SCRAP TRANSPORT EQUIPMENT, SCRAP TRANSPORT METHODS, AND COMPUTER-READABLE RECORDING DEVICES

Abstract

The invention proposes a technology which allows scrap to be sorted, separated, and transported to another location. A scrap transport device for the selection and transport of a pile of scrap (1) containing many scrap pieces (2) includes: an imaging device (3) configured to take pictures of the pile of scrap (1); an image analysis unit (4) configured to estimate scrap information including classification information for the identification of the location of each detected scrap and the characteristics of the scrap (2) constituting each detected scrap by analyzing the image taken by the imaging device (3), each detected scrap being an assembly of one or more scrap pieces (2) present in each one or more areas of the pile of scrap (1); a selection calculation unit (5) configured to select the detected scrap which satisfies a predetermined selection condition by reference to the estimated classification information;and a transfer device (6) is configured to separate and transport scrap (2) from the area where the detected scrap is selected by the selection calculation device (5) present. The invention also relates to a method of scrap transport used to select and transport scrap from a pile of scrap containing many scrap pieces.;

Description

Scrap conveying device, scrap conveying method, program, and recording medium

[0001] The present invention relates to a technique for transporting scrap selected from a plurality of scraps.

[0002] Conventionally, there have been techniques for partially removing scrap from a pile of scrap and transporting the scrap. Examples of such techniques include those described in Patent Documents 1 and 2. Note that, in this specification, "removing" is also referred to as "picking up." Patent Document 1 describes picking up and transporting iron-based scrap using a lifting magnet. Patent Document 1 also describes performing a component analysis of the lifted scrap using a component analyzer built into the lifting magnet. Patent Document 2 also describes lifting and transporting a portion of iron scrap from a pile of iron scrap using a hoisting device. Patent Document 2 also describes photographing a collection of iron scrap containing a mixture of multiple grades of iron scrap according to size. It also describes estimating the proportion of each grade contained in the photographed collection of iron scrap by analyzing the photographed image.

[0003] JP 2022-166489 A JP 2020-95709 A

[0004] For example, in a steelworks, an electric furnace can be an example of a destination for iron-based scrap picked from a plurality of iron-based scraps. Here, the target composition of the scrap to be fed into the electric furnace is predetermined. Therefore, it is necessary to adjust the composition and amount of the scrap so that it meets the target composition and then discharge the scrap to the electric furnace.

[0005] However, in Patent Document 1, the components of the picked-up scrap are analyzed. However, this analysis is performed after the scrap is picked up. Therefore, it is difficult to selectively remove and transport scrap from multiple scraps based on their components. In other words, it is difficult to selectively discharge scrap based on its components. Therefore, when the technology of Patent Document 1 is applied to discharging scrap to an electric furnace, there is a problem that the accuracy of the scrap discharged to the electric furnace may be reduced accordingly. Furthermore, in Patent Document 2, the grade ratio of the entire collection of piled or picked-up iron scrap is estimated from a photographed image of the collection. However, it is difficult to select and transport only scrap that satisfies certain conditions from the collection of iron scrap in the photographed image. Therefore, when the technology of Patent Document 2 is applied to discharging scrap to an electric furnace, there is a problem that it is difficult to selectively discharge scrap based on its components.

[0006] The present invention has been made in light of the above-mentioned points, and aims to provide a technology that allows the target scrap to be selected, removed, and transported to another location.

[0007] In order to solve the problem, one aspect of the present invention is a scrap transporting device that selects and transports scrap from a scrap group consisting of multiple scraps, and includes an imaging device that images the scrap group, an image analysis unit that analyzes the image captured by the imaging device and estimates scrap information for each detected scrap, including sorting information that identifies the contents of the scrap that make up the detected scrap, when a collection of one or more scraps present in each of one or more areas located in the scrap group is considered to be detected scrap, a selection calculation unit that refers to the estimated sorting information and selects detected scrap that satisfies predetermined selection conditions, and a transfer device that removes and transports scrap from the area where the detected scrap selected by the selection calculation unit is located.

[0008] Here, the detected scrap may be made up of one scrap or a set of multiple scraps.

