Automatic sorting device and automatic sorting method for scaffolding materials

Abstract

This compact device efficiently sorts scaffolding materials while preventing work errors such as sorting mistakes. [Solution] The automatic sorting device for scaffolding materials comprises an input conveyor, a camera, a robot, a plurality of retrieval devices, and a control device. The control device causes the camera to photograph the scaffolding materials transported on the input conveyor, analyzes the images received from the camera to determine the type of scaffolding material photographed by the camera, selects one retrieval device from the plurality of retrieval devices according to the determined type, picks up the scaffolding material of the determined type, and controls the robot to place the picked-up scaffolding material on the selected retrieval device.

Description

Technical Field

[0001] The present disclosure relates to an automatic sorting device for scaffolding materials and an automatic sorting method for scaffolding materials.

Background Art

[0002] In Patent Document 1, a waste treatment system including a robot for sorting waste is described. The system includes a conveying unit that conveys multiple types of waste, a taking-in unit into which the waste conveyed by the conveying unit is taken in, an imaging unit that images the waste in a stationary or low-speed state taken in by the taking-in unit, and a control unit that performs control to discriminate the waste based on the image of the waste imaged by the imaging unit and cause the robot to sort the waste. Thereby, it is possible to suppress the occurrence of undivided waste.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technology described in Patent Document 1 is for the purpose of sorting waste, and does not consider a compact device that efficiently distributes long objects such as scaffolding materials to various sorting destinations.

[0005] An object of the present disclosure is to provide a compact device that efficiently sorts scaffolding materials while preventing work mistakes such as sorting errors of scaffolding materials.

Means for Solving the Problems

[0007] An automatic sorting method for scaffolding materials according to one aspect of the present disclosure is a method for automatically sorting a plurality of scaffolding materials returned from a site, comprising: an incoming conveyor; a camera capable of photographing scaffolding materials transported by the incoming conveyor; a robot positioned downstream of the incoming conveyor so as to be parallel to the incoming conveyor in the transport direction of the incoming conveyor, and having an end effector for picking up scaffolding materials transported by the incoming conveyor and positioned at the downstream end of the incoming conveyor; and a control device capable of communicating with the camera and the robot, wherein in a plan view... Multiple retrieval devices are arranged in a line surrounding the robot. The control device causes the camera to photograph the scaffolding materials placed on the input conveyor. The control device analyzes the images received from the camera to determine the type of scaffolding material photographed by the camera. The control device selects one of the multiple retrieval devices according to the determined type. The control device controls the robot to pick up the scaffolding material of the determined type from the input conveyor and place the picked-up scaffolding material onto the selected retrieval device. [Effects of the Invention]

[0008] According to this disclosure, it is possible to provide a compact device that efficiently sorts scaffolding materials while preventing work errors such as sorting mistakes. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an overall perspective view of an automated scaffolding material sorting device according to an embodiment. [Figure 2] Figure 2 is a plan view of the automatic sorting device. [Figure 3] Figure 3 is a side view of the automatic sorting device. [Figure 4] Figure 4 shows examples of scaffolding material types. [Figure 5] Figure 5 shows the input conveyor of the automatic sorting device, viewed from the upstream side in the transport direction. [Figure 6] Figure 6 is a block diagram of the control system of the automatic sorting device. [Figure 7] Figure 7 is a block diagram of the control device. [Figure 8] Figure 8 shows a scaffolding material table. [Figure 9] Figure 9 shows the lending table. [Figure 10] Figure 10 shows a sorting log table. [Figure 11] Figure 11 is a flowchart illustrating the process of the control device. [Modes for carrying out the invention]

[0010] The embodiments of this disclosure will be described below with reference to the drawings. In all the drawings illustrating the embodiments, common components are denoted by the same reference numerals, and repeated explanations are omitted. The following embodiments are not intended to unduly limit the content of this disclosure as described in the claims. Not all components shown in the embodiments are necessarily essential components of this disclosure. Also, each drawing is a schematic diagram and is not necessarily a strict illustration.

[0011] <Overview> The automatic scaffolding material sorting device 1 is a device for automatically sorting various types of scaffolding materials W returned from construction sites, etc. The automatic sorting device 1 uses a camera 4 to photograph the scaffolding materials W being transported by the input conveyor 2, and a control device 9 determines the type of scaffolding material W through image analysis. The robot 5 sorts the scaffolding materials W by moving them to the appropriate collection unit from among several collection units 6 arranged around itself, according to the determined type. This automates the heavy and error-prone sorting work that was conventionally performed manually by humans, preventing sorting and counting errors, and dramatically improving work efficiency with a compact layout.

