WO2020100823A1 - Système et machine de travail de démontage, procédé de récupération de pièce et d'ensemble de joints - Google Patents

Système et machine de travail de démontage, procédé de récupération de pièce et d'ensemble de joints Download PDF

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Publication number
WO2020100823A1
WO2020100823A1 PCT/JP2019/044164 JP2019044164W WO2020100823A1 WO 2020100823 A1 WO2020100823 A1 WO 2020100823A1 JP 2019044164 W JP2019044164 W JP 2019044164W WO 2020100823 A1 WO2020100823 A1 WO 2020100823A1
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WO
WIPO (PCT)
Prior art keywords
target
disassembly
seal
component
information
Prior art date
Application number
PCT/JP2019/044164
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English (en)
Japanese (ja)
Inventor
中島　一
智祥 加藤
Original Assignee
コベルコ建機株式会社
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Filing date
Publication date
Application filed by コベルコ建機株式会社 filed Critical コベルコ建機株式会社
Publication of WO2020100823A1 publication Critical patent/WO2020100823A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
    • B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
    • B09B5/00—Operations not covered by a single other subclass or by a single other group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D67/00—Systematic disassembly of vehicles for recovery of salvageable components, e.g. for recycling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/56—Reuse, recycling or recovery technologies of vehicles

Definitions

  • the present invention relates to a disassembly work system for disassembling an object to be disassembled such as an automobile and collecting required parts, a disassembly work machine, a part collection method, and a seal set used for the work.
  • Patent Document 1 the technology of Patent Document 1 is known as a technology related to dismantling and recycling of used automobiles.
  • this technique reads the work instruction information from the IC tag that is attached to the vehicle to be disassembled and has the work instruction information written therein. Work of the process is performed. When the work of each process is completed, work processing information is written in the IC tag.
  • Patent Document 1 in addition to the work of reading the work instruction information from the IC tag at the start of each process and displaying it on the display, the work of writing the work processing information into the IC tag at the end of each process is required. Therefore, it takes time. In addition, since the IC tag is small, there is a risk that the IC tag may fall off the vehicle and be lost or destroyed during the vehicle disassembly work by the disassembly work machine.
  • the present invention has been made in view of the above background, and in the work of disassembling an object to be disassembled such as an automobile and collecting required parts, a disassembly work system capable of improving workability particularly by a disassembly work machine, disassembly It is an object to provide a work machine and a part collection method. Moreover, it aims at providing the seal set suitable for the said work.
  • a dismantling work system is a dismantling work system for performing a work of removing a plurality of target parts collected from a dismantling target object using a dismantling work machine operated by a driver, A plurality of first stickers attached to a predetermined part of the target object in a predetermined array pattern and associated with each of the plurality of target parts, a camera provided at a work site of the disassembly work machine, and an image
  • the recognition unit and the notification information output unit are provided, and each first seal is attached to a target component corresponding to each first seal at a predetermined arrangement position and corresponds to each first seal.
  • the target component is peeled off after being removed from the object to be disassembled, and the image recognition unit disposes the peeled first seal from the photographed image including the plurality of first seals photographed by the camera, or peels it off.
  • the disposition position of the completed first seal is specified, and based on the specified disposition position, the target component to be removed from the disassembly target object or the target component that has been removed is specified, and the notification information output unit should perform the removal.
  • the notification information that causes the driver to recognize the target component or the removed target component is output.
  • the figure which shows the disassembly work machine and the vehicle as a disassembly object in embodiment of this invention The block diagram which shows the structure of the disassembly work system mounted in the disassembly work machine of embodiment.
  • the dismantling work machine 1 in the present embodiment dismantles an automobile 50, which is an example of an object to be disassembled.
  • the dismantling work machine 1 performs a work of collecting required target parts such as a harness from the automobile 50.
  • the dismantling work machine 1 is, for example, a hydraulic excavator type work machine.
  • the dismantling work machine 1 includes a crawler-type traveling body 2, a revolving structure 3 rotatably mounted on the traveling structure 2, and a work device 4 attached to the revolving structure 3.
  • a driver's cab 3a on which a driver of the dismantling work machine 1 rides is provided at the front of the revolving structure 3.
  • a machine room 3b is provided at the rear of the revolving structure 3.
  • the machine room 3b houses an engine, a hydraulic device, and the like, which are not shown.
  • the work device 4 includes a boom 11, an arm 13, an attachment 20, and hydraulic cylinders 12, 14, 16.
  • the boom 11 is arranged at a side part of the operator's cab 3a and in the front part of the revolving structure 3.
  • the boom 11 swings in the pitch direction (a direction around an axis in the left-right direction of the revolving structure 3) at the front part of the revolving structure 3.