[0009] According to an aspect of the present invention, before removing the scrap to be transported, sorting information for each detected scrap constituting the scrap group is acquired. Then, based on the sorting information, scrap to be transported can be selected and then transported. Therefore, according to an aspect of the present invention, only scrap that primarily satisfies the selection conditions can be removed and transported without analyzing the scrap's composition after pickup. This aspect of the present invention also includes cases where multiple detected scraps are combined to satisfy the selection conditions. According to an aspect of the present invention, for example, when assuming delivery to an electric furnace, the selection conditions can be set to a target composition, and scrap with the target composition or a composition close to the target composition can be selectively transported.

[0010] 1 is a diagram showing an example of the configuration of a scrap transporting device according to an embodiment of the present invention; FIG. 2 is a diagram showing an example of setting an area; FIG. 3 is a diagram showing an example of a process flow of a scrap transporting method; FIG. 4 is a diagram explaining an example of scrap transport; (a) is a diagram showing scraps A and B as scraps selected to be transported; (b) is a diagram showing scrap A being transported by a transport actuator; (c) is a diagram showing scraps A and B being transported together; FIG. 5 is a diagram explaining an example of repeated scrap transport; (b) is a diagram showing an example of continuous lifting of scrap; (c) is a diagram showing an example of continuous lifting of scrap; (c) is a diagram showing an example of adjusting the lifting amount of scrap; and (d) are diagrams showing examples of a program and a medium storing the program.

[0011] Next, an embodiment of the present invention will be described with reference to the drawings. A scrap transport device and a transport method according to this embodiment transport a plurality of scraps 2 placed on a loading area, such as the floor of a yard or the bed of a truck. This embodiment also provides a transport device and a transport method for picking up selected scraps 2 from a scrap group 1 consisting of the plurality of scraps 2. The picked-up scraps 2 are transported to a location different from the loading area. The scrap group 1 is typically a collection of scraps 2 placed on a loading area. The scraps 2 are typically piled up. The scrap group 1 is typically placed in a heap (see FIG. 1 ). The scrap group 1 is typically placed with its top surface flat (see FIG. 7 ).

[0012] The scrap 2 to be transported in the present invention is not particularly limited in terms of material or shape. The present invention is a technology suitable for metal scrap. For example, the present invention can be particularly suitable for selecting scrap 2 to be fed into a furnace (such as an electric furnace or a converter) in a steelworks. In this embodiment, the scrap 2 will be described as iron-based scrap. As shown in FIG. 1 , the scrap transport device of this embodiment includes an imaging device 3, an image analysis unit 4, a selection calculation unit 5, and a transfer device 6.

[0013] <Imaging Device 3> The imaging device 3 is a device that captures an image of the scrap group 1 placed in the placement location. The target scrap group 1 is usually in a piled state (see FIG. 1). Note that the image captured by the imaging device 3 may also capture something other than the scraps 2, such as background objects around the scrap group 1. The imaging device 3 may also be configured to capture an image of a collection of scraps 2 that are part of the scrap group 1. Note that in this example, the collection of scraps 2 captured by the imaging device 3 is also referred to as the scrap group 1. The imaging device 3 is, for example, a camera. The camera captures the scrap group 1 from above. Note that the imaging device 3 may be made up of one camera or multiple cameras.

[0014] <Image Analysis Unit 4> In this specification, a detected scrap is defined as a collection of one or more scraps 2 present in one or more regions of the scrap group 1. The regions may be set continuously or discretely. Furthermore, the regions may be arranged either statically or dynamically relative to the image. When a single scrap 2 constitutes one detected scrap, for example, the position (outline) of each scrap 2 in the image is dynamically set as the region. When multiple scraps 2 constitute one detected scrap, for example, the region is set first. For example, as shown in FIG. 2, an image region 10 is divided into multiple regions 11, and the scraps 2 present in each divided region 11 are defined as detected scraps for the target region 11. As shown in FIG. 1, the image analysis unit 4 includes an image acquisition unit 4A and a scrap information estimation unit 4B.

[0015] [Image Acquisition Unit 4A] The image acquisition unit 4A acquires the captured image of the scrap group 1 captured by the imaging device 3. The image acquisition unit 4A, for example, sends an imaging command to the imaging device 3 and acquires the captured image captured by the imaging device 3 in response to the imaging command.

[0016] [Scrap Information Estimation Unit 4B] The scrap information estimation unit 4B analyzes the captured image captured by the imaging device 3 and executes a process to estimate scrap information including sorting information that identifies the position of each detected scrap and the contents of the scraps 2 that make up the detected scrap. The sorting information is information for identifying the scraps 2 to be picked up (removed) from the scrap group 1. The sorting information is determined and set according to the pick-up conditions.

