Method and device for providing monitoring information on retrievable resource

Abstract

According to one embodiment, disclosed are a method and a device for providing monitoring information on a retrievable resource, the method comprising: a step in which a receiving unit obtains, from a 3D scanner, object scan information indicating the shape of a target object being scanned and object coordinate information indicating the position of the target object; a step in which a processor obtains object identification information for a target object identified according to an analysis result for the object scan information; a step in which the processor determines whether the identified target object is a retrievable resource indicating a resource used for recycled aggregate on the basis of the object identification information; a step in which the processor, according to the determination on whether the identified target object is a retrievable resource, obtains object coordinate information converted from the object coordinate information to a viewpoint of a robot arm gripping the identified target object; a step in which a transmitting unit transmits the object identification information and the converted object coordinate information to the robot arm; and a step in which the transmitting unit provides monitoring information on the retrievable resource according to the classification and gripping by the robot arm to an operator account.

Description

Method and device for providing monitoring information on recoverable resources

[0001] The technical field of the present disclosure relates to circular resources, and more specifically, to a resource recovery technology field that enables a solution for quality management and supervision of circular resources to be improved by determining whether an identified resource corresponding to an object recognized by a 3D scanner is a recoverable resource, transmitting information on the identified resource and the location of the object to a robot arm, and providing monitoring information thereon to a plurality of resource sorting facilities.

[0002]

[0003] According to previous statistical surveys on construction waste recycling, construction waste generation has been steadily increasing. To address this growing trend, ongoing efforts to recycle construction waste are underway, and recycled aggregates are becoming an important solution for environmental protection and resource conservation.

[0004] Among them, recycled aggregates that meet quality standards for each use are being reborn as aggregates that help prevent environmental damage such as forest destruction and marine pollution caused by natural aggregate extraction, and solve social problems such as the shortage of landfill sites due to construction waste landfill.

[0005] However, it has been reported that the proportion of recycled aggregates is increasing due to the recent poor supply of materials and the problem of depletion of natural aggregates. The problem is that recycled aggregates are made by sorting and reprocessing construction waste, so their quality is lower than that of general aggregates.

[0006] Currently, quality control and supervision of recycled aggregates are not sufficiently implemented, and in fact, there is no separate management system for recycled aggregates except for the regular inspection once a year. Therefore, it can be seen that some companies are producing normal recycled aggregates only during the regular inspection period.

[0007] Therefore, effective improvements are needed in the quality management and supervision of recycled aggregates by identifying resources through AI artificial intelligence learning using data acquired through 3D scanning, classifying quality-assured resources using robotic arms, and providing monitoring information to multiple sorting facilities.

[0008]

[0009]

[0010] [Prior Art Literature]

[0011] [Patent Document]

[0012] Korean Patent No. 10-2537738 B1 (May 24, 2023) Object Recognition-Based Recyclable Resource Classification Method

[0013]

[0014] In order to solve the above-described problem, the present disclosure discloses a device and method for obtaining scan information on an object using a 3D scanner, identifying the object and obtaining corresponding information, determining whether the object is a recoverable resource, and providing information related to the recoverable resource to an operator account as a robot arm grasps and classifies the recoverable resource.

[0015] The problems to be solved in the present disclosure are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0016]

[0017] As a technical means for achieving the above-described technical problem, a method for providing monitoring information on a recoverable resource by a device according to a first aspect of the present disclosure may include: a step in which a receiving unit obtains object scan information indicating a shape of a target object scanned by a 3D scanner and object coordinate information indicating a position of the target object; a step in which a processor obtains object identification information on a target object identified according to an analysis result of the object scan information; a step in which the processor determines whether the identified target object is a recoverable resource usable for a circulating resource based on the object identification information; a step in which the processor obtains object coordinate information converted to a viewpoint of a robot arm that grasps the identified target object when it is determined whether the identified target object is a recoverable resource; a step in which a transmitting unit transmits the object identification information and the converted object coordinate information to the robot arm; and a step in which the transmitting unit provides monitoring information on a recoverable resource according to grasping and classification by the robot arm to an operator account.