  • the arm 13 is arranged at the tip of the boom 11.
  • the arm 13 swings in the pitch direction at the tip of the boom 11.
  • the attachment 20 is arranged at the tip of the arm 13.
  • the attachment 20 swings in the pitch direction at the tip of the arm 13.
  • As the attachment 20, for example, an attachment for dismantling work is adopted.
  • the hydraulic cylinders 12, 14, 16 swing the boom 11, the arm 13, and the attachment 20, respectively.
  • the hydraulic cylinders 12, 14, and 16 are examples of actuators.
  • a crusher (nibla) is used as the attachment 20.
  • the attachment 20 includes a base portion 21, a hydraulic motor 22, a main body portion 23, and a pair of claw portions 24a and 24b.
  • the base portion 21 is pivotally supported by a swing shaft 13 a provided at the tip of the arm 13.
  • the base 21 swings in the pitch direction with respect to the arm 13.
  • the main body portion 23 is attached to the base portion 21 and is rotated by the power of the hydraulic motor 22 about an axis C1 orthogonal to the swing shaft 13a.
  • the pair of claw portions 24a and 24b are arranged in the main body portion 23.
  • the pair of claw portions 24a and 24b are opened and closed by the power of an unillustrated hydraulic cylinder mounted on the main body portion 23.
  • the working device 4 grips or locks the constituent members (body frame, door, etc.) of the vehicle body of the automobile 50 or various parts mounted on the automobile 50 by the pair of claw portions 24a and 24b.
  • the work device 4 swings each of the boom 11, the arm 13, and the attachment 20, or rotates the body portion 23 around the axis C1.
  • the working device 4 can arbitrarily move the constituent member or component gripped or locked by the pair of claw portions 24a and 24b.
  • the dismantling work machine 1 may be provided with a pair of left and right arms that extend from the front side of the traveling body 2 and that can sandwich the automobile 50.
  • the traveling body 2 is not limited to the crawler type traveling body, and may be a wheel type traveling body.
  • a seal set 60 for dismantling work is attached to a predetermined portion of the automobile 50 in advance before the dismantling work of the automobile 50 is started.
  • the predetermined portion is the outer surface of the automobile 50.
  • the predetermined portion may be, for example, the upper surface of the roof portion 51.
  • the seal set 60 will be described below.
  • the seal set 60 includes a pedestal seal 61, a vehicle information seal 62, and a plurality of component information seals 63, as shown in FIG. 3A.
  • the pedestal seal 61 has a rectangular shape and is attached to the upper surface of the roof portion 51.
  • On the vehicle information sticker 62 a bar code 62a representing vehicle identification information of the automobile 50 is written.
  • On each of the plurality of component information stickers 63 component identification information regarding each of the plurality of target components to be collected from the automobile 50 is described.
  • the parts information sticker 63 is an example of the first sticker in the present invention.
  • the vehicle information sticker 62 is an example of the second sticker in the present invention.
  • reference symbols are attached only to some of the component information stickers 63 of the entire component information label 63.
  • the pedestal seal 61 constitutes the pedestal of the entire seal set 60.
  • the back surface of the pedestal seal 61 has adhesiveness and is bonded to the top surface of the roof portion 51 of the automobile 50.
  • the bar code 62a represents vehicle identification information. More specifically, the barcode 62a is information that indicates the type of the automobile 50 or information that can specify the type.
  • the vehicle identification information is, for example, information indicating the manufacturer, vehicle type, shape, size, grade, etc. of the automobile 50, or information indicating the vehicle body number.
  • the vehicle identification information may be in a form other than the barcode 62a, such as a QR code (registered trademark) or an identification code.
  • Each target part is associated with each part information sticker 63.
  • Each component information sticker 63 may include, for example, component identification information corresponding to each component information sticker 63.
  • the name, type, or part code of the target part is used as the part identification information.
  • As the component identification information information indicating a mounting position where the target component is mounted on the automobile 50, information indicating a process (or place) where the target component recovery work should be performed at the disassembly work site, and the like may be adopted.
  • the component identification information is not limited to character information, but may include information such as figures and symbols.
  • Each of the vehicle information seal 62 and the component information seal 63 is a seal having a smaller area than the pedestal seal 61 and a predetermined shape (for example, a square shape) and the same size. Reference is made to FIG. 3B.
  • Each component information sticker 63 is affixed to the surface of the pedestal seal 61 in a predetermined arrangement pattern in a predetermined arrangement area AR of the pedestal sticker 61.
  • the predetermined array pattern for example, a matrix array pattern is adopted.
