Volume estimation device and volume estimation method

Abstract

To provide a volume estimation device and a volume estimation method which can stably estimate types and volumes of a plurality of waste matters with high accuracy.SOLUTION: A control device 40 of a volume estimation system 1 identifies a plurality of waste matters W on the basis of image data of the plurality of waste matters W imaged by a camera 20. The control device 40 estimates a type of each of the plurality of waste matters W on the basis of the image data. The control device 40 estimates the volume of each of the plurality of waste matters W on the basis of the image data. The control device 40 calculates the total value of the volumes of the plurality of waste matters W for each type. The control device 40 outputs the calculated total value to a tablet terminal 50. The tablet terminal 50 displays the total value of the volumes for each type of the waste matters W.SELECTED DRAWING: Figure 4

Description

Technical Field

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[0001] The present invention relates to a volume estimation device and a volume estimation method for estimating the volume of waste.

Background Art

[0002] In recent years, from the perspective of effective utilization of resources, it has been required to reuse waste as recyclable resources. Mixed waste in which different types of waste such as construction waste are mixed is sorted by type and crushed so as to be easily reused, and thus revived as valuable resources. The mixed waste is subjected to sorting and crushing processes at a treatment plant. At the treatment plant, the amount of the mixed waste transported in is estimated. 并

[0003] Patent Document 1 discloses a conventional volume estimation system for estimating the volume of waste. This volume estimation system acquires depth image data including depth information for each pixel from a depth camera that photographs a three-dimensional space on the loading platform of a truck on which waste is placed. The volume estimation system acquires the distance from the depth camera to the region corresponding to the pixel as the empty-load distance based on the depth information of the pixels of the depth image data in the empty-load state where no waste is placed on the loading platform. The volume estimation system acquires the distance from the depth camera to the region corresponding to the pixel as the operating distance based on the depth information of the pixels of the depth image data in the operating state where waste is placed on the loading platform. Then, the volume estimation system estimates the volume of the waste on the loading platform based on the empty-load distance and the operating distance.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When a business generates mixed waste, it entrusts the processing of the mixed waste to a processing company. At this time, the business generates the waste and creates an industrial waste management form (hereinafter referred to as a "manifest") which records the types and quantities of waste contained in the mixed waste. The processing company then transports the entrusted mixed waste to the processing site and verifies that the types and quantities of waste contained in the mixed waste match those recorded in the manifest.

[0006] The volume estimation system described above can estimate the total volume of mixed waste loaded onto a truck when it is transported to a waste disposal site by truck. However, the volume estimation system cannot estimate the volume of each type of waste when the mixed waste contains multiple types of waste. Therefore, as shown in Figure 8, workers of the waste disposal company had to spread the mixed waste on the floor of the waste disposal site and visually estimate the types and volumes of the various wastes contained in the mixed waste, and confirm whether it matched the manifest. As a result, the verification process was time-consuming, and the accuracy of the verification sometimes depended on the experience of the worker.

[0007] Therefore, the present invention aims to provide a volume estimation device and a volume estimation method that can stably estimate multiple types and volumes of waste with high accuracy. [Means for solving the problem]

[0008] To achieve the above objective, a volume estimation device according to one aspect of the present invention is characterized by comprising: an identification unit that identifies a plurality of wastes based on image data of the plurality of wastes captured by a photography device; a type estimation unit that estimates the type of each of the plurality of wastes based on the image data; a volume estimation unit that estimates the volume of each of the plurality of wastes based on the image data; a summation unit that calculates the total volume for each type of waste for the plurality of wastes; and an output unit that outputs the summation value.

[0009] According to the present invention, the type and volume of waste can be estimated by image recognition without visual inspection by an operator, and the total volume can be calculated for each type. Therefore, the types and volumes of multiple types of waste can be estimated with high accuracy and stability.