[0017] In the following explanation, an example will be given of selecting scrap 2 to be fed into a furnace such as an electric furnace. In this case, the components of the scrap 2 to be fed are important. For this reason, the sorting information will be explained using component estimation information that can estimate the components of the detected scrap. In this case, the selection conditions described below will be target component information. The component estimation information may be the components themselves contained in the scrap 2, or information that can estimate the components. Examples of information that can estimate the components include the type of scrap 2 and the grade of the scrap 2. The type is information that indicates the origin of the scrap 2. The type is the variety of the scrap 2, such as wire material or automotive panel material. The type is classification information that can identify the material. The grade is classification information that is set according to the material and size of the scrap 2.

[0018] The image analysis unit 4 of this embodiment further includes a weight estimation unit 4C. The weight estimation unit 4C may be omitted. The weight estimation unit 4C obtains estimated weight information of the detected scrap as the scrap information. The scrap information may also include estimated information on the solubility of the detected scrap. Solubility is an indicator of the degree to which the scrap 2 melts when heated under the same conditions. When the scrap 2 is discharged to an electric furnace or the like, the solubility of the scrap 2 in the furnace is also an important factor in the operation of the furnace. Note that the solubility is affected by the size and shape of the scrap 2. This solubility may also be used as one of the sorting information.

[0019] A method for estimating the sorting information of each detected scrap from the captured image involves, for example, performing machine learning using a large amount of training data to generate a trained model in advance. The training data includes, for example, images of one or more scraps 2 and sorting information for the scraps 2 in the images. The generated trained model uses, for example, the captured image as input data and the sorting information of the detected scraps in each region of the captured image as output data. As described above, the regions may be statically or dynamically arranged. The scrap information estimation unit 4B then inputs the captured image into the trained model to acquire the sorting information for each detected scrap. Since the scrap information includes position information, the position of the scrap 2 to be selected can be identified. Similarly to acquiring the sorting information, the estimated weight and solubility information of the detected scrap can also be estimated using, for example, a trained model.

[0020] <Selection Calculation Unit 5> The selection calculation unit 5 references the sorting information of each detected scrap obtained by the image analysis unit 4. Then, it executes a process of selecting detected scrap that satisfies preset selection conditions. Here, the preset selection conditions are information on the scrap 2 for selecting scrap 2 from among the scrap 2 placed and imaged by the imaging device 3. In this embodiment, the selection of scrap 2 to be fed into an electric furnace is assumed. Therefore, the selection information is set as target composition information for the scrap 2 to be fed into the electric furnace. The selection information may be set appropriately depending on the intended use of the scrap 2 removed from the scrap group 1 and transported. Then, the selection calculation unit 5 of this embodiment compares the composition estimation information (sorting information) of each detected scrap with the target composition information (selection conditions). Then, based on this comparison, it selects detected scrap from the scrap group 1 so that it has the target composition. The selected detected scrap is referred to as selected scrap.

[0021] The selection calculation unit 5 of this embodiment, for example, selects detected scrap that is the same as or similar to the target component as the selected scrap. Furthermore, in the case where the target component is determined by detected scrap from multiple regions, the selection calculation unit 5 of this embodiment performs the following: That is, the detected scrap from the multiple regions is selected as the selected scrap. Furthermore, in the case where the target component is determined by multiple selected scraps, the selection calculation unit 5 performs the following: That is, information that forms a set of the multiple selected scraps is added to the scrap information, etc. Here, if the component estimation information is not component information itself, for example, a process of changing the information to component information is also performed. An example of a case where the component estimation information is not component information itself is when the component estimation information is type (such as the variety of scrap 2) or grade. The above-mentioned change process is performed, for example, by preparing a database that stores conversion information between type and component and referencing the database.

[0022] Furthermore, when the selected selected scrap is directly discharged to the electric furnace, the discharge amount (feed amount) is also important. In this case, a target weight may be set as a selection condition in addition to the target component information. When a target weight is added to the selection conditions, the selection calculation unit 5 executes a sorting process for the selected selected scrap so that the estimated weight of the selected selected scrap matches the target weight. When a target weight is added to the selection conditions, it is also preferable to set estimated information on the weight of the detected scrap as scrap information.

