Waste sorting system

Abstract

To provide a waste selection system capable of automatically detecting crush-improper matter in non-inflammable waste disposal.SOLUTION: A waste disposal system is to detect crush-improper matter in wastes carried by a conveyor upstream from a crushing part which crushes wastes, and comprises at least one of a heavy body detection part which detects a heavy body larger than predetermined density based upon information on sound generated at a drop position when a waste is dropped on the conveyor and a liquid detection part which detects at least one of a waste containing liquid and a liquid pool on the conveyor based upon reflection information or transmission information obtained when the conveyor is irradiated with X rays or an ultrasonic wave.SELECTED DRAWING: Figure 2

Description

【Technical Field】 【0001】 The present invention relates to a waste sorting system. 【Background Art】 【0002】 Generally, non-combustible waste carried into a waste treatment facility is conveyed by a conveyor, finely crushed by a crusher, and then sorted and processed for each material. To achieve continuous equipment operation, it is preferable to remove in advance objects that are not suitable for crushing by the crusher (hereinafter also referred to as non-crushable objects). When this sorting work is carried out manually, the workload is high, so automation of this work is desired. 【0003】 In Patent Document 1 (Japanese Patent No. 6842076), in an intermediate treatment facility for sorting and recovering waste by material, waste to be conveyed is irradiated with X-rays or near-infrared rays, and the contour and material information of the object are obtained from the reflection information, and waste of the same material as the pre-registered material is recovered by a robot arm in the subsequent stage has been proposed. 【0004】 In Patent Document 2 (Japanese Unexamined Patent Application Publication No. 2020-203249), in a storage pit where waste is stored, a material is specified using a machine learning model based on information obtained from sensors, and an object that is not suitable for incineration in an incinerator (non-incinerable object) A technique for removing waste of the same material as the waste by a robot arm has been proposed. 【Prior Art Documents】 【Patent Documents】 【0005】 【Patent Document 1】 Japanese Patent No. 6842076 【Patent Document 2】 Japanese Unexamined Patent Application Publication No. 2020-203249 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0006】 In the treatment of non-combustible waste targeted by this invention, examples of unsuitable materials for crushing include products containing batteries, lithium-ion batteries, and liquid explosive / flammable materials such as spray cans that have not been vented. However, the technologies described in Patent Documents 1 and 2 use information from the surface of the waste to determine whether recovery and removal are necessary, and do not use information from inside the waste, so they cannot sort out waste containing liquid. 【0007】 Furthermore, even with waste materials of the same type, some can be crushed (e.g., iron pipes) and others cannot (e.g., dumbbells) depending on factors such as density. Uncrushable materials are also an example of unsuitable materials for crushing, but the technologies described in Patent Documents 1 and 2 cannot distinguish between these. 【0008】 The present invention has been made in consideration of the above points. The object of the present invention is to provide a waste sorting system that can automatically detect unsuitable materials for crushing in the treatment of non-combustible waste. [Means for solving the problem] 【0009】 A waste sorting system according to a first aspect of the present invention is: A waste sorting system that detects unsuitable materials for crushing from waste being transported by a conveyor upstream of the crushing section where the waste is crushed, A heavy object detection unit detects heavy objects with a density greater than a predetermined size based on sound information generated at the point where waste is dropped onto a conveyor belt, A liquid detection unit that detects at least one of liquid-containing waste and liquid puddles on the conveyor based on the reflected or transmitted information when X-rays or ultrasound are irradiated onto the conveyor, It comprises at least one of the following. 【0010】 In this configuration, since the waste sorting system includes at least one of a heavy object detection unit and a liquid detection unit, it is possible to automatically detect at least one of the following as unsuitable for crushing upstream of the crushing unit: (1) heavy objects with a density exceeding a predetermined size, and (2) waste containing liquid and liquid puddles on the conveyor. This makes it possible to remove unsuitable materials in advance, which would have a serious adverse effect on the equipment and facility operation if brought into the crusher, while processing waste that looks similar to the unsuitable materials in the crusher without removing it. 【0011】 A waste sorting system according to a second aspect of the present invention is a waste sorting system according to a first aspect, It includes both the weight detection unit and the liquid detection unit. 【0012】 According to this configuration, upstream of the crushing section, both of the following can be automatically detected as unsuitable for crushing: (1) heavy objects with a density exceeding a predetermined size, and (2) waste containing liquid and liquid puddles on the conveyor. 【0013】 A waste sorting system according to a third aspect of the present invention is a waste sorting system according to a second aspect, The aforementioned heavy object detection unit is positioned upstream of the liquid detection unit in the transport direction. 【0014】 In this configuration, the waste stored in the non-combustible waste storage section can be lifted by a crane and dropped onto a conveyor, or conveyors of different heights can be prepared, and the waste can be dropped from the upstream conveyor to the downstream conveyor. The sound of the falling waste is detected by the heavy object detection unit to detect heavy objects, and then the waste can be passed through the liquid detection unit for liquid detection, making it efficient. 【0015】 A waste sorting system according to a fourth aspect of the present invention is a waste sorting system according to any one of the first to third aspects, The aforementioned heavy object detection unit is A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, A second sensor that detects objects on a conveyor belt using visible light or near-infrared light, A heavy object coordinate estimation unit determines whether or not there is a heavy object on the conveyor based on information from the first and second sensors, and if it is determined that there is a heavy object, it estimates the position coordinates of that heavy object on the conveyor. A control information transmission unit transmits control information to the heavy object removal unit to operate the heavy object removal unit based on estimated position coordinate information and remove the heavy object from the conveyor. It has. 【0016】 In this configuration, the heavy object coordinate estimation unit determines whether or not there is a heavy object on the conveyor based on information from the first and second sensors, and if it is determined that there is a heavy object, it estimates its position coordinates on the conveyor, and the control information transmission unit transmits control information to the heavy object removal unit to operate the heavy object removal unit based on the estimated position coordinates to remove the heavy object from the conveyor, so that if there is a heavy object on the conveyor, it can be automatically removed from the conveyor. 