[0010] In the present invention, it is preferable that the imaging device includes a depth camera positioned above the surface on which the plurality of wastes are placed, the image data includes depth image data captured by the depth camera, which includes depth information for each pixel, and the volume estimation unit estimates the volume of each of the plurality of wastes based on the depth image data. By doing so, the volume of each of the plurality of wastes can be estimated with higher accuracy.

[0011] In the present invention, it is preferable that the imaging device includes a mobile camera that can move above the surface on which the plurality of wastes are placed, and that the volume estimation unit estimates the volume of each of the plurality of wastes based on the image data captured by the mobile camera at a first position and the image data captured by the mobile camera at a second position different from the first position. In this way, the volume of each of the plurality of wastes can be estimated based on parallax. By using multiple image data captured by the mobile camera at multiple different positions, the volume of each of the plurality of wastes can be estimated with higher accuracy.

[0012] In the present invention, it is preferable that the imaging device includes a mobile camera that can move above the surface on which the plurality of wastes are placed, and that the type estimation unit estimates the type of each of the plurality of wastes based on the image data captured by the mobile camera. In this way, for example, when multiple wastes are brought in, the mobile camera can be moved upward so as not to interfere with the work, and when taking pictures, the mobile camera can be brought closer to the multiple wastes to take pictures. The mobile camera may also be moved horizontally. As a result, work efficiency can be improved and the type of each of the multiple wastes can be estimated with higher accuracy.

[0013] In the present invention, it is preferable that the moving camera is a camera mounted on a drone capable of flying above the aforementioned mounting surface. This eliminates the need to install a crane or the like to move the camera, and allows the camera to be moved with a simple configuration.

[0014] In the present invention, it is preferable that the output unit outputs notification information indicating that the plurality of wastes, whose types have been estimated, contain waste of a type other than that which has been pre-specified (hereinafter referred to as "unspecified type"). By doing so, for example, by pre-specifying the types of waste that are expected to be included in the plurality of wastes based on the manifest, it is possible to notify that an unexpected type of waste (unspecified type) is mixed in with the plurality of wastes.

[0015] In the present invention, it is preferable that the output unit outputs notification information indicating that the plurality of wastes contain waste of a predetermined type (hereinafter referred to as "designated type") when the plurality of wastes whose types have been estimated contain waste of the designated type. By doing so, for example, by pre-designating the type of waste that requires attention, it is possible to notify that the plurality of wastes contain waste of a predetermined type (designated type) that requires attention.

[0016] In the present invention, it is preferable that the output unit outputs notification information indicating that the plurality of wastes, whose volumes have been estimated, contain waste exceeding a predetermined volume limit. By doing so, for example, by setting a volume limit for waste that can be processed in a subsequent process, it is possible to notify that the plurality of wastes contain waste that cannot be processed in a subsequent process.

[0017] To achieve the above object, a volume estimation method according to another aspect of the present invention is characterized in that a computer identifies a plurality of wastes based on image data of the plurality of wastes photographed by a photographing device, estimates the type of each of the plurality of wastes based on the image data, estimates the volume of each of the plurality of wastes based on the image data, calculates the total value of the volumes for each type of the plurality of wastes, and outputs the total value.

[0018] According to the present invention, without depending on the visual inspection of an operator, the type and volume of wastes can be estimated by image recognition, and the total value of the volumes for each type can be calculated. Therefore, the types and volumes of a plurality of wastes can be stably estimated with high accuracy.

Effect of the Invention

[0019] According to the present invention, the types and volumes of a plurality of wastes can be stably estimated with high accuracy.

Brief Description of the Drawings

[0020] [Figure 1] It is a diagram for explaining a schematic configuration of a volume estimation system having a volume estimation device according to an embodiment of the present invention. [Figure 2] It is a diagram for explaining a functional block of the volume estimation system of FIG. 1. [Figure 3] It is a diagram schematically showing a three-dimensional space photographed by a depth camera. [[ID=2!]] [Figure 4] It is a flowchart showing an example of a process (volume estimation process) in a control device included in the volume estimation device of FIG. 1. <^ [Figure 5] It is a diagram showing an example of a plurality of wastes photographed by the camera of the volume estimation system of FIG. 1. [Figure 6] It is a diagram showing an example of results of estimating the type and volume of each of a plurality of wastes included in mixed wastes. [Figure 7] It is a diagram showing an example of results of calculating the total volume value for each type of a plurality of wastes included in mixed wastes. [Figure 8] It is a diagram showing an example of the volume estimation work by an operator.