[0023] <Transfer Device 6> The transfer device 6 is a device that removes and transports scrap 2 from the area where the selected scrap selected by the selection calculation unit 5 is located. The location of the selected scrap can be determined by referring to the position information contained in the scrap information. As shown in Figure 1, the transfer device 6 of this embodiment includes a transfer control unit 6A and a transfer actuator 6B.

[0024] [Transfer Actuator 6B] The transfer actuator 6B is an actuator for removing and transporting scrap 2 from the loaded scrap group 1. The transfer actuator 6B may be any driving device capable of selectively picking up scrap 2. Examples of the transfer actuator 6B include a robot arm alone, a combination of a robot arm and a belt conveyor, or a crane device. However, the transfer actuator 6B is preferably a transfer actuator 6B that can lift the scrap 2 and transport it to a predetermined location. Examples of such a transfer actuator 6B include a lifting magnet (hereinafter also referred to as a lifting magnet), a grapple, and a shovel. The transfer actuator 6B may also be provided with a weight measuring device 6C that measures the weight of the scrap 2 to be transferred (see FIG. 4(b)).

[0025] [Transfer Control Unit 6A] The transfer control unit 6A acquires position information of the selected scrap selected by the selection calculation unit 5. Then, it controls the drive of the transfer actuator 6B to remove and transport the scrap 2 from the area where the selected scrap is located. If the transfer actuator 6B is provided with a weight measuring device 6C, the transfer amount of the scrap 2 can be adjusted according to the weight of the scrap 2 to be transferred.

[0026] [Example of Transfer Processing] In the example described below, a case where a lift magnet is used as the transfer actuator 6B will be described. The lift magnet is capable of adjusting the lifting force of the scrap 2. Methods for adjusting the lifting force include adjusting the strength of the magnetic force of the lift magnet, adjusting the range of the magnetic force, adjusting the distance between the lift magnet and the scrap 2, and adjusting the contact area between the lift magnet and the scrap 2.

[0027] Furthermore, when adjusting the distance, the distance between the lift mag and the scrap 2 is measured from the measurement results of sensors such as a distance measuring sensor and images captured by a camera. Then, the distance can be adjusted from the measurement information. Also, the lift mag and the scrap 2 are brought into contact once with the magnetic force off, and the lift mag is pulled up using that state as a reference. This makes it possible to adjust the distance between the lift mag and the scrap 2. Also, in this embodiment, as shown in FIG. 4(b), a weight measuring device 6C is attached to the lift mag. The weight measuring device 6C is, for example, a load cell, and can measure the actual weight of the scrap 2 lifted by the lift mag.

[0028] (Operations and Others) Below, as an example of a method for transporting scrap 2 using the above-mentioned scrap transport device, a case where the transport method is applied to a method for discharging scrap 2 will be described. The following example is an example of a case where scrap 2 of a target composition is automatically collected using a scrap transport device when the scrap 2 is fed into a furnace (such as an electric furnace or a converter). The scrap 2 in the scrap group 1 comes in various varieties (types) and grades. Therefore, the composition ratios of each type differ. In order to produce iron with an appropriate composition ratio in the furnace, it is necessary to feed scrap 2 of an appropriate type and weight into the furnace. In this example, the sorting information is the composition estimation information of the scrap 2, and the selection conditions are the target composition information.

[0029] <Processing Flow> The main flow of the disbursement method includes the following steps 1 to 4, as shown in FIG.

[0030] <Step 1 (imaging step)> In Step 1, the imaging device 3 captures an image of the scrap group 1. In Step 1, the imaging device 3 may capture an image of the entire scrap group 1, or the scrap group 1 may be divided into a plurality of regions (see FIG. 2 ) and an image may be captured for each region.

[0031] <Step 2 (Estimation Step)> A collection of one or more scraps 2 present in each of one or more regions located in the scrap group 1 is defined as detected scrap. In Step 2, the captured image is analyzed to estimate scrap information including scrap 2 component estimation information (sorting information) that identifies the position of each detected scrap and the contents of the scrap 2 that make up the detected scrap. In Step 2, the trained model is used to acquire component estimation information for scrap 2 in the scrap group 1. In addition to the component estimation information for scrap 2, estimated weight information for scrap 2 is also acquired.

