Waste disposal system

Abstract

To remove foreign objects more properly when a waste material is regenerated.SOLUTION: A waste material processing system of the disclosure places a waste material on a transport surface of a transport part to transport the waste material in a transport line and regenerate the waste material. The waste material processing system includes a detection part which is disposed at the downstream side of a removal area where foreign objects contained in the waste material are removed in the transport line and detects foreign objects remaining in the transported waste material.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This specification discloses a waste material processing system.

Background Art

[0002] Conventionally, in a waste material processing system for recycling roadbed materials and the like, waste materials to be recycled and foreign substances that are not to be recycled are mixed and conveyed by a conveying device such as a conveyor. In such a waste material processing system, for example, a method of removing foreign substances contained in waste materials by air separation using ejection air has been proposed (see, for example, Patent Document 1). Also, in such a waste material processing system, a foreign substance removing device has been proposed that rotates a support shaft disposed along the conveying direction of the waste materials above the belt conveyor and scrapes foreign substances into the scrap shoots formed on both sides of the belt conveyor by a comb-shaped scraping comb (see, for example, Patent Document 2). In this foreign substance removing device, when a foreign substance is detected, the belt conveyor is stopped, the scraping comb is driven, and the foreign substance is removed from the belt conveyor. Further, in a waste material processing system, a system having a crushing device for crushing waste materials and a conveyor for transporting waste materials and issuing an alarm around before starting the crusher has been proposed (see, for example, Patent Document 3). In this waste material processing system, it is said that an operator can be warned of the start of the equipment and danger can be prevented.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the waste material processing systems described in Patent Documents 1 and 2, it is unclear whether the removal of foreign matter was successful, and even if foreign matter remained, the reason for this was unknown, and there was no way to deal with it. Furthermore, the waste material processing systems in Patent Documents 1 and 2 did not take special considerations regarding the removal of foreign matter, and there was a need to improve the efficiency of foreign matter removal. In addition, while the waste material processing system in Patent Document 3 can issue an alarm to the worker, it required a special alarm device solely for the purpose of alerting the worker.

[0005] This disclosure is made to solve these problems and primarily aims to provide a waste material processing system that can more effectively remove foreign matter when recycling waste materials.

[0006] This disclosure employs the following means to achieve the primary objectives described above.

[0007] The waste treatment system disclosed herein is A waste material processing system that places waste material on the transport surface of a transport unit and transports it within a transport line to recycle the waste material, A detection unit is located downstream of the removal area in the transport line where foreign matter contained in the waste material is removed, and detects any foreign matter remaining in the transported waste material. It is something that is provided.

[0008] This waste processing system allows for more effective removal of foreign matter during the recycling process of waste materials. [Brief explanation of the drawing]

[0009] [Figure 1] An explanatory diagram showing an example of the configuration of the recycling system 10. [Figure 2] A perspective view showing an example of the schematic configuration of the waste material processing system 30. [Figure 3] An explanatory diagram showing an example of execution condition information 53 stored in the memory unit 52. [Figure 4] An explanatory diagram showing an example of history information 60 stored in the memory unit 52. [Figure 5]A flowchart illustrating an example of a routine for executing attention actions. [Figure 6] An explanatory diagram showing an example of cautionary actions performed by the waste material processing system 30. [Figure 7] A flowchart showing an example of a waste material processing execution record routine. [Figure 8] A flowchart showing an example of execution condition setting and execution processing routine. [Figure 9] An explanatory diagram showing an example of a recognized image 70 and a detected image 71 during waste material processing. [Figure 10] A flowchart illustrating an example of an analysis processing routine. [Figure 11] An explanatory diagram showing an example of the schematic configuration of another waste material processing system 30B. [Modes for carrying out the invention]

[0010] The embodiments for implementing this disclosure will be described with reference to the drawings. Figure 1 is an explanatory diagram showing an example of the configuration of the recycling system 10. Figure 2 is a perspective view showing an example of the schematic configuration of the waste material processing system 30. Figure 3 is an explanatory diagram showing an example of execution condition information 53 stored in the storage unit 52. Figure 4 is an explanatory diagram showing an example of history information 60 stored in the storage unit 52. In this embodiment, the left-right direction, front-back direction, and up-down direction are as shown in Figures 1 and 2. In this embodiment, the direction in which the waste material 12 is transported will be referred to as the transport direction D.

[0011] The waste material 12 processed in the recycling system 1 is a mixture of recyclable materials 13 such as stone, sand, and concrete, and foreign materials 14 such as paper, resin, wood, and metal. As shown in Figure 1, the recycling system 1 includes a primary crusher 15, a primary magnetic separator 16, a screen machine 17, a waste material processing system 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying units 20-25.

[0012] The primary crusher 15 is a device for primary crushing of the waste material 12 as the raw material. This primary crusher 15 crushes the waste material 12 so as to be, for example, below a predetermined primary size (for example, 40 cm or less). The primary magnetic separator 16 is a device for removing foreign magnetic substances contained in the waste material 12 by magnetic force. The screen machine 17 is a device for separating the waste material 12 with a size greater than the primary size and the waste material 12 with a size less than the primary size, for example, by the waste material 12 passing over the mesh. The secondary crusher 18 is a device for secondary crushing of the waste material 12 to a size smaller than that of the primary crusher 15. This secondary crusher 18 crushes the waste material 12 so as to be below a predetermined secondary size (for example, 10 cm or less). The secondary magnetic separator 19 is a device for removing magnetic substances that could not be completely removed by the primary magnetic separator 16 and the waste material treatment system 30 from the waste material 12.