Mode for Carrying Out the Invention

[0021] Hereinafter, a volume estimation system having a volume estimation device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7.

[0022] FIG. 1 is a diagram for explaining a schematic configuration of a volume estimation system having a volume estimation device according to an embodiment of the present invention. FIG. 2 is a diagram for explaining a functional block of the volume estimation system of FIG. 1. FIG. 3 is a diagram schematically showing a three-dimensional space photographed by a depth camera. FIG. 4 is a flowchart showing an example of processing (volume estimation processing) in a control device included in the volume estimation device of FIG. 1. FIG. 5 is a diagram showing an example of a plurality of wastes photographed by a camera of the volume estimation system of FIG. 1. FIG. 6 is a diagram showing an example of a result of estimating the type and volume of each of a plurality of wastes included in mixed waste. FIG. 7 is a diagram showing an example of a result of calculating a total volume value for each type of a plurality of wastes included in mixed waste.

[0023] The volume estimation system 1 calculates a total volume value for each type of waste for a plurality of wastes included in mixed waste placed on a horizontal floor F of a waste treatment plant. The floor F is a placement surface on which a plurality of wastes are placed. Examples of the types of wastes included in the mixed waste include wood chips, metal chips, waste plastics, glass / concrete / ceramic chips, rubble, and the like.

[0024] As shown in FIG. 1, the volume estimation system 1 includes a camera 20 as a photographing device and a control device 40 as a volume estimation device.

[0025] The camera 2 is fixedly arranged above the floor F. The camera 20 is directed toward the photographing area S of the floor F. In FIGS. 1 and 5, the photographing area S of the camera 20 is indicated by a dashed line.

[0026] Camera 20 includes a digital still camera. Camera 20 captures the shooting area S and generates still image data.

[0027] Furthermore, camera 20 includes a depth camera. Camera 20 captures the shooting area S and generates depth image data. Specifically, camera 20 detects ultrasonic waves or laser light reflected from the floor F or the surface of waste W placed on the floor F, acquires information relating to the distance from camera 20 to the reflective surface (referred to as "depth information"), and generates depth image data including depth information for each pixel.

[0028] The image data generated by camera 20 is composed of a large number of pixels arranged vertically and horizontally, and more specifically, is a collection of data corresponding to a large number of pixels. In this embodiment, the still image data is, for example, image data relating to a color image in which each pixel is represented in 24-bit color. The depth image data is, for example, image data relating to a grayscale image in which each pixel is represented by shades of gray according to depth. The depth image data is represented as 256 shades of gray for each pixel, such that the smaller the distance, the lighter the color, and the greater the distance, the darker the color. The depth image data may also be represented by a color corresponding to the depth for each pixel. The depth image data only needs to be data that includes depth information for each pixel, and its viewing method is arbitrary.

[0029] Fig. 3 schematically shows a three-dimensional space photographed by a depth camera. The depth camera is located at the vertex (position P0) of a three-dimensional space in the shape of a square pyramid, and photographs this three-dimensional space to generate depth image data. When photographing planar imaging regions S1 and S2 within the three-dimensional space, the area of the imaging region S1 at position P1, which is at a distance L1 from position P0, is larger than the area of the planar imaging region S2 at position P2, which is at a distance L2 (L2 < L1) from position P0. Therefore, the area of the region s1 corresponding to the pixel of the depth image data generated when photographing the imaging region S1 is larger than the area of the region s2 corresponding to the pixel of the depth image data generated when photographing the imaging region S2. That is, the area of the region corresponding to the pixel including depth information indicating a large distance from the depth camera is larger than the area of the region corresponding to the pixel including depth information indicating a small distance from the depth camera. From this, it can be seen that the area of the region corresponding to the pixel of the depth image data has an area corresponding to the distance from the depth camera. The area of each region may be calculated based on the viewing angle of the depth camera or the like, or may be obtained using a table or the like that associates depth information (distance from the depth camera) and area for each region.