[0032] Here, it is preferable to divide the scrap group 1 into a plurality of regions and estimate the component estimation information (and estimated weight information) of the scrap 2 for each region. For example, if an image of the entire scrap group 1 is captured in Step 1, the image can be divided into a plurality of regions and the component estimation information (and estimated weight information) of the scrap 2 can be estimated for each region. If an image of the scrap group 1 is captured for each of a plurality of regions in Step 1, the component estimation information (and estimated weight information) of the scrap 2 can be estimated for each captured image. The plurality of regions can be partitioned, for example, in a grid pattern, as shown in FIG. 2 .

[0033] <Step 3 (Selection Step)> In Step 3, the component estimation information (sorting information) of the estimated scrap 2 is referenced to select detected scrap that satisfies the target component information (pre-set selection conditions) from the scrap group 1. In Step 3, a region is selected so that it has the target component based on the component estimation information of the scrap 2 for each estimated region. Specifically, the proportion of the component (target component) desired for furnace operation is input as an input value to the selection calculation unit 5. Then, it is calculated which scrap 2 (scrap 2 in which region) from the photographed scrap group 1 should be charged into the furnace (see scraps A and B in FIG. 4( a)). At this time, the target weight of the target component is also input as an input value to the selection calculation unit 5, and scrap 2 from the scrap group 1 is selected so that the target component reaches the target weight.

[0034] <Step 4 (Dispensing Step)> In Step 4, all or part of the selected detected scrap is removed and dispensed (transported). In Step 4, the scrap 2 in the area selected in Step 3 is lifted and transported by the lifting magnet. At this time, it is preferable to adjust the lifting force (magnetic force, etc.) of the lifting magnet so that only the scrap 2 in the range shown in the captured image (the range where the components are estimated) is lifted. In other words, it is preferable to lift only the scrap 2 on the surface of the scrap group 1 that is visible in the captured image.

[0035] Furthermore, if multiple regions are selected in Step 3, the scrap 2 in each of the multiple regions is lifted and transported. For example, if the selected regions are far apart, as shown in FIG. 4( b), the lift mag first lifts the scrap 2 (scrap A) in one region. Then, as shown in FIG. 4( c), the lift mag is moved to another region to lift the scrap 2 (scrap B) in the other region. Note that when the lift mag lifts the scrap 2 in one region and moves it to another region, the situation of the scrap group 1 may change (the pile may collapse). For this reason, as shown in FIG. 5( c), Steps 1 to 3 may be performed again to obtain component estimation information for the scrap 2 in the other region.

[0036] On the other hand, if the selected areas are close to each other, it is also possible to continuously lift the scrap 2 in the multiple areas while lowering the lift magnet and moving it between the areas of the scrap group 1, as shown in Figures 6 and 7. In that case, as shown in Figure 8, for example, the lift magnet is moved so that the distance of the lift magnet gradually approaches the scrap 2. Alternatively, the magnetic force of the lift magnet is gradually strengthened. This makes it possible to continuously lift the scrap 2 in the multiple areas.

[0037] In Step 4, the weight of the scrap 2 lifted by the lift mag is measured by the weight measuring device 6C attached to the lift mag. Then, the scrap 2 may be lifted in each region by the estimated weight (target weight) acquired by the weight estimation unit 4C. Specifically, the actual weight information of the scrap 2 lifted by the lift mag is compared with the estimated weight (target weight). If the comparison reveals that the actual weight is less than the estimated weight (target weight), it is possible that not all of the scrap 2 within the range for which the composition has been estimated has been lifted. In this case, control may be performed, such as lifting additional scrap 2 in that region. On the other hand, if the actual weight is greater than the target weight, it is possible that scrap 2 outside the range for which the composition has been estimated has also been lifted. In this case, control may be performed to weaken the lifting force (magnetic force) of the lift mag and drop some of the lifted scrap 2. Alternatively, control may be performed, such as dropping all of the scrap 2 and then lifting it again.

[0038] (Program 20) The above-described process of selecting scraps 2 from the scrap group 1 and instructing the transportation of the selected scraps 2 may be configured as a program 20 executed by a computer, as shown in Fig. 9. The program 20 may also be stored in a computer-readable state on a recording medium 21. As shown in Fig. 9, the program 20 of this embodiment includes an acquisition step 20A, an estimation step 20B, a selection step 20C, and a transportation instruction step 20D.