[0013] The conveying units 20 to 25 as the conveying line are devices for placing the waste material 12 on the conveying surface and conveying it along the conveying direction D, and are configured as, for example, belt conveyors. Note that the conveying units 20 to 25 may have a configuration other than a belt conveyor as long as they can convey the waste material 12.

[0014] The waste material treatment system 30 is a system for placing the waste material 12 on the conveying surface of the conveying unit 22, conveying the waste material 12 within the conveying line, removing the foreign matter 14, and recycling this waste material 12. As shown in FIG. 2, the waste material treatment system 30 includes a conveying unit 22, a recognition unit 32, a detection unit 37, a removal unit 40, and a control device 50. The conveying unit 22 places the waste material 12 on the conveying surface and conveys the waste material 12 on the conveying line at the conveying speed set as the execution condition.

[0015] The recognition unit 32 is positioned upstream of the removal area 35, which removes foreign matter 14 contained in the waste material 12 within the transport line, and is a device that recognizes foreign matter 14 contained in the waste material 12. The recognition unit 32 is positioned on a support member 31 provided above the recognition area 34, which recognizes target objects 13 and foreign matter 14 contained in the waste material 12. This recognition unit 32 has a recognition imaging unit 33 that images the transport line and obtains a recognition image. The recognition imaging unit 33 is a camera that captures still images or videos of the recognition area 34. This recognition imaging unit 33 images the waste material 12 at regular intervals from above the transport surface of the transport unit 22 and outputs the image data of the captured recognition image to the control device 50. The recognition unit 32 may also include, for example, one or more of the following: an InGaAs sensor, an infrared thermograph, a polarizing camera, a hyperspectral camera, or a terahertz camera. An InGaAs sensor is a sensor that can identify objects and their types based on differences in their reflection spectra. Infrared thermography can identify objects and their types based on differences in thermal properties. Polarizing cameras acquire differences in the shape of object surfaces as polarization information to identify the characteristics of objects. Hyperspectral cameras can identify objects and their types based on differences in a wider range of reflection spectra. Terahertz cameras use electromagnetic waves that fall between infrared and radio waves, have high penetration, and can recognize even the inside of objects. The recognition unit 32 is configured to recognize the location and material of the foreign object 14.

[0016] The detection unit 37 is a device that is disposed on the downstream side of the removal area 35 and detects foreign matter 14 remaining in the waste material 12 being conveyed. The detection unit 37 is disposed on a support member 36 provided above a detection area 39 that recognizes the object 13 and the foreign matter 14 contained in the waste material 12. The detection unit 37 has a detection imaging unit 38 that images the conveyance line to obtain a detection image. The detection imaging unit 38 is a camera that images a still image or a moving image of the detection area 39. This detection imaging unit 38 images the waste material 12 at a constant interval from above the conveyance surface of the conveyance unit 22 and outputs the image data of the captured detection image to the control device 50. This detection unit 37 may have the same configuration as the recognition unit 32. The detection unit 37 may be configured to include one or more of the above-described InGaAs sensors, infrared thermography, polarization cameras, hyperspectral cameras, and terahertz cameras. The detection unit 37 is configured to be able to recognize the presence position and material of the foreign matter 14 and the like.

[0017] The removal unit 40 is a device that is disposed in the removal area 35 and performs an operation of removing the foreign matter 14 contained in the waste material 12. This removal unit 40 may have an arm robot 41. The arm robot 41 includes, for example, as shown in FIG. 2, a first arm 42, a second arm 43, a pedestal portion 44, and a tip portion 45. The arm robot 41 is configured, for example, as a 5-axis or 6-axis articulated robot and is configured to be able to move an object within the removal area 35. The tip portion 45 is configured as an end effector and has a gripping member, and when this gripping member performs a gripping operation, it grips an object such as the foreign matter 14. The arm robot 41 receives a command from the control device 50 and executes an operation according to a predetermined execution condition.

[0018] The control device 50 is a device that controls the entire waste material processing system 30 and comprises a control unit 51, a storage unit 52, a display unit 56, an input unit 57, and a communication unit 58. The control unit 51 is configured as a microprocessor centered on a CPU and controls the entire device. The control unit 51 has the function of a processing unit that stores removal information regarding the status of foreign matter removal in the removal area in the storage unit 52. The control unit 51 also has the function of an execution unit that causes predetermined attention operations to be performed on predetermined operating units, including one or more of the transport units 20-25 and the removal unit 40. Furthermore, the control unit 51 has the function of a control unit that sets the operating conditions for the removal unit 40 and controls the removal unit 40 according to the set operating conditions. The storage unit 52 is a storage medium that stores information and is composed of, for example, an HDD or flash memory. The display unit 56 is a display that displays and outputs images, characters, symbols, etc. The input unit 57 is a device that has, for example, a keyboard or mouse and allows the operator to input commands to the control device 50. The communication unit 58 is an interface for communicating with external devices.

[0019] The memory unit 52 stores execution condition information 53 and history information 60, etc. As shown in Figure 3, the execution condition information 53 is information used when setting the operating conditions of the operating units, including the removal unit 40 and the transport unit 22, according to the material and weight of the foreign object 14. The execution condition information 53 includes operating conditions that allow the removal unit to operate more quickly the lighter the material of the foreign object 14. The execution condition information 53 also includes operating conditions that allow the removal unit 40 to operate more quickly the lighter the weight of the foreign object 14. Similarly, the execution condition information 53 includes operating conditions that allow the removal unit 40 to operate more slowly the heavier the material of the foreign object 14. Furthermore, the execution condition information 53 includes operating conditions that allow the removal unit 40 to operate more slowly the heavier the weight of the foreign object 14. The control unit 51 can, for example, obtain information on the material and area of ​​the foreign object 14 by image analysis, and derive the weight of the foreign object 14 by multiplying the weight per unit volume according to the material by the area as volume.

