Collection device, foreign matter removal device, and collection method

Abstract

A collection device according to the present disclosure comprises: a height detection unit that detects the height of an object conveyed in a conveyance direction on a conveyance path by a conveyance device; a deflection detection unit that detects a deflection value of the conveyance path for which the height detection unit detects the height, on the lower-surface side of the conveyance path; a collection unit that collects the object conveyed in the conveyance direction by the conveyance device; and a control unit that controls the collection unit so as to correct a height direction and collect the object on the basis of the height of the object detected by the height detection unit and the deflection value of the conveyance path detected by the deflection detection unit.

Description

Sampling device, foreign body removal device, and sampling method

[0001] This specification discloses a collection device, a foreign body removal device, and a collection method.

[0002] Conventionally, a collection device that transports and collects an item has been proposed that calculates the center of gravity of the item based on the three-dimensional shape of the item measured by a three-dimensional sensor, and controls a movement mechanism to position a suction part near the calculated center of gravity, thereby more reliably maintaining a suction state and transporting even irregular or flexible items (see, for example, Patent Document 1). In this device, the three-dimensional sensor acquires the height of the item, and performs a process to collect the item according to that height.

[0003] JP 2018-111156 A

[0004] However, in the device of Patent Document 1, for example, the shape of the conveyor changes over time, and the height detected by the 3D sensor may differ from the height of the pickup position where the item is picked up, and this difference in height may result in failure to pick up the item. Thus, there is a need for a pickup device that can more reliably pick up the target object.

[0005] The present disclosure has been made to solve such problems, and its main object is to provide a collection device, a foreign matter removal device, and a collection method that can more reliably collect objects.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] That is, the collection device disclosed in this specification comprises: a height detection unit that detects the height of an object being transported in a transport direction on a transport path by a transport device; a deflection detection unit that detects the deflection value of the transport path on the underside of the transport path whose height is detected by the height detection unit; a collection unit that collects an object being transported in the transport direction by the transport device; and a control unit that controls the collection unit to make a height correction based on the height of the object detected by the height detection unit and the deflection value of the transport path detected by the deflection detection unit and collect the object.

[0008] This collection device performs vertical correction using the deflection value of the transport path, allowing the object to be collected more reliably than when the object is collected without taking the deflection value into account when collecting the object's height.

[0009] An explanatory diagram showing an example of the configuration of a processing system 10. An explanatory diagram showing an example of the schematic configuration of a collection device 30. A perspective view showing an example of the schematic configuration of a collection unit 40. An explanatory diagram showing an example of captured images 71, 72 of a detection unit 31. An explanatory diagram showing an example of a transport device 22 and a collection unit 40 of a collection device 30. A flowchart showing an example of a foreign matter removal processing routine. An explanatory diagram showing an example of a process for removing foreign matter 14. An explanatory diagram showing an example of another collection device 30B.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the configuration of a processing system 10 that performs a process to recycle waste materials. FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a collection device 30. FIG. 3 is a perspective view showing an example of the schematic configuration of a collection unit 40. FIG. 4 is a plan view of the collection unit 40 and an explanatory diagram showing example images 71 and 72 captured by the detection unit 31. FIG. 5 is an explanatory diagram showing an example of a transport device 22 and the collection unit 40 of the collection device 30. In this embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIGS. 1 to 5 and 7 to 8. In this embodiment, the direction in which the processing material 12 to be processed is transported is referred to as the transport direction D.

[0011] The material to be treated 12 in the treatment system 10 is a mixture of waste materials 13 to be recycled, such as stone, sand, and concrete, and foreign matter 14, including paper, resin, wood, metal, etc. As shown in Figure 1, the treatment system 10 includes a primary crusher 15, a primary magnetic separator 16, a screening machine 17, a collection device 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying devices 20 to 25.

