-ion batteries, nickel-cadmium batteries, and nickel-metal hydride batteries need to be removed from collected home appliance waste because they can ignite and cause fires. In Patent Document 1, an X-ray device is used to detect individual dry batteries mixed in with plastic waste.

[0003] Patent Document 2 discloses a small household waste disposal device that identifies small household waste from X-ray images, checks for batteries in the X-ray images, and removes the household waste from the transport path if the battery is visible, and if the battery is not visible, assumes that the battery has been removed and flows the household waste downstream on the transport path.

[0004] However, if the exterior of the electronic waste is made of a plastic case, X-rays can penetrate the plastic case, obscuring the extracted identification case image. If the outline of the identification case image is unclear, it is difficult to accurately determine whether it matches or does not match the reference case image. Furthermore, if the exterior of the electronic waste is made of a metal plate such as stainless steel, the inside cannot be seen with X-rays, making it impossible to confirm whether a battery is present or not. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7217560 [Patent Document 2] Patent No. 7389528 Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a waste disposal device that can identify home appliance waste containing a rechargeable battery and remove it from the transport path. [Means for solving the problem]

[0007] The household electrical waste disposal device according to the present invention is characterized by comprising: a transport path for transporting household electrical waste by intermittent operation; a first imaging means for capturing images of the external shape of the household electrical waste using a camera or soft X-rays; a second imaging means arranged downstream of the first imaging means for capturing images of the interior of the household electrical waste using hard X-rays; a first database for storing the external shape of household electrical waste that has a built-in rechargeable battery and is circulating in society as a reference case image; a second database for storing X-ray images of the rechargeable battery built into the household electrical waste as a reference battery image linked to the reference case image; a first image processing unit for comparing an identification case image extracted from an image captured by the first imaging means with a reference case image in the first database; a second image processing unit for comparing an identification battery image extracted from an X-ray image captured by the second imaging means with a reference battery image in the second database; and a removal means for removing the household electrical waste from the transport path when the comparisons of the first image processing unit and the second image processing unit are consistent.

[0008] When the comparison of the first image processing unit is a match and the reference battery image is not linked to the reference case image, the removal means removes the electrical appliance waste from the transport path.

[0009] The second database stores information about the position of the rechargeable battery in association with a reference battery image, and the second image processing unit adds auxiliary information about the position of the rechargeable battery when comparing the reference battery image.

[0010] The removing means is characterized in that it is a robot having an arm that removes the electrical appliance waste in a direction that intersects with the transport path. [Effects of the Invention]

[0011] According to the present invention, (A) a first imaging means is provided that captures the external shape of the electrical appliance waste using a camera or soft X-rays. Therefore, when the electrical appliance waste is imaged with a camera, the outer case can be clearly captured, facilitating comparison with a reference case image in a database and ensuring identification of the electrical appliance waste. Even if the exterior of the electrical appliance waste is covered with a thin plastic case, the case can be imaged, enabling comparison with a reference case image in a database and ensuring identification of the electrical appliance waste. (B) When the identification case image taken by the camera or soft X-ray device on the transport path matches the reference case image, and the identification battery image in the X-ray image matches the reference battery image, a removal device is activated to remove the electrical appliance waste. Therefore, electrical appliance waste with built-in rechargeable batteries can be removed from the transport path. Electrical appliance waste with removed rechargeable batteries can be directly discharged downstream.

[0012] If the comparison by the first image processing unit is a match and the reference case image is not linked to a reference battery image, the household waste is removed from the transport path regardless of the comparison result between the identification battery image and the reference battery image. Therefore, even if the rechargeable battery is not visible in X-rays, the household waste can be removed from the transport path as it is considered to have a built-in rechargeable battery. For example, if the exterior of the household waste is made of stainless steel, an X-rayed reference battery image cannot be stored in the second database, so the reference case image and the reference battery image are not linked. In this case, the household waste is considered to have a built-in rechargeable battery and is removed. As an example of a household waste where linking is not possible, this system can be applied to household waste where the interior of the household waste is visible in X-rays but the rechargeable battery is hidden by a metal component, for example.