[0020] The memory unit 52 stores history information 60. The history information 60 is data that includes information about the situation when the removal unit 40 removed the foreign matter 14. As shown in Figure 4, the history information 60 may include content information 61, remaining information 62, removal information 63, and working condition information 64. This history information 60 records the above information obtained from the recognition image 70 (see Figure 9) captured by the recognition unit 32 and the detection image 71 captured by the detection unit 37, associated with each timing of the processing progress (#1 to #n). The content information 61 includes information about the foreign matter 14 contained in the waste material 12 that was recognized by the recognition unit 32. The content information 61 includes, for example, the number of foreign matter 14 contained in the waste material 12 at the time of processing, as well as information such as its number, material, weight, location, and shape. The remaining information 62 includes information about the foreign matter 14 remaining in the waste material 12 that was detected by the detection unit 37. The residual information 62 includes, for example, information on the number and location of foreign matter 14 remaining after removal by the removal unit 40. The removal information 63 includes information on foreign matter 14 removed from the waste material 12, which is detected by the detection unit 37 and obtained from the residual information 62. The removal information 63 includes, for example, success information on whether the removal of foreign matter 14 was successful, removal location information regarding the location where the foreign matter 14 was removed, and the number of foreign matter 14 removed. The removal information 63 also includes information to evaluate the situation when the removal unit 40 removed the foreign matter 14. The evaluation result information includes, for example, removal rate information for the removal of foreign matter 14 by the removal unit 40, and information on the removal efficiency when the foreign matter 14 was removed. Note that the removal information 63 and the residual information 62 are considered to be the difference with respect to the content information 61, and either one of them may be omitted.

[0021] The work condition information 64 includes information about various conditions when the removal unit 40 performs its work. This work condition information 64 includes, for example, waste material quantity information, foreign matter quantity information, operating condition information, as well as work time information, work sequence information, and work trajectory information. Waste material quantity information is information about the amount of waste material 12 being transported to the transport unit 22. Foreign matter quantity information is information about the amount of foreign matter 14 being transported to the transport unit 22. Operating condition information is information about the operating conditions of the removal unit 40 when the removal unit 40 removes the foreign matter 14. Work time information is information about the work time required for the removal unit 40 to remove the foreign matter 14. Work sequence information is information about the sequence of operations performed by the removal unit 40 when removing the foreign matter 14. Work trajectory information is information about the movement trajectory of the removal unit 40 when removing the foreign matter 14. This history information 60 is used as a guideline to determine whether the current operation of the waste material processing system 30 is within the normal range.

[0022] Next, the operation of the waste material processing system 30 configured in this manner will be described. First, the process of starting the recycling system 10 will be explained using the waste material processing system 30. Figure 5 is a flowchart showing an example of a cautionary action execution processing routine performed by the control unit 51 of the control device 50. Figure 6 is an explanatory diagram showing an example of a cautionary action by the waste material processing system 30. The cautionary action execution processing routine is stored in the memory unit 52 of the control device 50 and is executed by the control unit 51 when the recycling system 10 or the waste material processing system 30 is started. When this routine is started, the control unit 51 causes the operating units that perform predetermined operations, such as the transport unit 22 and the removal unit 40, to perform a repetitive operation within a predetermined range of motion as a cautionary activation action. This range of motion is set to a safe range such that, for example, even if there are workers nearby, they will not be caught up in the operation of the operating units. When the cautionary activation action is performed, the operating unit emits an operating sound. Next, the control unit 51 determines whether a predetermined cautionary time has elapsed (S110). Here, the "warning time" may be set to a time (for example, 5 or 10 seconds) that allows the worker to recognize that the recycling system 10 or the waste material processing system 30 is about to be activated. When the warning time has not elapsed, the control unit 51 executes the process in S100. That is, the control unit 51 continues the repetitive operation within a predetermined range of motion. On the other hand, when the warning time has elapsed in S110, the control unit 51 terminates the repetitive operation and moves to the normal waste material processing operation (S120), ending this routine.

[0023] As shown in Figure 6, when the operating unit of the waste material processing system 30 performs repetitive movements, worker M can auditorily detect the sounds of these movements and visually detect the operation of the operating unit. The recycling system 10 is automated using robots, but it still requires the work of worker M. Generally, in such a recycling system 10, from the perspective of worker M's safety, safety fences are installed, and measures such as not turning on the power supply when worker M is inside the fence, or installing speakers to emit warning sounds are taken. However, even with such safety measures, there are times when worker M is near the operating unit, and the countermeasures were not sufficient. In addition, the recycling system 10 sometimes had a complicated configuration due to the installation of safety fences, control of the power supply, and installation of speakers. In this recycling system 10, when the system is started, the operating unit performs safe repetitive movements for a warning period, so that worker M can take safety measures such as moving away from the operating unit without requiring any special configuration.

[0024] Next, the process of removing foreign matter 14 from waste material 12 by the waste material processing system 30 and the process of recording the history thereof will be described. Figure 7 is a flowchart of an example of a waste material processing execution record routine executed by the control unit 51 of the control device 50. Figure 8 is a flowchart of an example of an execution condition setting / execution processing routine executed by the control unit 51 of the control device 50. Figure 9 is an explanatory diagram showing an example of a recognition image 70 and a detection image 71 when processing waste material 12. The waste material processing execution record routine is stored in the storage unit 52 and executed after the waste material processing system 30 is started.