[0012] The primary crusher 15 is a device that performs primary crushing of the raw material 12. This primary crusher 15 crushes the material 12 to a predetermined primary size or smaller (e.g., 40 cm or smaller). The primary magnetic separator 16 is a device that uses magnetic force to remove magnetically-charged material contained in the material 12. The screening machine 17 is a device that separates the material 12 from the primary size or larger by passing the material 12 over a mesh. The secondary crusher 18 is a device that performs secondary crushing of the material 12 to a size smaller than that of the primary crusher 15. This secondary crusher 18 crushes the material 12 to a predetermined secondary size or smaller (e.g., 10 cm or smaller). The secondary magnetic separator 19 is a device that removes magnetic material from the material 12 that was not completely removed by the primary magnetic separator 16 and the collecting device 30.

[0013] The conveying devices 20 to 25 as the conveying line are devices that place the treatment material 12 on a conveying path and convey it along the conveying direction D, and are configured as, for example, belt conveyors. Note that the conveying devices 20 to 25 may be configured in a manner other than a belt conveyor as long as they are capable of conveying the treatment material 12.

[0014] The sampling device 30 is a device that places the treatment material 12 containing the waste material 13 and the foreign matter 14 on the conveying surface of the conveying device 22, conveys the treatment material 12, and collects and removes the foreign matter 14 from the waste material 13 as a target object. As shown in Figure 2, the sampling device 30 is composed of a detection unit 31, a sampling unit 40, and a control device 50. The sampling device 30 also includes a disposal unit 36.

[0015] The conveying device 22 places the treatment material 12 on a conveying surface and conveys the treatment material 12 at a predetermined conveying speed. As shown in Figure 5, the conveying device 22 has support rollers 26 that drive a belt that forms the conveying path 29, and support rollers 27 that are disposed between the support rollers 26 and support the conveying path 29.

[0016] The detection unit 31 detects waste materials 13 and foreign objects 14 as objects transported by the transport device 22 in the transport direction D. The detection unit 31 is located upstream of the collection unit 40 in the transport direction D. The detection unit 31 includes an imaging unit 32 and a height detection unit 33. The imaging unit 32 captures images of the treatment material 12, including the waste materials 13 and foreign objects 14, transported by the transport device 22. The imaging unit 32 is configured, for example, as a camera that captures images of the treatment material 12 being placed on the transport surface of the transport device 22 and transported. The imaging unit 32 captures an image of a predetermined range including the treatment material 12 from above the transport surface of the transport device 22 and outputs the image data to the control device 50. As shown in FIG. 4 , the imaging unit 32 captures images 71 and 72, including the waste materials 13 and foreign objects 14. The captured image 71 is an example of an image taken when no treatment material 12 is being transported on the transport device 22. The captured image 72 is an example of an image of the treatment material 12 and foreign matter 14 being transported on the transport device 22. The height detection unit 33 is a sensor that detects the height of an object transported by the transport device 22 on the transport path 29 in the transport direction D. The height detection unit 33 detects the height of the treatment material 12 at a detection position between the support rollers 26 and 27. The height detection unit 33 may be located, for example, upstream of the collection unit 40 in the transport direction D and configured as a stereo camera equipped with two cameras. Alternatively, the height detection unit 33 may be a sensor that detects reflected waves obtained by irradiating the transport surface and obtains the height of the reflection position. The imaging unit 32 and the height detection unit 33 are held above the transport surface of the transport device 22 by a holding member arranged to straddle the transport device 22 in the left-right direction. The height detection unit 33 outputs information regarding the detected height of the treatment material 12 to the control device 50. The collection device 30 equipped with the height detection unit 33 can control the transport of the treatment material 12 by using information on the height direction of the treatment material 12. On the other hand, the collection device 30 may omit either the imaging unit 32 or the height detection unit 33 as long as the height of the treatment material 12 can be measured.

