WO2022050299A1 - Article sorting system - Google Patents

Article sorting system Download PDF

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Publication number
WO2022050299A1
WO2022050299A1 PCT/JP2021/032078 JP2021032078W WO2022050299A1 WO 2022050299 A1 WO2022050299 A1 WO 2022050299A1 JP 2021032078 W JP2021032078 W JP 2021032078W WO 2022050299 A1 WO2022050299 A1 WO 2022050299A1
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WO
WIPO (PCT)
Prior art keywords
article
control device
waste
display
image data
Prior art date
Application number
PCT/JP2021/032078
Other languages
French (fr)
Japanese (ja)
Inventor
憲昌 林
Original Assignee
株式会社エヌ・クラフト
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Publication date
Application filed by 株式会社エヌ・クラフト filed Critical 株式会社エヌ・クラフト
Priority to JP2022546940A priority Critical patent/JPWO2022050299A1/ja
Publication of WO2022050299A1 publication Critical patent/WO2022050299A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • This disclosure relates to an article sorting system.
  • Patent Document 1 an article sorting system that automatically performs such a sorting process using artificial intelligence has been developed (see, for example, Patent Document 1).
  • the type of waste (article) is automatically determined from the image data acquired by the camera, and the article sorting and the transport destination are determined based on the determination result.
  • wastes having various shapes and colors are determined from image data and sorted.
  • the teacher data which is the basis for the judgment becomes enormous. If teacher data is insufficient, waste that cannot be sorted from image data will be generated. Waste that cannot be sorted from image data will eventually need to be sorted manually. As a result, there is a problem that the working environment requires manpower in a harsh sorting process and cannot be replaced by remote control using a robot or the like.
  • An object of the present disclosure is to provide an article sorting system capable of remotely sorting articles.
  • the article sorting system includes a camera, a display, and a control device.
  • the camera captures a plurality of articles.
  • the display displays image data captured by the camera.
  • the control device acquires image data captured by the camera, automatically selects a first item that can be sorted from the image data, displays the selected first item on the display, and displays the first item on the display.
  • the other items excluded are displayed in a selectable state on the display.
  • the display may be a touch panel type.
  • the control device may display other articles on the display in a touch-operable state.
  • the article sorting system may further include a transport device for transporting articles.
  • the control device may transmit the position information of the article to the transport device when another article is selected.
  • the transport device may have a plurality of transport destinations depending on the type of article.
  • the control device may display a screen on the display in which the destination of other articles can be specified from among a plurality of destinations.
  • the control device may have a storage unit.
  • the storage unit may store teacher data for determining the first article.
  • the control device may select the first article from a plurality of articles by collating the image data acquired by the camera with the teacher data.
  • the control device can sort the first article that can be sorted from the image data, and the other articles that the control device could not sort can be displayed so that they can be selected on the display. Therefore, the user who uses the display can sort out other articles that the control device could not sort out. As a result, the user can remotely sort the articles.
  • the figure which shows the article sorting system by embodiment of this disclosure The flowchart which shows the processing procedure by the control apparatus of this disclosure.
  • the figure of an example in the case of displaying the type-determinable article of this disclosure on a display The figure of an example in the case of displaying the article which cannot determine the type of this disclosure on a display.
  • the figure which shows the article sorting system by 2nd Embodiment of this disclosure The figure of an example of the case where the article whose type cannot be determined according to the third embodiment of the present disclosure is displayed on the display.
  • the article sorting system 1 includes a camera 2, a display 4, a control device 6, a transport device 8, and a sorting area 10.
  • the article sorting system 1 is a plurality of wastes X (plural) in which various materials such as wood, metal, rubber, glass, resin, etc., and wastes of various shapes are mixed, which are brought into the waste treatment plant.
  • This is a waste sorting system that sorts articles).
  • waste X is brought into the waste treatment plant, it is once stacked in a bundled state, and rough sorting (an example of a sorting process) is performed in the stacked state.
  • Camera 2 captures a plurality of wastes X.
  • the camera 2 is attached to the boom 8a of the transport device 8 described later.
  • the camera 2 may be attached to the ceiling, beams, or the like of a factory where the sorting process is performed. Further, the camera 2 may be attached to a place other than the boom 8a of the transport device 8.
  • the camera 2 is a camera that captures a moving image.
  • the camera 2 may be a camera 2 that captures a still image.
  • the camera 2 is electrically connected to the control device 6 and transmits the captured moving image to the control device 6.
  • the display 4 displays the image data D captured by the camera 2.
  • the display 4 is a touch panel type display 4.
  • the display 4 is electrically connected to the control device 6, displays the image data D, and transmits the touched position on the image data D to the control device 6.
  • the control device 6 is provided to control the article sorting system 1.
  • the control device 6 has a storage unit 6a.
  • the control device 6 is actually composed of a microcomputer including a storage unit 6a, an input / output buffer, and the like.
  • the storage unit 6a stores teacher data for determining the first waste (an example of the first article) X1.
  • the teacher data is, for example, the color and shape of wood.
  • Such a control device 6 stores the colors and shapes of various materials as teacher data in this way, and by collating the image data D acquired by the camera 2 with the teacher data, the control device 6 automatically starts from a plurality of wastes X.