【0017】 As a variation of the waste sorting system according to the fourth embodiment, the heavy object coordinate estimation unit determines whether or not there is a heavy object on the conveyor based on information from the first sensor and the second sensor, and if it is determined that there is a heavy object, the control information transmission unit may issue an alert instead of sending a control signal to the heavy object removal unit to remove the heavy object, or it may send a control signal to the conveyor to temporarily stop the conveyor. 【0018】 A waste sorting system according to a fifth aspect of the present invention is a waste sorting system according to a fourth aspect, The first sensor is an acoustic camera. 【0019】 A waste sorting system according to the sixth aspect of the present invention is a waste sorting system according to the fourth or fifth aspect, The second sensor is a visible light camera or a near-infrared camera. 【0020】 The waste sorting system according to the seventh aspect of the present invention is a waste sorting system according to any one of the fourth to sixth aspects, The heavy object removing unit is at least one of a robot arm, a pusher, and a crane. 【0021】 The waste sorting system according to the eighth aspect of the present invention is a waste sorting system according to any one of the first to seventh aspects, The liquid detection unit, a third sensor that detects an object on the conveyor with visible light or near-infrared light, a fourth sensor that detects a liquid on the conveyor with X-rays or ultrasonic waves, a liquid coordinate estimation unit that determines whether there is waste containing liquid and / or a liquid pool on the conveyor based on information from the third sensor and the fourth sensor, and estimates the position coordinates thereof on the conveyor when it is determined that there is waste containing liquid and / or a liquid pool; a first control information transmission unit that transmits control information for operating the liquid residue removing unit based on the information of the estimated position coordinates to remove the waste containing liquid from the conveyor to the liquid residue removing unit, and a second control information transmission unit that transmits control information for blowing hot air onto the liquid pool to evaporate and remove it from the conveyor to the blower, at least one of which; having. 【0022】 In this configuration, the liquid coordinate estimation unit determines, based on information from the third and fourth sensors, whether or not there is waste containing liquid and / or a liquid puddle on the conveyor. If it is determined that there is waste containing liquid and / or a liquid puddle, it estimates its position coordinates on the conveyor. If it is determined that there is waste containing liquid, the first control information transmission unit transmits control information to the liquid residue removal unit to operate the liquid residue removal unit based on the estimated position coordinates to remove the waste containing liquid from the conveyor. If it is determined that there is a liquid puddle, the second control information transmission unit transmits control information to the blower to blow hot air onto the liquid puddle to evaporate it and remove it from the conveyor, based on the estimated position coordinates. This makes it possible to automatically remove waste containing liquid and / or a liquid puddle from the conveyor if they are present. 【0023】 As a variation of the waste sorting system according to the eighth embodiment, the liquid coordinate estimation unit determines whether or not there is waste containing liquid on the conveyor based on information from the third sensor and the fourth sensor, and if it is determined that there is waste containing liquid, the second control information transmission unit may, instead of sending a control signal to the liquid residue removal unit to remove the waste containing liquid, issue an alert or send a control signal to the conveyor to temporarily stop the conveyor. 【0024】 A waste sorting system according to the ninth aspect of the present invention is a waste sorting system according to the eighth aspect, The liquid residue removal unit is at least one of a robot arm, a pusher, and a crane. 【0025】 A waste sorting system according to the tenth aspect of the present invention is a waste sorting system according to any of the first to ninth aspects, Liquid waste includes at least one of the following: unvented spray cans, gas cylinders, containers or tanks containing petroleum products, paint containers, batteries, and waste containing batteries. 【0026】 A waste treatment facility according to the 11th aspect of the present invention is equipped with a waste sorting system according to any of the 1st to 10th aspects. 【0027】 A waste sorting method according to a twelfth aspect of the present invention is: A waste sorting method for detecting unsuitable materials for crushing from waste being transported by a conveyor upstream of the crushing section where the waste is crushed, The first step involves detecting the sound generated at the point where waste is dropped onto the conveyor belt, The second step involves detecting objects on the conveyor belt using visible light or near-infrared light, A third step involves determining whether there is a heavy object on the conveyor belt based on the information detected in the first and second steps, and if there is a heavy object, estimating its position coordinates on the conveyor belt. The fourth step involves operating a heavy object removal unit based on estimated position coordinate information to remove the heavy object from the conveyor, The fifth step involves detecting objects on the conveyor belt using visible light or near-infrared light, The sixth step involves detecting the liquid on the conveyor using X-rays or ultrasound, Step 8 involves determining whether there is waste containing liquid and / or a liquid puddle on the conveyor based on the information detected in steps 5 and 6, and if there is waste containing liquid and / or a liquid puddle, estimating its position coordinates on the conveyor. Step 9 involves operating a liquid residue removal unit based on estimated position coordinate information to remove the liquid-containing waste from the conveyor, and step 10 involves blowing hot air into the liquid reservoir to evaporate it and remove it from the conveyor, at least one of the above. Includes. 【0028】 An information processing device according to the 13th aspect of the present invention is A sensor information acquisition unit acquires information from a first sensor that detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor that detects objects on the conveyor belt using visible light or near-infrared light. A heavy object coordinate estimation unit determines whether or not there is a heavy object on the conveyor based on information from the first and second sensors, and if there is a heavy object, estimates its position coordinates on the conveyor. A control information transmission unit transmits control information to the heavy object removal unit to operate the heavy object removal unit based on estimated position coordinate information and remove the heavy object from the conveyor. It is equipped with. 【0029】 An information processing device according to the 14th aspect of the present invention is: A sensor information acquisition unit that acquires information from a third sensor that detects objects on a conveyor belt using visible light or near-infrared light, and a fourth sensor that detects liquid on a conveyor belt using X-rays or ultrasound, Based on information from the third and fourth sensors, a liquid coordinate estimation unit determines whether or not there is waste containing liquid and / or a liquid puddle on the conveyor, and if there is waste containing liquid and / or a liquid puddle, estimates its position coordinate on the conveyor. A first control information transmission unit transmits control information to the liquid residue removal unit to operate the liquid residue removal unit based on estimated position coordinate information in order to remove the liquid-containing waste from the conveyor, and a second control information transmission unit transmits control information to the blower to blow hot air into the liquid puddle to evaporate it and remove it from the conveyor, at least one of the following: It is equipped with. 