[0013] The second database stores "auxiliary information" related to the location of the rechargeable battery in combination with the reference battery image. Therefore, when extracting a battery image for identifying the rechargeable battery from an X-ray image, the auxiliary information indicates the location of the rechargeable battery within the device. Therefore, even if there is a circular motor of the same shape, it will not be mistaken for a circular rechargeable battery. This also shortens the time required to extract the rechargeable battery.

[0014] The removal means is a robot equipped with an arm that dispenses in a direction intersecting the transport path, so that the transport path does not need to be divided and the transport path can be shortened, compared with a removal means of a sorting plate that is provided between transport paths. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram showing the configuration of a household waste disposal device according to the present invention (Example 1). [Figure 2] 1 is a diagram showing the configuration of a household waste disposal device according to the present invention (Example 2). [Figure 3] 1 is a time chart of the household waste disposal device of the present invention. [Figure 4] 1 is a schematic diagram of a pre-treatment device that supplies household electrical waste to a conveying path. [Figure 5] 1 is a diagram showing the configuration of a household waste disposal device according to the present invention (Example 3). [Figure 6] FIG. 6 is a side view showing the relationship between the robot and the transport path in FIG. 5. [Figure 7] 6 is a time chart of the household waste disposal device of FIG. 5. [Figure 8] 10 is a time chart of the dispensing operation by the robot. [Figure 9] 1 is a flowchart of the process of the household waste disposal device according to the present invention. [Figure 10] FIG. 2 is a block diagram of a database used in the present invention. [Figure 11] FIG. 10 is a diagram showing an example of an image of an identification case. [Figure 12] FIG. 10 is a diagram showing an example of an identification battery image. [Figure 13] This is an X-ray image of an e-cigarette. [Figure 14] An X-ray image of a web conference speaker. [Figure 15] This is an X-ray image of a calculator. [Figure 16] This is an example of small home appliance waste that contains a rechargeable battery. DETAILED DESCRIPTION OF THE INVENTION

[0016] Traditionally, in general recycling, foreign objects in recyclable items have been detected using metal detectors, magnetic separators, and color separators. In recent years, batteries such as lithium batteries and button batteries have been mixed into waste, making them difficult to remove using traditional sorting methods. For such recyclable items, the use of X-rays makes it possible to separate batteries. Batteries can be separated by determining their shape using AI means.

[0017] As shown in Figure 16, examples of waste home appliances containing rechargeable batteries include (A) smartphones, (B) corded mobile batteries, (C) portable lithium-ion batteries, (D) electronic cigarettes, (E) game consoles, (F) electric toothbrushes, (G) electric shavers, (H) portable fans, and (I) web conferencing speakers. In addition to these, waste home appliances containing rechargeable batteries also include tabletop vacuum cleaners, electric screwdrivers, hair clippers, wireless earphones, and rice cookers. As such, the amount of waste home appliances containing rechargeable batteries is increasing. For corded home appliances such as those shown in (B), it is preferable to remove the cord during pre-processing. This is because the cord can be reused as electrical wire rather than being crushed.

[0018] The household electrical waste disposal device of the present invention separates and removes household electrical waste that contains rechargeable batteries that can cause fires from household electrical waste that does not contain rechargeable batteries, and rechargeable batteries include lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, etc.