[0018] In addition, the target object includes at least one of the types of resources that can be used for circular aggregate, recycling, and upcycling, the 3D scanner includes at least one of a camera that captures images to scan the target object and a projector that irradiates patterned light, and the object scan information may include at least one of surface information and depth information of the target object for implementing 3D modeling of the target object.

[0019] In addition, the step of determining object identification information for the identified target object may include: a step of analyzing the object scan information based on artificial intelligence to obtain a 3D modeling image including the target object; and a step of determining object identification information for the identified target object based on a sharpness level indicating the sharpness of an outline of the target object included in the 3D modeling image; and the object identification information may include at least one of a name, type, size, and weight of the identified target object.

[0020] In addition, the step of determining whether the identified target object is a recoverable resource may include a step of determining the identified target object as a recoverable resource based on a quality level indicating a standard of good and bad products corresponding to the object identification information.

[0021] Additionally, the quality level can be determined based on different weights assigned to the absolute dry density, absorption rate, wear amount, loss amount, and foreign matter content corresponding to the identified target object.

[0022] In addition, the step of obtaining the transformed object coordinate information may include a step of obtaining robot default coordinate information corresponding to the viewpoint of the robot arm by performing at least one of a rotational movement and a translational movement of the robot arm around a sensor linked to the robot arm; and a step of obtaining transformed object coordinate information according to a comparison result between the robot default coordinate information and the object coordinate information.

[0023] A device for providing monitoring information on a recoverable resource according to a second aspect of the present disclosure may include: a receiving unit that obtains object scan information indicating a shape of a target object scanned by a 3D scanner and object coordinate information indicating a location of the target object; a processor that obtains object identification information on a target object identified according to an analysis result of the object scan information, determines whether the identified target object is a recoverable resource usable for a circular resource based on the object identification information, and obtains object coordinate information converted to a viewpoint of a robot arm that grasps the identified target object when it is determined whether the identified target object is a recoverable resource; and a transmitting unit that transmits the object identification information and the converted object coordinate information to the robot arm and provides monitoring information on a recoverable resource according to grasping and classification by the robot arm to an operator account.

[0024] In addition, a third aspect of the present disclosure can provide a computer-readable recording medium having recorded thereon a program for executing the method of the first aspect on a computer.

[0025]

[0026] According to one embodiment of the present disclosure, an object is identified using a 3D scanner, and information about whether the identified object is a recoverable resource is transmitted to a robot arm to be classified and information about the classified recoverable resources is provided to a plurality of sorting facilities, thereby improving the efficiency of management and supervision of circulating resources.

[0027] The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0028]

[0029] FIG. 1 is a block diagram schematically illustrating a configuration of a device that provides monitoring information on recoverable resources according to one embodiment.

[0030] FIG. 2 is a flowchart illustrating a method for providing monitoring information for recoverable resources according to one embodiment.

[0031] FIG. 3 is a schematic diagram illustrating an example of obtaining object scan information and object coordinate information from a 3D scanner according to one embodiment.

[0032] FIG. 4 is a diagram illustrating an example of obtaining analysis results for object scan information, object coordinate information, object identification information, and monitoring information from an analysis unit according to one embodiment.

[0033] FIG. 5 is a diagram illustrating an example of providing monitoring information on recoverable resources according to the grip and classification of a robot arm according to one embodiment to an operator account.

[0034]

[0035] The advantages and features of the present disclosure, and the methods for achieving them, will become clearer with reference to the embodiments described below in detail together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure is complete and to fully inform those skilled in the art of the scope of the present disclosure.

[0036] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present disclosure. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present disclosure.

[0037] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in the sense commonly understood by those skilled in the art. Furthermore, terms defined in commonly used dictionaries should not be interpreted ideally or excessively unless explicitly and specifically defined otherwise. Spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used to easily describe the relationship between one component and other components, as illustrated in the drawings.

[0038] Spatially relative terms should be understood to encompass different orientations of components during use or operation, in addition to the orientation depicted in the drawings. For example, if a component depicted in a drawing is flipped over, a component described as "below" or "beneath" another component may end up "above" the other component. Thus, the exemplary term "below" can encompass both the above and below orientations. Components can also be oriented in other directions, and thus spatially relative terms can be interpreted based on their orientation.