  • the first waste X1 that can be sorted out is sorted by image processing.
  • the transport device 8 transports a plurality of wastes X.
  • the transfer device 8 is a gantry type robot.
  • the boom 8a moves in the front-rear direction on the pair of rails 8b, and the arm 8c attached to the boom 8a moves in the left-right direction and the up-down direction.
  • the rail 8b may be attached to the structural member of the building of the waste treatment plant that carries in the waste X.
  • the transport device 8 is electrically connected to the control device 6, and when it receives the position information of the waste X to be transported and the information of the sorting area 10 to be transported from the control device 6, the arm 8c is moved according to the position information.
  • the transport device 8 When the transport device 8 reaches the position of the waste X, the transport device 8 opens a jig for grasping the waste X and grabs the waste X. When the transport device 8 grabs the waste X, it moves the arm 8c toward the sorting area 10 and transports the waste X to a predetermined sorting area in the sorting area 10.
  • the transport device 8 is not limited to the gantry type robot, and may be any device that can transport the waste X such as a robot arm. Further, a plurality of transport devices 8 may be provided.
  • the sorting area 10 has a plurality of sorting areas.
  • the sorting area includes a first sorting area 10a in which waste X made of wood is sorted, a second sorting area 10b in which waste X made of metal material is sorted, and waste made of resin.
  • Six sorting areas of the sixth sorting area 10f where the waste X is sorted are provided.
  • sorting areas there may be a plurality of sorting areas, and for example, different sorting areas may be provided depending on the size and shape of the waste as well as the material.
  • the first sorting area 10a to the third sorting area 10c are provided on the right side of the position where the waste X is carried in, and the fourth sorting area 10d to the sixth sorting area 10f are provided with the waste X. It is provided on the left side of the opposite side.
  • the sorting area may be provided within a range in which the transport device 8 can transport.
  • a belt conveyor is provided in each sorting area, and the conveyed waste X is placed on the belt conveyor and sent to a detailed sorting step which is a subsequent step.
  • the control device 6 starts the control procedure when a start button (not shown) is pressed.
  • a start button not shown
  • an example of sorting the waste X made of wood, metal material, and resin into the first sorting area 10a, the second sorting area 10b, and the third sorting area 10c will be described.
  • the control device 6 acquires the image data D captured by the camera 2 (step S1).
  • the control device 6 displays the acquired image data D on the display 4 (step S2).
  • the control device 6 determines the type of the first waste X1 that can be automatically sorted from the image data D (step S3). More specifically, the control device 6 searches the image data D for waste X having a shape and color that matches the teacher data, and automatically selects the waste X that matches the teacher data at a predetermined ratio (for example, 90%). It is determined as the first waste X1 (article whose type can be determined) that can be sorted.
  • the predetermined ratio is a matching rate with the color or shape stored as teacher data.
  • the control device 6 when the control device 6 stores the color and shape of the metal as the teacher data, the control device 6 selects the waste X that matches the color and shape of the metal stored as the teacher data from the image data D. Search for. When the color and shape of the waste X match 90% with respect to the teacher data, the control device 6 determines that the waste X is a type-determinable article. When the control device 6 determines the type-determinable article, it displays it on the display 4 (step S4).
  • FIG. 3 is an example of a case where the control device 6 determines an empty can X1a made of a metal material and a long piece of wood X1b as articles whose type can be determined.
  • the wood waste X2a and the waste X2b made of a resin material are examples of the waste X whose type cannot be determined by the control device 6.
  • the control device 6 selects empty cans X1a and wood X1b, which are wastes X that can be classified by collating with the teacher data of the storage unit 6a, from the image data D acquired from the camera 2. , Enclose in a frame and display. By displaying the display 4 in this way, the user who operates the display 4 can easily recognize another waste X2 (an example of another article) that the control device 6 could not sort.
  • the control device 6 calculates the position information of the article whose type can be determined from the image data D, and transmits the calculated position information to the transport device 8 (step S5). Further, the control device 6 transmits information on the transport destination of the article whose type can be determined to the transport device 8 based on the type determination (step S6).
  • the information of the transport destination is, for example, in the case of wood X1b, the position information of the first sorting area 10a corresponding to the wood. In the case of the empty can X1a, it is the position information of the second sorting area 10b corresponding to the material made of metal.
  • control device 6 first selects the articles whose type can be determined, and transports them by the transport device 8.
  • the type-determinable article can be transported while the user selects the type-determinable part.
  • the time required for the sorting process can be reduced.
  • the control device 6 displays the other waste X2 excluding the first waste X1 on the display 4 in a selectable state (step S7).
  • FIG. 4 is an example of a case where an article whose type cannot be determined is shown on the display 4.
  • the control device 6 displays the empty can X1a of the type-determinable article and the waste X2 other than the wood X1b in a touch-operable state on the touch panel.
  • the control device 6 also displays icons 11a to icons 11f corresponding to the first sorting area 10a to the sixth sorting area 10f.
  • the user who operates the display 4 displayed in this way selects by touching an article (other waste X2) whose type cannot be determined other than the one surrounded by the frame.
  • the control device 6 detects whether or not an article whose type cannot be determined is selected (step S8).
  • the control device 6 acquires the coordinates in the image data D of the type-determinable article (step S9).