[0025] When this routine is started, the control unit 51 drives the transport unit 22 based on the execution conditions (S200), causing the recognition unit 32 to capture a recognition image 70 and the detection unit 37 to capture a detection image 71 (S210). The captured images are stored in, for example, the storage unit 52. Next, the control unit 51 performs a process to recognize the foreign object 14 in addition to the target object 13 using the recognition image 70 (S220). The control unit 51 uses the functions of the recognition unit 32 to recognize the position of the foreign object 14. Next, the control unit 51 determines whether or not the foreign object 14 is present (S230), and if the foreign object 14 is present, sets the removal order based on the position of the foreign object 14 (S240). For example, if there is one or more foreign objects 14 in the recognition image 70, the control unit 51 may assign numbers to them in order from the one closest to the removal unit 40.

[0026] After S240, the control unit 51 executes the execution condition setting / execution processing routine shown in Figure 8 (S250). This routine is stored in the memory unit 52 and executed by the control unit 51. When this routine is started, the control unit 51 first sets the foreign objects 14 to be removed (S400). The control unit 51 can set the foreign objects 14 to be removed based on the removal order described above. Next, the control unit 51 uses the function of the recognition unit 32 to determine the type and weight of the foreign objects 14 to be removed (S410). The weight of the foreign object 14 can be roughly calculated, for example, by the weight per unit volume determined according to the type and the area of ​​the foreign object 14 region.

[0027] Next, the control unit 51 sets the execution conditions for the operating unit, including the removal unit 40, using the execution condition information 53 according to the type and weight of the foreign object 14 (S420). Based on the settings of the execution condition information 53, the control unit 51 sets the execution conditions so that, for example, the lighter the material of the foreign object 14, the faster it operates, and the heavier the material of the foreign object 14, the slower it operates. For foreign objects 14 that are light in weight, it is preferable from the standpoint of processing efficiency to move the removal unit 40 at a higher speed, depending on its inertia, etc. Also, for foreign objects 14 that are heavy in weight, it is preferable from the standpoint of reducing the risk of the foreign object 14 falling or the arm robot 41 being damaged, depending on its inertia, etc. In this way, the control unit 51 sets the execution conditions according to the foreign object 14.

[0028] Next, the control unit 51 operates the removal unit 40 according to the set execution conditions (S430). The removal unit 40 operates according to execution conditions suitable for the material and weight of the foreign object 14 and removes the foreign object 14 from the conveyor line. Then, the control unit 51 determines whether or not there is another foreign object 14 to be removed (S440), and if there is another foreign object 14 to be removed, it executes the process from S400 onwards. That is, the control unit 51 sets the foreign object 14 to be removed next, sets execution conditions according to its type and weight, and operates the removal unit 40 according to these set execution conditions. On the other hand, if there is no foreign object 14 to be removed next in S440, the control unit 51 terminates this routine.

[0029] Next, after executing the execution condition setting and execution processing routine in S250, the control unit 51 reads and acquires the recognition image 70 corresponding to the captured detection image 71 (S260). Here, the control unit 51 calculates the time from the transport speed and acquires the recognition image 70 containing the same object 13 as in the detection image 71 from the storage unit 52 (see Figure 9). Next, the control unit 51 acquires the execution conditions and execution status of the removal unit 40 and the transport unit 22 when the detection unit 37 captured the image (S270). The execution conditions include the operating conditions, and the execution status includes the amount of waste material being transported, the amount of foreign matter, the order of removal of the foreign matter 14, the work time, and the movement trajectory of the removal unit 40. Next, the control unit 51 acquires the content information regarding the foreign matter 14 contained in the recognition image 70 (S280). The content information includes the number, material, weight, and position of the foreign matter 14 contained in the recognition image 70. Next, the control unit 51 acquires residual information and removal information regarding the foreign objects 14 contained in the detected image 71 (S290). The residual information includes the number of foreign objects 14 remaining in the detected image 71 and their remaining locations. The removal information includes information on whether the removal of the foreign objects 14 was successful or unsuccessful, the removal location, and the number of removed objects.

[0030] After S290, the control unit 51 derives removal rate information, efficiency information, and success information (S300). The removal rate can be determined from the number of foreign objects 14 present before removal and the number of foreign objects 14 remaining after removal. The removal efficiency can be determined from the working time and the number of removed objects as the number of foreign objects 14 removed per unit time. Success information can be defined as, for example, success when the foreign objects 14 are removed, and failure to remove the foreign objects 14 if foreign objects 14 remain and their position changes. Subsequently, the control unit 51 associates the foreign object quantity information, waste material quantity information, sequence information, trajectory information, and condition information with the content information, removal information, remaining information, and furthermore, the removal rate information and efficiency information with the processing time number (S310). Through this association, as shown in Figure 4, the content information 61, removal information 63, remaining information 62, and working condition information 64 are associated.

[0031] If there is no foreign matter 14 after S310 or in S230, the control unit 51 updates the history information 60 (S320). If there is foreign matter 14, the control unit 51 includes the associated content information 61, removal information 63, remaining information 62, and work condition information 64 in the history information 60 and stores it in the storage unit 52. That is, the control unit 51 acquires information about foreign matter 14 contained in the waste material 12 and stores the content information 61 before the removal of foreign matter 14, and the removal information 63 and remaining information 62 regarding the status of foreign matter removal in the removal area 35 in the storage unit 52. The control unit 51 also adds information such as the execution conditions and execution status of the removal unit 40 to this information. If there is no foreign matter 14, the control unit 51 stores the information that there was no foreign matter 14 in the history information 60. After S320, the control unit 51 determines whether the processing of all waste materials 12 has been completed (S330). If the processing of all waste materials 12 has not been completed, it executes the processing from S210 onward. Specifically, the recognition unit 32 and detection unit 37 capture an image, and if there is a foreign object, it removes it according to the execution conditions corresponding to its material and weight, and stores in the history information 60 whether the removal was successful or whether any foreign objects 14 remain. On the other hand, if the processing of all waste materials 12 is completed in S330, this routine is terminated. In this way, the control unit 51 controls the removal unit 40 to remove foreign objects 14 while updating the history information 60.