【0030】 The information processing method according to the 15th aspect of the present invention is: A method of information processing performed by a computer, A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor detects objects on the conveyor belt using visible light or near-infrared light. Based on information from the first and second sensors, the system determines whether or not there is a heavy object on the conveyor belt, and if there is a heavy object, it estimates its position coordinates on the conveyor belt. The steps include: transmitting control information to the heavy object removal unit to operate the heavy object removal unit based on the estimated position coordinate information and remove the heavy object from the conveyor; Includes. 【0031】 The information processing method according to the sixteenth aspect of the present invention is: A method of information processing performed by a computer, A step of acquiring information from a third sensor that detects objects on a conveyor belt using visible light or near-infrared light, and a fourth sensor that detects liquid on a conveyor belt using X-rays or ultrasound, Based on information from the third and fourth sensors, the system determines whether there is waste containing liquid and / or a liquid puddle on the conveyor, and if there is waste containing liquid and / or a liquid puddle, it estimates its position coordinates on the conveyor. The process includes at least one of the following steps: transmitting control information to the liquid residue removal unit to operate the liquid blue residue removal unit based on estimated position coordinate information to remove the liquid-containing waste from the conveyor; and transmitting control information to the blower to evaporate the liquid in the liquid reservoir and remove it from the conveyor. Includes. 【0032】 The information processing program according to the 17th aspect of the present invention is: On the computer, A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor detects objects on the conveyor belt using visible light or near-infrared light. Based on information from the first and second sensors, the system determines whether or not there is a heavy object on the conveyor belt, and if there is a heavy object, it estimates its position coordinates on the conveyor belt. The steps include: transmitting control information to the heavy object removal unit to operate the heavy object removal unit based on the estimated position coordinate information and remove the heavy object from the conveyor; Make it run. 【0033】 The information processing program according to the 18th aspect of the present invention is: On the computer, A step of acquiring information from a third sensor that detects objects on a conveyor belt using visible light or near-infrared light, and a fourth sensor that detects liquid on a conveyor belt using X-rays or ultrasound, Based on information from the third and fourth sensors, the system determines whether there is waste containing liquid and / or a liquid puddle on the conveyor, and if there is waste containing liquid and / or a liquid puddle, it estimates its position coordinates on the conveyor. The process includes at least one of the following steps: transmitting control information to the liquid residue removal unit to operate the unit based on estimated position coordinates to remove the liquid-containing waste from the conveyor; and transmitting control information to the blower to evaporate the liquid in the liquid reservoir and remove it from the conveyor. Make it run. [Effects of the Invention] 【0034】 According to the present invention, unsuitable materials for crushing can be automatically detected in the processing of non-combustible waste. [Brief explanation of the drawing] 【0035】 [Figure 1] Figure 1 is a schematic diagram showing the configuration of a waste treatment facility according to one embodiment. [Figure 2] Figure 2 is a block diagram showing the configuration of a waste sorting system according to one embodiment. [Figure 3] Figure 3 is a block diagram showing the configuration of a weight detection unit according to one embodiment. [Figure 4] Figure 4 is a block diagram showing the configuration of a liquid detection unit according to one embodiment. [Figure 5] Figure 5 is a schematic diagram illustrating the operation of a weight detection unit according to one embodiment. [Figure 6] Figure 6 is a schematic diagram illustrating the operation of a liquid detection unit according to one embodiment. [Figure 7]Figure 7 is a flowchart showing an example of the operation of a waste sorting system according to one embodiment. [Modes for carrying out the invention] 【0036】 Embodiments of the present invention will be described in detail below with reference to the attached drawings. In the following description and the drawings used therein, the same reference numerals will be used for parts that can be identically configured, and redundant explanations will be omitted. 【0037】 (Configuration of waste treatment facilities) Figure 1 is a schematic diagram showing the configuration of a waste treatment facility 10 according to one embodiment. 【0038】 As shown in Figure 1, the waste treatment facility 10 is a facility for treating non-combustible waste and includes a platform 17 on which transport vehicles (such as packer trucks and light trucks) 11 loaded with waste are parked, a non-combustible waste storage section (garbage pit) 12 where the waste introduced from the platform 17 is stored, a crane 13 for transporting the waste stored in the non-combustible waste storage section 12, a conveyor 14 on which the waste transported by the crane 13 is dropped, and a crushing section 15 for crushing the waste transported by the conveyor 14. The structure of the non-combustible waste storage section 12 is not limited to a single-stage pit as shown in Figure 1, but also includes a two-stage pit in which the non-combustible waste storage section 12 is divided into an input section and a storage section. 【0039】 The waste, loaded onto the transport vehicle 11, is dropped from the platform 17 into the non-combustible waste storage section 12 and stored there. The waste stored in the non-combustible waste storage section 12 is transported by the crane 13 onto the conveyor 14 and dropped there, then transported by the conveyor 14 to the crushing section 15, where it is crushed and then sorted and processed according to its material type. 【0040】 (Configuration of the waste sorting system) As shown in Figure 1, the waste treatment facility 10 according to this embodiment is provided with a waste sorting system 16 that detects unsuitable materials for crushing from the waste being transported by the conveyor 14 upstream of the crushing section 15. Figure 2 is a block diagram showing the configuration of the waste sorting system 16. 【0041】 As shown in Figures 1 and 2, the waste sorting system 16 includes a heavy object detection unit 20 and a liquid detection unit 30. The heavy object detection unit 20 detects heavy objects with a density greater than a predetermined value based on sound information generated at the point where waste is dropped onto the conveyor 14. The liquid detection unit 30 detects at least one of waste containing liquid and liquid puddles on the conveyor based on reflected or transmitted information when X-rays or ultrasound are irradiated onto the conveyor 14. 【0042】 In the embodiments shown in Figures 1 and 2, the waste sorting system 16 has both a weight detection unit 20 and a liquid detection unit 30, but it is not limited to this, and may have only one of the weight detection unit 20 or the liquid detection unit 30. 