[0039] The acquisition step 20A executes a process of acquiring a captured image of a scrap group 1 consisting of a plurality of scraps 2. A collection of one or more scraps 2 present in one or more regions located in the scrap group 1 is defined as a detected scrap. The estimation step 20B executes a process of estimating scrap information including selection information that identifies the position of each detected scrap and the contents of the scraps 2 that make up the detected scrap, by image analysis processing of the acquired captured image.

[0040] The selection step 20C refers to the estimated sorting information and executes a process of selecting detected scrap that satisfies preset selection conditions. The transport instruction step 20D sends a command to the transport device 6 to pick up and transport the selected detected scrap, and executes a process of picking up and transporting the selected detected scrap via the transport device 6. Such a program 20 is stored in a storage unit 21 (recording medium 21) that constitutes a recording medium such as a hard disk, and is called up and executed by the computer's CPU 22.

[0041] (Effects and Others) According to this embodiment, before removing the scrap 2 to be transported, sorting information for each detected scrap that constitutes the scrap group 1 is acquired. Then, based on the sorting information, the scrap 2 to be transported is selected, and the selected scrap 2 is transported. Therefore, according to this embodiment, it is possible to remove and transport only the scrap 2 that primarily satisfies the selection conditions without analyzing the composition of the scrap 2 after pickup. Furthermore, according to this embodiment, when assuming, for example, discharging to an electric furnace, it is possible to set the selection conditions to a target composition and selectively transport, for example, scrap 2 that has the target composition or a composition close to that target composition.

[0042] (Other) The present disclosure may also have the following configurations. (1) Disclosure 1 provides a scrap transport device that selects and transports scrap from a scrap group consisting of multiple scrap pieces, the scrap transport device comprising: an imaging device that captures an image of the scrap group; an image analysis unit that, when a collection of one or more scrap pieces present in one or more areas located in the scrap group is defined as detected scrap, analyzes the image captured by the imaging device and estimates scrap information for each detected scrap, including sorting information that identifies the contents of the scrap that make up the detected scrap; a selection calculation unit that references the estimated sorting information to select detected scrap that satisfies preset selection conditions; and a transfer device that removes and transports the scrap from the area where the detected scrap selected by the selection calculation unit is located. (2) Disclosure 2 provides a scrap transport device in which the sorting information is component estimation information that can estimate the components of the scrap, and the selection condition is target component information. (3) Disclosure 3 discloses a system in which the component estimation information includes one or more pieces of information selected from information on the components of the detected scrap, the type of scrap constituting the detected scrap, and the grade of the scrap constituting the detected scrap. (4) Disclosure 4 discloses a system in which the selection calculation unit selects one or more detected scrap pieces based on the component estimation information of each detected scrap piece so that the detected scrap pieces are the target component identified by the target component information or are close to the target component. (5) Disclosure 5 discloses a system in which the image analysis unit includes a weight estimation unit that estimates weight information of the detected scrap pieces as one piece of scrap information, separate from the sorting information, and includes a target weight as one of the set selection conditions. (6) Disclosure 6 discloses a system in which the transfer device removes scrap by lifting a target scrap piece from multiple scrap pieces. (7) Disclosure 7 discloses a system in which a weight measuring device measures the weight of the lifted scrap piece or each group of scrap pieces, and the transfer device adjusts the lifting force of the scrap piece based on the measurement value of the weight measuring device so that the weight of the scrap piece to be transferred reaches the target weight. (8) In disclosure 8, the scrap transported by the transport device is scrap to be fed into the electric furnace.(9) Disclosure 9 includes information on the solubility of the scrap as the sorting information. (10) Disclosure 10 is a scrap transport method for selecting and transporting scrap from a scrap group consisting of a plurality of scraps, comprising: capturing an image of the scrap group; determining detected scraps as collections of one or more scraps present in one or more regions in the scrap group; analyzing the captured image to estimate scrap information including sorting information that identifies the contents of the scraps that make up each detected scrap; selecting detected scraps that satisfy predetermined selection conditions with reference to the estimated sorting information; and removing and transporting all or a portion of the selected detected scraps. (11) Disclosure 11 provides a program for causing a computer to execute the following steps: an acquisition step of acquiring a captured image of a scrap group consisting of a plurality of scraps; an estimation step of determining, in one or more areas located in the scrap group, a collection of one or more scraps present in each area as detected scraps, and estimating scrap information including selection information that identifies the contents of the scraps that make up each detected scrap through image analysis processing of the acquired captured image; and a selection step of selecting detected scraps that satisfy preset selection conditions by referring to the estimated selection information. (12) A computer-readable recording medium on which the program of the present disclosure is stored.

