Material handling equipment

Abstract

An object processing device (1) comprises: an image-capturing unit (26) that captures an image in which a target object is shown; gripping parts (34) that grip the target object; actuators (33, 35) that move the gripping parts (34); and a control unit (41). The control unit (41) calculates, on the basis of the image and the size (D, H) of the target object, a path on which the gripping parts (34) move when the target object is being gripped by the gripping parts (34), and controls the actuators (33, 35) such that the gripping parts (34) move along the path after the target object is gripped by the gripping parts (34).

Description

[Technical Field]

[0001] The technology of the present disclosure relates to an object processing device. [Background technology]

[0002] An automatic recyclable waste sorting device that automatically separates multiple pieces of waste transported along a transport path by material is known (U.S. Patent Application Publication No. 2021 / 0206586). The automatic recyclable waste sorting device includes an object recognition device that determines the material and position of the waste based on an image of the waste, and a robot that removes recyclable waste made from predetermined materials from the transport path. The automatic recyclable waste sorting device can reduce the burden on workers who work with the automatic recyclable waste sorting device to remove recyclable waste from the transport path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0206586 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the number of recyclable waste items removed from the transport path per unit time by the automatic recyclable waste sorting device is small, there is a problem in that the burden on the worker increases.

[0005] The disclosed technology has been made in consideration of the above points, and aims to provide an object processing apparatus that increases the number of objects removed from a transport path per unit time. [Means for solving the problem]

[0006] An object processing device according to one aspect of the present disclosure includes an imaging unit that captures an image of a target object, a gripping unit that grips the target object, an actuator that moves the gripping unit, and a control unit, wherein the control unit calculates the size of the target object based on the image, calculates a path along which the gripping unit will move when the target object is gripped by the gripping unit based on the size of the target object, and controls the actuator so that the gripping unit moves along the path after the target object is gripped by the gripping unit. and when the gripping unit is disposed at a release position and is moving in a direction that is not parallel to the vertical direction, the gripping unit is controlled so that the target object is released from the gripping unit. do. [Effects of the Invention]

[0007] The disclosed object processing apparatus can increase the number of objects removed from the transport path per unit time. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view showing an automatic recyclable waste sorting apparatus provided with an object processing apparatus according to a first embodiment. [Figure 2] FIG. 2 is a perspective view showing an automatic recyclable waste sorting device. [Figure 3] FIG. 3 is a cross-sectional view showing an automatic recyclable waste sorting device. [Figure 4] FIG. 4 is a perspective view showing the dust chute, the conveying device, and the gripping portion. [Figure 5] FIG. 5 is a block diagram showing an object processing device. [Figure 6] FIG. 6 is a flowchart showing the operation of moving the recyclable waste to be processed from the transport path to the dust chute. [Figure 7] FIG. 7 is a front view showing the lifted recyclable waste to be processed. [Figure 8] FIG. 8 is a front view showing the path along which the gripping portion moves when the operation of moving the recyclable waste to be processed from the transport path to the dust chute is performed. [Figure 9] FIG. 9 is a front view showing the path along which the gripping unit moves in the object processing apparatus of the second embodiment. [Figure 10]FIG. 10 is a side view showing the robot body of the object processing apparatus of the third embodiment. [Figure 11] FIG. 11 is a top view showing the recyclable waste to be processed being held and lifted by the holding part. [Figure 12] FIG. 12 is a perspective view showing how recyclable waste to be processed moves from the transport path to the dust chute in the object processing apparatus of the third embodiment. [Figure 13] FIG. 13 is a front view showing the robot body of the object processing apparatus of the fourth embodiment, illustrating how recyclable waste to be processed moves from the transport path to the dust chute. DETAILED DESCRIPTION OF THE INVENTION

[0009] An object processing apparatus according to an embodiment of the present disclosure will be described below with reference to the drawings. Note that the following description does not limit the technology of the present disclosure. In the following description, the same components are given the same reference numerals, and duplicated descriptions will be omitted. [Example]

[0010] As shown in FIG. 1, the object processing device 1 of Example 1 is provided in an automatic recyclable waste sorting device 2. FIG. 1 is a plan view showing the automatic recyclable waste sorting device 2 in which the object processing device 1 of Example 1 is provided. The automatic recyclable waste sorting device 2 includes a conveying device 3 and the object processing device 1. The conveying device 3 is formed from a belt conveyor, and includes a belt conveyor frame 5 and a belt 6, and a belt drive device (not shown). The belt conveyor frame 5 is placed on and fixed to an installation surface 7 on which the automatic recyclable waste sorting device 2 is installed. The belt 6 is made of a flexible material and is formed into a loop-shaped band.

[0011] A conveying path 8 is formed in the conveying device 3. The conveying path 8 extends along another plane parallel to the plane along which the installation surface 7 extends, and the straight line along which the conveying path 8 extends is parallel to a conveying direction 11 which is parallel to the plane along which the installation surface 7 extends. The belt 6 has a portion 12 facing the conveying path. The portion 12 facing the conveying path is disposed below the conveying path 8 and extends along the conveying path 8. The belt 6 is further supported by the belt conveyor frame 5 so as to be movable via a belt driving device. The belt driving device moves the belt 6 so that the portion 12 facing the conveying path moves in the conveying direction 11.