[0032] Next, we will describe the process of analyzing whether the removal process of foreign matter 14 by the waste material processing system 30 is appropriate, using the history information 60. Figure 10 is a flowchart of an example of an analysis processing routine executed by the control unit 51 of the control device 50. This routine is stored in the storage unit 52 and executed after the operator inputs an execution command in the input unit 57. When this routine is executed, the control unit 51 first reads and acquires the history information 60 from the storage unit 52 (S500) and determines whether or not there is any foreign matter 14 remaining in the waste material 12 (S510). If there is any foreign matter 14 remaining, the control unit 51 analyzes the mass, position, amount of waste material at that time, and other trends of the foreign matter 14 (S520) and determines whether or not the remaining foreign matter 14 can be eliminated by reducing the operating conditions of the transport unit 22 (S530). For example, the control unit 51 can make this determination based on the relationship between the transport speed of the transport unit 22 and the removal efficiency, assuming that multiple foreign matter 14 are mixed in the waste material 12. Furthermore, when making this determination, the control unit 51 may also take into account the movement trajectory of the removal unit 40, the order of removal, the material of the foreign object 14, the amount of waste material, and the amount of foreign object. If the remaining foreign object 14 can be eliminated by reducing the operating conditions of the transport unit 22, the control unit 51 proposes changing the operating conditions of the transport unit 22 (S530). For example, the control unit 51 outputs an image to the display unit 56 that includes reducing the operating conditions of the transport unit 22. On the other hand, if the remaining foreign object 14 cannot be eliminated by reducing the operating conditions of the transport unit 22, the control unit 51 proposes expanding or changing the removal unit 40 (S540). If the control unit 51 determines that the foreign object 14 cannot be completely removed even if the operation of the transport unit 22 is reduced, that is, even if the foreign object 14 is moved slowly, the control unit 51 proposes increasing the number of removal units 40. In addition, if the removal of foreign object 14 of a specific material fails, the control unit 51 may propose changing the end effector, etc.

[0033] If there are no foreign objects 14 remaining after S540, or after S530, or after S510, the control unit 51 determines whether or not there is an inquiry regarding maintenance of the removal unit 40 (S550). The maintenance inquiry is entered by the operator when this routine is started. If there is a maintenance inquiry, and there are any foreign objects 14 that were not successfully removed, the control unit 51 derives the maintenance timing for the removal unit 40 by excluding the processing details of those foreign objects 14 (S560), and displays the information regarding the derived maintenance timing on the display unit 56 (S570). The removal unit 40 experiences wear and tear when it actually moves foreign objects 14, such as heavy objects. Therefore, if the movement of the foreign object 14 fails, the removal unit 40 will hardly experience such wear. The control unit 51 can take this failure to remove foreign objects 14 into account to derive a more appropriate maintenance timing. If there is no maintenance inquiry after S570, or after S550, the control unit 51 terminates this routine.

[0034] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The waste material processing system 30 of this embodiment corresponds to the waste material processing system of the present disclosure, the transport unit 22 corresponds to the transport unit and the operation unit, the detection unit 37 corresponds to the detection unit, the detection imaging unit 38 corresponds to the detection imaging unit, the recognition unit 32 corresponds to the recognition unit, the recognition imaging unit 33 corresponds to the recognition imaging unit, the removal unit 40 corresponds to the removal unit and the operation unit, the arm robot 41 corresponds to the arm robot, the storage unit 52 corresponds to the storage unit, and the control unit 51 corresponds to the processing unit, execution unit and control unit. Furthermore, the waste material 12 corresponds to waste material, the foreign matter 14 corresponds to foreign matter, the removal area 35 corresponds to the removal area, the contained information 61 corresponds to contained information, the remaining information 62 corresponds to remaining information, the recognized image 70 corresponds to the recognized image, and the detected image 71 corresponds to the detected image.

[0035] The waste material processing system 30 described above is a waste material processing system that places waste material 12 on the transport surface of the transport unit 22 and transports the waste material 12 within the transport line to regenerate the waste material 12. It includes a detection unit 37 located downstream of the removal area 35 where foreign matter 14 contained in the waste material 12 is removed within the transport line, and which detects foreign matter 14 remaining in the transported waste material 12. Using this waste material processing system 30, the worker M can obtain information about the foreign matter 14 remaining after removing it from the waste material 12, such as the number, size, and shape, and can improve the removal process in the removal area 35 based on that information. Therefore, with this waste material processing system 30, the removal of foreign matter 14 can be performed more appropriately when regenerating the waste material 12. The waste material processing system 30 also includes a control unit 51 that acquires information about foreign matter 14 remaining in the waste material 12 from the detection unit 37 and stores removal information 63 regarding the status of foreign matter removal in the removal area 35 in a storage unit 52. In this waste material processing system 30, removal information 63 regarding the status of foreign matter removal in the removal area 35 is stored in the storage unit 52, allowing the worker M to utilize the removal information 63. The worker M can then use the removal information 63 to improve the removal process in the removal area 35.

[0036] Furthermore, the control unit 51 obtains content information 61 regarding foreign matter 14 contained in the waste material 12 from the recognition unit 32, which is located upstream of the removal area 35 and recognizes foreign matter 14 contained in the waste material 12, and also obtains residual information 62 regarding foreign matter 14 remaining in the waste material 12 from the detection unit 37. Using the content information 61 and residual information 62, the control unit 51 obtains removal information 63 which includes one or more of the following: removal rate information regarding the rate of foreign matter removal, removal location information regarding the location of foreign matter removal, success information regarding the success or failure of foreign matter removal, and efficiency information regarding the efficiency of foreign matter removal. With this waste material processing system 30, the presence of foreign matter and the status of foreign matter removal can be grasped before and after the removal area 35, and the removal process in the removal area 35 can be improved by using one or more of the obtained removal rate information, removal location information, success information, and efficiency information. As a result, the waste material processing system 30 can perform foreign matter removal more appropriately.