  • control device 6 When the control device 6 acquires the coordinates in the image data D, it acquires the position information of the article whose type cannot be determined (step S11). More specifically, when the type-determinable article is touched and selected, the control device 6 acquires the shape and color of the type-determinable article including the touched coordinates by image processing. The control device 6 calculates the area from the shape of the article whose type cannot be determined obtained by image processing. The control device 6 calculates the position of the central portion of the article whose type cannot be determined from the calculated area.
  • control device 6 calculates an angle ⁇ between the direction in which the type-determinable article is placed and the front-back direction or the left-right direction.
  • the angle ⁇ is, for example, in the case of the selected wood waste X2a, the angle formed by the longitudinal direction and the left-right direction of the wood waste X2a as shown by the virtual line (see the two-dot chain line) in FIG.
  • the control device 6 calculates the angle (rotation angle of the jig) of the arm 8c for the arm 8c of the transport device 8 to grasp the article whose type cannot be determined from the angle ⁇ .
  • control device 6 calculates the vertical position of the article whose type cannot be determined by an infrared sensor (not shown).
  • a contact sensor is provided at the tip of the arm 8c, and when the arm 8c and the non-classifiable article come into contact, the vertical position of the non-classifiable article is calculated. You may.
  • control device 6 calculates the position of the central portion of the article whose type cannot be determined by image processing, the angle ⁇ , and the position in the vertical direction from the touched coordinates in the image data D, and the arm of the transport device 8 8c acquires position information for grasping an article whose type cannot be determined.
  • the arm 8c can surely grasp and transport the non-classifiable article.
  • the control device 6 acquires position information and displays on the display 4 that an article whose type cannot be determined has been selected, as shown by a circle containing a number in the image data D of FIG. For example, when wood waste X2a is selected, the control device 6 acquires the coordinates on the image data D of the selected points of the selected wood waste X2a and circles the selected points. Attach and display. The control device 6 may convert the acquired position information into coordinates on the image data D and display it on the display 4. That is, the coordinates on the display 4 corresponding to the position information may be displayed in addition to or changed to the point selected by the user. In this way, by displaying the coordinates corresponding to the position information on the display 4 by the control device 6, the user can easily recognize which position of the waste X the arm 8c grabs.
  • the control device 6 detects whether or not the selected transport destination has been designated (step S11).
  • the control device 6 acquires the transport destination information.
  • the control device 6 displays the number of the sorting area in the circle displayed in step S8. Therefore, the user can clearly recognize at a glance to which sorting area the selected non-classifiable article is transported. As a result, the operability of the article sorting system 1 is improved.
  • the control device 6 acquires the position information and the transport destination of the article whose type cannot be determined, the control device 6 transmits the information to the transport device 8 (step S12).
  • the control device 6 learns an article whose type cannot be determined by transmitting the position information and the transport destination (step S13). More specifically, the control device 6 stores the color and shape of the non-classifiable article (other waste X2) selected from the image data D in the storage unit 6a. Further, the control device 6 acquires the type of the other waste X2 based on the information of the sorting area of the transport destination of the selected other waste X2. The control device 6 stores the color, shape, and type of the other waste X2 in the storage unit 6a as teacher data in association with each other.
  • the control device 6 stores the shape and color of the waste X2a acquired in step S10. Further, when the transport destination is selected in step S11, the control device 6 acquires information on the sorting area of the transport destination. For example, suppose that the user selects the waste X2a and then selects the first sorting area 10a as the transport destination. In this case, the control device 6 associates the shape and color of the waste X2a with the information that the type of the waste X2a is wood. It may be stored in advance in the control device 6 that the first sorting area 10a is an area for transporting the waste X made of wood.
  • the control device 6 adds the associated information to the teacher data stored in the storage unit 6a.
  • the control device 6 completes the learning by adding the information related to the color, shape, and type of the other waste X2 to the teacher data.
  • the control device 6 may store only the shape and color and the transport destination in association with each other.
  • the control device 6 learns by adding information on other waste X2 to the teacher data.
  • the control device 6 determines that the article can be classified as a type.
  • the user does not have to select another waste X2 having the same shape and color.
  • the control device 6 may learn step S13 immediately after acquiring the color, shape, and transport destination of the other waste X2. That is, the control device 6 may perform the process of step S13 after step S11.
  • the control device 6 returns the process before step S1 when the type-determinable article is not selected (step S8 NO) and when the transport destination is not specified (step S11 NO). Further, when the control device 6 finishes the process of step S11, the control device 6 returns the process before step S1.
  • the image data D is a moving image.
  • the camera 2 continues to image the waste X that is being transported and is decreasing.
  • the control device 6 constantly acquires an image and continues the processing from step S1 to step S13 based on the information of the image data D.
  • the control device 6 sorts the first waste X1 that can be sorted from the image data D, and the other waste X2 that the control device 6 could not sort is sorted on the display 4. It can be displayed so that it can be selected. Therefore, the user who uses the display 4 can sort out the other waste X2 that the control device 6 could not sort out. As a result, the user can remotely sort the waste X.
  • the user can easily recognize and select other waste X that the control device 6 could not sort. As a result, the operability of the user is improved.