[0012] The transport path 8 includes an image capturing area 14, an object removal area 15, an operator working area 16, and an object supply area (not shown). The object removal area 15 is located downstream of the image capturing area 14 in the transport direction 11. The operator working area 16 is located downstream of the object removal area 15 in the transport direction 11. The object supply area is located upstream of the image capturing area 14 in the transport direction 11.

[0013] The object processing device 1 includes an object recognition device 21 and a robot 22. The object recognition device 21 is arranged near the image capture area 14. The object recognition device 21 includes a housing 23. The housing 23 is made of a light-blocking material and is formed in a generally box shape. The housing 23 is arranged above the image capture area 14 of the transport path 8 and covers the image capture area 14. The housing 23 is fixed to the belt conveyor frame 5, and is fixed to the installation surface 7 via the belt conveyor frame 5. The robot 22 is arranged near the object removal area 15.

[0014] FIG. 2 is a perspective view showing the automatic recyclable waste sorting device 2. The robot 22 includes a robot body 24 and a robot cover 25. The robot cover 25 is formed in a generally box shape. The robot cover 25 is disposed above the object removal area 15 of the transport path 8 so that the object removal area 15 and the robot body 24 are disposed inside the robot cover 25. The robot cover 25 is fixed to the belt conveyor frame 5 and is fixed to the installation surface 7 via the belt conveyor frame 5. The robot cover 25 prevents objects handled by the robot body 24 in the object removal area 15 from scattering out of the object removal area 15.

[0015] 3 is a cross-sectional view showing the automatic recyclable waste sorting device 2. The object recognition device 21 further includes an imaging camera 26. The imaging camera 26 is disposed inside the housing 23, disposed above the image capturing area 14, and directed toward the image capturing area 14. The imaging camera 26 is fixed to the housing 23, and is fixed to the belt conveyor frame 5 via the housing 23. By being disposed in this manner, the imaging camera 26 captures an image of an object placed in the image capturing area 14 as if seen from directly above.

[0016] The robot body 24 includes a translational support member 32, an X-axis / Y-axis actuator 33, a gripper 34, and a Z-axis actuator 35. The translational support member 32 is supported by a base 31 (see FIG. 2 ) fixed to the installation surface 7 via the X-axis / Y-axis actuator 33 so as to be translatable parallel to the X-axis direction and parallel to the Y-axis direction. The Y-axis direction is parallel to the conveying direction 11, i.e., parallel to the plane along which the conveying path 8 runs. The X-axis direction is perpendicular to the Y-axis direction and parallel to the plane along which the conveying path 8 runs. The gripper 34 is supported by the translational support member 32 via the Z-axis actuator 35 so as to be translatable parallel to the Z-axis direction. The Z-axis direction is perpendicular to the X-axis direction and perpendicular to the Y-axis direction, i.e., perpendicular to the plane along which the conveying path 8 runs. The gripper 34 grips a portion of an object by suction, and releases the gripped object. The Z-axis actuator 35 translates the gripping portion 34 in parallel with the Z-axis direction relative to the translation support member 32.

[0017] The robot 22 further includes a camera 36 for measuring size when lifted. The camera 36 for measuring size when lifted is disposed in an area inside the robot cover 25 on the downstream side in the conveying direction 11, and is directed toward the space above the object removal area 15. By being disposed in this manner, the camera 36 for measuring size when lifted captures an image of the object lifted from the portion 12 of the belt 6 facing the conveying path in the object removal area 15, as if seen from the side.

[0018] As shown in FIG. 4, the automatic recyclable waste sorting device 2 further includes a dust chute 37. FIG. 4 is a perspective view showing the dust chute 37, the conveying device 3, and the gripping unit 34. The dust chute 37 is disposed beside the conveying device 3 and in the vicinity of the object removal area 15, so that the belt conveyor frame 5 of the conveying device 3 is disposed between the dust chute 37 and the object removal area 15. An upper portion of the belt conveyor frame 5 of the conveying device 3 protrudes upward from the plane along which the conveying path 8 is aligned. The frame height Z_frame indicates the Z coordinate of the position where the upper end of the belt conveyor frame 5 is positioned. The belt conveyor frame 5 is further formed so that the end of the belt conveyor frame 5 on the dust chute 37 side is aligned with a straight line parallel to the Y-axis direction.

[0019] The gripper 34 is positioned above the object removal area 15 of the transport path 8 or above the dust chute 37 because the translation support member 32 is translatable via the X-axis and Y-axis actuators 33. When the gripper 34 is fixed to the translation support member 32 by the Z-axis actuator 35, the X-axis and Y-axis actuators 33 can translate the gripper 34 along a straight line 38. The straight line 38 is parallel to the XY plane, which is parallel to the X-axis and Y-axis.

[0020] Figure 5 is a block diagram showing object processing apparatus 1. Object processing apparatus 1 further includes a control device 41. Control device 41 is a computer, and includes a storage device 42 and a CPU (Central Processing Unit) 43. Storage device 42 stores computer programs installed in control device 41, and stores information used by CPU 43. CPU 43 executes the computer programs installed in control device 41, processes information, controls storage device 42, and controls imaging camera 26, X-axis and Y-axis actuator 33, Z-axis actuator 35, gripper 34, and lifting size measurement camera 36.

[0021] The computer programs installed in the control device 41 include a plurality of computer programs that cause the control device 41 to respectively realize a plurality of functions. The plurality of functions include a selection unit 44, a path calculation unit 45, and a robot control unit 46.