[0030] The volume of the waste W is estimated as follows. The distance from the depth camera to the floor F is measured in advance. Pixels inside the contour of the waste W are extracted from the depth image data obtained by photographing the waste W placed on the floor F. Based on the depth information of each extracted pixel, the area and the distance (height) to the floor F in the region corresponding to each pixel are obtained. The height is obtained by subtracting the distance indicated by the depth information from the distance from the depth camera to the floor F. The volume is calculated by multiplying the area obtained for each region corresponding to each pixel by the height, and the total value of the calculated volumes is taken as the volume of the waste W.

[0031] The control device 40 controls the operation of the entire volume estimation system 1. The control device 40 has a computer. The computer may be a personal computer or a large computer such as a workstation or server. The computer has a central processing unit (CPU) and a program storage device consisting of memory and a hard disk drive that stores various programs executed by the CPU. A tablet terminal 50 is connected to the control device 40 via a wireless communication line. The tablet terminal 50 is used as a display device that displays information output by the volume estimation system 1 and as an operation input device that receives commands for operations on the volume estimation system 1.

[0032] The control device 40 may be connected to a display device such as a liquid crystal display or an organic EL display, as well as an input device such as a keyboard and mouse, instead of the tablet terminal 50. Alternatively, the control unit (not shown) consisting of a computer, which is part of the tablet terminal 50, may be used as the control device 40.

[0033] Furthermore, a storage device 60, such as an external hard disk drive, is connected to the control device 40. The control device 40 stores the results of various processes in the storage device 60.

[0034] The storage device 60 also stores training data used for learning to estimate the type of waste W. This training data includes combinations of pre-prepared images of waste W (for example, still image data of wood chips) and the type of waste W contained in the image (for example, "wood chips"). The generation of training data is disclosed in Japanese Patent Application Publication No. 2017-109161 filed by the present applicant, and a detailed explanation is omitted in this specification. The control device 40, the storage device 60, and the tablet terminal 50 may be connected, for example, via the Internet.

[0035] The computer of the control device 40 functions as the identification unit 41, type estimation unit 42, volume estimation unit 43, total unit 44, and output unit 45 shown in Figure 2, by executing a program (volume estimation program) stored in the program storage device.

[0036] The identification unit 41 acquires image data (still image data, depth image data) output from the camera 20. Based on the image data, the identification unit 41 identifies multiple waste materials W placed in the shooting area S on the floor F and acquires the position and shape of each of the multiple waste materials W. The identification unit 41 processes the image data, such as cutting out the portion corresponding to each of the multiple waste materials W, and outputs it to the type estimation unit 42 and the volume estimation unit 43. Alternatively, the identification unit 41 may output the image data to the type estimation unit 42 and the volume estimation unit 43 without processing it.

[0037] The type estimation unit 42 estimates the type of each of the multiple wastes W identified by the identification unit 41. Specifically, the type estimation unit 42 acquires image data from the identification unit 41 and performs pattern matching processing on this image data using recognition pattern data prepared for each type to estimate the type of each of the multiple wastes W. Of course, the type may also be estimated by other processing methods. The recognition pattern data used for estimation is updated by machine learning using training data stored in the storage device 60.

[0038] The type estimation unit 42 reads training data from the storage device 60 at predetermined timings, such as periodically, during periods when the volume estimation system 1 is not performing volume estimation processing, or when new training data is added to the storage device 60, and updates the recognition pattern data by performing machine learning. In this embodiment, the type estimation unit 42 is configured to perform machine learning using a convolutional neural network with an optimization method based on backpropagation. Of course, machine learning may be performed by other methods.