[0017] The deflection detection unit 37 is a sensor that detects the deflection value of the conveyance path 29 on the underside of the conveyance path 29, the height of which is detected by the height detection unit 33. The conveyance path 29 of the conveyance device 22 may deflect, for example, over time and depending on the weight of the objects placed on it. If such a deflection value exists, even if the height detection unit 33 acquires the height of the foreign matter 14, an error in the height direction may occur when the collection unit 40 collects the foreign matter 14. In this collection device 30, the deflection detection unit 37 is disposed to detect the deflection value of the conveyance path 29 from the underside of the conveyance path 29, correcting this deflection value and further improving the collection accuracy in the height direction. The deflection detection unit 37 detects the deflection value of the conveyance path 29 at a detection position S between the support rollers 26 and 27. Like the height detection unit 33, the deflection detection unit 37 may be, for example, a stereo camera equipped with two cameras, or a sensor that detects reflected waves obtained by irradiating the conveyance surface and obtains the height of the reflection position.

[0018] The disposal unit 36 ​​is a dust box that serves as a storage unit for storing the foreign objects 14. The foreign objects 14 collected by the removal unit 45 of the collection unit 40 are dropped into the disposal unit 36. The disposal unit 36 ​​may have multiple storage containers for separating the foreign objects 14 according to their weight or material.

[0019] The collection unit 40 is a device that uses a collection member 49 to collect and remove foreign matter 14 and other substances contained in the treatment material 12 being transported by the transport device 22 on the transport path 29 in the transport direction D. The collection unit 40 is configured, for example, as an XY robot. The collection unit 40 detects and removes foreign matter 14 present in the treatment material 12 based on images captured by the imaging unit 32. The collection unit 40 is located downstream of the detection unit 31 in the transport direction D. The collection unit 40 includes an X-axis slider 41, a Y-axis slider 43, and a removal unit 45. The collection unit 40 discards the collected foreign matter 14 in a disposal unit 36 ​​disposed to the side of the transport device 22. The collection unit 40 may also have other configurations, such as an articulated arm robot.

[0020] The X-axis slider 41 includes a drive mechanism. This drive mechanism includes a guide rail installed in a direction perpendicular to the conveying direction D of the conveying device 22, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to the slider of the Y-axis slider 43 installed on the conveying device 22 along the conveying direction D. A sampling head 48 with an elevator unit 46 is fixed to the slider of the X-axis slider 41. The drive mechanism may be, for example, a linear motion mechanism using a ball screw equipped with a screw shaft and a nut. Note that the drive mechanism is not particularly limited as long as it is a linear motion mechanism, and may be a linear motor or the like. In the X-axis slider 41, the drive mechanism moves the sampling head 48 along the X-axis direction. The Y-axis slider 43 includes a drive mechanism. This drive mechanism includes a guide rail installed in the conveying direction D, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to a support 35 that is installed on the conveying device 22 along the conveying direction D. An X-axis slider 41 is disposed on the slider of the Y-axis slider 43. The Y-axis slider 43 moves the X-axis slider 41 along the Y-axis direction by a drive mechanism.

[0021] The removal unit 45 is a unit that collects objects such as foreign matter 14 using a collection member 49, and includes, for example, an elevator 46, a collection head 48, and the removal unit 45. The elevator 46 is a drive mechanism fixed to the collection head 48 disposed on the X-axis slider 41, and raises and lowers the removal unit 45 along the Z-axis direction. This drive mechanism may be the same as the drive mechanisms of the X-axis slider 41 and the Y-axis slider 43. The collection member 49 is a member that collects objects and may be a gripping claw that grips the object. The removal unit 45 grips and releases the grip of the foreign matter 14 by opening and closing the collection member 49 to collect and remove it from the treatment material 12, and includes the collection member 49 and a gripping drive unit (not shown). The gripping drive unit opens and closes the collection member 49. The remover 45 is moved in the X, Y and Z directions by the X-axis slider 41, the Y-axis slider 43 and the lifting unit 46 within a collection area P (see FIG. 5) where the foreign matter 14 of the transport device 22 is collected.