[0022] The sorting unit 44 controls the imaging camera 26 of the object recognition device 21 so as to capture a waste sorting image that shows multiple objects placed in the image capturing area 14 of the transport path 8. The sorting unit 44 further controls the storage device 42 so as to record the waste sorting image in the storage device 42 in association with the capturing time at which the waste sorting image was captured. The sorting unit 44 performs image processing on the waste sorting image and selects recyclable waste to be processed from the multiple objects captured in the waste sorting image.

[0023] The path calculation unit 45 controls the lifting size measurement camera 36 so that a size measurement image of the lifted recyclable waste to be processed is captured. The path calculation unit 45 calculates a path based on the waste sorting image and the size measurement image. The robot control unit 46 controls the X-axis / Y-axis actuator 33 and the Z-axis actuator 35 so that the gripper 34 moves along the path. The robot control unit 46 controls the gripper 34 so that the recyclable waste to be processed selected by the sorter 44 is gripped by the gripper 34 as the gripper 34 moves along the path.

[0024] [Operation of automatic recyclable waste sorting device 2] The operation of the automatic recyclable waste sorting device 2 includes an operation of transporting multiple pieces of waste along the conveying path 8 and an operation of moving the recyclable waste to be processed from the conveying path 8 to the dust chute 37. In the operation of transporting multiple pieces of waste along the conveying path 8, the user first operates the conveying device 3 to start the conveying device 3. When the conveying device 3 is started, the belt drive unit of the conveying device 3 moves the belt 6 so that the portion 12 of the belt 6 facing the conveying path moves in translation in the conveying direction 11 at a predetermined constant conveying speed.

[0025] The user then places multiple pieces of waste on the portion of the conveying path facing portion 12 facing the object supply area. The multiple pieces of waste include recyclable waste to be processed. The recyclable waste to be processed is recyclable waste that needs to be removed from the conveying path 8 and that needs to be moved to the dust chute 37. An example of the recyclable waste to be processed is a bottle made of glass that is colored a predetermined color (e.g., brown).

[0026] The plurality of dust particles placed on the conveying path facing portion 12 are conveyed in the conveying direction 11 at a conveying speed along the conveying path 8 as the belt 6 moves in a translational manner. The plurality of dust particles conveyed along the conveying path 8 are placed in the image capturing area 14. The plurality of dust particles placed in the image capturing area 14 are further conveyed along the conveying path 8 and placed in the object removal area 15. The plurality of dust particles placed in the object removal area 15 are further conveyed along the conveying path 8 and placed in an area downstream of the object removal area 15.

[0027] FIG. 6 is a flowchart showing the operation of moving recyclable waste to be processed from the conveyance path 8 to the dust chute 37. The operation of moving recyclable waste to be processed from the conveyance path 8 to the dust chute 37 is performed while multiple pieces of waste are being transported along the conveyance path 8. The control device 41 uses the imaging camera 26 to capture an image for waste sorting, showing multiple pieces of waste placed in the image capture area 14. The control device 41 records the image for waste sorting in the storage device 42 in association with the imaging time at which the image for waste sorting was captured. The control device 41 processes the image for waste sorting and selects recyclable waste to be processed from the multiple pieces of waste captured in the image for waste sorting (step S1). Based on the results of the image processing, the control device 41 further calculates the image-capture position at which the recyclable waste to be processed was located at the time of imaging.

[0028] The plurality of pieces of waste may further include an on-path object. The on-path object is an object that is placed between the recyclable waste to be processed and the dust chute 37 when the recyclable waste to be processed is transported by the transport device 3 and placed in the object removal area 15. Based on the results of image processing, the control device 41 selects the on-path object from the plurality of pieces of waste shown in the waste sorting image and estimates the height Z_obj of the on-path object. The height Z_obj of the on-path object indicates the Z coordinate of the top end of the on-path object.

[0029] The control device 41 calculates the gripping timing and gripping position based on the conveying speed, the time of image capture, and the position at the time of image capture. The control device 41 controls the X-axis / Y-axis actuator 33 and the Z-axis actuator 35 to position the gripping unit 34 at the gripping position at the gripping timing and to bring the gripping unit 34 into contact with the recyclable waste to be processed at the gripping timing. The control device 41 controls the gripping unit 34 to attract the recyclable waste to be processed that comes into contact with the gripping unit 34 at the gripping timing and grip the recyclable waste to be processed. After the recyclable waste to be processed is gripped by the gripping unit 34, the control device 41 controls the Z-axis actuator 35 to raise the gripping unit 34.

[0030] When the recyclable waste 39 is gripped by the gripping unit 34 and the gripping unit 34 is raised by the Z-axis actuator 35, the recyclable waste 39 is lifted away from the belt 6. If the portion of the recyclable waste 39 gripped by the gripping unit 34 is offset from the center of gravity of the recyclable waste 39, the lifted recyclable waste 39 may tilt relative to the orientation of the recyclable waste placed on the belt 6, as shown in FIG. 7. FIG. 7 is a front view showing the lifted recyclable waste 39. While the recyclable waste 39 is being lifted and when the recyclable waste 39 is placed at a predetermined height, the control device 41 uses the lifting size measurement camera 36 to capture a size measurement image of the lifted recyclable waste 39.