[0019] FIG. 1 is a block diagram of a household electrical waste disposal device 100 according to the present invention (Example 1). The household electrical waste disposal device 100 includes conveyance paths 1 and 2 for conveying household electrical waste 10, a first imaging means 8 consisting of a camera 11, a second imaging means 9 consisting of an X-ray source 13 and a line sensor 14, a removal means 3, and a collection box 45. Conveyance path 1 is the upstream conveyance path, and conveyance path 2 is the downstream conveyance path. The removal means 3 is disposed between conveyance paths 1 and 2. The X-ray source 13 of the second imaging means 9 uses hard X-rays (13b) that can penetrate the interior of the household electrical waste 10. The line sensor 14 is disposed between the upper and lower belts of the conveyance path 1. The X-rays from the second imaging means 9 are used to capture an image of the interior of the household electrical waste 10. When the removal means 3 determines that the household electrical waste 10 contains a rechargeable battery, it tilts a sorting plate 3a to remove the household electrical waste 10 into the collection box 45. According to this, the waste electrical appliances 10 that do not have built-in rechargeable batteries are sent to the downstream transport path 2.

[0020] It is preferable that the electrical appliance waste 10 be fed face down on the conveying path 1 at equal intervals. The equipment used for this purpose will be described later in Figure 4. By conveying the electrical appliance waste in a face down position, images captured by the camera 11 and X-ray line sensor 14 can be processed as plan views. The conveying path 1 operates intermittently, conveying the electrical appliance waste 10 by repeatedly moving forward and stopping. It is preferable that the electrical appliance waste 10 be conveyed at equal intervals. Furthermore, since it takes time to search for electrical appliance waste to see if it is the same as what is in the database, the electrical appliance waste remains on the conveying path until the search is complete.

[0021] If the electrical appliance waste 10 has a built-in rechargeable battery, the removal means 3 is driven and the electrical appliance waste 10 is collected in the collection box 45. The removal means 3 is driven by the control unit 7. Since electrical appliance waste 10 that does not have a built-in rechargeable battery is sent to the downstream conveyance path 2, there is no risk of fire and it can be crushed in a subsequent process.

[0022] As shown in FIG. 1, the electrical appliance disposal device 100 further includes a first image processing unit 5, a second image processing unit 6, and a database 4. The database 4 includes a first database 21 that stores camera images of the external shapes of electrical appliances, a second database 22 that stores X-ray images of the external shapes of rechargeable batteries placed inside the electrical appliances, and a third database 23. The first database 21 stores camera images of the external shapes of electrical appliances with built-in rechargeable batteries in circulation as reference case images. The second database 22 stores X-ray images of the external shapes of rechargeable batteries in circulation as reference battery images. The third database 23 includes a learning unit, and the provision of the learning unit allows new data for comparison to be added to the database. This allows accurate determination to be made in response to electrical appliances with built-in rechargeable batteries being circulated in society.

[0023] The first image processing unit 5 extracts an identification case image 15 (e.g., 15a, 15b, 15c, 15d; see FIG. 11) representing the outer shape of the electrical appliance waste from the camera image. The identification case image 15 is depicted as a diagram in FIG. 11 for convenience, but is actually a camera image. From this, the outer shape of the captured electrical appliance waste can be grasped. The first image processing unit 5 compares the extracted identification case image 15 with reference case images A, D, B, C, etc. (see FIG. 10) in the first database 21. The reference case images A, D, B, C, etc. are camera images of electrical appliance waste containing rechargeable batteries. If a reference case image matching the identification case image 15 is found in the first database 21, electrical appliance waste containing a rechargeable battery can be identified. This makes it possible to identify the electrical appliance product, such as a mobile phone, an electric toothbrush, a calculator, or a speaker. In this case, by using the area and outline of the electrical appliance waste as feature points, the time required for comparison can be reduced and the electrical appliance waste can be identified.

[0024] The second image processing unit 6 extracts identification battery images 16 (e.g., 16a, 16b, 16c, 16d, and 16e; see FIG. 12) from the X-ray image. The identification battery images 16 are X-ray images of rechargeable batteries installed in the discarded home appliances. The identification battery images 16 (e.g., 16a, 16b, 16c, 16d, and 16e) are extracted from the X-ray image captured by the line sensor 14 at image portions with X-ray transmittance below a predetermined threshold. If the X-ray transmittance is below the predetermined threshold, the battery is determined to be a battery. Multiple identification battery images, as shown in 16b and 16c, may be extracted from a single X-ray image. All extracted identification battery images, even if multiple, are used for the determination. The second image processing unit 6 compares the extracted identification battery images 16 with reference battery images A, D, B, C, and so on in the second database 22. If there is a match, it is determined that the appliance contains a rechargeable battery.