[0039] Below, various embodiments are described in detail with reference to the drawings.

[0040]

[0041] FIG. 1 is a block diagram schematically illustrating a configuration of a device that provides monitoring information on recoverable resources according to one embodiment.

[0042] Referring to the drawing, the device (100) may include a receiver (110), a processor (120), and a transmitter (130).

[0043] Those skilled in the art will appreciate that, in addition to the components illustrated in FIG. 1, the device (100) may further include other general-purpose components. For example, the device (100) may further include memory (not illustrated). Alternatively, those skilled in the art will appreciate that, according to other embodiments, some of the components illustrated in FIG. 1 may be omitted.

[0044]

[0045] According to one embodiment, the receiving unit (110) may obtain pre-stored 3D resource model information from a database. The pre-stored 3D resource model information may be interpreted as 3D modeling image information for objects corresponding to one or more resources and may include information on volume and surface shape for objects corresponding to each resource. The receiving unit (100) may obtain object identification information by performing a comparison with pre-stored 3D resource model information corresponding to the identified target object by the processor (120).

[0046] According to one embodiment, the receiving unit (110) may obtain pre-stored resource information from a database. The pre-stored resource information may include information about each of one or more resources. If the resource corresponds to recycled aggregate, the information may include detailed information on the size and weight of each type, including recycled fine aggregate, coarse aggregate, and slag. Accordingly, the receiving unit (100) may obtain object identification information for the identified target object based on the pre-stored resource information corresponding to the identified target object.

[0047] According to an embodiment, the processor (120) may obtain object scan information indicating the shape of a target object scanned by a 3D scanner obtained from the receiver (110) and object coordinate information indicating the location of the target object. In addition, the processor (120) may obtain object identification information for the identified target object based on the analysis result of the object scan information. In addition, the processor (120) may determine whether the identified target object is a recoverable resource that can be used for circular resources based on the object identification information. In addition, the processor (120) may obtain object coordinate information converted to the viewpoint of a robot arm that grasps the identified target object as it is determined whether the identified target object is a recoverable resource. Accordingly, the transmitter (130) may transmit the object identification information and the converted object coordinate information to the robot arm, and the transmitter (130) may provide monitoring information on recoverable resources according to the grasping and classification of the robot arm to an operator account.

[0048]

[0049] FIG. 2 is a flowchart illustrating a method for a device (100) according to one embodiment to provide monitoring information on recoverable resources.

[0050] Referring to step S210, the device (100) obtains object scan information indicating the shape of a target object scanned from a 3D scanner and object coordinate information indicating the location of the target object.

[0051] According to one embodiment, the target object may include at least one of a type of circular aggregate, a resource that can be recycled and upcycled, the 3D scanner may include at least one of a camera that captures an image to scan the target object and a projector that irradiates patterned light, and the object scan information may include at least one of surface information and depth information of the target object for implementing 3D modeling of the target object.

[0052] For example, a 3D scanner and an object sensor for recognizing an object may be built into the device (100). Accordingly, a target object moving on a conveyor belt may be captured using a camera from the 3D scanner built into the device (100) and patterned light may be projected from a projector to obtain object scan information representing the shape of the target object. In addition, the object scan information may obtain surface information and depth information of the target object to implement 3D modeling, and the device (100) may obtain a 3D modeling image of the target object based on the object scan information.

[0053] In addition, object coordinate information (e.g., x = 10, y = 10) indicating a location of a target object can be obtained from a 3D scanner built into the device (100), but is not limited thereto. For example, the object coordinate information can be interpreted as coordinate information displayed from the viewpoint of the 3D scanner, and the converted object coordinate information from the viewpoint of the robot arm for performing gripping of the target object will be described in detail later in step S240.

[0054]

[0055] Referring to step S220, the device (100) obtains object identification information for the identified target object based on the analysis result of the object scan information.

[0056] A device (100) according to one embodiment can analyze object scan information based on artificial intelligence to obtain a 3D modeling image including a target object.