  • the matrix-shaped array pattern is an array pattern that is arranged vertically and horizontally.
  • Each part information seal 63 is peeled off from the pedestal seal 61 after the target part corresponding to each part information seal 63 is removed from the automobile 50. This peeling is performed by an operator, for example.
  • each component information sticker 63 in the arrangement area AR is predetermined according to each target component corresponding to each component information sticker 63.
  • the component information sticker 63 corresponding to the harness on the front part of the automobile 50 is located at the second row and the fourth row, and the component information sticker 63 corresponding to the windshield wiper motor is located at the first column and the third row.
  • the arrangement position of each component information sticker 63 is predetermined. Therefore, each component information sticker 63 is attached to a predetermined placement position in the placement area AR that is determined according to the target component corresponding to each component information sticker 63.
  • the color of the surface of each component information sticker 63 may be different from the color of the surface of the pedestal sticker 61 in color attribute (hue, lightness, or saturation). As a result, it becomes easy to determine whether or not each component information sticker 63 is separated from the pedestal sticker 61 in the captured image of the sticker set 60 taken by the camera 30, which will be described later.
  • One surface of the surface of the component information seal 63 and the surface of the pedestal seal 61 to which the component information seal 63 is attached (the surface of the arrangement area AR) is not attached to the other surface. Alternatively, a mark or the like may be attached.
  • the vehicle information sticker 62 is attached to a predetermined position outside the placement area AR of the pedestal sticker 61 (for example, a position near the corner of the pedestal sticker 61).
  • the barcode 62a and the component identification information of each component information sticker 63 are printed on the vehicle information sticker 62 and each component information sticker 63, for example.
  • the pedestal seal 61 is previously attached to the upper surface of the roof portion 51 before the disassembly work is performed.
  • the vehicle information seal 62 and the component information seal 63 are attached to the upper surface of the roof portion 51 via the pedestal seal 61.
  • the colors of the pedestal seal 61, the vehicle information seal 62, and the parts information seal 63 may have different color attributes from the top surface of the roof 51. This makes it easy to distinguish the pedestal seal 61, the vehicle information seal 62, the component information seal 63, and the roof portion 51. Alternatively, only the color of the peripheral edge of the pedestal seal 61 where the vehicle information seal 62 and the component information seal 63 are not arranged, or only the color of the peripheral edge of each of the vehicle information seal 62 and the component information sticker 63 of the roof portion 51. The color of the upper surface and the color attribute may be different.
  • the arrangement pattern of the parts information sticker 63 is not limited to the matrix arrangement pattern, and may be, for example, a staggered arrangement pattern or an arrangement pattern forming a predetermined figure or character.
  • the arrangement pattern of the parts information sticker 63 may be a predetermined arrangement pattern for the type (classification type) of the automobile 50.
  • the type of the vehicle 50 is the type of the vehicle 50 classified according to the manufacturer, vehicle type, shape, size, grade, or the like.
  • the arrangement pattern and the arrangement position of the component information sticker 63 may be made common.
  • the component information seal 63 corresponding to the target component may be removed from the pedestal seal 61 in advance. ..
  • the dismantling work machine 1 is used for removing and recovering a predetermined type of target component such as a harness in a predetermined process of the entire process of disassembling the automobile 50 to which the seal set 60 is attached.
  • a disassembly work system is installed in the disassembly work machine 1.
  • the disassembly work machine 1 includes a camera 30, a communication device 31, a display device 32, and a controller.
  • the camera 30 photographs the sticker set 60 attached to the automobile 50.
  • the communication device 31 wirelessly communicates with an external device such as a server.
  • the display 32 displays various information.
  • the controller 33 performs various control processes.
  • the camera 30 is arranged, for example, on the ceiling of the operator's cab 3a of the swing body 3.
  • the camera 30 photographs the lower front side of the swing body 3.
  • the display 32 is arranged, for example, in the front part in the cab 3a.
  • the communication device 31 and the controller 33 are arranged at, for example, predetermined positions on the swing structure 3.
  • the display 32 is composed of, for example, a liquid crystal display or a head-up display.
  • the display 32 may be configured by a head mounted display that displays augmented reality information.
  • the controller 33 is composed of, for example, an electronic circuit unit including a microcomputer, a memory, an interface circuit and the like.
  • the controller 33 acquires a shooting signal of the camera 30 from the camera 30.
  • the controller 33 communicates with an external device via the communication device 31.
  • the controller 33 causes the display 32 to display the display information.
  • the controller 33 includes an image recognition unit 33a and a notification information output unit 33b.
  • the image recognition unit 33a and the notification information output unit 33b may be configured by hardware, may be configured by a program (software), or may be configured by both.