[0031] The control device 41 processes the size measurement image and calculates the lifted size of the recyclable waste 39 when it is lifted (step S2). The lifted size indicates the height H of the recyclable waste 39 and the width D of the recyclable waste 39. The height H of the recyclable waste 39 indicates the distance between a first horizontal plane intersecting the portion of the recyclable waste 39 held by the gripping unit 34 and a second horizontal plane passing through the bottom end of the recyclable waste 39. The first and second horizontal planes are perpendicular to the Z-axis direction, i.e., parallel to the X-axis direction and the Y-axis direction. The width D of the recyclable waste 39 indicates the distance between a first YZ plane intersecting the portion of the recyclable waste 39 held by the gripping unit 34 and a second YZ plane passing through the end of the recyclable waste 39 away from the dust chute 37. The first YZ plane and the second YZ plane are perpendicular to the X-axis direction, that is, parallel to the Y-axis direction and parallel to the Z-axis direction.

[0032] The control device 41 calculates the path along which the gripping unit 34 gripping the recyclable waste 39 will move, based on the waste sorting image and the height H and width D of the recyclable waste 39 to be processed (steps S3 to S10). That is, the control device 41 first calculates the lifting height Z based on the height H of the recyclable waste to be processed (steps S3 to S5). When the height Z_obj of an object on the path located between the recyclable waste to be processed and the dust chute is lower than the frame height Z_frame (step S3, No), the lifting height Z is expressed by the following equation (1) (step S4). Z = Z_frame-H…(1) When the height Z_obj of the object on the path is higher than the frame height Z_frame (step S3, Yes), the lifting height Z is expressed by the following equation (2) (step S5). Z=Z_obj-H…(2)

[0033] The control device 41 then calculates the release timing T_release based on the lifting height Z and the capabilities of the X-axis and Y-axis actuators 33 (steps S6 to S10). That is, the control device 41 assigns the X-coordinate X of the gripping position to the X-coordinate X_release of the temporary release position (step S6). The control device 41 assigns a value obtained by adding a predetermined value a to the X-coordinate X_release to the X-coordinate X_release. The control device 41 calculates the velocity Vx of the gripping unit 34 when the X-axis and Y-axis actuators 33 move the gripping unit 34 past the temporary release position. The control device 41 calculates the distance L that the recyclable waste will travel in the X-axis direction when it is released from the gripping unit 34 at the temporary release position and falls to frame height Z_frame, based on the lifting height Z and velocity Vx (step S7).

[0034] The control device 41 determines whether or not the recyclable waste to be processed that has fallen from the temporary release position will collide with the belt conveyor frame 5 (step S8). That is, the control device 41 determines whether or not the following formula (4) is satisfied. X_release+L≧X_frame+D…(4) When it is determined that the falling recyclable waste to be processed will collide with the belt conveyor frame 5, that is, when formula (4) is not satisfied (step S8, No), the control device 41 repeatedly executes the processes of steps S7 to S8.

[0035] When it is determined that the falling recyclable waste to be processed will not collide with the belt conveyor frame 5, that is, when equation (4) is satisfied (step S8, Yes), the control device 41 sets the X coordinate of the release position to the X coordinate of the temporary release position X_release (step S9). The control device 41 calculates the release timing T_release based on the capabilities of the X-axis and Y-axis actuators 33 and the release position (step S10). The release timing T_release indicates the timing at which the gripper 34 is positioned at the release position.

[0036] The control device 41 controls the Z-axis actuator 35 and the X-axis and Y-axis actuators 33 to move the gripper 34 along the calculated path (step S11). That is, the control device 41 controls the Z-axis actuator 35 to lift the gripper 34 so that the gripper 34 is positioned at the lifting height Z. After the gripper 34 is positioned at the lifting height Z, the control device 41 controls the Z-axis actuator 35 to stop the gripper 34 at the lifting height Z. After the gripper 34 has stopped at the lifting height Z, the control device 41 controls the X-axis and Y-axis actuators 33 to translate the gripper 34 toward the dust chute 37. The control device 41 controls the gripper 34 to release the recyclable waste to be processed from the gripper 34 at the release timing T_release. When the recyclable waste to be processed is released from the gripper 34 at the release timing T_release, it leaves the gripper 34. When the recyclable waste to be processed is released from the gripping unit 34, the gripping unit 34 moves horizontally, causing the recyclable waste to be thrown horizontally and fall freely along a parabola. Furthermore, when equation (4) is satisfied, the recyclable waste to be processed is placed in the dust chute 37 without coming into contact with the belt conveyor frame 5.

[0037] After the recyclable waste to be processed is released from the gripping unit 34, the control device 41 controls the X-axis / Y-axis actuator 33 to slow down the translational speed of the gripping unit 34 toward the dust chute 37 and stop the gripping unit 34. When multiple pieces of recyclable waste to be processed are included in the multiple pieces of waste captured in the waste sorting image in step S1, the control device 41 repeatedly executes the processes from step S2 onwards so that the multiple pieces of recyclable waste to be processed move one by one from the conveying path 8 to the dust chute 37. Note that in the flowchart of FIG. 6, the process of moving the gripping unit 34 along the calculated path is executed after the release timing T_release is calculated, but it may also be started before the release timing T_release is calculated.

[0038] 8 is a front view showing the path along which the gripper 34 moves when the operation of moving the recyclable waste to be processed from the transport path 8 to the dust chute 37 is performed. When the height Z_obj of an object on the path is lower than the frame height Z_frame, the gripper 34 is lifted to height Z1 and moves along path R1. By lifting the gripper 34 to height Z1 and then moving the gripper 34 along path R1, the object processing device 1 can move the gripper 34 so that the recyclable waste to be processed does not collide with the object on the path and the belt conveyor frame 5.