[0012] <Overall Structure> Figure 1 is an overall perspective view of the automatic sorting device 1 for scaffolding materials according to an embodiment. Figure 2 is a plan view of the automatic sorting device 1, and Figure 3 is a side view. As shown in Figures 1 to 3, the automatic sorting device 1 includes an input conveyor 2, a gate 3, a camera 4, a robot 5, a plurality of retrieval units 6, a shield wall 7, a human presence sensor 8, and a control device 9.

[0013] The loading conveyor 2 includes a conveying member 11 and an electric motor 12. The conveying member 11 is a loop-shaped member on which a plurality of scaffolding members W are placed at intervals in the conveying direction D1. The electric motor 12 generates a driving force for causing the conveying member 11 to perform a circulating operation. The loading conveyor 2 conveys the scaffolding member W in the conveying direction D1 from the upstream end 2a to the downstream end 2b. The scaffolding member W is placed on the loading conveyor 2 such that the length direction of the scaffolding member W faces in the lateral direction DL orthogonal to the conveying direction D1. The scaffolding member W placed on the loading conveyor 2 protrudes from the loading conveyor 2 in the lateral direction DL.

[0014] The worker U sequentially places various types of scaffolding members W returned from a construction site or the like one by one on the upstream end 2a of the loading conveyor 2. The zone close to the upstream end 2a of the loading conveyor 2 can be referred to as the input zone Z. When the worker U places the scaffolding member W on the upstream end 2a of the loading conveyor 2, the hand or the like of the worker U enters the input zone Z.

[0015] The gate 3 is arranged so as to straddle the loading conveyor 2 from above in the lateral direction DL of the loading conveyor 2. The camera 4 is supported by the gate 3. The camera 4 is arranged so as to be able to photograph the terminal area including the downstream end 2b of the loading conveyor 2 from above. That is, the camera 4 is arranged so as to be able to photograph the scaffolding member W conveyed to the terminal area by the loading conveyor 2. The number of cameras 4 may be one or a plurality.

[0016] Robot 5 is a robot fixed to the ground. Robot 5 is, for example, an articulated robot. Robot 5 includes a base 21, an articulated arm 22, and an end effector 23. The base 21 is a base for fixing the robot 5 to the ground or a pedestal. The articulated arm 22 is connected to the base 21 so as to be rotatable around a vertical line. Robot 5 has a motor for rotating the articulated arm 22 around a predetermined rotation center P in a plan view. The articulated arm 22 includes a plurality of links and joints connecting adjacent links to each other. Each joint of the articulated arm 22 includes a motor for driving the axis of the joint so as to change the relative angle of adjacent links and an encoder for detecting the rotation angle of the axis of the joint. The end effector 23 is attached to the tip of the articulated arm 22 to pick up the scaffolding material W. The end effector 23 is, for example, a hand for gripping the scaffolding material.

[0017] Robot 5 is arranged downstream of the loading conveyor 2 so as to be aligned with the loading conveyor 2 in the conveying direction D1 of the loading conveyor 2. For example, Robot 5 can be arranged on a virtual extension V obtained by projecting the loading conveyor 2 in the conveying direction D1 in a plan view. Robot 5 picks up the scaffolding material W arranged at the downstream end 2b of the loading conveyor 2 and conveyed by the loading conveyor 2, and moves the picked-up scaffolding material W to one selected from a plurality of collectors 6.

[0018] The plurality of collectors 6 are arranged side by side so as to surround the robot 5 in a plan view. In the present embodiment, the plurality of collectors 6 are arranged side by side along a virtual circle C centered on the rotation center P of the robot 5 in a plan view. Thereby, a plurality of collectors 6 to which the scaffolding material W is distributed by one robot 5 can be arranged compactly. The loading conveyor 2 is arranged side by side along the virtual circle C together with the plurality of collectors 6. The loading conveyor 2 extends toward the central portion of the virtual circle C in a plan view. The loading conveyor 2 is arranged in a C-shaped notch region of an aggregate of a plurality of collectors 6 arranged in a C shape in a plan view.

[0019] Each of the multiple recovery units 6 may be a recovery cart 6A or a recovery conveyor 6B. In this embodiment, the multiple recovery units 6 include a recovery cart 6A and a recovery conveyor 6B. The recovery cart 6A comprises a recovery frame defining an open storage area and wheels supporting the recovery frame. The recovery conveyor 6B has substantially the same structure as the input conveyor 2. The recovery conveyor 6B is positioned such that its transport direction D2 is oriented away from the robot 5. This allows the scaffolding material W placed on the recovery conveyor 6B to be recovered using a forklift or the like at a location away from the robot 5.

[0020] The shield wall 7 is installed to surround the robot 5 for safety. The shield wall 7 is positioned outside the multiple recovery carts 6A as seen from the robot 5, and horizontally covers the gaps between adjacent recovery carts 6A.