  • the image recognition unit 33a identifies the arrangement position of the unseparated component information seal 63 and / or the arrangement position of the separated component information seal 63 from the captured image of the seal set 60 captured by the camera 30.
  • the image recognition unit 33a that has identified the arrangement position, based on the arrangement position of the unseparated component information seal 63 and / or the arrangement position of the separated component information seal 63, the target component remaining in the automobile 50 to be removed, and The target parts that have been collected (removed) from the automobile 50 are specified.
  • image recognition unit 33a may specify either the target component to be removed or the target component that has been removed.
  • the notification information output unit 33b outputs notification information that causes the driver of the disassembly work machine 1 to recognize the target component to be removed and the target component that has been removed.
  • the notification information output unit 33b causes the display 32 to display the notification information.
  • the notification information output unit 33b may transmit the notification information to the external device via the communication device 31.
  • the controller 33 may include a function of operation control of the disassembly work machine 1.
  • the notification information output unit 33b may output notification information that causes the driver to recognize either the target component to be removed or the target component that has been removed.
  • the automobile 50 is conveyed to the dismantling work machine 1 through a predetermined pre-process.
  • the conveyed automobile 50 is subjected to a work of removing the target parts of a predetermined type from the automobile 50 by the dismantling work machine 1 and collecting the target component.
  • the pre-process includes, for example, the process of removing the engine, the battery, the wheels, the power transmission device (for example, the transmission), the suspension device, etc., and the process of extracting the fuel from the fuel tank.
  • the component information seal 63 corresponding to each target component (including fuel) removed from the automobile 50 is peeled off from the pedestal seal 61.
  • the peeled component information sticker 63 is attached to, for example, the target component removed corresponding to the component information sticker 63, or a housing member (for example, a bag) that houses the target component.
  • the driver of the dismantling work machine 1 first sets the camera 30 and the car 50 in order to bring the seal set 60 attached to the car 50 into the field of view of the camera 30. Adjust the positional relationship. In this adjustment, the driver may drive the traveling body 2, may rotate the revolving structure 3, or may move the automobile 50 using the working device 4.
  • the notification information output unit 33b determines, for example, a captured image captured by the camera 30 at a predetermined frame rate in response to a predetermined operation (switch operation for starting shooting, voice input, etc.) performed by the driver.
  • the frame rate may be displayed on the display 32.
  • the moving image of the work site is displayed on the display 32.
  • the driver While checking the photographed image on the display 32 at any time, the driver runs the traveling body 2 or the revolving body 3 so that the entire seal set 60 can be seen in the photographed image. Move 50.
  • the camera 30 may be configured such that the optical axis direction can be adjusted by an electric motor according to, for example, a driver's remote control operation.
  • the driver can adjust the optical axis direction of the camera 30 by operating the remote controller to include the entire seal set 60 in the captured image.
  • the driver performs a predetermined operation (switch operation, voice input, etc.) that causes the image recognition unit 33a to start recognition processing of the captured image including the entire seal set 6.
  • the image recognition unit 33a may automatically start the recognition process without receiving a predetermined operation by the driver.
  • the image recognition unit 33a acquires one captured image (still image) of the camera 30. Accordingly, the image recognition unit 33a acquires a captured image including the entire sticker set 60 illustrated in FIG. 3B. At this point, some of the component information seals 63 may be peeled from the seal set 60 by the work of the previous process.
  • the image recognition unit 33a that has acquired this one captured image reads the barcode 62a described on the vehicle information sticker 62 included in the captured image.
  • the image recognition unit 33a recognizes the type of the automobile 50 from the read barcode 62a.
  • the image recognition unit 33a compares the read barcode 62a with a type database stored in a memory in advance to identify the type of vehicle.
  • the barcode 62a and the type of the automobile 50 are associated with each other in the type database.
  • the image recognition unit 33a may acquire the type database from an external server, for example.
  • the image recognition unit 33a may obtain the type of the automobile 50 corresponding to the read barcode 62a from the server by communicating with an external server that stores a type database.
  • the image recognition unit 33a acquires information indicating the arrangement pattern of the component information sticker 63 in the pedestal sticker 61 which is predetermined for the specified type of the automobile 50.
  • the information indicating the arrangement pattern is information indicating the target component to be removed from the automobile 50 (for example, the name, type name, or component code of the target component) and the arrangement area AR of each component information sticker 63 corresponding to each target component. This is information indicating the arrangement position.
  • the information indicating the arrangement pattern is, for example, the arrangement position in the second column and the fourth row for the component information sticker 63 corresponding to the target component “A”, and the first position in the third row for the component information seal 63 corresponding to the target component “B”. It is information such as the arrangement position of the line.