[0022] The control device 50 controls the entire collection device 30 and includes a control unit 51 and a memory unit 52. The control unit 51 is configured as a microprocessor centered on a CPU and controls the entire device. The control unit 51 outputs control signals to the detection unit 31 and the collection unit 40 and inputs signals from the detection unit 31, the deflection detection unit 37, and the collection unit 40. The memory unit 52 is a storage medium for storing information, and is configured, for example, with an HDD or flash memory. The memory unit 52 stores, for example, correction information 53 that estimates a height correction value at a collection position where the foreign matter 14 is collected. The correction information 53 corresponds to a height correction value at any collection position (coordinate) of the collection area P of the foreign matter 14, depending on the deflection value of the deflection detection unit 37. For example, the deflection value between the support rollers 26 and 27 on the detection position S side of the detection unit 31 will be approximately the same as the deflection value between the support rollers 26 and 27 on the collection area P side when the distance between the support rollers 26 and 27 is the same. The correction information 53 is set by empirically determining this relationship, and when the deflection value of the deflection detection unit 37 and the collection position are input, the control unit 51 can derive one correction value using the correction information 53. The control device 50 performs a height correction based on the height of the foreign matter 14 as the target detected by the height detection unit 33 and the deflection value of the transport path 29 detected by the deflection detection unit 37, and controls the collection unit 40 to collect the foreign matter 14.

[0023] Next, the operation of the collection device 30 configured as described above will be described. First, the process of removing foreign matter 14 from the treatment material 12 to produce waste material 13 will be described. FIG. 6 is a flowchart showing an example of a foreign matter removal process routine executed by the control unit 51 of the control device 50. This routine is stored in the memory unit 52 and is executed by the control unit 51 after the collection device 30 is started based on an operation input from the operation panel. When this routine is started, the control unit 51 first drives the conveying device 22 (S100) and determines whether it is time to detect a foreign matter (S110). This foreign matter detection timing may be, for example, the timing after the imaging unit 32 captures an image of the treatment material 12 being conveyed on the conveying path 29 of the conveying device 22. The imaging unit 32 may capture a continuous image of the conveying path 29.

[0024] When it is time to detect a foreign object in S110, the control unit 51 performs a process of detecting the waste material 13 and the foreign object 14 based on the image captured by the imaging unit 32 and the height value measured by the height detection unit 33 (S120). The control unit 51 performs the process of detecting the waste material 13, for example, by detecting an area that differs in brightness from the conveying surface of the conveying device 22 and identifying that area as the area of ​​the material 12 to be treated. The control unit 51 may also determine the area of ​​the waste material 13 from the acquired height of the conveying surface. Next, the control unit 51 determines whether or not the foreign object 14 is present in the captured image of the conveying device 22 (S130). The control unit 51 can determine the presence or absence of the foreign object 14 based on whether or not the area of ​​the foreign object 14 is present in the captured image (see FIG. 4). When the foreign object 14 is present in the conveying device 22, the control unit 51 executes the foreign object removal process (S140 to S200).

[0025] In the foreign object removal process, the control unit 51 first obtains the height value of the foreign object 14 and the deflection value of the conveying path 29 where the foreign object 14 is located, and stores these in the memory unit 52 (S140). The height detection unit 33 continuously measures the height value of the object on the conveying path 29 in accordance with the movement of the conveying path 29. Similarly, the deflection detection unit 37 continuously measures the deflection value of the conveying path 29 in accordance with the movement of the conveying path 29. When the control unit 51 detects a foreign object 14, it traces back and reads out the height value and deflection value of the coordinates where the foreign object 14 is located, and stores these in the memory unit 52.