[0025] As shown in FIG. 1, the control unit 7 controls the operation of the removal means 3. The removal means 3 is activated when the first image processing unit 5 determines that the identification case image 15 matches the reference case image in the first database 21, and the second image processing unit 6 determines that the identification battery image 16 matches the reference battery image. The removal means 3 tilts the sorting plate 3a to collect electrical appliance waste 10 containing rechargeable batteries into a collection box 45. For electrical appliance waste 10 that does not meet these conditions, such as when the rechargeable battery has been removed before disposal, the control unit 7 deactivates the removal means 3, and the electrical appliance waste 10 is moved downstream along the conveying path 2, along with electrical appliance waste that does not use a battery, for subsequent processing.

[0026] When the first image processing unit 5 determines that the identification case image 15 matches the reference case image in the first database 21, if the reference case image in the first database is not linked to the reference battery image in the second database 22, specifically if it is not possible to observe the inside of the household electrical waste using X-rays, the household electrical waste 10 is deemed to have a built-in rechargeable battery, and the control unit 7 drives the removal means 3 to collect it in the collection box 45.

[0027] FIG. 2 is a block diagram (Example 2) of an electrical appliance waste disposal device 200 of the present invention. Differences from Example 1 in FIG. 1 will be described below. Other details are the same as those in FIG. 1, and will not be described further. In Example 2, the first imaging means 8 does not use a camera but an X-ray source 13. The line sensor 14 acquires an image using soft X-rays 13a as the X-ray source 13 of the first imaging means 8. Soft X-rays have the advantage of being able to capture the outline of electrical appliance waste even when the waste is covered with a thin plastic case without penetrating the material. The image obtained by the first imaging means 8 is an X-ray image. Therefore, the reference case image stored in the first database 21 corresponds to the X-ray image, not the camera image. The identification case image captured by the first imaging means 8 is compared with the reference case image in the first database 21. If the identification case image matches one of the reference case images registered in the first database 21, the electrical appliance waste can be identified.

[0028] FIG. 3 is a time chart of the electrical waste disposal devices 100 and 200 according to the present invention. This applies to the first embodiment shown in FIG. 1 and the second embodiment shown in FIG. 2. The first image processing unit 5 and the second image processing unit 6 are provided with separate processors and perform parallel processing. The conveying path 1 operates intermittently, and electrical waste 10 is conveyed in the conveying direction at equal intervals, first M1, then M2, then M3, and so on. Referring to the center of the time chart, the first imaging unit 8 captures an image of M2, and the second imaging unit 9 captures an image of M1. At this point, the conveying path 1 enters a stopped state. The first image processing unit 5 extracts an identification case image from the captured image of M2 and compares it with reference case images in the database 21 to determine whether it is an electrical waste containing a rechargeable battery. Meanwhile, in parallel with this, the second image processing unit 6 extracts an identification battery image from the captured image of M1 and compares it with reference battery images in the database 22.

[0029] As shown in Figure 3, M1 is a waste electrical appliance containing a rechargeable battery. In this case, when the first image determination unit 5 determines that the identification case image 15 matches the reference case image in the first database 21, and the second determination unit 6 determines that the identification battery image 16 matches the reference battery image, the removal means 3 is driven via the control unit 7, and the sorting plate 3a of the removal means 3 tilts to collect the waste electrical appliance 10 into the collection box 45.