[0043] The entire contents of Japanese Patent Application No. 2023-189309 (filed November 6, 2023), from which this application claims priority, are incorporated herein by reference. While the present invention has been described with reference to a limited number of embodiments, the scope of the invention is not limited thereto, and modifications of each embodiment based on the above disclosure would be obvious to those skilled in the art.

[0044] REFERENCE SIGNS LIST 1 Scrap group 2 Scrap 3 Imaging device 4 Image analysis unit 4A Image acquisition unit 4B Scrap information estimation unit 4C Weight estimation unit 5 Selection calculation unit 6 Transfer device 6A Transfer control unit 6B Transfer actuator 6C Weight measurement device 20 Program 20A Acquisition step 20B Estimation step 20C Selection step 20D Transfer instruction step 21 Storage medium (storage unit)

Claims

1. A scrap transporting device which selects and transports scrap from a scrap group consisting of a plurality of scraps, comprising: an imaging device which images the scrap group; an image analysis unit which, when a collection of one or more scraps present in each of one or more areas located in the scrap group is defined as detected scrap, analyzes the image captured by the imaging device and estimates scrap information for each detected scrap including sorting information which identifies the contents of the scraps which make up the detected scrap; a selection calculation unit which refers to the estimated sorting information and selects detected scraps which satisfy preset selection conditions; and a transfer device which removes scrap from the area where the detected scrap selected by the selection calculation unit is located and transports it.

2. A scrap transport device as described in claim 1, wherein the sorting information is component estimation information capable of estimating the components of the scrap, and the selection condition is target component information.

3. A scrap transport device as described in claim 2, wherein the component estimation information includes one or more pieces of information selected from information on the components of the detected scrap, the type of scrap that constitutes the detected scrap, and the grade of the scrap that constitutes the detected scrap.

4. A scrap transport device as described in claim 2 or claim 3, wherein the selection calculation unit selects one or more detected scraps based on the component estimation information of each detected scrap so as to be the target component specified in the target component information or to approach the target component.

5. A scrap transport device as described in any one of claims 1 to 4, wherein the image analysis unit is provided with a weight estimation unit which estimates information on the weight of the detected scrap as one piece of the scrap information, separate from the sorting information, and has a target weight as one of the set selection conditions.

6. A scrap transport device as described in any one of claims 1 to 5, wherein the transfer device is configured to remove a target scrap by lifting it up from a plurality of scraps.

7. A scrap transport device as set forth in any one of claims 1 to 6, further comprising a weight measuring device for measuring the weight of the lifted scrap or each group of scrap, and the transfer device adjusts the lifting force for the scrap based on the measurement value of the weight measuring device so that the weight of the scrap to be transferred becomes a target weight.

8. A scrap transport device as described in claim 2, wherein the scrap transported by said transport device is scrap to be fed into an electric furnace.

9. The scrap transport device according to claim 8, wherein the sorting information includes information on the solubility of the scrap.

10. A scrap transport method for selecting and transporting scrap from a scrap group consisting of a plurality of scraps, comprising the steps of: capturing an image of the scrap group; determining detected scraps as collections of one or more scraps present in one or more areas located in the scrap group; analyzing the captured image to estimate scrap information including sorting information that identifies the contents of the scraps that make up each detected scrap; selecting detected scraps that satisfy predetermined selection conditions by referring to the estimated sorting information; and removing and transporting all or a part of the selected detected scraps.

11. A program for causing a computer to execute the following steps: an acquisition step of acquiring an image of a scrap group consisting of a plurality of scraps; an estimation step of estimating scrap information including selection information that identifies the contents of the scraps that make up each detected scrap by image analysis processing of the acquired captured image, in which a collection of one or more scraps present in each of one or more areas located in the scrap group is regarded as a detected scrap; and a selection step of selecting a detected scrap that satisfies predetermined selection conditions by referring to the estimated selection information.

12. A computer-readable recording medium on which the program of claim 11 is stored.

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