[0026] Next, the control unit 51 calculates the collection position of the foreign matter 14 where the collection member 49 will reach on the foreign matter 14 based on the movement speed of the removal unit 45 and the transport speed of the transport device 22 in the transport direction D (S150). In the collection unit 40, the collection position of the foreign matter 14 along the transport direction D varies for each foreign matter 14 depending on the number and position of the foreign matter 14 present in the collection area P (see FIG. 7 , described later). When the control unit 51 recognizes a foreign matter 14, it calculates the collection position of the foreign matter 14. Next, the control unit 51 estimates a height correction value at the collection position using the height value of the foreign matter 14 detected by the height detection unit 33 and the deflection value of the transport path 29 corresponding to the location of the foreign matter 14 (S160). The control unit 51 obtains the height correction value using the correction information 53. When the control unit 51 acquires the collection position where the collection unit 40 collects the foreign matter 14, if this collection position is between the support rollers 26 and 27, it estimates the deflection value between the support rollers 26 and 27 at the collection position in accordance with the continuous change in the deflection value between the support rollers 26 and 27 at the detection position of the height detection unit 33, and acquires a correction value for the height direction of the foreign matter 14.

[0027] FIG. 7 is an explanatory diagram showing an example of a process for removing the foreign matter 14. FIG. 7 is an example of a diagram showing the foreign matter 14 of FIG. 5 being transported from the detection position S side to the collection area P side. As shown in FIG. 7, the collection unit 40 changes the position at which the foreign matter 14 is collected depending on the situation. Furthermore, the deflection of the transport path 29 is smaller the closer it is to the support rollers 26, 27 and larger the farther it is from the support rollers 26, 27. Therefore, the control unit 51 may store in the correction information 53 a correspondence relationship that derives a deflection value that tends to be smaller the closer the collection position is to the support rollers 26, 27 and larger the farther it is from the support rollers 26, 27, and acquire a correction value in the height direction from this correction information 53.

[0028] Next, the control unit 51 moves the collection member 49 to the collection position of the foreign matter 14 (S170), corrects the height direction using the estimated height correction value, and causes the collection member 49 to collect the foreign matter 14 (S180). Subsequently, the control unit 51 moves the collection member 49 above the disposal unit 36 ​​and releases the foreign matter 14 into the disposal unit 36 ​​(S190). The control unit 51 then determines whether or not there is an unprocessed foreign matter 14 (S200). If there is an unprocessed foreign matter 14, the control unit 51 executes the processing from S160 onward. That is, the control unit 51 acquires the height correction value for the next foreign matter 14 and executes collection and release of this foreign matter 14.

[0029] On the other hand, if there is no untreated foreign matter 14 in S200, or if it is not the time to detect a foreign matter in S110, the control unit 51 determines whether the recycling process of the treatment material 12, which removes the foreign matter 14 from the waste material 13, has been completed (S210). If the recycling process of the treatment material 12 has not been completed, the control unit 51 repeatedly executes the processes from S110 onwards. On the other hand, if the recycling process of the treatment material 12 has been completed in S210, the control unit 51 stops the conveying device 22 (S220) and ends this routine.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The height detection unit 33 of this embodiment corresponds to an example of a height detection unit of the present disclosure, the deflection detection unit 37 corresponds to an example of a deflection detection unit, the collection unit 40 corresponds to an example of a collection unit, and the control unit 51 corresponds to an example of a control unit. Furthermore, the conveying device 22 corresponds to an example of a conveying device, the conveying path 29 corresponds to an example of a conveying path, the support rollers 26 and 27 correspond to an example of a support roller, and the foreign object 14 corresponds to an example of a target object. Note that in this embodiment, an example of a collection method of the present disclosure is also clarified by explaining the operation of the collection device 30.

[0031] The collection device 30 described above includes a height detection unit 33 that detects the height of an object transported in the transport direction D on the transport path 29 by the transport device 22, a deflection detection unit 37 that detects the deflection value of the transport path 29 on the underside of the transport path 29 whose height is detected by the height detection unit 33, a collection unit 40 that collects foreign matter 14 as an object transported in the transport direction by the transport device 22, and a control unit 51 that performs height correction based on the height of the foreign matter 14 detected by the height detection unit 33 and the deflection value of the transport path 29 detected by the deflection detection unit 37, and controls the collection unit 40 to collect the foreign matter 14. In this collection device 30, the height correction is performed using the deflection value of the transport path 29, so that the foreign matter 14 as an object can be collected more reliably than when the object is collected without taking the deflection value into account for the height of the object.