[0039] The volume estimation unit 43 estimates the volume of each of the multiple waste items W identified by the identification unit 41. Specifically, the volume estimation unit 43 obtains image data from the identification unit 41 and, based on the depth information of each pixel contained within the contour of the waste item W, obtains the area of ​​the region corresponding to each pixel and the distance (height) to the floor F. The volume estimation unit 43 calculates the volume by multiplying the area obtained for the region corresponding to each pixel by the height, and the sum of the calculated volumes is taken as the volume of the waste item W.

[0040] The summing unit 44 calculates the sum of the volumes estimated by the volume estimation unit 43 for each type of waste W identified by the identification unit 41, according to the type estimated by the type estimation unit 42.

[0041] The output unit 45 outputs the total volume of each type of waste W, calculated by the summing unit 44, to the tablet terminal 50.

[0042] Next, an example of the processing (volume estimation processing) according to the present invention, which is performed in the computer of the control device 40 of the volume estimation system 1 of the above-described embodiment, will be explained with reference to the flowchart shown in Figure 4.

[0043] Multiple waste materials W contained in the mixed waste are placed in the imaging area S on the floor F so that they do not overlap with each other. Then, the worker inputs an operation into the tablet terminal 50 to request the control device 40 to perform volume estimation processing. The control device 40 performs volume estimation processing in response to the request from the tablet terminal 50.

[0044] The control device 40 controls the camera 20 to capture images of the shooting area S (S110).

[0045] Next, the control device 40 analyzes the image data output from the camera 20 to identify multiple waste materials W contained in the image data, and determines the location and shape of each of the identified waste materials W (S120).

[0046] Specifically, when image data of multiple waste materials W (W11 to W34) as illustrated in Figure 5 is output from the camera 20, the control device 40 analyzes the image data to identify the waste materials W11 to W34. As shown in Figure 6, the control device 40 assigns identification numbers to the waste materials W11 to W34 and stores them in the storage device 60. Then, the control device 40 analyzes the image data to determine the location and shape of the waste materials W11 to W34.

[0047] Next, the control device 40 estimates the type of each of the identified waste W based on the image data (S130).

[0048] Specifically, the control device 40 estimates the type of waste by performing pattern matching on each of the waste W11 to W34 contained in the still image data. Then, as shown in Figure 6, the control device 40 stores the estimated type of each of the waste W11 to W34 in the storage device 60, associating it with the identification number of the waste W11 to W34.

[0049] Next, the control device 40 estimates the volume of each of the identified waste W based on the image data (S140).

[0050] Specifically, the control device 40 extracts pixels located inside the contours of each of the waste materials W11 to W34 included in the depth image data, and calculates the volume using the depth information of each pixel extracted for each of the waste materials W11 to W34. Then, as shown in Figure 6, the control device 40 stores the estimated volume for each of the waste materials W11 to W34 in the storage device 60, associating it with the identification number of the waste materials W11 to W34.

[0051] Next, the control device 40 calculates the total volume for each type of the identified waste W (S150).

[0052] Specifically, the control device 40 calculates the total volume of waste W11-W14, W16, W21, W22, W25, W28, W30, W31, W33, and W34 that are estimated to be of the type "wood scraps" from the waste W11-W34 stored in the storage device 60, calculates the total volume of waste W15, W17, W18, W20, W24, W27, and W29 that are estimated to be of the type "metal scraps", and calculates the total volume of waste W19, W23, W26, and W32 that are estimated to be of the type "waste plastics". Then, as shown in Figure 7, the control device 40 stores the total volume calculated for each type in the storage device 60.

[0053] Next, the control device 40 outputs the total volume of each type of waste W to the tablet terminal 50 (S160). The tablet terminal 50 then displays the types of waste W included in the mixed waste and their total volumes. The worker refers to the display on the tablet terminal 50 to confirm whether the types of waste W and the total volume of each type of waste W match the manifest.