[0021] The motion sensor 8 detects when a worker U enters the input zone Z, which is defined as a predetermined range from the upstream end 2a of the input conveyor 2, in order to place scaffolding material W onto the upstream end 2a of the input conveyor 2. The motion sensor 8 may be, for example, an infrared sensor, an ultrasonic sensor, etc.

[0022] The control device 9 may consist of multiple computers or a single computer. The control device 9 may include, for example, a robot controller that controls the robot 5 and a main controller (e.g., a PLC) that controls the input conveyor 2 and the camera 4 and communicates with the robot controller.

[0023] Figure 4 shows an example of the types of scaffolding materials W. As shown in Figure 4, scaffolding materials W include, for example, strip members W1 and braces W2. Strip members W1 and braces W2 differ in shape from each other. Strip members W1 are members that connect vertically erected columns horizontally. Braces W2 are members that are placed diagonally between columns and include cross members. Strip members W1 include strip members of different sizes from each other. Braces W2 also include braces of different sizes from each other. Thus, scaffolding materials W have multiple types that differ in at least one of their shape and size.

[0024] Figure 5 is a view of the input conveyor 2 of the automatic sorting device 1 from the upstream side in the transport direction D1. As shown in Figure 5, the automatic sorting device 1 is equipped with a frame 15 that extends in the lateral direction DL above the upstream end 2a of the conveyor 2. Multiple marker tags 16 are attached to the frame 15 at intervals in the lateral direction DL. The marker tags 16 are positioned vertically at both ends of various scaffolding materials W when the scaffolding materials W are placed on the upstream end 2a of the conveyor 2. When a worker U places the scaffolding materials W on the upstream end 2a of the conveyor 2, the lateral direction DL position of the scaffolding materials W can be aligned with the lateral direction DL position of the corresponding marker tags 16, thereby suppressing variations in the lateral direction DL position of the scaffolding materials W relative to the conveyor 2.

[0025] As shown in Figures 3 and 5, the loading conveyor 2 includes multiple sets of positioning members 13 for positioning multiple scaffolding materials W that are sequentially placed on the transport member 11. The positioning members can be, for example, positioning pins that protrude above the mounting surface of the transport member 11. As shown in Figure 5, one set of positioning members 13 is arranged at intervals along the lateral direction DL of the loading conveyor 2. When a worker U presses a scaffolding material W against a set of positioning members 13 in the transport direction D1 with its length facing the lateral direction DL of the conveyor 2, the scaffolding material W is positioned in the transport direction D1 relative to the transport member 11. Each set of positioning members 13 is arranged at equal intervals along the transport direction D1 of the loading conveyor 2. As a result, multiple scaffolding materials W that are sequentially placed on the loading conveyor 2 by the worker U are arranged at equal intervals along the transport direction D1.

[0026] <Control System> Figure 6 is a block diagram of the control system of the automatic sorting device 1. As shown in Figure 6, the control device 9 is connected to the input conveyor 2, the human presence sensor 8, the camera 4, and the robot 5. Specifically, the control device 9 controls the electric motor 12 of the input conveyor 2. The control device 9 receives the detection signal from the human presence sensor 8. If the human presence sensor 8 detects a worker U, the control device 9 stops the transport operation of the input conveyor 2, and if the human presence sensor 8 does not detect a worker U, it allows the transport operation of the input conveyor 2. The control device 9 sends a control signal to the camera 4 to photograph the scaffolding material W on the input conveyor 2. The control device 9 receives the image taken by the camera 4 from the camera 4. The control device 9 controls the robot 5.

[0027] Figure 7 is a block diagram of the control device 9. As shown in Figure 7, the control device 9 includes a control unit 101, a storage unit 102, a communication unit 103, an input / output interface 104, a trained model 105, etc. The control unit 101 is, for example, a processor such as a CPU, and controls the loading conveyor 2, camera 4, robot 5, etc. by executing various programs stored in the storage unit 102. The storage unit 102 includes storage memory. The storage unit 102 stores application programs 121. The configuration in which the processor executes application programs read from the storage unit 102 is an example of a processing circuit. The storage unit 102 stores various tables as a database. Specifically, the storage unit 102 includes a scaffolding material table 122, a lending table 123, and a sorting log table.

[0028] The communication unit 103 is a communication interface for communicating with the input conveyor 2, camera 4, robot 5, human presence sensor 8, etc. The input / output interface 104 is an interface for the user to input information or to output information to the user. The input / output interface 104 includes, for example, a user input interface such as a touch panel, keyboard, mouse, microphone, etc. The input / output interface 104 also includes, for example, a user output interface such as a display, speaker, etc.

[0029] The pre-trained model 105 is a model that has been pre-trained using training data that includes images of multiple types of scaffolding materials W and information indicating the type of scaffolding material W shown in the images. The type of scaffolding material W can be determined by the length of the scaffolding material, the shape of the ends of the scaffolding material, the presence or absence of cross members in the scaffolding material, etc. When the pre-trained model 105 receives an image obtained by photographing a specific type of scaffolding material as input, it outputs the type of scaffolding material W shown in the input image.