[0037] Furthermore, the recognition unit 32 has a recognition imaging unit 33 that images the transport line and obtains a recognition image 70, the detection unit 37 has a detection imaging unit 38 that images the transport line and obtains a detection image 71, and the control unit 51 acquires a recognition image 70 corresponding to the detection image 71 based on the transport speed of the transport line, acquires content information 61 and remaining information 62, and acquires removal information 63 that includes one or more of the following: removal rate information, removal position information, success information, and efficiency information.In this waste material processing system 30, information about foreign matter 14 can be acquired more easily by using the captured image.In addition, the control unit 51 acquires one or more of the following: foreign matter quantity information regarding the amount of foreign matter 14 being transported to the transport unit 22, and waste material quantity information regarding the amount of waste material 12 being transported to the transport unit 22, and stores them in the storage unit 52 in association with the removal information 63.In this waste material processing system 30, the removal process in the removal area 35 can be improved using the foreign matter quantity information and waste material quantity information, and as a result, the removal of foreign matter 14 can be performed more appropriately.

[0038] Furthermore, the waste material processing system 30 includes a removal unit 40 located in the removal area 35 to remove foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires information on foreign matter 14 remaining in the waste material 12 from a detection unit 37 and acquires removal information 63 regarding the status of foreign matter removal in the removal area 35. The control unit 51 acquires one or more of the following: work sequence information regarding the order in which the removal unit 40 operated when removing the foreign matter 14, work trajectory information regarding the removal operation trajectory, and operation condition information regarding the operating conditions of the removal unit, and stores them in the storage unit 52 in association with the removal information 63. With this waste material processing system 30, the removal process in the removal area 35 can be improved using work sequence information, work trajectory information, operation condition information, etc., and as a result, the removal of foreign matter 14 can be performed more appropriately.

[0039] Furthermore, the waste material processing system 30 includes a removal unit 40 located in the removal area 35 that removes foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires information on foreign matter 14 remaining in the waste material 12 from a detection unit 37 and acquires removal information 63 regarding the status of foreign matter removal in the removal area 35. The control unit 51 acquires residual information 62 regarding foreign matter 14 remaining in the waste material 12 from the detection unit 37 and sets the timing for maintenance of the removal unit 40 according to the residual information 62. For example, wear and tear occurs in the removal unit 40 when foreign matter 14 is actually removed, and such wear is less likely to occur when the removal of foreign matter 14 fails. In this waste material processing system 30, the residual information 62 can be used to further suppress the execution of excessive maintenance and to perform more appropriate maintenance.

[0040] Furthermore, the waste material processing system 30 is located in the removal area 35 and includes a removal unit 40 that removes foreign matter 14 contained in the waste material 12, and a control unit 51 that causes predetermined cautionary actions to be performed on predetermined operating units, including the transport unit 22 and / or the removal unit 40, before the waste material processing system 30 performs the recycling process of the waste material 12. In this waste material processing system 30, predetermined cautionary actions are performed on predetermined operating units before the waste material processing system 30 performs the recycling process of the waste material 12. As a result, the worker M can recognize that the waste material processing system 30 is about to start operating. Therefore, in this waste material processing system 30, equipment such as alarm devices is not required, and the safety of the worker M can be further enhanced while further suppressing the complexity of the configuration when recycling the waste material 12.

[0041] Furthermore, the waste material processing system 30 includes a removal unit 40 located in the removal area 35 to remove foreign matter 14 contained in the waste material 12, a recognition unit 32 located upstream of the removal area 35 in the transport line to recognize foreign matter 14 contained in the waste material 12, and a control unit 51 that acquires foreign matter information regarding the quantity and / or material of the foreign matter 14 from the recognition unit 32, sets operating conditions for the removal unit 40 based on the foreign matter information, and controls the removal unit 40 according to the set operating conditions. With this waste material processing system 30, the removal unit 40 can be controlled according to operating conditions corresponding to the quantity and material of the foreign matter 14, so that the removal of foreign matter 14 can be performed more efficiently when recycling the waste material 12.

[0042] Furthermore, the control unit 51 sets one or more of the following operating conditions: the lighter the material of the foreign object 14, the faster the removal unit 40 is operated; the lighter the weight of the foreign object 14, determined from the material and area information of the foreign object 14, the faster the removal unit 40 is operated; the heavier the material of the foreign object 14, the slower the removal unit 40 is operated; or the heavier the weight of the foreign object 14, determined from the material and area information of the foreign object 14, the slower the removal unit 40 is operated. In this waste material processing system 30, the removal unit 40 can be operated quickly or slowly depending on the amount and material of the foreign object 14 to reduce the load on the removal unit 40 and increase the success rate of removal by preventing the foreign object 14 from falling. In this way, the waste material processing system 30 can remove foreign objects 14 more efficiently when recycling waste material 12. Furthermore, the control unit 51, as a warning action, causes the operating unit to perform a repetitive operation within a predetermined range of motion for a predetermined warning time, and then performs the recycling process of the waste material 12. In this waste material processing system 30, the repetitive operation of the operating unit makes the worker M aware that the waste material processing system 30 is about to start operating. Moreover, since the removal unit 40 has an arm robot 41, the waste material processing system 30 can remove foreign matter 14 using the arm robot 41.