【0043】 If the waste sorting system 16 has both a heavy object detection unit 20 and a liquid detection unit 30, the heavy object detection unit 20 may be positioned upstream of the liquid detection unit 30 in the transport direction (i.e., towards the non-combustible waste storage unit 12). In this case, the waste stored in the non-combustible waste storage unit 12 can be lifted by the crane 13 and dropped onto the conveyor 14, or conveyors of different heights can be prepared, and the waste can be dropped from the upstream conveyor (not shown) to the downstream conveyor 14. The sound of the falling waste can be detected by the heavy object detection unit 20 to detect heavy objects, and then the waste can be passed through the liquid detection unit 30 for liquid detection, which is efficient. In contrast, if the liquid detection unit 30 is located upstream of the heavy object detection unit 20, the system configuration becomes complex. This is because the crane 13 lifts the waste stored in the non-combustible waste storage unit 12 and drops it onto the conveyor 14, where it passes through the liquid detection unit 30 for liquid detection. Then, while the waste is being transported on the conveyor 14, the crane lifts it again and drops it onto the conveyor 14. The heavy object detection unit 20 then detects the sound of the falling waste to detect the heavy object. 【0044】 (Configuration of the heavy object detection unit) Figure 3 is a block diagram showing the configuration of the heavy object detection unit 20. Figure 5 is a schematic diagram illustrating the operation of the heavy object detection unit 20. As shown in Figures 3 and 5, the heavy object detection unit 20 includes a first sensor 21, a second sensor 22, an information processing device 23, and a heavy object removal unit 24. 【0045】 The first sensor 21 is positioned above the conveyor belt 14 and detects the sound generated at the point where waste is dropped onto the conveyor belt 14. For example, an acoustic camera may be used as the first sensor 21. 【0046】 The second sensor 22 is positioned above the conveyor belt 14 and detects visible light or near-infrared light emitted or reflected from objects on the conveyor belt 14. For example, a visible light camera or a near-infrared camera may be used as the second sensor 22. In this specification, visible light refers to electromagnetic waves with wavelengths of 380 nm to 790 nm, and near-infrared light refers to electromagnetic waves with wavelengths of 780 nm to 2500 nm. 【0047】 The information processing device 23 is comprised of one or more computers and includes a communication unit 231, a control unit 232, and a storage unit 233. Each unit is connected to the others via a bus or network so that they can communicate with each other. 【0048】 Of these, the communication unit 231 is a communication interface for the first sensor 21, the second sensor 22, and the heavy object removal unit 24. The communication unit 231 transmits and receives information between the first sensor 21, the second sensor 22, and the heavy object removal unit 24 and the information processing device 23. 【0049】 The storage unit 233 is a non-volatile data storage device such as a hard disk or flash memory. Various types of data handled by the control unit 232 are stored in the storage unit 233. In addition, the storage unit 233 stores output information from the first sensor 21 and the second sensor 22 acquired by the sensor information acquisition unit 232a (described later), and position coordinate information of heavy objects estimated by the heavy object coordinate estimation unit 232b. 【0050】 The control unit 232 is a control means that performs various processing of the weight detection unit 20. As shown in Figure 3, the control unit 232 includes a sensor information acquisition unit 232a, a weight coordinate estimation unit 232b, and a control information transmission unit 232c. Each of these units may be realized by a processor in the information processing device 23 executing a predetermined program, or it may be implemented in hardware. 【0051】 The sensor information acquisition unit 232a acquires information detected from the first sensor 21 and the second sensor 22, respectively. For example, if the first sensor 21 is an acoustic camera, the sensor information acquisition unit 232a acquires from the first sensor 21 information about the sound generated at the point where waste is dropped onto the conveyor 14 (waveform, amplitude, magnitude, wavelength, etc.) and the position coordinates of the location where the sound is generated on the conveyor 14 (i.e., the point where the waste is dropped). The sensor information acquisition unit 232a also acquires from the second sensor 22 image data of an object on the conveyor 14 captured in visible light or near-infrared light. The output information from the first sensor 21 and the second sensor 22 acquired by the sensor information acquisition unit 232a is stored in the storage unit 233. 【0052】 In this specification, the position coordinates on the conveyor 14 refer to the position coordinates relative to a reference point (not shown) provided on the conveyor 14. As long as the object is stationary on the conveyor 14, the position coordinate information of the object will not change even if the conveyor 14 moves in the transport direction. 【0053】 The heavy object coordinate estimation unit 232b determines whether or not there is a heavy object with a density greater than a predetermined size on the conveyor belt 14, based on the information detected by the first sensor 21 and the second sensor 22. 【0054】 For example, an iron pipe, being made of iron, has a hollow interior and is relatively light in weight relative to its apparent size (i.e., has a relatively low density). Therefore, when an iron pipe falls onto the conveyor 14 as waste, a relatively high-pitched sound is generated at the point of impact. In contrast, an iron dumbbell, also made of iron, has no hollow interior and is denser than an iron pipe of the same size. Therefore, when an iron dumbbell falls onto the conveyor 14 as waste, a lower-pitched sound is generated at the point of impact than when an iron pipe falls. Consequently, it is possible to determine whether a fallen object is a heavy object with high density from the sound information generated at the point of impact when waste is dropped onto the conveyor 14. 【0055】 For example, when a heavy object with high density that is unsuitable for crushing by a crusher (such as a dumbbell) falls onto the conveyor 14, information on the sound (low frequency) generated at the point of impact may be measured in advance and stored in the storage unit 233. The heavy object coordinate estimation unit 232b may then determine whether or not the falling object is a heavy object by comparing the sound information of the falling object detected by the first sensor 21 with the information on the sound of falling heavy objects stored in advance in the storage unit 233. 【0056】 Alternatively, the heavy object coordinate estimation unit 232b may have a trained model that has been machine-learned using information on the sound of falling heavy objects, which is pre-stored in the memory unit 233, as training data. The trained model may be used to determine (estimate) whether or not the falling object is a heavy object, based on the sound information of the falling object detected by the first sensor 21 as input. 