[0039] When the height Z_obj of an object on the path is higher than the frame height Z_frame, the gripper 34 is lifted to height Z2 and moves along path R2. Height Z2 is higher than height Z1. By having the gripper 34 move along path R1 after being lifted to height Z2, the object processing device 1 can move the gripper 34 so that the recyclable waste to be processed does not collide with the object on the path and the belt conveyor frame 5.

[0040] The object processing device 1 prevents damage to the belt conveyor frame 5 by preventing the recyclable waste to be processed from colliding with the belt conveyor frame 5. The object processing device 1 prevents the objects on the path from moving on the belt 6 by preventing the recyclable waste to be processed from colliding with objects on the path, thereby preventing damage to the objects on the path. The object processing device 1 prevents the recyclable waste to be processed from falling off the gripping unit 34 by preventing the recyclable waste to be processed from colliding with objects on the path or the belt conveyor frame 5, thereby preventing the recyclable waste to be processed from being improperly placed in the dust chute 37.

[0041] In the object processing device 1 of Example 1, the lifting height Z is calculated based on the height H of the recyclable waste to be processed, and therefore the lifting height can be lowered to a level that prevents the recyclable waste to be processed from coming into contact with objects on the path or the belt conveyor frame 5. For example, because the lifting height Z is calculated based on the height H of the recyclable waste to be processed, the height to which recyclable waste to be processed with a small height H is lifted can be made lower than the height to which other recyclable waste to be processed with a large height H is lifted.

[0042] In the object processing device of the comparative example, the lifting height to which the gripping unit 34 is raised is set to a predetermined lifting height Z3, and lifting height Z3 does not change based on the height H of the recyclable waste to be processed. In other words, lifting height Z3 is set high with a large margin so that the recyclable waste to be processed does not collide with objects on the path or the belt conveyor frame 5. In the object processing device 1, because lifting heights Z1 and Z2 are lower than lifting height Z3, the time elapsed when lifting the gripping unit 34 can be reduced compared to the object processing device of the comparative example.

[0043] The object processing device 1 calculates the release position based on the width D of the recyclable waste to be processed so that the recyclable waste to be processed does not collide with the belt conveyor frame 5 after being released from the gripping unit 34. By calculating the release position based on the width D of the recyclable waste to be processed, the object processing device 1 can make the X coordinate of the release position small enough that the recyclable waste to be processed does not come into contact with the belt conveyor frame 5. For example, the X coordinate of the release position where recyclable waste to be processed with a small width D is released is smaller than the X coordinate of the release position where other recyclable waste to be processed with a large width D is released, because the release position is calculated based on the width D of the recyclable waste to be processed.

[0044] In the comparative object processing device, the release position at which the gripper 34 releases the recyclable waste to be processed is set to a predetermined position, and the release position does not change based on the width D of the recyclable waste to be processed. That is, the X coordinate of the release position in the comparative object processing device is set to a large value with a large margin so that the recyclable waste to be processed does not collide with the belt conveyor frame 5. Because the X coordinate of the release position is small, the object processing device 1 can release the recyclable waste to be processed from the gripper 34 more quickly than the comparative object processing device. Because the object processing device 1 releases the recyclable waste to be processed from the gripper 34 more quickly, the object processing device 1 can shorten the gripping time that the gripper 34 grips the recyclable waste to be processed when moving the recyclable waste from the conveyance path 8 to the dust chute 37 compared to the comparative object processing device. By shortening the gripping time, the object processing device 1 can increase the number of recyclable waste to be moved from the conveyance path 8 to the dust chute 37 per unit time.

[0045] A worker located downstream in the conveying direction 11 of the object processing device 1 removes, from the conveying path 8, in the worker working area 16, any recyclable waste to be processed that has not been removed from the conveying path 8 by the object processing device 1, and moves it to the dust chute 37. By increasing the number of pieces of recyclable waste to be processed removed from the conveying path 8 per unit time, the object processing device 1 can reduce the number of pieces of recyclable waste to be processed placed in the worker working area 16. By reducing the number of pieces of recyclable waste to be processed placed in the worker working area 16, the object processing device 1 can reduce the burden on the worker who removes the recyclable waste to be processed from the conveying path 8.

[0046] [Effects of the object processing device 1 of the first embodiment] The object processing device 1 of the first embodiment includes an imaging camera 26, a gripping unit 34, an X-axis / Y-axis actuator 33, a Z-axis actuator 35, and a control device 41. The imaging camera 26 captures images for waste sorting that show the recyclable waste to be processed. The gripping unit 34 grips the recyclable waste to be processed. The X-axis / Y-axis actuator 33 and the Z-axis actuator 35 move the gripping unit 34. The control device 41 calculates a path along which the gripping unit 34 will move when the recyclable waste to be processed is being held by the gripping unit 34, based on the height H of the recyclable waste 39 to be processed. After the recyclable waste to be processed is gripped by the gripping unit 34, the control device 41 controls the X-axis / Y-axis actuator 33 and the Z-axis actuator 35 so that the gripping unit 34 moves along the calculated path.