  • the image recognition unit 33a collates the recognized type of the automobile 50 with an arrangement pattern database stored in advance in the memory, and acquires information indicating the arrangement pattern of each component information sticker 63 on the pedestal sticker 61. To do.
  • the arrangement pattern database the type of the automobile 50 and the information indicating the arrangement pattern of the component information sticker 63 on the pedestal sticker 61 are associated in advance.
  • the image recognition unit 33a may acquire the arrangement pattern database from, for example, an external server.
  • the image recognition unit 33a may acquire the information indicating the arrangement pattern corresponding to the specified type of the automobile 50 from the server by communicating with an external server that stores the arrangement pattern database.
  • the type of the automobile 50 is known in advance, the type may be stored in the memory in advance. In this case, the process of identifying the type of the automobile 50 by the image recognition unit 33a is omitted.
  • the arrangement pattern of the component information sticker 63 is known in advance, the information indicating the arrangement pattern may be stored in the memory in advance. In this case, the process of acquiring the information indicating the arrangement pattern by the image recognition unit 33a is omitted.
  • the image recognition unit 33a which has acquired the information indicating the arrangement pattern, arranges the arrangement position of the unseparated component information seal 63 or the arrangement of the separated component information seal 64 from the arrangement area AR included in the captured image acquired from the camera 30. Specify the position. In other words, the image recognition unit 33a identifies at which position of the arrangement area AR the part information sticker 63 exists or at which position the part information sticker 63 does not exist. In the example of FIG. 3B, the white portion of the arrangement area AR of the component information seal 63 is identified as the position where the component information seal 63 has been peeled off, and the gray portion is identified as the position where the component information seal 63 has not been peeled off. It
  • the image recognition unit 33a divides the arrangement area AR of the captured image into a mesh shape according to the number of matrices indicated by the specified arrangement pattern, and determines the presence or absence of the component information sticker 63 for each divided area. For example, if the divided area is white, there is no component information sticker 63, and if the divided area is gray, there is a component information sticker 63. May be a process of determining. Then, the image recognition unit 33a associates the arrangement position of each divided area with the information indicating the presence / absence of the component information sticker 63, and generates the arrangement position specifying result.
  • An example of the result of identifying the arrangement position is information that, for example, the first row, first column does not have the component information sticker 63, and the second row, first column has the component information sticker 63.
  • the result of identifying the arrangement position may be information indicating the arrangement position with and without the component information sticker 63, or may be information indicating the arrangement position with and without the component information sticker 63.
  • the image recognition unit 33a that has identified the arrangement position compares the arrangement position identification result with the information indicating the arrangement pattern of the component information sticker 63, and identifies the target component to be removed from the automobile 50 and the removed target component.
  • This identification result is referred to as the identification result of the target component.
  • the target component identification result is, for example, information including information indicating the target component that has been removed and information indicating the target component to be removed.
  • the result of specifying the target component may include only information indicating the target component that has been removed, or may include only information indicating the target component that should be removed.
  • the image recognition unit 33a can identify the target component to be removed from the position of the unseparated component information seal 63 on the pedestal seal 61.
  • the image recognition unit 33a can identify the collected target component from the position of each peeled component information sticker 63. Therefore, the image recognition unit 33a can specify the target component to be removed and the target component that has been removed without executing the recognition process of the description content of the component information sticker 63. As a result, the process of identifying the target component to be removed and the target component that has been removed can be facilitated and speeded up.
  • the notification information output unit 33b recognizes the target component to the driver when there is one or more target components of a predetermined type that are to be recovered (removal target) by the disassembly work machine 1 among the target components to be removed.
  • the notification information to be output is output. This notification information is displayed on the display 32, for example.
  • the driver of the dismantling work machine 1 removes the dismantling work machine 1 without directly checking the component information sticker 63 attached to the automobile 50 or checking the process control table or the like.
  • the target component to be processed can be easily recognized.
  • the notification information output unit 33b displays notification information including information indicating the target component to be removed and information indicating the mounting position of the target component on the vehicle 50, which is identified from the type of the vehicle 50, on the display 32. Good.
  • the notification information output unit 33b stores, for example, a set of the type of the automobile 50 and the information indicating the target component to be removed (for example, the name of the target component, the type name, or the component code) in the memory in advance.
  • the mounting position of the target component may be specified by collating with the mounting position database. In the mounting position database, a set of information indicating the type of the automobile 50 and the target component is associated with the mounting position of the target component.
  • the image recognition unit 33a may acquire the mounting position database from an external server.
  • the image recognition unit 33a may acquire the mounting position of the target component to be removed from the server by communicating with an external server that has a mounting position database.