【0057】 If the heavy object coordinate estimation unit 232b determines that there is a heavy object on the conveyor belt 14, it estimates the position coordinates of the heavy object on the conveyor belt 14 based on the output information from the first sensor 21 and the second sensor 22. For example, when waste is dropped onto the conveyor belt 14, the waste may roll from the drop position and then come to a stop, meaning that the drop position and the stopping position may not coincide. Therefore, the heavy object coordinate estimation unit 232b may extract information on the position coordinates of an object on the conveyor belt 14 from image data acquired from the second sensor 22, compare it with the position coordinate information of the location where the dropping sound was generated (i.e., the drop position of the heavy object) acquired from the first sensor 21, and estimate the position coordinates of the object that is closest to the drop position of the heavy object as the position coordinates of the heavy object. The information on the position coordinates of the heavy object estimated by the heavy object coordinate estimation unit 232b is stored in the storage unit 333. 【0058】 The control information transmission unit 232c transmits control information to the heavy object removal unit 24 via the communication unit 231, which is used to operate the heavy object removal unit 24 based on the position coordinate information estimated by the heavy object coordinate estimation unit 232b, in order to remove the heavy object from the conveyor 14. 【0059】 In the illustrated example, the heavy object removal unit 24 is a robotic arm that moves according to control information received from the control information transmission unit 232c to remove an object (i.e., a heavy object) located at the position coordinates estimated by the heavy object coordinate estimation unit 232b from the conveyor belt 14. Note that the heavy object removal unit 24 is not limited to a robotic arm, but may be a pusher or a crane, for example, as long as it is capable of removing heavy objects from the conveyor belt 14. 【0060】 As one variation, the heavy object coordinate estimation unit 232b determines whether or not there is a heavy object on the conveyor 14 based on information from the first sensor 21 and the second sensor 22. If it determines that there is a heavy object, the control information transmission unit 232c may issue an alert instead of sending a control signal to the heavy object removal unit 24 to remove the heavy object, or it may send a control signal to the conveyor 14 to temporarily stop the conveyor 14. 【0061】 (Configuration of the liquid detection unit) Figure 4 is a block diagram showing the configuration of the liquid detection unit 30. Figure 6 is a schematic diagram illustrating the operation of the liquid detection unit 30. As shown in Figures 3 and 6, the liquid detection unit 30 includes a third sensor 31, a fourth sensor 32, an information processing device 33, a liquid residue removal unit 34, and a blower 35. 【0062】 The third sensor 31 is positioned above the conveyor belt 14 and detects visible light or near-infrared light emitted or reflected from objects on the conveyor belt 14. For example, a visible light camera or a near-infrared camera may be used as the third sensor 31. In Figure 6, the symbol P1 shows an example of image data output from the third sensor 31, which captures objects on the conveyor belt 14 in visible light or near-infrared light. 【0063】 The fourth sensor 32 is positioned above (or below) the conveyor 14 and irradiates the conveyor 14 with X-rays or ultrasound, detecting the X-rays or ultrasound reflected or transmitted from the liquid on the conveyor 14. For example, an X-ray camera or an ultrasound camera may be used as the fourth sensor 32. In Figure 6, the symbol P2 shows an example of image data output from the fourth sensor 32, which is an image of the liquid on the conveyor 14 taken with X-rays or ultrasound. 【0064】 The information processing device 33 is composed of one or more computers and includes a communication unit 331, a control unit 332, and a storage unit 333. Each unit is connected to the others via a bus or network so that they can communicate with each other. 【0065】 Of these, the communication unit 331 is a communication interface for the third sensor 31, the fourth sensor 32, the liquid residue removal unit 34, and the blower 35. The communication unit 331 transmits and receives information between the third sensor 31, the fourth sensor 32, the liquid residue removal unit 34, and the blower 35 and the information processing device 33. 【0066】 The storage unit 333 is a non-volatile data storage device such as a hard disk or flash memory. The storage unit 333 stores various types of data handled by the control unit 332. The storage unit 333 also stores output information from the third sensor 31 and the fourth sensor 32 acquired by the sensor information acquisition unit 332a (described later), and the type of object (whether it is waste containing liquid or a liquid puddle) and its position coordinate information estimated by the liquid coordinate estimation unit 332b. 【0067】 The control unit 332 is a control means that performs various processes on the liquid detection unit 30. As shown in Figure 4, the control unit 332 includes a sensor information acquisition unit 332a, a liquid coordinate estimation unit 332b, a first control information transmission unit 332c, and a second control information transmission unit 332d. Each of these units may be realized by a processor in the information processing device 33 executing a predetermined program, or it may be implemented in hardware. 【0068】 The sensor information acquisition unit 332a acquires information detected from the third sensor 31 and the fourth sensor 32, respectively. For example, the sensor information acquisition unit 332a acquires image data P1 from the third sensor 31, which is an image of an object on the conveyor belt 14 taken with visible light or near-infrared light. The sensor information acquisition unit 332a also acquires image data P2 from the fourth sensor 32, which is an image of a liquid on the conveyor belt 14 taken with X-rays or ultrasound. The output information from the third sensor 31 and the fourth sensor 32 acquired by the sensor information acquisition unit 332a is stored in the storage unit 333. 【0069】 The liquid coordinate estimation unit 332b determines whether there is any waste containing liquid and / or a liquid puddle on the conveyor 14 based on the information detected by the third sensor 31 and the fourth sensor 32. If it determines that there is waste containing liquid and / or a liquid puddle, it estimates the position coordinates of such waste on the conveyor 14. Note that waste containing liquid may include, for example, at least one of the following: unvented spray cans, gas cylinders, containers or tanks containing petroleum products (oils) such as kerosene or gasoline, containers containing water-based or oil-based paints (e.g., paint, printer ink, etc.), batteries, and waste containing batteries. 【0070】 Specifically, for example, as shown in Figure 6, the liquid coordinate estimation unit 332b extracts information on the position coordinates of an object on the conveyor 14 from image data P1 acquired from the third sensor 31, and extracts information on the position coordinates of a liquid on the conveyor 14 from image data P2 acquired from the fourth sensor 32, and compares this information. If the position coordinates of the liquid overlap with the position coordinates of an object on the conveyor 14, the liquid coordinate estimation unit 332b may determine that the object is "waste containing liquid" and estimate the position coordinates of the object as the position coordinates of the waste containing liquid. Alternatively, if the position coordinates of the liquid on the conveyor 14 do not overlap with the position coordinates of any object, the liquid coordinate estimation unit 332b may determine that the liquid is a "liquid puddle" (i.e., liquid not in a container) and estimate the position coordinates of the liquid puddle as the position coordinates of the liquid puddle. The information on the position coordinates of the waste containing liquid and / or the liquid puddle estimated by the liquid coordinate estimation unit 332b is stored in the storage unit 333. 