[0057] For example, a 3D modeling image can be interpreted as an image for precisely identifying a target object. Accordingly, the device (100) can acquire a 3D modeling image of the target object by learning and analyzing surface information and depth information included in the object scan information based on artificial intelligence.

[0058] According to one embodiment, object identification information for an identified target object can be determined based on a sharpness level indicating the sharpness of an outline of the target object included in a 3D modeling image, and the object identification information can include at least one of a name, type, size, and weight of the identified target object.

[0059] For example, as a 3D modeling image of a target object is acquired, the device (100) can use surface information and depth information thereof to acquire information about the volume and surface shape of the target object. In addition, object identification information for the identified target object can be acquired based on a comparison result with pre-stored 3D resource model information acquired from a database. Accordingly, as the identified target object is acquired, the device (100) can acquire object identification information (e.g., slag, concrete, thickness, 25 mm) for the identified target object A. Without being limited thereto, as pre-stored resource information acquired from the database is updated, the device (100) can acquire additional object identification information corresponding to the target object. Accordingly, the device (100) can store object identification information corresponding to the identified target object in the database, and determine whether the object identification information is a recoverable resource.

[0060] Specifically, the device (100) can identify the target object and obtain identification information for the identified object based on the sharpness of the outline of the target object included in the 3D modeling image. The sharpness level indicating the sharpness of the outline can include the border of the target object included in the 3D modeling image, and if the border is not sharp, it is difficult to precisely identify which specific resource the target object is, so the device (100) can obtain the identified target object and identification object information for the identified target object based on the outline level of the target object.

[0061] For example, if the sharpness level indicating the sharpness of the outline of the target object is lower than or equal to the preset sharpness level, the device (100) can re-acquire object scan information for the target object from the 3D scanner. In other words, if the sharpness level is lower than or equal to the preset sharpness level, it may mean that the accuracy of identifying the target object is significantly low. More specifically, the device (100) can re-acquire object scan information for the target object based on the number of images captured, the number of channel changes, and the exposure time for the target object captured by the 3D scanner. That is, if the sharpness level is (e.g., level 1), since it is determined that the identification of the target object is impossible, the device (100) can determine the number of images captured and the number of channel changes to the maximum number, and on the other hand, if the amount of light reflected is large, the sharpness of the outline of the target object is likely to become blurred, so the exposure time can be determined to the minimum time. Accordingly, as multiple re-acquired object scan information for the target object is learned based on artificial intelligence, the device (100) can determine object identification information for the target object, which is an optimal condition.

[0062]

[0063] Referring to step S230, the device (100) determines whether the identified target object is a recoverable resource that can be used for circulating resources based on object identification information.

[0064] A device (100) according to one embodiment may determine a target object identified as a recoverable resource based on a quality level indicating a standard for good and bad products corresponding to object identification information.

[0065] For example, a quality level can be interpreted as a criterion for determining whether an identified target object (e.g., recycled aggregate) is good or bad. Various factors determining the quality level can be additionally acquired from the operator account's selection inputs. Furthermore, identified target objects with a higher quality level can be interpreted as having a higher probability of being judged as recoverable resources than those with a lower quality level.

[0066] For example, the device (100) may obtain one or more similar target objects having a similarity level higher than a preset similarity level, which indicates similarity to object identification information for a target object identified from a database. Based on similar object resource information including absolute dry density, absorption rate, wear amount, loss amount, and foreign matter content corresponding to the similar target object obtained from the database, the device (100) may obtain identified object resource information for the identified target object and determine whether or not it is a recoverable resource based on the similar object resource information.

[0067] The quality level according to one embodiment may be determined based on different weights assigned to each of the absolute dry density, absorption rate, wear amount, loss amount and foreign matter content corresponding to the identified target object.