[0054] As described above, the volume estimation system 1 includes a camera 20 that photographs a shooting area S of the floor F, and a control device 40. The control device 40 includes an identification unit 41, a type estimation unit 42, a volume estimation unit 43, a totaling unit 44, and an output unit 45. The identification unit 41 identifies multiple waste materials W based on image data of multiple waste materials W photographed by the camera 20. The type estimation unit 42 estimates the type of each of the multiple waste materials W based on the image data. The volume estimation unit 43 estimates the volume of each of the multiple waste materials W based on the image data. The totaling unit 44 calculates the total volume for each type of waste material W. The output unit 45 then outputs the calculated total value to the tablet terminal 50. The tablet terminal 50 displays the total volume for each type of waste material W.

[0055] As a result, the control device 40 can estimate the type and volume of waste W by image recognition without visual inspection by an operator, and calculate the total volume for each type. Therefore, the control device 40 can stably estimate the types and volumes of multiple types of waste W with high accuracy.

[0056] Furthermore, camera 20 includes a depth camera positioned above the floor F on which multiple wastes W are placed. The image data of the multiple wastes W captured by camera 20 includes depth image data, which includes depth information for each pixel, captured by the depth camera. The volume estimation unit 43 estimates the volume of each of the multiple wastes W based on the depth image data. In this way, the volume of each of the multiple wastes W can be estimated with higher accuracy.

[0057] In the volume estimation system 1, the camera 20 may include a mobile camera that can move above the floor F, and the volume estimation unit 43 may estimate the volume of each of the multiple wastes W based on image data captured by the mobile camera at a first position and image data captured by the mobile camera at a second position different from the first position. The second position is, for example, a position moved horizontally from the first position. In this way, the control device 40 can estimate the volume of each of the multiple wastes W based on parallax. The control device 40 can estimate the volume of each of the multiple wastes W with higher accuracy by using multiple image data captured by the mobile camera at two or more different positions.

[0058] Furthermore, in the volume estimation system 1, the camera 20 may include a mobile camera that can move above the floor F, and the type estimation unit 42 may estimate the type of each of the multiple wastes W based on image data captured by the mobile camera. For example, the control device 40 may move the mobile camera upward when the multiple wastes W are placed on the floor F, and move the mobile camera downward to get closer to the multiple wastes W and take pictures. Alternatively, the control device 40 may move the mobile camera laterally. This improves work efficiency and allows for the estimation of the type of each of the multiple wastes W with higher accuracy.

[0059] The mobile camera may be a camera mounted on a drone capable of flying over floor F. This eliminates the need to install a crane or other equipment to move the camera, allowing the camera to be moved with a simple configuration.

[0060] Furthermore, in the volume estimation system 1, when inputting an operation to request the execution of volume estimation processing to the tablet terminal 50, it may be possible to input the types of waste W that are expected to be included in the multiple waste W (for example, wood scraps, metal scraps, and waste plastics, hereinafter referred to as "expected types"). Alternatively, the expected types may be stored in the storage device 60. The output unit 45 may output notification information to the tablet terminal 50 indicating that the multiple waste W whose types have been estimated by the type estimation unit 42 include waste W of a type other than the expected types. In this way, for example, by pre-specifying the types of waste W that are expected to be included in the multiple waste W based on the manifest, the tablet terminal 50 can notify that the multiple waste W contain waste W of an unexpected type (unspecified type) that was not expected.

[0061] Furthermore, in the volume estimation system 1, the storage device 60 may store the types of waste W that require attention (for example, polyvinyl chloride, hereinafter referred to as "specified types"). The output unit 45 may output notification information to the tablet terminal 50 indicating that the specified types of waste W are included in the multiple waste W whose types have been estimated by the type estimation unit 42. In this way, by pre-specifying the types of waste W that require attention, the tablet terminal 50 can notify that the specified types of waste W are mixed in with the multiple waste W.