【0071】 When the liquid coordinate estimation unit 332b estimates the position coordinates of the waste containing liquid, the second control information transmission unit 332c transmits control information to the liquid residue removal unit 34 via the communication unit 331, which is used to operate the robot arm 34 based on the position coordinate information estimated by the liquid coordinate estimation unit 332b to remove the waste containing liquid from the conveyor 14. 【0072】 In the illustrated example, the liquid residue removal unit 34 is a robotic arm that moves according to control information received from the second control information transmission unit 332c to remove objects (i.e., waste containing liquid) located at the position coordinates estimated by the liquid coordinate estimation unit 332b from the conveyor belt 14. Note that the liquid residue removal unit 34 is not limited to a robotic arm, but may be a pusher or a crane, for example, as long as it can remove waste containing liquid from the conveyor belt 14. 【0073】 As one variation, the liquid coordinate estimation unit 332b determines whether or not there is waste containing liquid on the conveyor 14 based on information from the third sensor 31 and the fourth sensor 32. If it is determined that there is waste containing liquid, the second control information transmission unit 332c may, instead of sending a control signal to the liquid residue removal unit 34 to remove the waste containing liquid, issue an alert or send a control signal to the conveyor 14 to temporarily stop the conveyor 14. 【0074】 When the liquid coordinate estimation unit 332b estimates the position coordinates of the liquid puddle, the second control information transmission unit 332d transmits control information to the blower 35 via the communication unit 331, based on the position coordinate information estimated by the liquid coordinate estimation unit 332b, to blow hot air onto the liquid puddle to evaporate it and remove it from the conveyor 14. 【0075】 The blower 35 blows hot air towards the position coordinates estimated by the liquid coordinate estimation unit 332b in accordance with the control information received from the second control information transmission unit 332d, thereby evaporating the liquid puddle at those position coordinates and removing it from the conveyor 14. 【0076】 (An example of how a waste sorting system works) Next, with reference to Figure 7, an example of the operation of a waste sorting system 16 according to one embodiment will be described. Figure 7 is a flowchart showing an example of the operation of the waste sorting system. 【0077】 As shown in Figure 7, first, the waste stored in the non-combustible waste storage section 12 is lifted and transported by the crane 13 and then dropped onto the conveyor 14 (or, conveyors of different heights are provided, and the waste is dropped from the upstream conveyor (not shown) to the downstream conveyor 14), at which point the first sensor 21 of the heavy object detection unit 20 detects the sound generated at the drop location (step S10). 【0078】 Furthermore, the second sensor 22 of the heavy object detection unit 20 detects visible light or near-infrared light emitted or reflected from an object on the conveyor belt 14 (step S11). 【0079】 Then, the sensor information acquisition unit 232a acquires information detected from the first sensor 21 and the second sensor 22, and the heavy object coordinate estimation unit 232b determines whether or not there is a heavy object on the conveyor 14 with a density greater than a predetermined size based on the information detected by the first sensor 21 and the second sensor 22 (step S12). For example, the heavy object coordinate estimation unit 232b may determine whether or not the falling object is a heavy object by comparing the sound information of the falling object detected by the first sensor 21 with the information of the falling sound of heavy objects stored in advance in the storage unit 233. Alternatively, the heavy object coordinate estimation unit 232b may use a trained model that has been machine-learned using the information of the falling sound of heavy objects as training data, and determine (estimate) whether or not the falling object is a heavy object by taking the sound information of the falling object detected by the first sensor 21 as input. 【0080】 If it is determined that there is a heavy object on the conveyor belt 14 (step S13: YES), the heavy object coordinate estimation unit 232b estimates the position coordinates of the heavy object on the conveyor belt 14 based on the output information from the first sensor 21 and the second sensor 22 (step S14). For example, the heavy object coordinate estimation unit 232b may extract information on the position coordinates of an object on the conveyor belt 14 from the image data acquired from the second sensor 22, compare it with the position coordinate information of the location where the falling sound was generated (i.e., the position where the heavy object fell) acquired from the first sensor 21, and estimate the position coordinates of the object that is stationary closest to the position where the heavy object fell as the position coordinates of the heavy object. 【0081】 Next, the control information transmission unit 232c transmits control information to the heavy object removal unit 24 to operate the heavy object removal unit 24 based on the position coordinate information estimated by the heavy object coordinate estimation unit 232b, in order to remove the heavy object from the conveyor 14. The heavy object removal unit 24 operates according to the control information received from the control information transmission unit 232c and removes the object (i.e., the heavy object) located at the position coordinates estimated by the heavy object coordinate estimation unit 232b from the conveyor 14 (step S15). 【0082】 Next, when the waste on the conveyor belt 14 approaches the liquid detection unit 30, the third sensor 31 of the liquid detection unit 30 detects visible light or near-infrared light emitted or reflected from the object on the conveyor belt 14 (step S16). 【0083】 Furthermore, the fourth sensor 32 of the liquid detection unit 30 irradiates the conveyor 14 with X-rays or ultrasonic waves and detects the X-rays or ultrasonic waves reflected or transmitted from the liquid on the conveyor 14 (step S17). 【0084】 Then, the sensor information acquisition unit 332a acquires information detected from the third sensor 31 and the fourth sensor 32, and the liquid coordinate estimation unit 332b determines whether or not there is waste containing liquid and / or a liquid puddle on the conveyor 14 based on the information detected by the third sensor 31 and the fourth sensor 32 (step S18). For example, as shown in Figure 6, the liquid coordinate estimation unit 332b extracts information on the position coordinates of an object on the conveyor 14 from image data P1 acquired from the third sensor 31, and extracts information on the position coordinates of liquid on the conveyor 14 from image data P2 acquired from the fourth sensor 32, then compares this information, and if the position coordinates of the liquid overlap with the position coordinates of an object on the conveyor 14, it determines that the object is "waste containing liquid", and if the position coordinates of the liquid on the conveyor 14 do not overlap with the position coordinates of any object, it may determine that the liquid is a "liquid puddle" (i.e., liquid not in a container). 【0085】 If it is determined that there is waste containing liquid on the conveyor belt 14 (step S19: YES), the liquid coordinate estimation unit 332b estimates the position coordinates of the waste containing liquid on the conveyor belt 14 based on the information detected by the third sensor 31 and the fourth sensor 32 (step S20). 