[0030] <Data structure> Figures 8 to 10 show the data structure of the database stored by the control device 9. Note that Figures 8 to 10 are examples and do not exclude data not shown. Furthermore, even data listed in the same table may be stored in separate memory areas in the storage unit 102. The database shown in Figures 8 to 10 refers to a relational database, which manages data sets called tables, structurally defined by rows and columns, by associating them with each other. In a database, tables are called tables, the columns of tables are called columns, and the rows of tables are called records. In a relational database, relationships between tables can be established and associated. Typically, each table has a primary key column to uniquely identify records, but setting a primary key for a column is not mandatory. The control unit 101 of the control device 9 can instruct the processor to add, delete, and update records in specific tables stored in the storage unit 102 according to various programs.

[0031] Figure 8 shows the scaffolding material table 122. As shown in Figure 8, each record in the scaffolding material table 122 includes, for example, the item "Scaffolding Material Type ID", the item "Scaffolding Material Characteristics", and the item "Total Quantity". The item "Scaffolding Material Type ID" is identification information for uniquely identifying the scaffolding material. The item "Scaffolding Material Characteristics" is information about the characteristics of the scaffolding material identified by the item "Scaffolding Material Type ID" (e.g., classification, size, etc.). The item "Total Quantity" is information indicating the total number of scaffolding materials, including the number in stock and the number currently on loan, identified by the item "Scaffolding Material Type ID".

[0032] Figure 9 shows the loan table 123. As shown in Figure 9, each record in the loan table 123 includes, for example, the fields "Loan ID", "Loan Date", "Scaffolding Material Type ID", "Quantity Loaned", "Loan Recipient", "Expected Return Date", and "Return Status". The "Loan ID" field is identification information to uniquely identify the loan of a single type of scaffolding material. The "Loan Date" field indicates the date on which the loan identified by the "Loan ID" field took place. The "Scaffolding Material Type ID" field is identification information indicating the type of scaffolding material that was the subject of the loan identified by the "Loan ID" field. The "Quantity Loaned" field indicates the number of scaffolding materials loaned out by the loan identified by the "Loan ID" field. The "Loaner" field indicates the party (e.g., a business partner) to whom the scaffolding materials were loaned, as identified by the "Loan ID" field. The "Scheduled Return Date" field indicates the scheduled return date of the scaffolding materials loaned, as identified by the "Loan ID" field. The "Return Status" field indicates whether or not the scaffolding materials loaned, as identified by the "Loan ID" field, have been returned without any shortages.

[0033] Figure 10 shows the sorting log table 124. As shown in Figure 10, each record in the sorting log table 124 includes, for example, the fields "Sorting ID", "Date", "Scaffolding Material Type ID", "Number of Items Collected", and "Loaner". The field "Sorting ID" is identification information for uniquely identifying the sorting work unit. The field "Date" is information indicating the date on which the sorting work identified by the field "Sorting ID" was performed. The field "Scaffolding Material Type ID" is identification information for uniquely identifying the scaffolding material sorted in the sorting work identified by the field "Sorting ID". The field "Number of Items Collected" is information indicating the number of scaffolding materials sorted in the sorting work identified by the field "Sorting ID" that were collected. The field "Loaner" is information indicating the party (for example, a business partner) to whom the scaffolding material for which the sorting work identified by the field "Sorting ID" was performed was loaned.

[0034] <Operation> Figure 11 is a flowchart illustrating the process of the control device 9. The process of the control device 9 will be explained below following the flow shown in Figure 11, with reference to Figures 1 through 10 as appropriate.

[0035] In step S11, the control device 9 receives setting information from the worker U or the manager. For example, the setting information includes information indicating the return source (lender) of the current sorting lot of scaffolding materials, the arrangement of each retrieval unit 6, and the type of scaffolding material to be placed in each retrieval unit 6. The control device 9 stores the return source (lender) information for the current sorting lot. The control device 9 stores the setting indicating the position of each retrieval unit 6 relative to the robot 5. The control device 9 stores the setting indicating which type of scaffolding material should be placed in each retrieval unit 6.

[0036] In step S12, the control device 9 controls the input conveyor 2, causing it to operate intermittently, alternating between transporting and stopping. The control device 9 keeps the transport distance constant during each transport period of the intermittent operation of the input conveyor 2. The transport distance during each transport period of the intermittent operation of the input conveyor 2 is the same as the spacing between each set of positioning members 13 aligned in the transport direction D1. At the stop time of the intermittent operation of the input conveyor 2, worker U picks up one scaffolding material W from the multiple scaffolding materials W, enters the input zone Z, places the scaffolding material W on the upstream end 2a of the input conveyor 2, presses it against the positioning member 13, and retreats from the input zone Z.