  • the transport device 8 of the present disclosure can acquire the position information of the other waste X2 and the position information of the sorting area 10 and transport the other waste X2 to the sorting area 10 on behalf of the user. As described above, if the transport device 8 can transport the other waste X2 to the sorting area 10, the sorting process can be reliably performed by remote control.
  • a part of the plurality of wastes X is automatically sorted by the control device 6. As a result, it is possible to save the user the trouble of selecting the waste X.
  • the article sorting system 201 includes a first camera 202a, a second camera 202b, a display 204, a control device 206, a first conveyor device 208a, a second conveyor device 208b, and the like.
  • a sorting area 210 and a belt conveyor 212 are provided.
  • both the first transfer device 208a and the second transfer device 208b are robot arms. That is, the article sorting system 201 in the second embodiment is different from the article sorting system 1 in the first embodiment in that the waste X flowing through the belt conveyor 212 is sorted by two robot arms.
  • the first transfer device 208a and the second transfer device 208b may be one or both of the gantry type robots.
  • the article sorting system 201 is a waste sorting system that sorts the waste X flowing through the belt conveyor 212 by using a plurality of cameras 202 and a plurality of transporting devices 208. Such an article sorting system 201 is used for further finely sorting waste in the post-process of rough sorting in the first embodiment.
  • the control device 206 controls the first transport device 208a based on the image data D captured by the first camera 202a, and controls the second transport device 208b based on the image data D captured by the second camera 202b. .. More specifically, the control device 206 separately displays the image data D acquired from each camera on the display 204. The subsequent processing performed by the control device 206 is the same as that of the first embodiment, and thus the description thereof will be omitted.
  • the article sorting system 201 may include two displays 204, and the image data D acquired from the cameras 202a and 202b may be displayed separately on each display 204.
  • a controller 305 is provided in addition to each configuration of the article sorting system 1 according to the first embodiment.
  • the controller 305 is a mouse that can be electrically connected to the display 304 or the control device 306.
  • the mouse of the controller 305 is provided with at least a wheel, and when the user rotates the wheel, a signal corresponding to the rotation is transmitted to the control device 306.
  • the control device 306 displays the other waste X2 excluding the first waste X1 in a selectable state on the display 304, and indicates the direction in which the arm 308c grips the waste X2.
  • the indicated straight line F is displayed.
  • the control device 306 rotates the straight line F when the user rotates the wheel (see the rotation arrow in FIG. 6).
  • the control device 306 changes the angle (rotation angle of the jig) of the arm 308c for grasping the article whose type cannot be determined in the first embodiment into a calculation, and determines the angle of the arm 308c using the angle of the straight line F. ..
  • the control device 306 moves the arm 308c in the direction instructed by the user to surely grasp the waste X2.
  • the control device 306 may store the angle of the arm 308c at this time, and when the waste X2 having the same shape is displayed next time, the waste X2 may be grasped using the stored angle. As a result, the waste X2 can be reliably grasped while reducing the calculation load of the control device 306.
  • the article sorting system 1,201 may be a system for sorting articles to be transported, and is a system for sorting and transporting a plurality of stacked articles having different shapes and colors (for example, medicinal herbs). There may be.
  • circles and numbers are used as an example of displaying on the display 4 that an article whose type cannot be determined is selected, but the present disclosure is not limited to this.
  • the control device 6 only needs to be able to display on the display 4 that an article whose type cannot be determined is selected, and displays using a figure other than a circle (for example, ⁇ ) to display the coordinates on the selected screen. May be good.
  • an alphabet or the like may be used as a symbol indicating a sorting area. In any case, it is sufficient that the control device 6 can display a symbol that the user can recognize that the article whose type cannot be determined is selected.
  • the article sorting system 201 may sort the waste X by using three or more cameras and a transport device.
  • the straight line F is rotated by the controller 305, but the present disclosure is not limited to this.
  • the display 304 is a touch panel, the user may directly operate the display 304 to rotate the straight line F.

Abstract

An article sorting system 1 includes a camera 2, a display 4, and a control device 6. The camera 2 captures images of a plurality of articles. The display 4 displays image data obtained by the camera 2. The control device 6 acquires the image data captured by the camera 2, sorts out a first article X1 that can be automatically sorted out from the image data, displays a sorted-out first article X2 on the display 4, and displays the other articles corresponding to all the articles except the first article X1, on the display 4 in an selectable state.

Description

物品選別システムGoods sorting system
　本開示は、物品選別システムに関する。 This disclosure relates to an article sorting system.
　建築物を解体処理した場合に発生する廃棄物、または災害時に発生する瓦礫などの廃棄物は、木材、金属、ゴム、ガラス、樹脂など、種々の材料がある。廃棄物処理場には、このような種々の材料が混在した状態で持ち込まれる。このような状態で持ち込まれた廃棄物を再利用するためには、材料毎に選別する選別工程が必要である。このような選別工程は、従来は人手によって行われている。このような選別工程は作業環境が過酷であるため、従事する人が年々減少している。 There are various materials such as wood, metal, rubber, glass, and resin for the waste generated when the building is demolished or the waste such as rubble generated in the event of a disaster. Such various materials are brought into the waste treatment plant in a mixed state. In order to reuse the waste brought in in such a state, a sorting process for sorting by material is required. Conventionally, such a sorting process is performed manually. Since the working environment is harsh in such a sorting process, the number of people engaged in it is decreasing year by year.