[0068] For example, the quality level described above can be determined based on various factors. If the object identification information included in the identified target object corresponds to “concrete” recycled aggregate, the device (100) can give the highest weight to the absorption rate among the various factors described above because there is a high probability that the internal voids will be reduced due to the low absorption rate (e.g., high quality of 5% or less) of high-quality recycled aggregate for concrete, which is produced. Next, the device (100) can give the second highest weight to the absolute dry density among the various factors because there is a high probability that the high-strength, high-quality recycled aggregate for concrete will be produced based on the absolute dry density (e.g., high quality of 3.0 g / cm^3 or more), which represents the density in an absolutely dry state, that is, a state without any moisture at all. Next, since a high content of foreign matter is likely to cause a decrease in the adhesion and strength in creating recycled aggregates but is unlikely to have an effect on internal pores, the device (100) may assign the third highest weight to the content of foreign matter among various factors. Since the amount of wear is likely to be more important than the amount of loss in improving the particle size of recycled aggregates, the device (100) may assign the fourth highest weight to the amount of wear and the fifth highest weight to the amount of loss.

[0069] Accordingly, when the object identification information for the identified target object corresponds to “concrete” cyclic aggregate, the device (100) can assign different weights to the absorption rate, absolute dry density, foreign matter content, wear amount, and loss amount, and can also determine the quality level (e.g., high quality) according to the sequentially assigned weights.

[0070] As a result, real-time monitoring information on high-quality resources used to produce high-quality recycled aggregates from multiple sorting facilities can be provided, and customized information on price and quantity according to quality level can be provided, minimizing low-quality recycled resources and enabling efficient trading of stable recycled resources.

[0071] Consequently, if the quality level of the object identification information corresponding to the identified target object is higher than the preset quality level, the device (100) may determine that the identified target object is a retrievable resource as it represents a resource used for circulating resources.

[0072]

[0073] Referring to step S240, the device (100) obtains object coordinate information converted to the viewpoint of a robot arm that grasps the identified target object as it is determined whether the identified target object is a recoverable resource.

[0074] For example, since the object coordinate information for the target object from the 3D scanner's perspective and the coordinate information from the robot arm's perspective may differ, this can be interpreted as performing calibration. Accordingly, once it is determined whether the identified target object is a recoverable resource, the device (100) can perform grasping and classification of the identified target object as the converted object coordinate information is acquired.

[0075] A device (100) according to one embodiment can obtain robot default coordinate information corresponding to the viewpoint of a robot arm by having the robot arm perform at least one of a rotational motion and a translational motion centered on a sensor linked to the robot arm, and can obtain converted object coordinate information based on a comparison result between the robot default coordinate information and the object coordinate information.

[0076] For example, a robot arm may perform rotational or translational movements around a sensor linked to the robot arm to obtain robot default coordinate information indicating default coordinate values ​​for the robot arm's viewpoint. Furthermore, the number of rotational or translational movements of the robot arm may be set to a preset sampling frequency, and the preset sampling frequency may be updated each time robot default coordinate information for the robot arm is obtained.

[0077] Accordingly, as the robot default coordinate information is acquired, the device (100) performs a comparison with the object coordinate information acquired from the 3D scanner, and when the error level representing the difference between the coordinates reaches a preset error level or lower, the probability of high accuracy is high, so the converted object coordinate information can be acquired.

[0078] As another example, even if it is determined as “impossible” whether the identified target object is a retrievable resource, the device (100) can obtain object coordinate information converted to the viewpoint of the robot arm that grasps the identified target object. That is, the identified target object corresponding to the grasping performance of the robot arm that is selectively input from the operator account of the sorting business site may be a retrievable resource or a non-retrievable resource. Accordingly, if the grasping performance that is selectively input from the operator account of the sorting business site corresponds to “grabbing defective products,” this may mean that the sorting business site is not seeking a small number of good products, but rather has a need for a large number of good products remaining after the robot arm grasps a small number of defective products. Consequently, the device (100) can obtain and transmit object coordinate information converted to the viewpoint of the robot arm that grasps the identified target object when it is determined as “impossible” whether the identified target object is a retrievable resource.

[0079]

[0080] Referring to step S250, the device (100) transmits object identification information and converted object coordinate information to the robot arm.

[0081] For example, as object identification information and converted object coordinates for an identified target object are transmitted to the robot arm, the robot arm can perform a task of grasping and classifying the identified target object. Accordingly, the device (100) transmits object coordinate information for the target object acquired from the 3D scanner to the viewpoint of the robot arm, thereby allowing the robot arm to grasp and classify the identified target object depending on whether it is a recoverable resource.