[0047] That is, the calculated path may differ when the height H of the recyclable waste to be processed differs. By calculating the path based on the height H of the recyclable waste to be processed, the object processing apparatus 1 of Example 1 can calculate the path of the gripping unit 34 so that the recyclable waste to be processed does not come into contact with the belt conveyor frame 5 and so that the height to which the gripping unit 34 rises is as low as possible. By preventing the recyclable waste to be processed from coming into contact with the belt conveyor frame 5, the object processing apparatus 1 of Example 1 can prevent damage to the recyclable waste to be processed and can prevent damage to the belt conveyor frame 5. By lowering the height to which the gripping unit 34 rises, the object processing apparatus 1 of Example 1 can shorten the gripping time that the gripping unit 34 grips the recyclable waste to be processed and can increase the number of pieces of recyclable waste that can be moved from the conveyance path 8 to the dust chute 37 per unit time.

[0048] Furthermore, the control device 41 of the object processing device 1 of Example 1 further calculates the height Z_obj of objects on the path that are different from the recyclable waste to be processed among the multiple pieces of waste shown in the waste sorting image based on the waste sorting image, and calculates the path along which the gripper 34 will move based on the height Z_obj of the objects on the path. By calculating the path based on the height Z_obj of the objects on the path, the object processing device 1 of Example 1 can calculate the path of the gripper 34 so that the recyclable waste to be processed does not come into contact with the objects on the path and so that the height to which the gripper 34 rises is as low as possible. By preventing the recyclable waste to be processed from coming into contact with the objects on the path, the object processing device 1 of Example 1 can prevent damage to the recyclable waste to be processed and can prevent damage to the objects on the path.

[0049] The object processing apparatus 1 of Example 1 further includes a lifting size measurement camera 36 that captures size measurement images for detecting the height H of the recyclable waste to be processed when the recyclable waste to be processed is lifted. The control device 41 calculates the path based further on the height H of the recyclable waste to be processed. When the recyclable waste to be processed is lifted, the recyclable waste to be processed may tilt, and the height H of the recyclable waste to be processed may change. By calculating the path of the gripping unit 34 based on the height H of the recyclable waste to be processed when the recyclable waste to be processed is lifted, the object processing apparatus 1 of Example 1 can calculate the path of the gripping unit 34 so that the recyclable waste to be processed does not come into contact with the belt conveyor frame 5 and objects on the path, even if the recyclable waste to be processed is tilted. [Example]

[0050] The object processing apparatus of Example 2 moves the gripper 34 horizontally while it is being raised, but is otherwise identical to the object processing apparatus 1 of Example 1 described above. The control device 41 calculates a path R4, as shown in FIG. 9 , so that the recyclable waste gripped by the gripper 34 does not collide with an object on the path or the belt conveyor frame 5. FIG. 9 is a front view showing the path R4 along which the gripper 34 moves in the object processing apparatus of Example 2. Path R4 indicates that the gripper 34 is moved horizontally by the X-axis and Y-axis actuators 33 after a size measurement image of the recyclable waste to be processed is captured using the lifting size measurement camera 36, ​​while the gripper 34 is being raised by the Z-axis actuator 35. In other words, path R4 indicates that the period during which the recyclable waste to be processed moves from the conveyance path 8 to the dust chute 37 includes a period during which the Z-axis actuator 35 and the X-axis and Y-axis actuators 33 move the gripper 34 in parallel. Therefore, compared to the object processing device 1 of the previously described embodiment 1, the object processing device 1 of embodiment 2 can reduce the time that the gripper 34 grips the recyclable waste to be processed by the time that it takes to move the gripper 34 in parallel with the X-axis / Y-axis actuator 33 and the Z-axis actuator 35. By reducing the time that the gripper 34 grips the recyclable waste to be processed, the object processing device 1 of embodiment 2 can increase the number of recyclable waste items that can be moved from the transport path 8 to the dust chute 37 per unit time. [Example]

[0051] As shown in FIG. 10 , the object processing apparatus of Example 3 is the same as the object processing apparatus 1 of Example 1 described above, except that the robot body 24 of the object processing apparatus 1 of Example 1 described above is replaced with another robot body 51. FIG. 10 is a side view showing the robot body 51 of the object processing apparatus of Example 3. Like the robot body 24 described above, the robot body 51 includes a translational support member 32, an X-axis / Y-axis actuator 33, a gripper 34, and a Z-axis actuator 35, and further includes a rotational support member 52 and a rotational actuator 53. The rotational support member 52 is supported by the translational support member 32 via the Z-axis actuator 35 so as to be able to translate parallel to the Z-axis direction. At this time, the gripper 34 is supported by the rotational support member 52 via the rotational actuator 53 so as to be able to rotate about a rotational axis 54. The rotational axis 54 intersects the gripper 34, is parallel to the Z-axis direction, and is fixed to the rotational support member 52. The rotation actuator 53 rotates the gripping portion 34 around the rotation axis 54 relative to the rotation support member 52 .

[0052] The width in the X-axis direction of recyclable waste 55 to be processed that is held and lifted by gripping unit 34 may change as recyclable waste 55 to be processed rotates around rotation axis 54, as shown in Fig. 11. Fig. 11 is a top view showing recyclable waste 55 to be processed that is held and lifted by gripping unit 34. The width in a certain direction of recyclable waste 55 to be processed is equal to the distance between two planes that are perpendicular to that direction when recyclable waste 55 to be processed is sandwiched between two planes.