[0030] FIG. 4 is a schematic diagram of the pre-treatment device 17, which is provided upstream of the path where the electrical waste is supplied to the conveying path 1. The pre-treatment device 17 consists of a vibrating feeder 18, a guide plate 19, and a shutter 20. The vibrating feeder 18 breaks up the electrical waste that is fed into it and sends it out in a loose manner. The guide plate 19 narrows the electrical waste into a single line. The shutter 20 consists of two shutter plates that open and close alternately to send the electrical waste 10 out onto the conveying path 1 at equal intervals. For example, the interval on the conveying path 1 for the electrical waste is set to the length of the first and second imaging means.

[0031] FIG. 5 is a block diagram of a household appliance waste disposal device 300 according to the present invention (Example 3). The household appliance waste disposal device 300 has a robot 12 (Rb1) equipped with an imaging means 8 and a robot 12 (Rb2) equipped with a second imaging means 9, which are provided on one side of the conveying path 1. These robots 12 have multiple arms 12, 12, and dispense household appliance waste 10 on the conveying path 2 into a collection box 45 using the arms 12, 12. Household appliance waste containing a built-in rechargeable battery is dispensed by the robot 12 (Rb2) using a dispensing rod 3b in a direction intersecting the conveying path 1 and collected in a collection box 45. Since a removal means 3 is not provided between the conveying paths 1 and 2 as in Examples 1 and 2, the conveying path is simplified. The determination of household appliance waste is the same as in Examples 1 and 2, and therefore a description thereof will be omitted.

[0032] In the household electrical waste disposal device 300 of Fig. 5, the conveying path 1 operates intermittently, and the pieces of household electrical waste on the conveying path 1 are conveyed at equal intervals. When the conveying path 1 changes from a moving state to a stopped state, for example, the household electrical waste M1 stops in front of the robot 12 (Rb2), and the next household electrical waste M2 stops in front of the robot 12 (Rb1). When the next moving state changes to a stopped state, the household electrical waste M2 stops in front of the robot 12 (Rb2), and the household electrical waste M3 stops in front of the robot 12 (Rb1). The arms 12a, 12a of the robot 12 (Rb1) may be configured to have the robot 12 (Rb1) dispense household electrical waste that cannot be imaged with X-rays and that has a built-in rechargeable battery.

[0033] FIG. 6 is a side view showing the relationship between the robot 12 in FIG. 5 and the transport path 1. The left and right arms 12a, 12a of the robot 12 are each composed of a rotatable upper arm, a forearm, and a gripping portion. The gripping portion holds the dispensing rod 3b, allowing the electrical waste 10 on the transport path 1 to be dispensed into a collection box 45. The camera 11 is installed directly above the transport path 1, protruding from the head of the robot 12 and shifted upstream. In this embodiment, the electrical waste 10 stops in front of the robot 12, and imaging is completed at that point. In this embodiment, the camera 11 can also be replaced with an X-ray source 13a that emits soft X-rays. In this case, a line sensor corresponding to the X-ray source 13a is provided on the transport path 1 side.

[0034] FIG. 7 is a time chart of the home appliance waste disposal device 300 of FIG. The first image processing unit 5 and the second image processing unit 6 are provided with separate processors and perform parallel processing. The conveying path 1 operates intermittently, and the electrical waste 10 is conveyed in the conveying direction at equal intervals, first M1, then M2, then M3, and so on. Referring to the center of the time chart, the first imaging means 8 captures an image of M2, the second imaging means 9 captures an image of M1, and the conveying path 1 enters a stopped state. The first image processing unit 5 extracts an identification case image from the captured image of M2 and compares it with a reference case image in the database 21 to identify electrical waste containing a rechargeable battery. Meanwhile, in parallel with this, the second image processing unit 6 extracts an identification battery image from the captured image of M1 and compares it with a reference battery image in the database 22.