[0082]

[0083] Referring to step S260, the device (100) provides monitoring information on resources that can be recovered according to the grip and classification of the robot arm to the operator account.

[0084] For example, the device (100) may display monitoring information on retrievable resources on a dashboard used by an operator account as the robot arm performs grasping and classification on identified target objects. Accordingly, the device (100) may provide monitoring information including price tags, quantities, and intended uses for the identified target objects according to quality levels to the operator account, and, without limitation, may provide additional monitoring information based on optional input of necessary information on retrievable resources at multiple sorting sites. A detailed example of multiple sorting sites is described below in FIG. 5 .

[0085]

[0086] FIG. 3 is a schematic diagram illustrating an example of a device (100) according to one embodiment obtaining object scan information and object coordinate information from a 3D scanner.

[0087] Referring to FIG. 3, the device (100) may include a built-in 3D scanner. Accordingly, the device (100) may obtain object scan information about the target object as the target object is captured by the camera (310) using the camera (310) and projector (320) built into the 3D scan, and may obtain object coordinate information and a 3D modeling image as the projector (320) irradiates pattern light onto the target object.

[0088]

[0089] FIG. 4 is a drawing for explaining an example of obtaining analysis results for object scan information, object coordinate information, object identification information, and monitoring information from an analysis unit (400) further included in a device (100) according to one embodiment.

[0090] Referring to FIG. 4, the analysis unit (400) further included in the device (100) can perform augmentation on each object scan information (410), object coordinate information (420), object identification information (430), and monitoring information (440) using a generative adversarial network (GAN). In other words, in order to obtain precise object identification information (430), the device (100) can accurately identify a target object and obtain object identification information (430) therefor by performing augmentation and comparing information corresponding to each.

[0091] As another example, using the artificial neural network CNN (Convolutional Neural Network) technique, the device (100) can obtain probability values ​​for good and bad products for the identified target object and determine whether the identified target object is a recoverable resource. The artificial neural network detects patterns to recognize a 3D modeling image and directly learns corresponding features from object scan information (410), and using the patterns, the device (100) can analyze the 3D modeling image.

[0092]

[0093] [Mathematical Formula 1]

[0094]

[0095]

[0096] Referring to mathematical expression 1, the activation function for activating the hidden layer used in the artificial neural network can be expressed as a logistic function with a sigmoid function. The device (100) can be used to obtain a non-linear value in a linear multilayer perceptron (MLP). In addition, as shown in graph 1 below, when the input value increases infinitely, 1 can be obtained, and when the input value decreases infinitely, 0 can be obtained. The output value of the sigmoid function has a value between 0 and 1, and the device (100) can determine the identified target object and object identification information (430) therefor by using this for the target object.

[0097]

[0098] [Graph 1]

[0099]

[0100]

[0101] FIG. 5 is a drawing illustrating an example in which a device (100) according to one embodiment provides monitoring information on resources that can be recovered according to the grip and classification of a robot arm (510) to an operator account.

[0102] Referring to FIG. 5, object scan information indicating the shape of a target object scanned from a 3D scanner built into the device (100) and object coordinate information indicating the location of the target object can be obtained. Accordingly, the device (100) can obtain object identification information for the identified target object based on the analysis result of the object scan information and determine whether the identified target object is a recoverable resource that can be used for circular resources based on the object identification information. In addition, the device (100) can obtain object coordinate information converted to the viewpoint of the robot arm (510) that grasps the identified target object as it is determined whether the identified target object is a recoverable resource. Accordingly, the device (100) can transmit the object identification information and the converted object coordinate information to the robot arm (510), and the robot arm (510) can grasp and classify the identified target object and provide monitoring information on recoverable resources to a plurality of operator devices (520). As multiple operator accounts obtain real-time information on circulating resources suitable for customized needs, the device (100) provides monitoring information including price list, quantity, usage purpose, etc. for circulating resources by displaying them differently on each of the multiple operator devices (520), thereby forming an efficient trading market for circulating resources.