  • the image recognition unit 33a may specify the target component that has already been removed in the previous process.
  • the image recognition unit 33a collates the identification result of the target component obtained immediately before the start of the work by the disassembly work machine 1 with the list information of the target parts to be recovered by the disassembly work machine 1 to perform the previous process.
  • the target component that has already been removed may be specified.
  • the notification information output unit 33b may cause the display 32 to display the notification information including the information indicating that the target component already removed in the specified previous process has been collected.
  • the operator of the dismantling work machine 1 can recognize, among the target parts to be recovered by the dismantling work machine 1, the target parts that have already been recovered in the previous process. As a result, it is possible to prevent useless work (work for collecting the target components that have already been collected) by the dismantling work machine 1.
  • the driver of the dismantling work machine 1 or another worker mounts the part information seal 63 corresponding to the collected target parts on the base.
  • the seal 61 is peeled off.
  • the driver or the worker attaches the peeled component information seal 63 to the corresponding target component or a storage member that stores the target component.
  • the controller 33 may execute the following processes in addition to the processes described above.
  • the target part to be recovered in the previous process may remain as an uncollected target part due to some mistake or the like.
  • the image recognition unit 33a determines whether, among the uncollected target parts (target parts corresponding to the part information seal 63 remaining on the pedestal seal 61), the target parts to be recovered in the previous process remain. Specify whether or not.
  • the image recognition unit 33a collates the identification result of the above-described target parts with the list of pre-process recovered parts stored in advance in the memory, and identifies which target part among the target parts to be recovered from the automobile 50. It suffices to identify whether the target component has not been recovered in the previous process.
  • the previous process recovered parts list includes information indicating target parts to be recovered in the previous process.
  • the previous process recovered parts list may be acquired from an external server.
  • the notification information output unit 33b may, for example, be a personal computer installed in a place where the previous process is performed, an alarm device, or the like.
  • the notification information including the information indicating that the remaining target component exists may be output to the information output device, the management server for the disassembly work, or the like.
  • the notification information may include the type of the vehicle 50 or the identification information of the vehicle 50.
  • the image recognition unit 33a should remove each time the dismantling work machine 1 removes and collects the target component from the automobile 50, and the type indicated by the vehicle information sticker 62 and the target component identification result indicate removal.
  • Work information including information indicating the target part, work date and time, work time, and the like may be generated and stored in the memory. Then, the image recognition unit 33a may transmit the work information to an external management server that manages the disassembly work by the disassembly work machine 1. This transmission may be executed in response to a predetermined operation by the driver or the like, or may be executed in response to a request from the management server. Thereby, the manager of the disassembly work can use the work information to understand the work status of the disassembly work machine 1 and the work efficiency.
  • the camera 30 is mounted on the dismantling work machine 1, but may be mounted on, for example, the roof of a building at a dismantling work site, a pillar, or the like. Moreover, the mounting location of the camera 30 mounted on the dismantling work machine 1 may be other than the cab 3a.
  • the vehicle information sticker 62 and the parts information sticker 63 are attached to the automobile 50 via the pedestal sticker 61, but this is an example.
  • the vehicle information sticker 62 and the parts information sticker 63 may be directly attached to the automobile 50.
  • the predetermined portion to which the vehicle information seal 62 and the component information seal 63 are attached to the automobile 50 may be a portion other than the surface of the roof portion 51, such as a windshield.
  • the predetermined part may be a part that is not easily detached from the automobile 50 and can be photographed by the camera 30 before the work by the disassembly work machine 1 is started.
  • the arrangement pattern of the parts information sticker 63 may be different depending on the type of the automobile 50.
  • the image recognition unit 33a identifies the arrangement pattern of the component information sticker 63 from the arrangement area AR included in the captured image before starting the disassembly work. Then, the image recognition unit 33a may match the specified array pattern with a database in which the array pattern and the type of vehicle are associated with each other, and specify the type of the vehicle 50. In this case, the vehicle information sticker 62 can be omitted from the sticker set 60.
  • the target component collected from the automobile 50 may be a general-purpose product that is universally mounted on a plurality of types of automobiles 50.
  • the arrangement pattern of the component information stickers 63 may be shared by a plurality of types of automobiles 50.
  • the object to be disassembled may be an object other than the automobile 50, for example, a train car, a ship, or a construction machine such as a hydraulic excavator.
  • a dismantling work system of the present invention is a dismantling work system for performing a work of removing a plurality of target parts recovered from a dismantling target object using a dismantling work machine operated by a driver, A plurality of first seals attached to a predetermined portion in a predetermined array pattern and associated with each of the plurality of target parts; a camera provided at a work site of the disassembly work machine; and an image recognition unit.