[0035] FIG. 8 is a time chart of the dispensing operation by the robot 12 (Rb2). As shown in FIG. 8, M1 represents household electrical waste containing a rechargeable battery. In this case, when the first image processing unit 5 determines that the identification case image 15 matches the reference case image in the first database 21, and the second image processing unit 6 determines that the identification battery image 16 matches the reference battery image, the arms 12a, 12a corresponding to the removal means 3 are driven via the control unit 7, and the dispensing rod 3b dispenses the household electrical waste 10 into the collection box 45. While the robot 12 (Rb2) is performing the dispensing operation, the transport path 1 remains stopped for a longer period than usual, and when dispensing is completed, the transport path 1 enters a forwarding state.

[0036] FIG. 9 is a flowchart of the processing of the electrical appliance waste disposal device 100, 200, 300 according to the present invention. The first imaging means 8 captures an image of the electrical appliance waste 10 on the transport path 1 (S1). The first image processing unit 5 extracts an identification case image 15 from the captured image (S2). The first image processing unit 5 then compares the identification case image 15 with a reference case image stored in the first database 21 (S3). If the comparison in S3 reveals a mismatch between the identification case image 15 and the reference case image in the first database 21, the electrical appliance waste is determined to be one that does not have a built-in rechargeable battery (S10), and the control unit 7 deactivates the removal means 3 (S13). As a result, the electrical appliance waste is not removed, but is instead moved downstream for further processing. Examples of such electrical appliance waste include portable memory devices and AC-DC conversion adapters.

[0037] If the comparison in S3 shows that the identification case image 15 matches the reference case image in the first database 21, the process proceeds to S4, where it is determined whether a reference battery image is linked. If a reference battery image is not linked, the electrical appliance is deemed to contain a rechargeable battery (S11). Since the identification case image 15 matches the reference case image in the first database 21, the electrical appliance is deemed to contain a rechargeable battery. In this case, the process proceeds to S14, the removal means 3 is activated, and the electrical appliance 10 is collected in the collection box 45. The control unit 7 issues instructions to the removal means 3. An example of such a situation would be when the exterior of the electrical appliance is stainless steel and the interior of the electrical appliance cannot be seen even when imaged with an X-ray device. A reference battery image is not linked to the reference case image, and no reference battery image is prepared in the database.

[0038] If a reference battery image is linked, the process proceeds to S5. In S5, the second imaging means 9 captures an image to obtain an X-ray image of the electrical appliance waste. Then, the second image processing unit 6 extracts an identification battery image 16 from the X-ray image (S6).

[0039] In S6, the second image processing unit 6 compares the identification battery image 16 with a reference battery image stored in the second database 22 to determine whether a battery is present (S7). If the comparison in S7 shows a mismatch between the identification battery image 16 and the reference battery image, it is determined that the rechargeable battery has been removed (S12), and the removal means 3 is deactivated (S13). The electrical appliance waste is moved downstream and subjected to the next process. If the comparison in S7 shows a match, it is determined that the electrical appliance waste contains a rechargeable battery (S8), and the control unit 7 activates the removal means 3 to collect the electrical appliance waste in the collection box 45 (S9).

[0040] FIG. 10 is a block diagram of the database 4 used in the present invention. The first database 21 stores multiple reference case images A, D, B, C, etc., which are camera images or X-ray images. The second database 22 stores multiple reference battery images A, D, B, C, etc., which are X-ray images, linked to the reference case images in the first database 21. Linking makes it easy to extract a reference battery image (e.g., reference battery image D) corresponding to a reference case image (e.g., reference case image D). For example, if the entire case of an electronic waste disposal item is made of metal plate, a reference case image can be created in advance, but X-rays cannot penetrate it, so a reference battery image cannot be created using X-rays. The first database 21 can store, for example, reference case image M, but the second database 22 does not store a reference battery image linked to reference case image M. This "unlinked" state is indicated by reference case image M.

[0041] The learning unit 23 shown in Figure 10 links a reference case image, which is a camera image or X-ray image of a newly circulated electrical appliance waste in society, with a reference battery image, which is an X-ray image of the battery in that electrical appliance waste. As the learning unit 23, the third database 23 additionally stores new reference case images and reference battery images. The added reference case images and reference battery images can be used as new data when assessing electrical appliance waste. This allows the device to be equipped with AI functions, enabling accurate assessment of electrical appliance waste containing rechargeable batteries that are circulating in response to changes in society.