　このため近年、人口知能を用いて、このような選別工程を自動的に行う物品選別システムが開発されている（例えば、特許文献１参照）。特許文献１の物品選別システムでは、カメラで取得した画像データから自動的に廃棄物（物品）の種別を判定し、この判定結果に基づいて物品の選別と搬送先を決めている。 Therefore, in recent years, an article sorting system that automatically performs such a sorting process using artificial intelligence has been developed (see, for example, Patent Document 1). In the article sorting system of Patent Document 1, the type of waste (article) is automatically determined from the image data acquired by the camera, and the article sorting and the transport destination are determined based on the determination result.
特許６６９５５３９号Patent No. 6695539
　しかし、廃棄物処理場に持ち込まれる廃棄物は、種々様々な形状や色がある。特許文献１の物品選別システムでは、これら種々様々な形状や色のある廃棄物を画像データから判定し、選別している。種々様々な形状や色のある廃棄物を、このような画像データからのみ判定する場合、判定するための基礎となる教師データが膨大となる。教師データが不足している場合、画像データから選別できない廃棄物が発生する。画像データから選別できない廃棄物は、結局は人手によって選別が必要となる。この結果、作業環境が過酷な選別工程において人手を要し、ロボット等を用いた遠隔操作に置き換えられないという問題がある。 However, the waste brought into the waste treatment plant has various shapes and colors. In the article sorting system of Patent Document 1, wastes having various shapes and colors are determined from image data and sorted. When the waste having various shapes and colors is judged only from such image data, the teacher data which is the basis for the judgment becomes enormous. If teacher data is insufficient, waste that cannot be sorted from image data will be generated. Waste that cannot be sorted from image data will eventually need to be sorted manually. As a result, there is a problem that the working environment requires manpower in a harsh sorting process and cannot be replaced by remote control using a robot or the like.
　本開示の課題は、物品の選別を遠隔で行うことができる物品選別システムを提供することにある。 An object of the present disclosure is to provide an article sorting system capable of remotely sorting articles.
　（１）本開示に係る物品選別システムは、カメラと、ディスプレイと、制御装置と、を備える。カメラは、複数の物品を撮像する。ディスプレイは、カメラで撮像した画像データを表示する。制御装置は、カメラで撮像した画像データを取得し、画像データの中から自動的に選別可能な第１の物品を選別し、選別した第１の物品をディスプレイに表示し、第１の物品を除いた他の物品をディスプレイ上に選択可能な状態で表示する。 (1) The article sorting system according to the present disclosure includes a camera, a display, and a control device. The camera captures a plurality of articles. The display displays image data captured by the camera. The control device acquires image data captured by the camera, automatically selects a first item that can be sorted from the image data, displays the selected first item on the display, and displays the first item on the display. The other items excluded are displayed in a selectable state on the display.
　（２）ディスプレイはタッチパネル式であってもよい。制御装置は、他の物品をディスプレイ上でタッチ操作可能な状態で表示してもよい。
　（３）物品選別システムは、物品を搬送する搬送装置をさらに備えてもよい。制御装置は、他の物品が選択された場合、搬送装置に物品の位置情報を送信してもよい。
　（４）搬送装置は、物品の種別によって複数の搬送先を有してもよい。制御装置は、他の物品の搬送先を複数の搬送先の中から指定可能な画面をディスプレイに表示してもよい。
　（５）制御装置は、記憶部を有してもよい。記憶部は、第１の物品を判定するための教師データを記憶してもよい。制御装置は、カメラで取得した画像データと教師データとを照合することで、複数の物品から第１の物品を選別してもよい。 (2) The display may be a touch panel type. The control device may display other articles on the display in a touch-operable state.
(3) The article sorting system may further include a transport device for transporting articles. The control device may transmit the position information of the article to the transport device when another article is selected.
(4) The transport device may have a plurality of transport destinations depending on the type of article. The control device may display a screen on the display in which the destination of other articles can be specified from among a plurality of destinations.
(5) The control device may have a storage unit. The storage unit may store teacher data for determining the first article. The control device may select the first article from a plurality of articles by collating the image data acquired by the camera with the teacher data.
　この物品選別システムによれば、制御装置が画像データから選別可能な第１の物品を選別し、制御装置が選別できなかった他の物品をディスプレイ上で選択できるように表示することができる。このため、ディスプレイを使用するユーザが、制御装置が選別できなかった他の物品を選別することができる。この結果、ユーザは、物品の選別を遠隔で行うことができる。 According to this article sorting system, the control device can sort the first article that can be sorted from the image data, and the other articles that the control device could not sort can be displayed so that they can be selected on the display. Therefore, the user who uses the display can sort out other articles that the control device could not sort out. As a result, the user can remotely sort the articles.
　本開示によれば、物品の選別を遠隔で行うことができる物品選別システムを提供できる。 According to the present disclosure, it is possible to provide an article sorting system capable of remotely sorting articles.