【0086】 Next, the first control information transmission unit 332c transmits control information to the liquid residue removal unit 34 to operate the liquid residue removal unit 34 based on the position coordinate information estimated by the liquid coordinate estimation unit 332b, in order to remove the waste containing liquid from the conveyor 14. The liquid residue removal unit 34 operates according to the control information received from the first control information transmission unit 332c and removes the object (i.e., the waste containing liquid) located at the position coordinates estimated by the liquid coordinate estimation unit 332b from the conveyor 14 (step S21). 【0087】 Furthermore, if it is determined that there is a liquid puddle on the conveyor belt 14 (step S22: YES), the liquid coordinate estimation unit 332b estimates the position coordinates of the liquid puddle on the conveyor belt 14 based on the information detected by the third sensor 31 and the fourth sensor 32 (step S23). 【0088】 Next, if the liquid coordinate estimation unit 332b estimates the position coordinates of the liquid puddle, the second control information transmission unit 332d transmits control information to the blower 35, based on the position coordinate information estimated by the liquid coordinate estimation unit 332b, to blow hot air onto the liquid puddle to evaporate it and remove it from the conveyor 14. The blower 35 blows hot air towards the position coordinates estimated by the liquid coordinate estimation unit 332b in accordance with the control information received from the second control information transmission unit 332d, evaporating the liquid puddle at those position coordinates and removing it from the conveyor 14 (step S24). 【0089】 After heavy objects are removed by the heavy object detection unit 20 and waste containing liquids and liquid puddles are removed by the liquid detection unit 30, the remaining waste is transported by the conveyor 14 to the crushing unit 15, where it is crushed and then sorted and processed according to its material type. 【0090】 According to this embodiment, since the waste sorting system 16 is equipped with a heavy object detection unit 20 and a liquid detection unit 30, it is possible to automatically detect, upstream of the crushing unit, as unsuitable for crushing: (1) heavy objects with a density exceeding a predetermined size, and (2) at least one of waste containing liquid and liquid puddles on the conveyor. This makes it possible to remove unsuitable for crushing in advance, which would have a serious adverse effect on the equipment and facility operation if brought into the crusher, while processing waste that has similar external characteristics to the unsuitable for crushing in the crusher without removing it. 【0091】 Furthermore, according to this embodiment, since the heavy object detection unit 20 is positioned upstream of the liquid detection unit 30 in the transport direction, the crane 13 can lift the waste stored in the non-combustible waste storage unit 12 and drop it onto the conveyor 14, or conveyors of different heights can be prepared and the waste can be dropped from the upstream conveyor (not shown) to the downstream conveyor 14. The heavy object detection unit 20 will then detect the sound of the falling waste to detect the heavy object, and then the waste can pass through the liquid detection unit 30 to detect the liquid, which is efficient. 【0092】 Furthermore, according to this embodiment, the heavy object coordinate estimation unit 232b determines whether or not there is a heavy object on the conveyor 14 based on information from the first sensor 21 and the second sensor 22. If it is determined that there is a heavy object, it estimates its position coordinates on the conveyor 14. The control information transmission unit 232c transmits control information to the heavy object removal unit 24 to operate the heavy object removal unit 24 based on the estimated position coordinates to remove the heavy object from the conveyor 14. Therefore, if there is a heavy object on the conveyor 14, it can be automatically removed from the conveyor 14. 【0093】 Furthermore, according to this embodiment, the liquid coordinate estimation unit 332b determines whether there is waste containing liquid and / or a liquid puddle on the conveyor 14 based on information from the third sensor 31 and the fourth sensor 32. If it is determined that there is waste containing liquid and / or a liquid puddle, it estimates the position coordinates of that waste on the conveyor 14. If it is determined that there is waste containing liquid, the first control information transmission unit 332c transmits control information to the liquid residue removal unit 34 to operate the liquid residue removal unit 34 based on the estimated position coordinates to remove the waste containing liquid from the conveyor 14. If it is determined that there is a liquid puddle, the second control information transmission unit 332d transmits control information to the blower 35 to blow hot air onto the liquid puddle to evaporate it and remove it from the conveyor 14 based on the estimated position coordinates. As a result, if there is waste containing liquid and / or a liquid puddle on the conveyor 14, it can be automatically removed from the conveyor 14. 【0094】 In the embodiment described above, the weight detection unit 20 and the liquid detection unit 30 were each provided with separate sensors, a second sensor 22 and a third sensor 31, which detect objects on the conveyor 14 using visible light or near-infrared light. However, the invention is not limited to this configuration, and the weight detection unit 20 and the liquid detection unit 30 may be configured to share the same sensor for detecting objects on the conveyor 14 using visible light or near-infrared light. 【0095】 Furthermore, in the above-described embodiment, the heavy object detection unit 20 and the liquid detection unit 30 were each provided with separate removal units (e.g., a robot arm) designated as reference numeral 24 and reference numeral 34, respectively, for removing unsuitable materials for crushing on the conveyor 14. However, the system is not limited to this configuration, and the heavy object detection unit 20 and the liquid detection unit 30 may be configured to share the same removal unit (e.g., a robot arm) for removing unsuitable materials for crushing on the conveyor 14. 【0096】 Although embodiments and modifications of the present invention have been described above by example, the scope of the present invention is not limited thereto, and it is possible to modify and transform it according to the purpose within the scope described in the claims. Furthermore, each embodiment and modification can be appropriately combined as long as the processing content is not contradictory. 【0097】 Furthermore, although the information processing device 22 of the weight detection unit 20 and the information processing device 32 of the liquid detection unit 30 according to this embodiment may be configured by one or more computers, the programs for implementing these information processing devices 22 and 32 on one or more computers and the recording media on which such programs are non-temporarily recorded are also subject to protection in this case. [Explanation of symbols] 【0098】 10 Waste treatment facilities 11 Transport Vehicles 12 Non-combustible waste storage area 13 Cranes 14 Conveyor 15 Crushing section 16 Waste sorting system 17 Platforms 20. Heavy object detection unit 21 First Sensor 22 Second Sensor 23 Information Processing Devices 231 Communications Department 232 Control Unit 232a Sensor information acquisition unit 232b Heavy object coordinate estimation section 232c Control Information Transmission Unit 233 Storage section 24 Heavy object removal section 30 Liquid detection unit 31 Third Sensor 32. Fourth Sensor 33 Information Processing Devices 331 Communications Department 332 Control Unit 332a Sensor information acquisition unit 332b Liquid coordinate estimator 332c First control information transmission unit 332d Second control information transmission unit 333 Storage section 34 Liquid residue removal section 35 Blower