[0103]

[0104] Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored in a storage medium (e.g., memory) readable by a machine (e.g., a display device or a computer). For example, a processor (e.g., processor 120) of the machine may call at least one instruction from the storage medium and execute it. This enables the machine to operate to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently or temporarily on the storage medium.

[0105] According to one embodiment, the method according to various embodiments disclosed in the present disclosure may be provided as included in a computer program product. The computer program product may be traded as a commodity between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0106] Those skilled in the art will appreciate that the present invention can be implemented in modified forms without departing from the essential characteristics of the above-described description. Therefore, the disclosed methods should be considered illustrative rather than restrictive. The scope of the present invention is set forth in the claims, not the foregoing description, and all differences within the scope equivalent thereto should be construed as being encompassed by the present invention.

[0107]

[0108] [Explanation of symbols]

[0109] 100: Device

[0110] 110: Receiver 120: Processor

[0111] 130: Transmitter

[0112] 310: Camera 320: Projector

[0113] 400: Analysis Department

[0114] 410: Object Scan Information

[0115] 420: Object coordinate information

[0116] 430: Object identification information

[0117] 440: Monitoring Information

[0118] 510: Robot arm

[0119] 520: Multiple operator devices

Claims

1. A method for providing monitoring information on resources that can be recovered by a device, A step of obtaining object scan information indicating the shape of a target object to be scanned from a 3D scanner and object coordinate information indicating the position of the target object by the receiving unit; A step of the processor obtaining object identification information for the target object identified based on the analysis result of the object scan information; A step in which the processor determines whether the identified target object is a recoverable resource that can be used for circular resources based on the object identification information; The above processor obtains object coordinate information converted into a viewpoint of a robot arm that grasps the identified target object based on whether the identified target object is a recoverable resource; A step in which the transmitter transmits the object identification information and the converted object coordinate information to the robot arm; and A method comprising: a step of providing, by the transmitter, monitoring information on retrievable resources according to the phasing and classification of the robot arm to an operator account; 2. In paragraph 1, The above target object comprises at least one of the types of resources that can be used for circular aggregate, recycling and upcycling, The above 3D scanner includes at least one of a camera for capturing images to scan the target object and a projector for irradiating patterned light, A method wherein the object scan information includes at least one of surface information and depth information of the target object for implementing 3D modeling of the target object.

3. In paragraph 2, The step of determining object identification information for the identified target object is: A step of analyzing the above object scan information based on artificial intelligence to obtain a 3D modeling image including the target object; and A step of determining object identification information for the identified target object according to a sharpness level representing the sharpness of an outline of the target object included in the 3D modeling image; A method wherein the object identification information includes at least one of the name, type, size, and weight of the identified target object.

4. In paragraph 3, The step of determining whether the identified target object is a recoverable resource is: A method comprising: a step of determining the identified target object as a recoverable resource based on a quality level indicating the criteria for good and bad products corresponding to the object identification information.

5. In paragraph 4, A method wherein the above quality level is determined based on different weights assigned to the absolute dry density, absorption rate, wear amount, loss amount and foreign matter content corresponding to the identified target object.

6. In paragraph 5, The step of obtaining the above-mentioned converted object coordinate information is: A step of obtaining robot default coordinate information corresponding to the viewpoint of the robot arm by performing at least one of a rotational motion and a translational motion centered on a sensor linked to the robot arm; and A method comprising: a step of obtaining converted object coordinate information according to a comparison result between the robot default coordinate information and the object coordinate information.

7. For a device that provides monitoring information on recoverable resources, A receiving unit that obtains object scan information indicating the shape of a target object scanned from a 3D scanner and object coordinate information indicating the location of the target object; Obtain object identification information for the identified target object based on the analysis results of the above object scan information, Based on the above object identification information, determine whether the identified target object is a recoverable resource that can be used as a circular resource, A processor that obtains object coordinate information converted into a viewpoint of a robot arm that grasps the identified target object according to whether the identified target object is a recoverable resource; and Transmit the above object identification information and the above converted object coordinate information to the robot arm, A device including a transmitter that provides monitoring information on recoverable resources according to the classification and phasing of the robot arm to an operator account.

Images