本開示の実施形態による物品選別システムを示す図。The figure which shows the article sorting system by embodiment of this disclosure. 本開示の制御装置による処理手順を示すフローチャート。The flowchart which shows the processing procedure by the control apparatus of this disclosure. 本開示の種別判定可能物品をディスプレイに表示する場合の一例の図。The figure of an example in the case of displaying the type-determinable article of this disclosure on a display. 本開示の種別判定不可能物品をディスプレイに表示する場合の一例の図。The figure of an example in the case of displaying the article which cannot determine the type of this disclosure on a display. 本開示の第２実施形態による物品選別システムを示す図。The figure which shows the article sorting system by 2nd Embodiment of this disclosure. 本開示の第３実施形態による種別判定不可能物品をディスプレイに表示する場合の一例の図。The figure of an example of the case where the article whose type cannot be determined according to the third embodiment of the present disclosure is displayed on the display.
　以下、本開示の実施形態について、図面を参照しながら説明する。 Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
＜第１実施形態＞
　図１に示すように、本開示の第１実施形態に係る物品選別システム１は、カメラ２と、ディスプレイ４と、制御装置６と、搬送装置８と、選別エリア１０と、を備える。本実施形態では、物品選別システム１は、廃棄物処理場に搬入された木材、金属、ゴム、ガラス、樹脂など、種々の材料および種々の形状の廃棄物が混在した複数の廃棄物Ｘ（複数の物品の一例）を選別する廃棄物選別システムである。このような廃棄物Ｘは、廃棄物処理場に搬入されると、纏められた状態で一旦積み置かれ、積み置かれた状態で荒選別（選別工程の一例）を行う。 <First Embodiment>
As shown in FIG. 1, the article sorting system 1 according to the first embodiment of the present disclosure includes a camera 2, a display 4, a control device 6, a transport device 8, and a sorting area 10. In the present embodiment, the article sorting system 1 is a plurality of wastes X (plural) in which various materials such as wood, metal, rubber, glass, resin, etc., and wastes of various shapes are mixed, which are brought into the waste treatment plant. This is a waste sorting system that sorts articles). When such waste X is brought into the waste treatment plant, it is once stacked in a bundled state, and rough sorting (an example of a sorting process) is performed in the stacked state.
　カメラ２は、複数の廃棄物Ｘを撮像する。本実施形態では、カメラ２は、後述する搬送装置８のブーム８ａに取り付けられる。しかし、カメラ２は、選別工程を行う工場の天井や梁などに取り付けられてもよい。また、カメラ２は、搬送装置８のブーム８ａ以外の場所に取り付けられてもよい。また、本実施形態では、カメラ２は、動画を撮像するカメラである。しかし、カメラ２は、静止画像を撮像するカメラ２であってもよい。カメラ２は、制御装置６に電気的に接続され、撮像した動画を制御装置６に送信する。 Camera 2 captures a plurality of wastes X. In the present embodiment, the camera 2 is attached to the boom 8a of the transport device 8 described later. However, the camera 2 may be attached to the ceiling, beams, or the like of a factory where the sorting process is performed. Further, the camera 2 may be attached to a place other than the boom 8a of the transport device 8. Further, in the present embodiment, the camera 2 is a camera that captures a moving image. However, the camera 2 may be a camera 2 that captures a still image. The camera 2 is electrically connected to the control device 6 and transmits the captured moving image to the control device 6.
　ディスプレイ４は、カメラ２で撮像した画像データＤを表示する。本実施形態では、ディスプレイ４はタッチパネル式のディスプレイ４である。ディスプレイ４は、制御装置６と電気的に接続され、画像データＤを表示するとともに、タッチされた画像データＤ上の位置を制御装置６に送信する。 The display 4 displays the image data D captured by the camera 2. In the present embodiment, the display 4 is a touch panel type display 4. The display 4 is electrically connected to the control device 6, displays the image data D, and transmits the touched position on the image data D to the control device 6.
　制御装置６は、物品選別システム１を制御するために設けられる。制御装置６は、記憶部６ａを有する。制御装置６は、実際には、記憶部６ａと、入出力バッファ等と、を含むマイクロコンピュータによって構成される。記憶部６ａは、第１の廃棄物（第１の物品の一例）Ｘ１を判定するための教師データを記憶している。ここで、教師データとは、例えば木材であれば、その色彩と形状である。このような、制御装置６は、このように種々材料の色彩と形状を教師データとして記憶し、カメラ２で取得した画像データＤと教師データとを照合することで、複数の廃棄物Ｘから自動的に選別可能な第１の廃棄物Ｘ１を画像処理によって選別する。 The control device 6 is provided to control the article sorting system 1. The control device 6 has a storage unit 6a. The control device 6 is actually composed of a microcomputer including a storage unit 6a, an input / output buffer, and the like. The storage unit 6a stores teacher data for determining the first waste (an example of the first article) X1. Here, the teacher data is, for example, the color and shape of wood. Such a control device 6 stores the colors and shapes of various materials as teacher data in this way, and by collating the image data D acquired by the camera 2 with the teacher data, the control device 6 automatically starts from a plurality of wastes X. The first waste X1 that can be sorted out is sorted by image processing.