[0032] The control unit 51 also acquires the collection position where the collection unit 40 collects the foreign matter 14 transported in the transport direction D, and estimates a height correction value at the collection position based on the height of the foreign matter 14 and the deflection value of the transport path 29. In this collection device 30, by estimating the height correction value based on the height of the foreign matter 14 and the deflection value of the transport path 29, the foreign matter 14 can be more reliably collected. The transport device 22 also has a plurality of support rollers 26, 27, and the height detection unit 33 and the deflection detection unit 37 detect the height of the foreign matter 14 and the deflection value of the transport path 29 at a detection position S between the support rollers 26, 27. The control unit 51 acquires the collection position where the collection unit 40 collects the foreign matter 14, and when the collection position is between the support rollers 26, 27, estimates the deflection value between the support rollers 26, 27 on the collection position side in accordance with continuous changes in the deflection value between the support rollers 26, 27 on the detection position S side. Since the deflection value at the detection position S between the support rollers 26 and 27 correlates with the deflection value at an equivalent position between other support rollers 26 and 27 at the same interval, this collection device 30 can estimate the deflection value on the collection position side based on the deflection value on the detection position S side, allowing for more appropriate correction in the vertical direction.

[0033] The above-described collection device 30 is configured as a foreign matter removal device including a height detection unit 33, a deflection detection unit 37, a removal unit 45 that collects and removes foreign matter 14 as a target, and a control unit 51 that performs height correction based on the height of foreign matter 14 detected by height detection unit 33 and the deflection value of transport path 29 detected by deflection detection unit 37, and controls removal unit 45 to collect and remove foreign matter 14. As with the above-described collection device 30, this foreign matter removal device performs height correction using the deflection value of transport path 29, so that foreign matter 14 can be collected more reliably.

[0034] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0035] For example, in the above-described embodiment, the correction value in the height direction of the foreign object 14 is obtained using the correction information 53, but this is not particularly limited to this, and the correction value may be obtained, for example, from a relational equation that relates the correction value to the height value of the height detection unit 33 and the deflection value of the deflection detection unit 37.

[0036] In the above-described embodiment, the conveying device 22 includes, as an example, a pair of support rollers 26 and a driven support roller 27 disposed between the support rollers 26. However, this is not particularly limited, and the support rollers 27 may be omitted, or a plurality of support rollers 27 may be provided. Furthermore, the support rollers 27 may be disposed at regular intervals or may not be disposed at regular intervals. From the viewpoint of stable conveyance of the treatment material 12, it is preferable that the support rollers 27 be disposed at regular intervals. Furthermore, although FIGS. 5 and 7 illustrate the conveying device 22 in a horizontal state, it may also be tilted upward in the conveying direction D as shown in FIGS. 1 and 2. If the conveying device 22 is tilted, the minimum deflection value of the conveying path 29 will be shifted from the center between the support rollers, and the control unit 51 may calculate a correction value taking this into account.