Claims

[Claim 1] A waste sorting system that detects unsuitable materials for crushing from waste being transported by a conveyor upstream of the crushing section where the waste is crushed, A heavy object detection unit detects heavy objects with a density greater than a predetermined size based on sound information generated at the point where waste is dropped onto a conveyor belt, A waste sorting system equipped with [a specific feature / feature]. [Claim 2] The waste sorting system according to claim 1, further comprising a liquid detection unit that detects at least one of waste containing liquid and a liquid puddle on the conveyor based on reflected or transmitted information when X-rays or ultrasonic waves are irradiated onto the conveyor. [Claim 3] The waste sorting system according to claim 2, wherein the weight detection unit is located upstream of the liquid detection unit in the transport direction. [Claim 4] The aforementioned heavy object detection unit is A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, A second sensor that detects objects on a conveyor belt using visible light or near-infrared light, A heavy object coordinate estimation unit determines whether or not there is a heavy object on the conveyor based on information from the first and second sensors, and if it is determined that there is a heavy object, it estimates the position coordinates of that heavy object on the conveyor. A control information transmission unit transmits control information to the heavy object removal unit to operate the heavy object removal unit based on estimated position coordinate information and remove the heavy object from the conveyor. A waste sorting system according to any one of claims 1 to 3, comprising: [Claim 5] The waste sorting system according to claim 4, wherein the first sensor is an acoustic camera. [Claim 6] The waste sorting system according to claim 4 or 5, wherein the second sensor is a visible light camera or a near-infrared camera. [Claim 7] The waste sorting system according to any one of claims 4 to 6, wherein the heavy object removal unit is at least one of a robotic arm, a pusher, and a crane. [Claim 8] The liquid detection unit is A third sensor that detects objects on a conveyor belt using visible light or near-infrared light, A fourth sensor that detects liquid on the conveyor using X-rays or ultrasound, Based on information from the third and fourth sensors, a liquid coordinate estimation unit determines whether or not there is waste containing liquid and / or a liquid puddle on the conveyor, and if it is determined that there is waste containing liquid and / or a liquid puddle, it estimates the position coordinates of that waste on the conveyor. A first control information transmission unit transmits control information to the liquid residue removal unit to operate the liquid residue removal unit based on estimated position coordinate information in order to remove the liquid-containing waste from the conveyor, and a second control information transmission unit transmits control information to the blower to blow hot air into the liquid puddle to evaporate it and remove it from the conveyor, at least one of the above, A waste sorting system according to claim 2 or 3, comprising: [Claim 9] The waste sorting system according to claim 8, wherein the liquid residue removal unit is at least one of a robotic arm, a pusher, and a crane. [Claim 10] The waste sorting system according to any one of claims 1 to 9, wherein the waste containing liquid is at least one of an unvented spray can, a gas cylinder, a container or tank containing petroleum products, a container containing paint, a battery, and waste containing a battery. [Claim 11] A waste treatment facility equipped with a waste sorting system according to any one of claims 1 to 10. [Claim 12] A waste sorting method for detecting unsuitable materials for crushing from waste being transported by a conveyor upstream of the crushing section where the waste is crushed, The first step involves detecting the sound generated at the point where waste is dropped onto the conveyor belt, The second step involves detecting objects on the conveyor belt using visible light or near-infrared light, Based on the information detected in the first and second steps, the third step involves determining whether there are any heavy objects on the conveyor belt with a density greater than a predetermined size, and if such objects are found, estimating their position coordinates on the conveyor belt. The fourth step involves operating a heavy object removal unit based on estimated position coordinate information to remove the heavy object from the conveyor, A fifth step involves detecting objects on the conveyor belt using visible light or near-infrared light, The sixth step involves detecting the liquid on the conveyor using X-rays or ultrasound, Based on the information detected in steps 5 and 6, step 8 determines whether there is waste containing liquid and / or a liquid puddle on the conveyor, and if it is determined that there is waste containing liquid and / or a liquid puddle, estimates its position coordinates on the conveyor. A ninth step in which a liquid residue removal unit is operated based on estimated position coordinate information to remove the liquid-containing waste from the conveyor, and a tenth step in which hot air is blown into the liquid reservoir to evaporate it and remove it from the conveyor, at least one of these steps, A waste sorting method that includes [unclear / unclear]. [Claim 13] A sensor information acquisition unit acquires information from a first sensor that detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor that detects objects on the conveyor belt using visible light or near-infrared light. A heavy object coordinate estimation unit determines whether there is a heavy object with a density greater than a predetermined size on the conveyor based on information from the first and second sensors, and if a heavy object is determined to be present, it estimates its position coordinates on the conveyor. A control information transmission unit transmits control information to the heavy object removal unit to operate the heavy object removal unit based on estimated position coordinate information and remove the heavy object from the conveyor. Equipped with an information processing device. [Claim 14] A method of information processing performed by a computer, A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor detects objects on the conveyor belt using visible light or near-infrared light. Based on information from the first and second sensors, the system determines whether there is a heavy object with a density greater than a predetermined size on the conveyor belt, and if it is determined that there is a heavy object, it estimates its position coordinates on the conveyor belt. The steps include: transmitting control information to the heavy object removal unit to operate the heavy object removal unit based on the estimated position coordinate information and remove the heavy object from the conveyor; Information processing methods including [Claim 15] On the computer, A first sensor detects the sound generated at the point where waste is dropped onto a conveyor belt, and a second sensor detects objects on the conveyor belt using visible light or near-infrared light. Based on information from the first and second sensors, the system determines whether there is a heavy object with a density greater than a predetermined size on the conveyor belt, and if it is determined that there is a heavy object, it estimates its position coordinates on the conveyor belt. The steps include: transmitting control information to the heavy object removal unit to operate the heavy object removal unit based on the estimated position coordinate information and remove the heavy object from the conveyor; An information processing program to execute an action.

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