　搬送装置８は、複数の廃棄物Ｘを搬送する。本実施形態では、搬送装置８は、ガントリー型のロボットである。このようなガントリー型のロボットでは、ブーム８ａが一対のレール８ｂ上を前後方向に移動するとともに、ブーム８ａに取り付けられたアーム８ｃが左右方向および上下方向に移動する。なお、レール８ｂは、廃棄物Ｘを搬入する廃棄物処理場の建屋の構造部材に取り付けてもよい。搬送装置８は、制御装置６と電気的に接続され、制御装置６から搬送すべき廃棄物Ｘの位置情報と、搬送すべき選別エリア１０の情報を受け取ると、位置情報に従ってアーム８ｃを動かす。搬送装置８は、廃棄物Ｘの位置に到達すると廃棄物Ｘを掴むための治具を開き、廃棄物Ｘをつかみ取る。搬送装置８は、廃棄物Ｘを掴むと、選別エリア１０に向けてアーム８ｃを動かし、選別エリア１０にある所定の選別エリアに廃棄物Ｘを搬送する。なお、搬送装置８は、ガントリー型のロボットに限らず、例えばロボットアームなどの廃棄物Ｘを搬送できる装置であればよい。また、搬送装置８は、複数設けられてもよい。 The transport device 8 transports a plurality of wastes X. In the present embodiment, the transfer device 8 is a gantry type robot. In such a gantry type robot, the boom 8a moves in the front-rear direction on the pair of rails 8b, and the arm 8c attached to the boom 8a moves in the left-right direction and the up-down direction. The rail 8b may be attached to the structural member of the building of the waste treatment plant that carries in the waste X. The transport device 8 is electrically connected to the control device 6, and when it receives the position information of the waste X to be transported and the information of the sorting area 10 to be transported from the control device 6, the arm 8c is moved according to the position information. When the transport device 8 reaches the position of the waste X, the transport device 8 opens a jig for grasping the waste X and grabs the waste X. When the transport device 8 grabs the waste X, it moves the arm 8c toward the sorting area 10 and transports the waste X to a predetermined sorting area in the sorting area 10. The transport device 8 is not limited to the gantry type robot, and may be any device that can transport the waste X such as a robot arm. Further, a plurality of transport devices 8 may be provided.
　選別エリア１０は、複数の選別エリアを有する。本実施形態では、選別エリアは、木材でできた廃棄物Ｘが選別される第１選別エリア１０ａ、金属材料でできた廃棄物Ｘが選別される第２選別エリア１０ｂ、樹脂でできた廃棄物Ｘが選別される第３選別エリア１０ｃ、ゴム材料でできた廃棄物Ｘが選別される第４選別エリア１０ｄ、ガラス材料できた廃棄物Ｘが選別される第５選別エリア１０ｅ、およびその他材料できた廃棄物Ｘが選別される第６選別エリア１０ｆの６つの選別エリアが設けられる。しかし、選別エリアは複数あればよく、例えば、材料のみならず廃棄物の大きさや、形状によって異なる選別エリアを設けてもよい。また、本実施形態では、第１選別エリア１０ａから第３選別エリア１０ｃは、廃棄物Ｘが搬入される位置の右側に設けられ、第４選別エリア１０ｄから第６選別エリア１０ｆは廃棄物Ｘを挟んで反対側の左側に設けられる。このように選別エリアを配置することで、搬送装置８が廃棄物Ｘを効率的に搬送できる。しかし、選別エリアは、搬送装置８が搬送できる範囲に設けられればよい。各選別エリアにはベルトコンベアが設けられ、搬送された廃棄物Ｘは、ベルトコンベアに載せられて後工程である詳細選別工程に送られる。 The sorting area 10 has a plurality of sorting areas. In the present embodiment, the sorting area includes a first sorting area 10a in which waste X made of wood is sorted, a second sorting area 10b in which waste X made of metal material is sorted, and waste made of resin. A third sorting area 10c where X is sorted, a fourth sorting area 10d where waste X made of rubber material is sorted, a fifth sorting area 10e where waste X made of glass material is sorted, and other materials can be made. Six sorting areas of the sixth sorting area 10f where the waste X is sorted are provided. However, there may be a plurality of sorting areas, and for example, different sorting areas may be provided depending on the size and shape of the waste as well as the material. Further, in the present embodiment, the first sorting area 10a to the third sorting area 10c are provided on the right side of the position where the waste X is carried in, and the fourth sorting area 10d to the sixth sorting area 10f are provided with the waste X. It is provided on the left side of the opposite side. By arranging the sorting area in this way, the transport device 8 can efficiently transport the waste X. However, the sorting area may be provided within a range in which the transport device 8 can transport. A belt conveyor is provided in each sorting area, and the conveyed waste X is placed on the belt conveyor and sent to a detailed sorting step which is a subsequent step.
　次に、図２のフローチャートを用いて、制御装置６が行う制御手順を説明する。制御装置６は、図示しないスタートボタンが押されると、制御手順を開始する。なお、本実施形態では、木材、金属材料、および樹脂でできた廃棄物Ｘを、第１選別エリア１０ａ、第２選別エリア１０ｂ、および第３選別エリア１０ｃに選別する例について説明する。 Next, the control procedure performed by the control device 6 will be described using the flowchart of FIG. The control device 6 starts the control procedure when a start button (not shown) is pressed. In this embodiment, an example of sorting the waste X made of wood, metal material, and resin into the first sorting area 10a, the second sorting area 10b, and the third sorting area 10c will be described.