[0062] Furthermore, in the volume estimation system 1, the storage device 60 may store an upper limit on the volume of waste W that can be processed in a subsequent process. The output unit 45 may output notification information to the tablet terminal 50 indicating that the waste W whose volume has been estimated by the volume estimation unit 43 includes waste W that exceeds the upper limit on volume. By doing so, the tablet terminal 50 can notify that the waste W that cannot be processed in a subsequent process is mixed in with the waste W.

[0063] The volume estimation system 1 described above estimates the types and volumes of multiple waste materials W contained in mixed waste, but is not limited to this. The volume estimation system 1 may also estimate the types and volumes of multiple waste materials W that are expected to contain only one type of waste material W.

[0064] Although embodiments of the present invention have been described above, the present invention is not limited to the configurations of these embodiments. Additions, deletions, design modifications, and combinations of features of the embodiments, as appropriate by those skilled in the art, are also included within the scope of the present invention, as long as they do not contradict the spirit of the invention. [Explanation of symbols]

[0065] 1…Volume estimation system 20... Camera 40…Control device 41...Identification section 42...Type estimation unit 43…Volume estimation unit 44...Total 45…Output section 50… Tablet devices 60…Storage device

Claims

1. A volume estimation device for estimating the volume of a plurality of waste materials placed on the floor, comprising at least one of wood, metal, plastic, glass, concrete, ceramics and rubble, An identification unit that distinguishes each of the multiple wastes as a separate entity based on image data of the multiple wastes captured by the imaging device, A type estimation unit that estimates the type of each of the aforementioned plurality of wastes based on the image data, A volume estimation unit that estimates the volume of each of the aforementioned plurality of wastes based on the image data, A summing unit that calculates the total volume for each type of waste mentioned above, A volume estimation device characterized by having an output unit that outputs the total value so that the total value is displayed on a display device for each type.

2. The aforementioned imaging device includes a depth camera positioned above the floor on which the plurality of wastes are placed, The image data includes depth image data captured by the depth camera, which includes depth information for each pixel. The volume estimation device according to claim 1, wherein the volume estimation unit estimates the volume of each of the plurality of wastes based on the depth image data.

3. The aforementioned imaging device includes a mobile camera that can move above the floor on which the plurality of wastes are placed, The volume estimation device according to claim 1, wherein the volume estimation unit estimates the volume of each of the plurality of wastes based on the image data captured by the mobile camera at a first position and the image data captured by the mobile camera at a second position different from the first position.

4. The aforementioned imaging device includes a mobile camera that can move above the floor on which the plurality of wastes are placed, The volume estimation device according to any one of claims 1 to 3, wherein the type estimation unit estimates the type of each of the plurality of wastes based on the image data captured by the mobile camera.

5. The volume estimation device according to claim 3 or 4, wherein the mobile camera is a camera mounted on a drone capable of flying above the floor.

6. The volume estimation device according to any one of claims 1 to 5, wherein the output unit outputs notification information indicating that the plurality of wastes whose types have been estimated include waste of a type other than a type previously designated (hereinafter referred to as "unspecified type").

7. The volume estimation device according to any one of claims 1 to 6, wherein the output unit outputs notification information indicating that the plurality of wastes include waste of a predetermined type (hereinafter referred to as "designated type") when the plurality of wastes whose type has been estimated include waste of the designated type.

8. The volume estimation device according to any one of claims 1 to 7, wherein the output unit outputs notification information indicating that the plurality of wastes whose volumes have been estimated contain waste exceeding a predetermined volume limit when the plurality of wastes contain waste exceeding a predetermined volume limit.

9. A volume estimation method for estimating the volume of a plurality of wastes placed on the floor, comprising at least one of wood, metal, plastic, glass, concrete, ceramics and rubble, Computers Based on the image data of the multiple wastes captured by the imaging device, each of the multiple wastes is distinguished as a separate entity. For each of the aforementioned multiple wastes, the type is estimated based on the image data. For each of the aforementioned plurality of waste materials, the volume is estimated based on the image data. For each of the aforementioned types of waste, the total volume is calculated. A volume estimation method characterized by outputting the total value so that the total value is displayed on a display device for each type.

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