  • a notification information output unit each first seal is attached to a predetermined arrangement position with respect to the target component corresponding to each first seal, and each target component corresponding to each first seal is attached.
  • the image recognition unit is peeled off after being detached from the object to be disassembled, and the image recognition unit is arranged at an arrangement position of the first seal that has not been peeled from the photographed image including the plurality of first seals photographed by the camera or the peeled first 1
  • the arrangement position of the seal is specified, and based on the specified arrangement position, the target component to be removed from the disassembly target object, or the target component that has been removed is specified, and the notification information output unit is the target component to be removed, Alternatively, the notification information that causes the driver to recognize the removed target component is output (first configuration).
  • a plurality of first seals corresponding to each of a plurality of target parts collected from the disassembly target object are attached to a predetermined portion of the disassembly target object in a predetermined array pattern.
  • Each first seal is peeled off after removing the target component corresponding to each first seal.
  • the arrangement position of each first seal is predetermined according to the target component corresponding to each first seal.
  • the arrangement position of the unpeeled first seal in the image taken by the camera indicates the target part to be removed from the disassembly target object. Further, the disposition position of the peeled first seal in the captured image indicates the target component that has been removed from the disassembly target object.
  • the image recognition unit can specify the target component to be removed from the disassembly target object or the target component that has been removed, based on the arrangement position of the first seal in the image captured by the camera before the work by the disassembly work machine is started. .. Further, the information notification unit outputs notification information that causes the driver to recognize the specified target component.
  • the operator of the dismantling work machine can easily recognize the target part to be removed or check the dismantling target object without checking the description content of the first sticker attached to the predetermined part of the dismantling target object. You can easily recognize the target parts that have been removed from. As a result, the driver can efficiently remove the target component from the disassembly work object without performing unnecessary work.
  • the driver or the worker does not perform the work of recording the work completion information on the IC tag or the like after the removal work of the target component by the dismantling work machine is completed, and puts on the first seal corresponding to the recovered target component. Peeling work can be performed. Thereby, the driver or the worker can quickly deliver the object to be disassembled to the subsequent process.
  • the first configuration it is possible to improve the workability of the disassembly work machine in the work of disassembling the disassembly object and collecting the required parts.
  • the notification information output unit specifies the mounting position where the target component to be removed is mounted, and outputs the notification information including information that makes the driver recognize the mounting position ( Second configuration).
  • the operator of the dismantling work machine can easily make the driver recognize at which position of the object to be disassembled the target part to be removed is mounted. Therefore, the driver can efficiently remove the target component.
  • the image recognition unit identifies an arrangement position of the unpeeled first seal from the captured image, and is removed from the disassembly target object based on the identified arrangement position.
  • the target part to be removed in the previous step is specified, and the notification information output unit, when the target part to be removed in the previous step is specified, the target part is the disassembly target object. It is preferable to output the notification information including the remaining information (third configuration).
  • the third configuration it is possible to notify the worker and the administrator of the previous process that the target part to be removed in the previous process of the process of performing the work by the dismantling work machine remains in the disassembly target object.
  • the image recognition unit may further include a second sticker attached to a predetermined portion of the disassembly target object, in which information indicating a type of the disassembly target object is described. It is preferable that the type of the disassembly target object is specified from the captured image of the two stickers, and at least a set of the type of the disassembly target object and the information indicating the target part to be removed is stored in the memory or transmitted to an external device. (Fourth configuration).
  • the set of the type of the disassembly target object and the target part removed from the disassembly target object is stored in the memory or an external device such as an external server. Therefore, the administrator of the disassembly work system can manage the work by the disassembly work machine by utilizing the stored information.
  • the dismantling work machine includes the image recognition unit and the notification information output unit having the first to fourth configurations (fifth configuration).
  • the component recovery method of the disassembly target object of the present embodiment is a component recovery method of the disassembly target object, and a plurality of first seals associated with each of the plurality of target components recovered from the disassembly target object. And a second step of peeling off the first seal corresponding to the target component removed from the disassembly target object from the disassembly target object.
  • each of the first seals is attached to a target component corresponding to each of the first seals at a predetermined arrangement position, and the second step is a photographing step of photographing the predetermined part.
  • the arrangement position of the unpeeled first seal or the arrangement position of the peeled first seal is specified, and based on the specified arrangement position , An image recognition step of identifying the target part to be removed or the target part that has been removed, and a notification that outputs notification information that causes the driver of the disassembly work machine to recognize the target part to be removed or the target part that has been removed. And a process (sixth configuration).