[0053] The control device 41 processes the waste sorting image and calculates a rotation angle θ based on the waste sorting image. The rotation angle θ indicates the angle by which the recyclable waste 55 to be processed is rotated around the rotation axis 54 so that the diametric width of the recyclable waste 55 in the X-axis direction is minimized. When the recyclable waste 55 to be processed is being lifted, the control device 41 controls the rotation actuator 53 to rotate the recyclable waste 55 around the rotation axis 54 by the rotation angle θ, as shown in FIG. 12 . FIG. 12 is a perspective view showing the recyclable waste 55 to be processed moving from the conveying path 8 to the dust chute 37 in the object processing device of the third embodiment. The width D of the recyclable waste 55 to be processed is minimized by rotating the recyclable waste 55 by the rotation angle θ. Similar to the control device 41 of the object processing device of the previously described embodiment, the control device 41 calculates the path of the gripper 34 based on the width of the recyclable waste 55 to be processed, moves the gripper 34 along the path, and moves the recyclable waste 55 to the dust chute 37.

[0054] The object processing apparatus of Example 3 can reduce the width D of the recyclable waste 55 to be processed by rotating the recyclable waste 55 around the rotation axis 54. The object processing apparatus of Example 3 can speed up the timing of releasing the recyclable waste 55 to be processed from the gripping unit 34 because the width D of the recyclable waste 55 to be processed is small. The object processing apparatus of Example 3 can increase the number of pieces of recyclable waste to be processed that are moved from the transport path 8 to the dust chute 37 per unit time compared to the object processing apparatuses of the previously described Examples because the object processing apparatus of Example 3 speeds up the timing of releasing the recyclable waste 55 to be processed from the gripping unit 34. [Example]

[0055] As shown in FIG. 13 , the object processing apparatus of Example 4 is the same as the object processing apparatus 1 of Example 1 described above, except that the robot body 24 of the object processing apparatus 1 of Example 1 described above is replaced with another robot body 61. FIG. 13 is a front view showing the robot body 61 of the object processing apparatus of Example 4, illustrating how recyclable waste to be processed moves from the transport path 8 to the dust chute 37. Like the robot body 24 described above, the robot body 61 includes a translational support member 32, an X-axis / Y-axis actuator 33, a gripper 34, and a Z-axis actuator 35, and further includes a projection support member 62 and an oblique projection actuator 63. The projection support member 62 is supported by the translational support member 32 via the Z-axis actuator 35 so as to be able to translate parallel to the Z-axis direction. At this time, the gripper 34 is supported by the projection support member 62 via the oblique projection actuator 63 so as to be able to rotate about a rotation axis 64. The rotation axis 64 does not intersect with the grip portion 34, is parallel to the Y-axis direction, and is fixed to the projection support member 62. The oblique projection actuator 63 rotates the grip portion 34 around the rotation axis 64 relative to the projection support member 62.

[0056] Similar to the control device 41 of the object processing apparatus of the previously described embodiment, the control device 41 calculates the path of the gripping unit 34 based on the size of the recyclable waste to be processed and moves the gripping unit 34 along the path. The control device 41 calculates the oblique projection position based on the path and the size of the recyclable waste to be processed. The control device 41 controls the oblique projection actuator 63 to rotate the gripping unit 34 around the rotation axis 64 when the gripping unit 34 is positioned at the oblique projection position. The control device 41 controls the gripping unit 34 to release the recyclable waste to be processed from the gripping unit 34 while the gripping unit 34 is rotating around the rotation axis 64 and when the gripping unit 34 is positioned at a predetermined projection angle. The recyclable waste to be processed released from the gripping unit 34 is projected obliquely upward, falls freely along a parabola, and is deposited in the dust chute 37. That is, the oblique projection position and projection angle are calculated so that the obliquely projected recyclable waste to be processed is appropriately positioned in the dust chute 37 so that the recyclable waste to be processed does not collide with the belt conveyor frame 5.

[0057] The object processing apparatus of Example 4 is provided with an oblique projection actuator 63, which allows the oblique projection position to be set at the release position described above, thereby increasing the flight distance of the recyclable waste in the X-axis direction compared to the object processing apparatus 1 of Example 1. The object processing apparatus of Example 4 can shorten the path along which the gripping unit 34 holding the recyclable waste to be processed moves, thereby reducing the gripping time that the gripping unit 34 holds the recyclable waste to be processed. The object processing apparatus of Example 4 can increase the number of recyclable waste to be moved from the conveying path 8 to the dust chute 37 per unit time by reducing the gripping time.

[0058] Incidentally, the object processing apparatus of Example 4 described above is provided with an oblique projection actuator 63 that rotates the gripper 34 relative to the projection support member 62, but this may be replaced with another oblique projection actuator that translates the gripper 34 relative to the projection support member 62. Even when such an oblique projection actuator is provided, the object processing apparatus of Example 4 can increase the distance over which the recyclable waste to be processed is thrown in the X-axis direction, and can increase the number of recyclable waste to be processed that are moved from the transport path 8 to the dust chute 37 per unit time.

[0059] While the object processing apparatus in the above-described embodiments allows the recyclable waste to fall freely along a parabola, it may also allow the recyclable waste to fall freely along a vertical line. That is, the object processing apparatus may release the recyclable waste from the gripping units 34 after the gripping units 34 have stopped. Even in this case, the object processing apparatus calculates the release position at which the recyclable waste is released based on the width D of the recyclable waste, thereby shortening the path along which the gripping units 34 holding the recyclable waste move, and increasing the number of pieces of recyclable waste moved from the transport path 8 to the dust chute 37 per unit time.