[0042] 11 is a diagram showing examples of identification case images 15. Illustrated are an identification case image 15a of a mobile phone, an identification case image 15b of an electric toothbrush, an identification case image 15c of a calculator, and an identification case image 15c of a speaker. The identification case images 15 are extracted from an image (a collection of pixels) captured by the imaging means 8, but are represented here as shapes (lines).

[0043] FIG. 12 is a diagram showing an example of an identification battery image 16. The identification battery image 16 is an X-ray image of a rechargeable battery installed in a piece of electrical appliance waste, and specifically has shapes such as those shown by 16a, 16b, 16c, 16d, and 16e. The identification battery image 16 is an image portion of the X-ray image from the line sensor 14 where the X-ray transmittance is less than a predetermined threshold. If the X-ray transmittance is less than the predetermined threshold, it is determined to be a battery. Multiple identification battery images may be extracted from a single X-ray image, as shown by 16b and 16c. In this way, even if there are multiple identification battery images, all extracted identification battery images are judged.

[0044] In the present invention, when creating the second database 22 for rechargeable batteries, not only the shape and size of the rechargeable battery but also the location of the rechargeable battery in the case is stored as auxiliary information 50. That is, as shown in FIG. 10 , for each of the reference battery images A, D, B, C, ... in the second database 22, auxiliary information 50 (auxiliary information A, D, B, C, ...) indicating the location of the rechargeable battery in the reference case image A, D, B, C, ... is stored in association with the reference battery image A, D, B, C, .... By adding this auxiliary information 50 of the rechargeable battery's location (auxiliary information A, D, B, C, ...) to the determination of the rechargeable battery image, it is possible to make a determination that takes into account not only the image but also the location of the rechargeable battery. In this way, although circular images of motors and the like are easily mistaken for rechargeable batteries, the auxiliary information indicates the location of the rechargeable battery in the case, allowing for more accurate determination of the presence or absence of a rechargeable battery.

[0045] FIG. 13 shows an X-ray image of an electronic cigarette 25. When an X-ray image is captured by the second imaging means 9, an identification battery image 25a, indicated by a dotted line (shown for convenience), can be extracted. Meanwhile, the exterior of the electronic cigarette 25 has, for example, an appearance 25' (camera image or X-ray image) as shown in the circle, which is stored in advance in the first database 21 as a reference case image. The identification case image captured by the first imaging means 8 is compared with the reference case image in the first database to identify the electronic cigarette. The identification battery image 25a is compared with the reference battery image 25a' linked and stored in the second database 22. This comparison confirms the presence or absence of a battery. Note that if the outer frame of the electronic cigarette 25 is made of metal, the X-rays from the second imaging means 9 will not penetrate. In such a case, no reference battery image is linked to the reference case image 25'. In this case, it is determined that the electronic cigarette 25 is an electronic cigarette, and it is determined that a rechargeable battery is installed. That is, the electronic cigarette is regarded as having a built-in rechargeable battery and is removed by the removing means 3.

[0046] FIG. 14 shows an X-ray image of a web conference speaker 30. When an X-ray image is captured by the second imaging device 9, an identification battery image 30a, indicated by a dotted line (shown for convenience), can be extracted. Meanwhile, an image of the reference case of the web conference speaker 30 has an appearance 30' as shown in the circle, and many reference case images of similar models are stored in the first database 21. This is compared with the identification case image captured by the first imaging device 8, and a web conference speaker in circulation can be identified. The identification battery image 30a extracted from the web conference speaker 30 captured by the second imaging device 9 is then compared with the reference battery image 30a' stored in the second database 22. This comparison allows the presence or absence of a battery to be confirmed.