  • the mounting position at which the target component to be removed is mounted is specified and the notification information including information for causing the driver to recognize the mounting position is output. 7 configuration).
  • the second step further includes a removal step of removing the target part by using the disassembly work machine, and a pre-step performed before the removal step, and the image recognition step. Is performed after the end of the previous step and before the start of the removal step.
  • the image recognition step the arrangement position of the unpeeled first seal is specified from the captured image, and based on the specified arrangement position.
  • the notification step if the target parts to be removed in the previous step is specified, It is preferable to output the notification information including the information that the target component remains in the disassembly target object (eighth configuration).
  • a second seal having information indicating the type of the disassembly target object is further attached to a predetermined part of the disassembly target object, and in the image recognition step, Further, the type of the object to be disassembled is specified from the photographed image of the second sticker, and at least the set of the type of the object to be disassembled and the information indicating the target part to be removed is stored or transmitted to an external device. It is preferable (the ninth invention).
  • the object to be disassembled is an automobile and the predetermined portion is a roof portion or a windshield of the object to be disassembled (10th configuration).
  • the tenth configuration it is possible to prevent the part of the automobile to which the first seal is attached from being damaged or falling off from the automobile as much as possible before the work by the dismantling work machine is started.
  • the seal set of the present embodiment is a seal set used for the work of recovering each target part from a disassembly target object including a plurality of target parts to be recovered, and a predetermined array in a predetermined part of the disassembly target object.
  • a plurality of seals that can be pasted in a pattern and that are associated with each of the plurality of target components are provided, and the arrangement position of each seal is a predetermined position for each target component corresponding to each of the seals. (Eleventh configuration).
  • the seal corresponding to each target part can be peeled off each time each target part is removed from the disassembly target object. it can.
  • the target part remaining in the disassembly target object or the disassembly target object is removed based on the arrangement position of the unpeeled seal or the disposition position of the peeled seal. It is possible to easily identify the target component.
  • the seal set can be appropriately applied with a disassembly work system using a camera, a disassembly work machine, or a parts collection method.
  • the eleventh configuration described above it is preferable that the eleventh configuration further includes a second seal that can be attached to the predetermined part and in which information indicating the type of the disassembly object is described (twelfth invention).
  • the seal set includes the second seal, it becomes easy to recognize the type of the object to be disassembled.

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Abstract

L'invention concerne un système de travail de démontage comprenant : une unité de reconnaissance d'image qui détermine un emplacement où un premier joint d'étanchéité non retiré est installé ou un emplacement où un premier joint d'étanchéité retiré a été installé dans une image photographiée contenant une pluralité de premiers joints d'étanchéité capturés par une caméra et qui détermine une partie ciblée à retirer du corps à démonter ou une partie ciblée qui a été retirée ; et une unité de génération d'informations de rapport qui produit des informations de rapport pour faire connaître à l'opérateur la partie ciblée à enlever ou la partie ciblée qui a été enlevée.
PCT/JP2019/044164 2018-11-14 2019-11-11 Système et machine de travail de démontage, procédé de récupération de pièce et d'ensemble de joints WO2020100823A1 (fr)

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Cited By (1)

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WO2022071349A1 (fr) * 2020-10-02 2022-04-07 コベルコ建機株式会社 Dispositif d'identification de destination de tri, procédé d'identification de destination de tri et programme

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JP2002109152A (ja) * 2000-09-28 2002-04-12 Lintec Corp 廃棄工業製品のリサイクル方法
JP2005170684A (ja) * 2004-12-22 2005-06-30 Hitachi Ltd 廃棄物リサイクルシステム及び管理票，シール
JP2007157094A (ja) * 2005-12-01 2007-06-21 Ems:Kk Ｉｃタグを使用した使用済自動車管理手段と方法
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JP2005170684A (ja) * 2004-12-22 2005-06-30 Hitachi Ltd 廃棄物リサイクルシステム及び管理票，シール
JP2007157094A (ja) * 2005-12-01 2007-06-21 Ems:Kk Ｉｃタグを使用した使用済自動車管理手段と方法
JP2010065994A (ja) * 2009-08-06 2010-03-25 Toshiba Corp 冷蔵庫

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WO2022071349A1 (fr) * 2020-10-02 2022-04-07 コベルコ建機株式会社 Dispositif d'identification de destination de tri, procédé d'identification de destination de tri et programme
US11987307B2 (en) 2020-10-02 2024-05-21 Kobelco Construction Machinery Co., Ltd. Sorting destination identification device, sorting destination identification method, and program
JP7496278B2 (ja) 2020-10-02 2024-06-06 コベルコ建機株式会社 仕分先特定装置、仕分先特定方法及びプログラム

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