[0037] In step S13, the control device 9 causes the scaffolding material W on the loading conveyor 2 to be photographed at the time when the intermittent operation of the loading conveyor 2 is stopped.

[0038] In step S14, the control device 9 analyzes the captured image obtained in step S13 to determine the type of scaffolding material W captured by the camera 4. For example, the control device 9 inputs the captured image obtained in step S13 into the trained model 105 and obtains the type of scaffolding material W from the trained model 105.

[0039] In step S15, the control device 9 refers to the settings registered in step S11 and selects a recovery device 6 from among the multiple recovery devices 6 that corresponds to the determined type. A single recovery device 6 may hold only one type of scaffolding material W, or it may hold multiple types of scaffolding material W together.

[0040] In step S16, the robot 5 is controlled to pick up the scaffolding material W that was photographed in step S14, and the picked-up scaffolding material is placed on the retrieval device 6 selected in step S15. At this time, the control device 9 causes the robot 5 to pick up the scaffolding material W from the input conveyor 2 during the stop of the intermittent operation of the input conveyor 2.

[0041] If a retrieval cart 6A was selected in step S15, then in step S16, as shown in Figure 2, the control device 9 places the scaffolding material W on the retrieval cart 6A so that its length is oriented in the radial direction of the virtual circle C. This prevents the scaffolding material W protruding from the retrieval cart 6A from interfering with other adjacent retrieval carts 6A, even if adjacent retrieval carts 6A are placed close to each other along the virtual circle C. As a result, it becomes possible to arrange a large number of retrieval carts 6A around the robot 5.

[0042] In step S17, the control device 9 records information about the scaffolding materials that have been sorted in the sorting log table 124. That is, the control device 9 increments the number of recovered scaffolding materials of each type.

[0043] In step S18, the control device 9 determines whether sorting has been completed for all scaffolding materials in the current sorting lot. If sorting has not been completed for all scaffolding materials, the control device 9 returns to step S12. When the robot 5 picks up the scaffolding materials W, the control device 9 controls the input conveyor 2 so that it moves from a stopped state to a transport state. At this time, the control device 9 prohibits the input conveyor 2 from moving from a stopped state to a transport state if the human presence sensor 8 detects a worker U in the input zone Z. In other words, the control device 9 uses the completion of the robot 5 picking up the scaffolding materials and the human presence sensor 8 no longer detecting a worker U as a trigger to move the input conveyor 2 from a stopped state to a transport state and operate the input conveyor 2 by a predetermined amount.

[0044] In step S18, if the control device 9 determines that the sorting work has been completed for all scaffolding materials in the current sorting lot, the control device 9 terminates the sorting work.

[0045] In step S19, the control device 9 compares the number of recovered scaffolding materials of each type in the current sorting lot recorded in the sorting log table 124 with the number of scaffolding materials of each type in the records corresponding to the current sorting lot that are pre-stored in the lending table 123, and determines whether the number of recovered items matches the number of items that were borrowed. For example, the control device 9 uses the borrower as a key to compare the number of recovered scaffolding materials of each type in the records of the sorting log table 124 with the number of scaffolding materials of each type in the records of the lending table 123.

[0046] If, in step S19, the number of recovered items matches the number of items borrowed, then in step S20, the control device 9 registers "Return Complete" in the "Return Status" field of the corresponding record in the loan table 123 for the scaffolding material type for which the number of recovered items matches the number of items borrowed. In other words, the control device 9 may also clear the record of the same borrower as the borrower corresponding to the scaffolding material type and the number of recovered items, marking it as returned.

[0047] If it is determined in step S19 that the number of recovered items does not match the number of items borrowed, the control device 9 outputs an alert in step S21. For example, if the number of recovered items recorded in the sorting log table 124 is less than the corresponding number of items borrowed recorded in the borrowing table 123, the control device 9 notifies the worker U or manager of an alert indicating a shortage of returned items via the user output interface of the input / output interface 104. This alert information may include information such as the borrower (return source) of the corresponding sorting lot, the type of scaffolding material, and the number of items that are short of being returned.

[0048] <Summary> According to the automatic sorting device 1 described above, a robot 5 is positioned adjacent to the input conveyor 2 on the downstream side of the transport direction D1 of the input conveyor 2, and multiple collection devices 6 are arranged around the robot 5. This compact layout allows for efficient automatic sorting of scaffolding materials W in a narrow space.

[0049] Furthermore, by operating the loading conveyor 2 intermittently, the camera 4 can take pictures and the robot 5 can pick up the materials during the periods when the loading conveyor 2 is stopped, and the worker U can place the scaffolding material W on the upstream end 2a of the loading conveyor 2 during the periods when the loading conveyor 2 is stopped.