[0037] In the above-described embodiment, the deflection value of the transport path 29 in the collection area P is estimated from the deflection value on the detection position S side, but this is not limited thereto, and the deflection value in the collection area P may also be measured. FIG. 8 is an explanatory diagram showing an example of another collection device 30B. This collection device 30B includes a second deflection detection unit 38 that detects a second deflection value of the transport path 29 on the underside of the transport path 29 in the collection area P where the object is collected by the collection unit 40 downstream in the transport direction D from the deflection detection unit 33. The control unit 51 performs height correction based on the height of the object detected by the height detection unit 33, the deflection value of the transport path 29 detected by the deflection detection unit 37, and the second deflection value in the collection area P detected by the second deflection detection unit 38, and controls the collection unit 40 to collect the object. This collection device 30B uses the deflection value at the detection position S and the second deflection value at the collection area P, allowing for more appropriate height correction and more reliable collection of the target object. The second deflection detection unit 38 may detect the second deflection value in a line in the direction perpendicular to the conveying direction D in the collection area P, detect the second deflection value in a planar manner in the collection area P, or move to the collection position of the target object and detect the second deflection value at this collection position. When the collection device 30B detects the second deflection value in a line, height correction can be performed with a relatively simple configuration. Furthermore, when the collection device 30B detects the second deflection value in a planar manner, more appropriate height correction can be performed. Furthermore, when the collection device 30B detects the second deflection value at the collection position, more reliable height correction can be performed. As described above, since the collection position of the foreign matter 14 varies greatly depending on the state of the treatment material 12, it is preferable that the second deflection detection unit 38 be able to detect the deflection value of the entire collection area P, but any desired detector may be used depending on the cost and the complexity or simplification of the process. Furthermore, the control unit 51 may acquire the collection position where the target object is collected by the collection unit 40, and when the collection position is between the support rollers 26, 27 and differs from the second detection position where the second deflection detection unit 38 detects the second deflection value, estimate the deflection value between the support rollers 26, 27 at the collection position based on the continuous change in the deflection value between the support rollers 26, 27 at the detection position and the second deflection value.For example, when the position of the deflection detector 37 between the support rollers 26, 27 and the position of the deflection detector 38 between the support rollers 26, 27 are the same position, and this position is the collection position of the foreign matter 14 as shown by the solid line in Fig. 8, the deflection values ​​detected by each deflection detector can be used as is. On the other hand, when the foreign matter 14 is on the support roller 27 side or the support roller 26 side as shown by the dotted line in Fig. 8, the second deflection value of the deflection detector 38 cannot be used as is, and therefore the control unit 51 can obtain a correction value by estimation from the second deflection value.

[0038] In the above-described embodiment, the height detection unit 33 and the deflection detection unit 37 detect the height value and the deflection value, respectively, at the same position in the conveying direction D. However, this is not particularly limited, and the height detection unit 33 and the deflection detection unit 37 may detect the height value and the deflection value, respectively, at different positions in the conveying direction D. In this collection device 30, too, the deflection value of the conveying path 29 is taken into account to more reliably collect the target object.

[0039] In the above-described embodiment, the sampling device 30 removes foreign matter 14 as a target object from the material 12 to be treated, including waste material 13. However, the present invention is not limited to this, and the sampling device 30 may also remove foreign matter 14 from material to be treated other than waste material 13. For example, the sampling device 30 may remove nuts as a target object from material to be treated, including bolts and nuts. Alternatively, in the above-described embodiment, the sampling device 30 has been described as a foreign matter removal device including a removal unit 45 that collects and removes foreign matter 14. However, the present invention is not limited to this, and the sampling device 30 may also be a sampling device that collects a target object.

[0040] In the above-described embodiment, the present disclosure has been described as a processing system 10 having a collection device 30, but is not limited thereto, and the present disclosure may be the collection device 30 itself, a control method for the collection device 30 executed by a computer, a collection method, or a program for the control method and / or target object removal method. Furthermore, the processing system 10 is described as including a primary crusher 15, a primary magnetic separator 16, a screening machine 17, a secondary crusher 18, a secondary magnetic separator 19, and a supervisory device 27, but is not limited thereto, and one or more of these may be omitted, or other devices may be added.

[0041] Here, the collection method of the present disclosure may be configured as follows: For example, the collection method of the present disclosure includes: (a) detecting the height of an object conveyed in a conveying direction on a conveying path by a conveying device; (b) detecting a deflection value of the conveying path on the underside of the conveying path whose height is detected in step (a); and (c) correcting the height direction based on the height of the object detected in step (a) and the deflection value of the conveying path detected in step (b), and collecting the object that is the object conveyed in the conveying direction by the conveying device.

[0042] In this collection method, similar to the collection device described above, the deflection value of the conveying path is used to perform correction in the height direction, so that the target object can be collected more reliably. Note that this collection method may employ various aspects of the collection device described above, or may include additional steps that realize the respective functions of the collection device described above.

[0043] The present disclosure is applicable to the technical field of devices for collecting objects.