[0043] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0044] For example, in the embodiment described above, the control unit 51 acquires removal information 63 which includes removal rate information regarding the removal rate of foreign matter 14, removal position information regarding the removal location of foreign matter 14, success information regarding the success or failure of foreign matter 14 removal, and efficiency information regarding the removal efficiency of foreign matter 14. However, these are just examples and are not limited to these, and one or more of these pieces of information may be omitted, or other information may be added. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0045] In the embodiment described above, the recognition unit 32 has a recognition imaging unit 33, and the detection unit 37 has a detection imaging unit 38, and a recognition image 70 corresponding to the detection image 71 is acquired based on the transport speed of the transport unit 22, but the system is not limited to this. For example, the recognition unit 32 and the detection unit 37 may be synchronized, and a recognition image 70 corresponding to the detection image 71 may be acquired without using the transport speed. Also, the recognition unit 32 and the detection unit 37 are configured to intermittently capture still images of the object transported by the transport unit 22, but they may also capture continuous images as video. Furthermore, the recognition unit 32 and the detection unit 37 are configured to recognize or detect the location of the foreign object 14 using the captured images, but the system is not limited to this, and they may also recognize or detect the location of the foreign object 14 without using the captured images.

[0046] In the embodiment described above, the work condition information 64 includes foreign matter quantity information relating to the amount of foreign matter 14 being transported to the transport unit 22, and waste material quantity information relating to the amount of waste material 14 being transported to the transport unit 22. However, these are just examples and are not limited to these. One or more of these may be omitted, or other information may be added. Also, in the embodiment described above, work sequence information relating to the order in which the removal unit 40 operated when removing the foreign matter 14, work trajectory information relating to the removal operation trajectory, and operation condition information relating to the operating conditions of the removal unit 40 are acquired and stored in the storage unit 52 in association with the removal information 63. However, these are just examples and are not limited to these. One or more of these pieces of information may be omitted, or other information may be added.

[0047] In the embodiment described above, the control unit 51, acting as a processing unit, acquires residual information 62 regarding foreign matter 14 remaining on the waste material 12 from the detection unit 37 and sets the maintenance timing of the removal unit 40 according to the residual information 62. However, the system is not limited to this, and the setting of the maintenance timing of the removal unit 40 may be omitted. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0048] In the above-described embodiment, the control unit 51, acting as the execution unit, causes the operation unit, including the transport unit 22 and / or the removal unit 40, to perform a warning action before the waste material processing system 30 performs the recycling process of the waste material 12. However, the system is not limited to this, and the control unit 51 may also cause the operation unit of the recycling system 10 other than the waste material processing system 30 to perform a warning action. Examples of operation units include one or more of the following: primary crusher 15, primary magnetic separator 16, screener 17, secondary crusher 18, secondary magnetic separator 19, and transport units 20 to 25. In the above-described embodiment, the control unit 51 performs a repetitive action as a warning action, but the system is not limited to this, and may perform an action different from a repetitive action. In the above-described embodiment, the warning action is performed to notify the worker M of the system activation through an audible sound and a visual action, but the warning action may be audible and / or visual, or both. Furthermore, in the above-described embodiment, the control unit 51, acting as the execution unit, causes a predetermined cautionary action to be performed on a predetermined operating unit, but the system is not limited to this, and the execution of this cautionary action may be omitted. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0049] In the embodiment described above, the control unit 51, acting as a control unit, sets the operating conditions of the removal unit 40 based on the amount and / or material of the foreign matter 14, such that it operates more quickly when the foreign matter is lighter or more slowly when the foreign matter is heavier. However, it is not limited to this. For example, the control unit 51 may set the operating conditions to tend to operate more quickly when the amount and / or material of the foreign matter 14 is lighter, and to tend to operate more slowly when the amount and / or material of the foreign matter 14 is heavier. That is, the control unit 51 may set the operating conditions to be faster overall, but with some areas that contradict this, and may set the operating conditions to be slower overall, but with some areas that contradict this. Alternatively, the control unit 51 sets the operating conditions of the removal unit based on foreign matter information regarding the amount and / or material of the foreign matter 14. However, it is not limited to this, and the setting of these operating conditions may be omitted. In this waste material processing system 30 as well, the removal information 63 can be used to improve the removal process in the removal area 35.

[0050] In the embodiments described above, the removal unit 40 was described as having an arm robot 41, but it is not particularly limited to this as long as it removes foreign matter 14 from waste material 12. For example, the removal unit 40 may be an XY robot that moves in the XY direction by a slider and has a tip 45 attached to it. Alternatively, the removal unit 40 may be one that scrapes out foreign matter with a bucket (shovel) like a power shovel.

[0051] In the above-described embodiment, the waste material processing system 30 was described as having a recognition unit 32, but it is not limited to this, and the recognition unit 32 may be omitted as long as it detects foreign matter 14 remaining on the waste material 12. In this waste material processing system 30 as well, by using the remaining information 62, the results of the removal work in the removal area 35 can be determined, and the removal process in the removal area 35 can be improved. Also, in the above-described embodiment, it was described as a removal unit 40 that removes the foreign matter 14, but it is not limited to this, and the removal unit 40 may be omitted. Figure 11 is an explanatory diagram showing an example of the schematic configuration of another waste material processing system 30B. In this waste material processing system 30B, the support member 31, the recognition unit 32, and the removal unit 40 of the waste material processing system 30 described above are omitted, and the worker M removes the foreign matter 14. In this waste material processing system 30B as well, by using the remaining information 62 obtained by the detection unit 37, the results of the removal work in the removal area 35 can be determined, and the removal process in the removal area 35 can be improved.