[0050] Furthermore, since each set of positioning members 13 is arranged at equal intervals in the transport direction D1 of the loading conveyor 2, the multiple scaffolding materials W that are sequentially loaded onto the loading conveyor 2 are arranged at equal intervals in the transport direction D1. This allows each scaffolding material W placed on the loading conveyor 2 to be positioned within the camera 4's shooting area at the moment the loading conveyor 2 stops during its intermittent operation. In addition, each scaffolding material W placed on the loading conveyor 2 can be positioned at the downstream end 2b of the loading conveyor 2, where it is easy for the robot 5 to pick it up at the moment the loading conveyor 2 stops during its intermittent operation. As described above, the positioning members 13 allow for the position and orientation of the scaffolding materials W in the transport direction D1 to be determined, enabling the scaffolding materials W to be photographed and picked up.

[0051] (modified version) The contents of this disclosure are not limited to the embodiments described above. For example, the trained model 105 may be connected to the control device 9 via a network. Alternatively, instead of using the trained model 105, an identification code indicating the type of scaffolding material (e.g., a barcode, QR code (registered trademark), etc.) may be attached to the scaffolding material. In that case, the control device 9 may have an identification code table that stores the identification code and the type of scaffolding material corresponding to the identification code, recognize the identification code of the scaffolding material captured in the image obtained from the camera 4, and obtain the type of scaffolding material corresponding to the recognized identification code from the identification code table.

[0052] The control device 9 may be a concept that includes a local computer connected to the input conveyor 2, camera 4, and robot 5, and a server connected to the local computer via a network. The multiple recovery devices 6 may all be recovery carts 6A, or they may all be recovery conveyors 6B. The human presence sensor 8 may be omitted.

[0053] If the scaffolding material W is marked with an identification code containing information that identifies the borrower (for example, a barcode, QR code (registered trademark), etc.), the control device 9 may identify the borrower (return source) of the scaffolding material W based on the identification code captured by the camera 4 and register it in the sorting log table 124.

[0054] One of the multiple recovery devices 6 may be designated as a recovery device 6 for judgment errors. In this case, if the control device 9 is unable to determine the type of scaffolding material W in step S14, it may select the recovery device for the judgment error, control the robot 5 to pick up the scaffolding material W whose type could not be determined, and place the picked-up scaffolding material on the selected recovery device 6 for the judgment error. This allows the automatic sorting device 1 to continue sorting without stopping even if a judgment error occurs in which the control device 9 is unable to determine the type of scaffolding material W, thereby improving efficiency.

[0055] The functions realized by the components described herein may be implemented in a circuit or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), CPUs (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to realize the functions described herein. A processor is considered to be a circuit or processing circuitry, including transistors and other circuits. A processor may be a programmed processor that executes a program stored in memory.

[0056] In this specification, circuitry, unit, and means are hardware programmed to perform or execute the functions described herein. Such hardware may be any hardware disclosed herein, or any hardware known to be programmed to perform or execute the functions described herein.

[0057] If the hardware is a processor that is considered to be a type of circuitry, then the circuitry, means, or unit is a combination of hardware and software used to constitute the hardware and / or processor.

[0058] While several embodiments of this disclosure have been described above, these embodiments can be implemented in a variety of other forms, and various omissions, substitutions, and modifications are permitted without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0059] (Note) The details described in each of the above embodiments are noted below.

[0060] (Note 1) An automatic scaffolding material sorting device for sorting multiple scaffolding materials returned from a construction site, comprising: an input conveyor on which multiple scaffolding materials are sequentially loaded; a camera capable of photographing the scaffolding materials transported by the input conveyor; a robot positioned downstream of the input conveyor in the direction of transport of the input conveyor, aligned with the input conveyor, and having an end effector for picking up scaffolding materials transported by the input conveyor and placed at the downstream end of the input conveyor; and a control device capable of communicating with the camera and the robot, wherein the control device causes the camera to photograph the scaffolding materials placed on the input conveyor, analyzes the images received from the camera to determine the type of scaffolding material photographed by the camera, selects one of multiple recovery devices arranged in a line around the robot in a plan view according to the determined type, and controls the robot to pick up the scaffolding materials of the determined type from the input conveyor and place the picked-up scaffolding materials on the selected recovery device.

[0061] (Note 2) The retrieval devices are arranged along a virtual circle centered on the robot's pivot point in a plan view, and are an automated scaffolding material sorting device as described in Appendix 1.

[0062] (Note 3) The automatic sorting device for scaffolding materials, as described in Appendix 2, includes a collection cart, and the control device controls a robot to place the scaffolding materials on the collection cart so that their length is oriented in the direction of the radius of a virtual circle.

[0063] (Note 4) The automatic sorting device for scaffolding materials as described in any of Appendix 1 to 3, wherein the recovery unit includes a recovery conveyor, and the recovery conveyor is positioned such that the transport direction of the recovery conveyor is oriented away from the robot.