[0044] 10 Processing system, 12 Processing material, 13 Waste material, 14 Foreign matter, 15 Primary crusher, 16 Primary magnetic separator, 17 Screening machine, 18 Secondary crusher, 19 Secondary magnetic separator, 20-25 Conveying device, 26, 27 Support roller, 29 Conveying path, 30, 30B Collection device, 31 Detection unit, 32 Imaging unit, 33 Height detection unit, 35 Support unit, 36 Disposal unit, 37, 38 Deflection detection unit, 40 Collection unit, 41 X-axis slider, 43 Y-axis slider, 45 Removal unit, 46 Lifting unit, 48 Collection head, 49 Collection member, 50 Control device, 51 Control unit, 52 Memory unit, 53 Condition information, 71 Captured image, 72 Captured image, D Conveying direction, M Operator, P Collection area, S Detection position.

Claims

1. A collection device comprising: a height detection unit that detects the height of an object being transported in a transport direction on a transport path by a transport device; a deflection detection unit that detects a deflection value of the transport path on the underside of the transport path whose height is detected by the height detection unit; a collection unit that collects the object being transported in the transport direction by the transport device; and a control unit that controls the collection unit to collect the object by making a height correction based on the height of the object detected by the height detection unit and the deflection value of the transport path detected by the deflection detection unit.

2. The collection device of claim 1, wherein the control unit acquires a collection position where the collection unit collects the object transported in the transport direction, and estimates a height correction value at the collection position based on the height of the object and the deflection value of the transport path.

3. The collection device of claim 1 or 2, wherein the conveying device has a plurality of support rollers, the height detection unit and the deflection detection unit detect the height of the object and the deflection value of the conveying path at a detection position between the support rollers, and the control unit obtains a collection position at which the object is collected by the collection unit, and when the collection position is between the support rollers, estimates the deflection value between the support rollers at the collection position in accordance with continuous changes in the deflection value between the support rollers at the detection position.

4. A collection device as described in claim 1, comprising a second deflection detection unit that detects a second deflection value of the transport path on the underside of the transport path in a collection area where the object is collected by the collection unit downstream in the transport direction from the deflection detection unit, and the control unit controls the collection unit to make a height correction based on the height of the object detected by the height detection unit, the deflection value of the transport path detected by the deflection detection unit, and further the second deflection value of the collection area detected by the second deflection detection unit, and collect the object.

5. The collection device described in claim 4, wherein the second deflection detection unit either detects the second deflection value in a line shape in a direction perpendicular to the transport direction in the collection area, detects the second deflection value in a planar shape in the collection area, or moves to a collection position for the object and detects the second deflection value at the collection position.

6. The collection device of claim 4 or 5, wherein the conveying device has a plurality of support rollers, the height detection unit and the deflection detection unit detect the height of the object and the deflection value of the conveying path at a detection position between the support rollers, and the control unit obtains a collection position at which the object is collected by the collection unit, and when the collection position is between the support rollers and is different from a second detection position at which the second deflection value is detected by the second deflection detection unit, estimates the deflection value between the support rollers at the collection position based on the continuous change in the deflection value between the support rollers at the detection position and the second deflection value.

7. A foreign matter removal device comprising: a height detection unit that detects the height of an object transported in a transport direction on a transport path by a transport device; a deflection detection unit that detects a deflection value of the transport path on the underside of the transport path whose height is detected by the height detection unit; a collection unit that collects foreign matter as targets from among the objects transported in the transport direction by the transport device; and a control unit that controls the collection unit to collect the targets by making a height correction based on the height of the object detected by the height detection unit and the deflection value of the transport path detected by the deflection detection unit.

8. A collection method comprising the steps of: (a) detecting the height of an object being transported in a transport direction on a transport path by a transport device; (b) detecting a deflection value of the transport path on the underside of the transport path whose height is detected in step (a); and (c) making a height correction based on the height of the object detected in step (a) and the deflection value of the transport path detected in step (b), and collecting the object being transported in the transport direction by the transport device.

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