[0047] FIG. 15 shows an X-ray image of a calculator 40. When an X-ray image is captured by the second imaging means 9, an identification battery image 40a, indicated by a dotted line (shown for convenience), can be extracted. Meanwhile, a reference case image of the calculator 40 shows an exterior 40' with visible buttons and an LCD display, and the first database 21 contains many images of similar models. This is compared with the identification reference image captured by the first imaging means 8 to identify the calculator 40. The identification battery image 40a built into the identified calculator 40 is then compared with a linked reference battery image 40a' stored in the second database 22. This comparison confirms the presence or absence of a battery. Reference numeral 41 denotes a power-generating cell, 42 denotes a display unit, and 43 denotes a circuit board. The calculator 40 generates electricity using the power-generating cell 41, which charges the rechargeable battery located at 40a. [Industrial Applicability]

[0048] The present invention is suitable as a waste electrical appliance treatment device that can remove waste electrical appliances that have built-in rechargeable batteries from collected waste electrical appliances. [Explanation of symbols]

[0049] 1. Conveying path (upstream) 2. Conveyor path (downstream) 3 Removal means 3a Dividing board 3b Payout rod 4 Database 5. First image processing section 6. Second image processing section 7 Control Unit 8. First imaging means 9 Second imaging means 10. Electronic waste 11 Camera 12. Robot 12a Arm 13 X-ray source 13a Soft X-ray 13b Hard X-ray 14 Line Sensor 15 Identification case image 15a Example of a mobile phone identification case image 15b Example of an electric toothbrush identification case image Example of an image of a 15c calculator case for identification Example image of the 15d speaker identification case 16 Identification battery image 16a Example of a rectangular battery image for identification 16b, 16c Examples of small rectangular battery identification images 16d Example of a small round identification battery image 16e Example of large round identification battery image 17 Pretreatment equipment 18 Vibrating feeder 19 Guide plate 20 Shutter 21 Database 1 22 Second Database 23 Learning Department 25 X-ray image of an e-cigarette 25' Reference Case Image 25a Identification battery image 25a' Reference Battery Image 30 X-ray image of a web conference speaker 30' Reference Case Image 30a Identification battery image 30a' Reference Battery Image 40 X-ray image of a calculator 40' Reference Case Image 40a Identification battery image 40a' Reference Battery Image 41 Power generation cell 42 Display section 43 Circuit Board 45 Collection Box 50 Supplementary Information 100, 200, 300 Home appliance waste treatment device

Claims

1. A transport path that transports electrical appliance waste by intermittent operation; a first robot (Rb1) having a first imaging means for imaging the external shape of the household electrical appliance waste with a camera or soft X-rays and an arm for removing the household electrical appliance waste in a direction intersecting the transport path; a second robot (Rb2) disposed downstream of the first robot (Rb1) and having a second imaging means for imaging the interior of the electrical appliance waste with hard X-rays and an arm for removing the electrical appliance waste in a direction intersecting the transport path; a first database that stores, as reference case images, the external shapes of home appliance waste that has a built-in rechargeable battery and is distributed in society; a second database that stores an X-ray image of the rechargeable battery built into the household electrical waste as a reference battery image linked to the reference case image; a first image processing unit that compares an identification case image extracted from the image captured by the first imaging means with a reference case image in the first database; a second image processing unit that compares an identification battery image extracted from the X-ray image captured by the second imaging means with a reference battery image in the second database; and a control unit that instructs the first robot to remove the household electrical waste from the transport path when the comparison of the first image processing unit matches and the reference battery image is not linked to the reference case image, and that instructs the second robot to remove the household electrical waste from the transport path when the comparison of the first image processing unit matches and the comparison of the second image processing unit matches.

2. The household waste disposal device described in claim 1, characterized in that the second database stores information regarding the position of the rechargeable battery in association with a reference battery image, and the second image processing unit adds auxiliary information regarding the position of the rechargeable battery when comparing the reference battery image.

Images