[0060] Incidentally, the object processing device of the previously described embodiment is provided with an X-axis / Y-axis actuator 33 that translates the gripper 34 in the horizontal direction, but this may be replaced with an X-axis actuator that translates the gripper 34 only in the X-axis direction. Even in this case, the object processing device can increase the number of recyclable waste items to be processed that are moved from the transport path 8 to the dust chute 37 per unit time, just like the object processing device of the previously described embodiment.

[0061] Incidentally, the object processing apparatus of the previously described embodiment calculates the height of objects on the path based on the two-dimensional waste sorting image captured by the imaging camera 26, but the imaging camera 26 may be replaced with another sensor. An example of such a sensor is a three-dimensional sensor. In this case, the object processing apparatus separates recyclable waste to be processed from objects on the path based on the three-dimensional waste sorting image captured by the three-dimensional sensor, and measures the height of the objects on the path. Even in this case, the object processing apparatus can increase the number of recyclable waste to be processed that is moved from the conveying path 8 to the dust chute 37 per unit time, just like the object processing apparatus of the previously described embodiment.

[0062] Incidentally, the object processing device in the previously described embodiment calculates the path of the gripper 34 based on the height of the object on the path, but if it is clear that the object on the path is lower than the belt conveyor frame 5, the path of the gripper 34 may be calculated regardless of the height of the object on the path. Even in this case, the object processing device can increase the number of recyclable waste items to be processed that are moved from the conveyor path 8 to the dust chute 37 per unit time, just like the object processing device in the previously described embodiment.

[0063] Incidentally, the object processing apparatus of the previously described embodiment measures the size of the recyclable waste to be processed using the size measurement camera 36 during lifting, which captures two-dimensional size measurement images, but the size of the recyclable waste to be processed may also be measured using a sensor other than the size measurement camera 36 during lifting. An example of such a sensor is a three-dimensional sensor. Even when such a sensor is used, the object processing apparatus can increase the number of recyclable waste to be processed that is moved from the transport path 8 to the dust chute 37 per unit time, just like the object processing apparatus of the previously described embodiment.

[0064] While the object processing device of the previously described embodiment measures the size of the lifted recyclable waste to be processed, if the degree of tilt of the lifted recyclable waste to be processed is sufficiently small, the size of the recyclable waste to be processed may be estimated by image processing of the waste sorting image. Even in this case, like the object processing device of the previously described embodiment, the object processing device can increase the number of recyclable waste to be processed that are moved per unit time from the transport path 8 to the dust chute 37, and further reduce manufacturing costs by omitting the camera 36 for measuring the size during lifting.

[0065] Although the embodiments have been described above, the embodiments are not limited to the above content. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made without departing from the spirit of the embodiments. [Explanation of symbols]

[0066] 1: Material processing equipment 2: Automatic recyclable waste sorting device 3:Transportation device 5: Belt conveyor frame 8: Transport path 24: Robot body 26: Imaging camera 33: X-axis and Y-axis actuators 34: Grip part 35: Z-axis actuator 36: Camera for measuring size when lifted 41: Control device 51: Robot body 52: Rotation support member 53: Rotary actuator 55:Recyclable waste to be processed 61: Robot body 63: Oblique projection actuator

Claims

1. an imaging unit that captures an image of a target object; a gripping unit that grips the target object; an actuator that moves the gripping portion; a control unit; The control unit calculating a path along which the gripping unit will move when the target object is gripped by the gripping unit based on the image and a size of the target object; controlling the actuator so that the gripper moves along the path after the target object is gripped by the gripper; When the gripping unit is disposed at a release position and is moving in a direction not parallel to a vertical direction, the gripping unit is controlled so that the target object is released from the gripping unit. Material handling equipment.

2. The control unit calculates the path so that the target object does not come into contact with other objects while being held by the gripping unit and so that the time during which the target object is held by the gripping unit is shortened. The object processing device of claim 1 .

3. The control unit further calculating, based on the image, the size of an object other than the target object among a plurality of objects appearing in the image; Calculating the path further based on the size of the other object The object processing device of claim 1 .

4. The actuator is a first actuator that translates the gripping portion in a first direction; a second actuator that translates the gripping portion in a second direction that is different from the first direction; The control unit controls the first actuator and the second actuator such that the second actuator translates the gripper when the first actuator translates the gripper. The object processing device of claim 1 .

5. The control unit calculates the path further based on an inclination of the target object when the target object is lifted. The object processing device of claim 1 .

6. a sensor for detecting a lifted size of the target object when the target object is lifted; The control unit calculates the path further based on the size of the target object when lifted. The object processing device of claim 1 .

7. The control unit Calculating the release position based on the size of the target object so that the target object does not come into contact with a predetermined object while the target object is falling The object processing device of claim 1 .

8. a rotation actuator that rotates the gripping unit around a rotation axis that intersects with a plane along which the target object is placed, The control unit controls the rotation actuator based on the image so that the gripping unit rotates when the target object is gripped by the gripping unit. The object processing device according to claim 7 .

9. Further provided with an actuator for oblique projection, The control unit controls the oblique projection actuator so that the gripping unit rotates around a rotation axis that does not intersect with the gripping unit, and controls the gripping unit so that the target object is released from the gripping unit when the oblique projection actuator rotates the gripping unit. The object processing device according to claim 7 .

10. a conveying unit that conveys the target object along a conveying path in a conveying direction; the imaging unit captures the image when the target object is placed in a first area of ​​the transport path; The gripping unit grips the target object when the target object is located in a second area of ​​the transport path downstream of the first area in the transport direction. The object processing device of claim 1 .

Images