[0052] Herein, the waste material processing system 30 of the present disclosure may be configured as follows. For example, the waste material processing system 30 is a waste material processing system that places waste material 12 on the transport surface of a transport unit 22 and transports the waste material 12 within a transport line to regenerate the waste material 12, and comprises a removal unit 40 disposed in a removal area 35 within the transport line for removing foreign matter 14 contained in the waste material 12 and a recognition unit 32 disposed upstream of the removal area 35 for recognizing foreign matter 14 contained in the waste material 12, acquiring foreign matter information regarding the amount and / or material of the foreign matter, setting operating conditions for the removal unit 40 based on the foreign matter information, and controlling the removal unit according to the set operating conditions. In this waste material processing system 30, the removal unit 40 can be controlled according to operating conditions corresponding to the amount and material of the foreign matter 14, so that the removal of foreign matter 14 can be performed more efficiently when regenerating the waste material 12.

[0053] Alternatively, the waste material processing system 30 is a waste material processing system 30 that transports and recycles waste material 12, and before the waste material processing system 30 performs the regeneration process of the waste material 12, it may include a control unit 51 as an execution unit that causes a predetermined cautionary action to be performed on a predetermined operating unit which includes one or more of the following: a transport unit 22 that places the waste material 12 on a transport surface and transports it on a transport line, and a removal unit 40 that is located in a removal area 35 within the transport line to remove foreign matter 14 contained in the waste material 12. In this waste material processing system 30, a predetermined cautionary action is caused on a predetermined operating unit before the waste material processing system 30 performs the regeneration process of the waste material 12. As a result, the worker M can recognize that the waste material processing system 30 is about to start operating. Therefore, in this waste material processing system 30, for example, special configurations such as alarm devices are not required, and the safety of the worker M can be further enhanced while further suppressing the complexity of the configuration when regenerating waste material 12. [Industrial applicability]

[0054] This disclosure is applicable to technological fields such as industrial waste recycling. [Explanation of Symbols]

[0055] 10 Recycling system, 12 Waste material, 13 Target object, 14 Foreign object, 15 Primary crusher, 16 Primary magnetic separator, 17 Screening machine, 18 Secondary crusher, 19 Secondary magnetic separator, 20-25 Conveying unit, 30, 30B Waste material processing system, 31 Support member, 32 Recognition unit, 33 Recognition imaging unit, 34 Recognition area, 35 Removal area, 36 Support member, 37 Detection unit, 38 Detection imaging unit, 39 Detection area, 40 Removal unit, 41 Arm robot, 42 First arm, 43 Second arm, 44 Base unit, 45 Tip unit, 50 Control device, 51 Control unit, 52 Memory unit, 53 Execution condition information, 56 Display unit, 57 Input unit, 58 Communication unit, 60 History information, 61 Content information, 62 Remaining information, 63 Removal information, 64 Working conditions information, 70 Recognition image, 71 Detection image, D Conveying direction, M Operator.

Claims

1. A waste material processing system that places waste material on the transport surface of a transport unit and transports it within a transport line to recycle the waste material, A recognition unit is located upstream of the removal area in the aforementioned transport line where foreign matter contained in the waste material is removed, and recognizes foreign matter contained in the waste material. A detection unit is provided on the downstream side of the removal area to detect foreign matter remaining in the waste material, A processing unit that acquires removal information regarding the status of foreign matter removal in the removal area based on the content information regarding foreign matter contained in the waste material acquired from the recognition unit and the residual information regarding foreign matter remaining in the waste material acquired from the detection unit, A waste disposal system equipped with [specific features / equipment].

2. The waste material processing system according to Claim 1, A removal unit is provided in the removal area within the aforementioned transport line for removing foreign matter contained in the waste material, and for removing foreign matter contained in the waste material, Before the waste material recycling process is carried out by the waste material processing system, an execution unit is provided that performs a predetermined cautionary action to a predetermined operating unit, including the transport unit and / or the removal unit, to cause it to operate within a predetermined range of motion for a predetermined warning period of time. A waste disposal system equipped with [specific features / equipment].

3. The recognition unit includes a recognition imaging unit that images the transport line and obtains a recognition image. The detection unit includes a detection imaging unit that images the transport line and obtains a detection image. The waste material processing system according to claim 1 or 2, wherein the processing unit acquires the recognition image corresponding to the detection image based on the transport speed of the transport line, acquires the content information and the remaining information, and acquires the removal information which includes one or more of the following: removal rate information relating to the removal rate of foreign matter, removal position information relating to the removal position of foreign matter, success information relating to the success or failure of foreign matter removal, and efficiency information relating to the removal efficiency of foreign matter.

4. A waste material processing system according to any one of claims 1 to 3, The transport line includes a removal section located in a removal area for removing foreign matter contained in the waste material, and the removal section is provided for removing foreign matter contained in the waste material. The processing unit acquires residual information regarding foreign matter remaining in the waste material from the detection unit, and sets the timing for maintenance of the removal unit according to the residual information, in a waste material processing system.

5. A waste material processing system according to any one of claims 1 to 4, A removal unit is provided in the removal area within the aforementioned transport line for removing foreign matter contained in the waste material, and for removing foreign matter contained in the waste material, The system includes: a control unit which acquires foreign matter information relating to the quantity and / or material of the foreign matter from the recognition unit, sets the operating conditions of the removal unit based on the foreign matter information, and controls the removal unit according to the set operating conditions; A waste material processing system wherein the control unit performs one or more of the following: setting an operating condition that causes the removal unit to operate more quickly the lighter the material of the foreign object; setting an operating condition that causes the removal unit to operate more quickly the lighter the weight of the foreign object, determined from information on the material and area of ​​the foreign object; setting an operating condition that causes the removal unit to operate more slowly the heavier the material of the foreign object; or setting an operating condition that causes the removal unit to operate more slowly the heavier the weight of the foreign object, determined from information on the material and area of ​​the foreign object.

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