[0064] (Note 5) The control device controls the input conveyor to operate it intermittently, alternating between transporting and stopping, and is an automatic sorting device for scaffolding materials as described in any of Appendix 1 to 4.

[0065] (Note 6) The control device is an automatic scaffolding material sorting device as described in Appendix 5, which takes pictures of the scaffolding materials placed on the input conveyor with a camera and has a robot pick up the scaffolding materials from the input conveyor during the stoppage of the input conveyor's intermittent operation.

[0066] (Note 7) The control device controls the input conveyor so that when the robot picks up scaffolding material, the input conveyor changes from a stopped state to a transport state, as described in Appendix 5 or 6, for the automatic sorting device for scaffolding material.

[0067] (Note 8) An automatic sorting device for scaffolding materials as described in any of Appendix 5 to 7, further comprising a motion sensor that detects the presence of a worker in the input zone where a worker enters to place scaffolding materials in the upstream area of ​​the input conveyor, and a control device that prohibits the input conveyor from changing from a stopped state to a transport state when a worker is detected in the input zone by the motion sensor.

[0068] (Note 9) The automatic sorting device for scaffolding materials, as described in any of Appendix 1 to 8, includes a loading conveyor, a loop-shaped transport member on which multiple scaffolding materials are placed at intervals in the transport direction, an electric motor that causes the transport member to rotate, and multiple sets of positioning members that position multiple scaffolding materials relative to the transport member.

[0069] (Note 10) An automatic sorting device for scaffolding materials as described in Appendix 9, wherein the positioning members of each set of multiple sets of positioning members are arranged at intervals in the lateral direction so as to position the scaffolding material with its length direction facing laterally, perpendicular to the transport direction of the input conveyor, and each set of positioning members is arranged at intervals in the transport direction of the input conveyor.

[0070] (Note 11) An automatic sorting device for scaffolding materials as described in Appendix 10, wherein the control device controls the input conveyor to operate it intermittently, alternating between transporting and stopping, and the transport distance at each transport time of the intermittent operation of the input conveyor is the same as the spacing between each set of positioning members when they are lined up in the transport direction of the input conveyor.

[0071] (Note 12) An automatic sorting device for scaffolding materials as described in any of Appendix 1 to 11, further comprising marking tags corresponding to the type of scaffolding material, positioned at positions corresponding to both ends of various types of scaffolding materials while the scaffolding materials are placed on the upstream end of the input conveyor.

[0072] (Note 13) An automatic scaffolding material sorting device as described in any of Appendix 1 to 12, wherein the control device counts the number of scaffolding materials placed on the retrieval device by the robot as the number of retrieval materials for each type of scaffolding material, and after all sorting of multiple scaffolding materials for multiple retrieval devices is completed, it compares the number of retrieval materials for each type of scaffolding material with the number of lent out for each type of scaffolding material which is stored in advance, and outputs an alert if the number of retrieval materials does not match the number of lent out.

[0073] (Note 14) A method for automatically sorting multiple scaffolding materials returned from a construction site, comprising: an input conveyor; a camera capable of photographing scaffolding materials transported by the input conveyor; a robot positioned downstream of the input conveyor in the direction of transport of the input conveyor and aligned with the input conveyor, having an end effector for picking up scaffolding materials transported by the input conveyor and positioned at the downstream end of the input conveyor; and a control device capable of communicating with the camera and the robot; a plurality of retrieval units arranged in a line to surround the robot in a plan view; the control device causing the camera to photograph the scaffolding materials placed on the input conveyor; the control device analyzing the images received from the camera to determine the type of scaffolding material photographed by the camera; the control device selecting one of the plurality of retrieval units according to the determined type; and the control device controlling the robot to pick up the scaffolding materials of the determined type from the input conveyor and place the picked-up scaffolding materials on the selected retrieval unit. [Explanation of Symbols]

[0074] 1. Automatic sorting device 2. Incoming conveyor 2a Upstream end 2b Downstream end 4 cameras 5 Robots 6. Recovery unit 6A Collection Cart 6B Recovery Conveyor 8-person motion sensor 9 Control device 11 Conveying Member 12 Electric motors 13 Positioning member 15 frames 16 Marker tags 23 End Effector 105 Pre-trained models C Virtual Yen D1 Conveying direction P turning center Z Input Zone

Claims

1. A device that automatically sorts multiple scaffolding materials returned from a construction site, A conveyor on which the aforementioned multiple scaffolding materials are placed in sequence, A camera capable of photographing scaffolding materials transported by the aforementioned conveyor belt, A robot having an end effector positioned downstream of the aforementioned input conveyor so as to be parallel to the input conveyor in the transport direction of the input conveyor, and which picks up scaffolding material that has been transported by the input conveyor and placed at the downstream end of the input conveyor, The system comprises the aforementioned camera and a control device capable of communicating with the robot, The control device is The camera is used to photograph the scaffolding materials placed on the aforementioned conveyor belt. The type of scaffolding material captured by the camera is determined by analyzing the captured image received from the camera. Depending on the type determined above, one recovery device is selected from a plurality of recovery devices arranged in a line surrounding the robot in a plan view. An automatic scaffolding material sorting device that controls the robot to pick up the scaffolding material of the determined type from the input conveyor and place the picked-up scaffolding material onto the selected retrieval device.

2. The automatic sorting device for scaffolding materials according to claim 1, wherein the collection devices are arranged along a virtual circle centered on the rotation center of the robot in a plan view.

3. The aforementioned recovery device includes a recovery trolley, The automatic sorting device for scaffolding materials according to claim 2, wherein the control device controls the robot and places the scaffolding materials on the retrieval trolley such that the length direction of the scaffolding materials is oriented in the radial direction of the virtual circle.

4. The recovery device includes a recovery conveyor, The automatic sorting device for scaffolding materials according to claim 1, wherein the recovery conveyor is arranged such that the transport direction of the recovery conveyor is oriented away from the robot.

5. The automatic sorting device for scaffolding materials according to claim 1, wherein the control device controls the input conveyor to operate the input conveyor intermittently so that it alternately repeats transport and stopping.

6. The automatic sorting device for scaffolding materials according to claim 5, wherein the control device causes the camera to photograph the scaffolding materials placed on the input conveyor, and causes the robot to pick up the scaffolding materials from the input conveyor, during the stop of the intermittent operation of the input conveyor.

7. The automatic sorting device for scaffolding materials according to claim 5, wherein the control device controls the input conveyor so that when the robot picks up the scaffolding material, the input conveyor changes from a stopped state to a transport state.

8. The upstream area of ​​the aforementioned loading conveyor is further equipped with a human presence sensor that detects the presence of a worker in the input zone where the worker enters to place scaffolding materials, The automatic sorting device for scaffolding materials according to claim 5, wherein the control device prevents the input conveyor from changing from a stopped state to a transport state when a worker present in the input zone is detected by the human presence sensor.

9. The automatic scaffolding material sorting device according to claim 1, wherein the input conveyor includes a loop-shaped transport member on which the plurality of scaffolding materials are placed at intervals in the transport direction, an electric motor for causing the transport member to rotate, and a plurality of positioning members for positioning the plurality of scaffolding materials relative to the transport member.

10. The positioning members of each of the multiple sets of positioning members are arranged at intervals in the lateral direction so as to position the scaffolding material such that its length direction is oriented in a lateral direction perpendicular to the conveying direction of the loading conveyor. The automatic sorting device for scaffolding materials according to claim 9, wherein each set of positioning members is arranged at intervals in the transport direction of the input conveyor.

11. The control device controls the input conveyor to operate it intermittently, alternating between transporting and stopping. The automatic sorting device for scaffolding materials according to claim 10, wherein the transport distance at each transport time of the intermittent operation of the transport conveyor is the same as the spacing between each set of positioning members when they are aligned in the transport direction of the transport conveyor.

12. The automatic sorting device for scaffolding materials according to claim 1, further comprising marking tags corresponding to the type of scaffolding material, positioned at positions corresponding to both ends of various types of scaffolding materials while the scaffolding materials are placed on the upstream end of the input conveyor.

13. The control device is The robot counts the number of scaffolding materials placed on the retrieval device as the number of retrieval items for each type of scaffolding material. After all the sorting of the scaffolding materials into the multiple collection devices is completed, the number of collected items for each type of scaffolding material is compared with the number of items for each type of scaffolding material that has been stored in advance. The automatic sorting device for scaffolding materials according to claim 1, which outputs an alert when the number of collected items does not match the number of items lent out.

14. A method for automatically sorting multiple scaffolding materials returned from a construction site, An automatic sorting device is prepared, comprising: an input conveyor; a camera capable of photographing scaffolding materials transported by the input conveyor; a robot positioned downstream of the input conveyor so as to be parallel to the input conveyor in the transport direction of the input conveyor, and having an end effector for picking up scaffolding materials transported by the input conveyor and placed at the downstream end of the input conveyor; and a control device capable of communicating with the camera and the robot. In a plan view, multiple recovery devices are arranged in a line to surround the robot. The control device causes the camera to photograph the scaffolding materials placed on the loading conveyor. The control device analyzes the captured image received from the camera to determine the type of scaffolding material captured by the camera. The control device selects one of the multiple recovery devices according to the determined type, An automatic sorting method for scaffolding materials, comprising: controlling the robot to pick up the scaffolding materials whose type has been determined by the control device from the input conveyor, and to place the picked-up scaffolding materials onto the selected retrieval device.

Images