　制御装置６は、カメラ２で撮像した画像データＤを取得する（ステップＳ１）。制御装置６は、取得した画像データＤをディスプレイ４に表示する（ステップＳ２）。制御装置６は、画像データＤの中から自動的に選別可能な第１の廃棄物Ｘ１を選別する種別判定を行う（ステップＳ３）。より具体的には、制御装置６は、画像データＤから教師データと合致する形状や色彩の廃棄物Ｘを検索し、教師データと所定の割合（例えば９０％）で合致する廃棄物Ｘを自動的に選別可能な第１の廃棄物Ｘ１（種別判定可能物品）として判定する。ここで、所定の割合とは、教師データとして記憶している色や形状との一致率である。例えば、制御装置６が教師データとして金属の色、形状を記憶している場合、制御装置６は、画像データＤの中から、教師データとして記憶した金属の色と形状に合致する廃棄物Ｘを検索する。制御装置６は、教師データに対して廃棄物Ｘの色と形状が９０％一致する場合、種別判定可能物品であると判定する。制御装置６は、種別判定可能物品を判定するとディスプレイ４に表示する（ステップＳ４）。 The control device 6 acquires the image data D captured by the camera 2 (step S1). The control device 6 displays the acquired image data D on the display 4 (step S2). The control device 6 determines the type of the first waste X1 that can be automatically sorted from the image data D (step S3). More specifically, the control device 6 searches the image data D for waste X having a shape and color that matches the teacher data, and automatically selects the waste X that matches the teacher data at a predetermined ratio (for example, 90%). It is determined as the first waste X1 (article whose type can be determined) that can be sorted. Here, the predetermined ratio is a matching rate with the color or shape stored as teacher data. For example, when the control device 6 stores the color and shape of the metal as the teacher data, the control device 6 selects the waste X that matches the color and shape of the metal stored as the teacher data from the image data D. Search for. When the color and shape of the waste X match 90% with respect to the teacher data, the control device 6 determines that the waste X is a type-determinable article. When the control device 6 determines the type-determinable article, it displays it on the display 4 (step S4).
　図３に示す画像は、種別判定可能物品をディスプレイ４に表示した場合の一例である。図３においては、制御装置６が金属材料でできた空き缶Ｘ１ａと、長尺状の木材Ｘ１ｂを種別判定可能物品として判定した場合の一例である。木材の廃棄物Ｘ２ａおよび樹脂材料でできた廃棄物Ｘ２ｂは、制御装置６が種別判定できなかった廃棄物Ｘの例である。図３に示すように、制御装置６は、カメラ２から取得した画像データＤの中から、記憶部６ａの教師データと照合して種別判定可能な廃棄物Ｘである空き缶Ｘ１ａと木材Ｘ１ｂとを、枠で囲んで表示する。制御装置６がこのように表示することで、ディスプレイ４を操作するユーザは、制御装置６が選別できなかった他の廃棄物Ｘ２（他の物品の一例）を簡単に認識することができる。 The image shown in FIG. 3 is an example of the case where the type-determinable article is displayed on the display 4. FIG. 3 is an example of a case where the control device 6 determines an empty can X1a made of a metal material and a long piece of wood X1b as articles whose type can be determined. The wood waste X2a and the waste X2b made of a resin material are examples of the waste X whose type cannot be determined by the control device 6. As shown in FIG. 3, the control device 6 selects empty cans X1a and wood X1b, which are wastes X that can be classified by collating with the teacher data of the storage unit 6a, from the image data D acquired from the camera 2. , Enclose in a frame and display. By displaying the display 4 in this way, the user who operates the display 4 can easily recognize another waste X2 (an example of another article) that the control device 6 could not sort.
　制御装置６は、画像データＤから種別判定可能物品の位置情報を演算し、演算した位置情報を搬送装置８に送信する（ステップＳ５）。また、制御装置６は、種別判定に基づいて、種別判定可能物品の搬送先の情報を搬送装置８に送信する（ステップＳ６）。本実施形態では、搬送先の情報は、例えば、木材Ｘ１ｂの場合、木材に対応する第１選別エリア１０ａの位置情報である。空き缶Ｘ１ａの場合、金属でできた材料に対応する第２選別エリア１０ｂの位置情報である。 The control device 6 calculates the position information of the article whose type can be determined from the image data D, and transmits the calculated position information to the transport device 8 (step S5). Further, the control device 6 transmits information on the transport destination of the article whose type can be determined to the transport device 8 based on the type determination (step S6). In the present embodiment, the information of the transport destination is, for example, in the case of wood X1b, the position information of the first sorting area 10a corresponding to the wood. In the case of the empty can X1a, it is the position information of the second sorting area 10b corresponding to the material made of metal.
　このように、制御装置６は、最初に種別判定可能物品を選別し、搬送装置８によって搬送する。これによって、ユーザが種別判定不可能部品を選択する間に、種別判定可能物品を搬送できる。この結果、選別工程に要する時間が削減できる。 In this way, the control device 6 first selects the articles whose type can be determined, and transports them by the transport device 8. As a result, the type-determinable article can be transported while the user selects the type-determinable part. As a result, the time required for the sorting process can be reduced.
　制御装置６は、第１の廃棄物Ｘ１を除いた他の廃棄物Ｘ２をディスプレイ４上に選択可能な状態で表示する（ステップＳ７）。図４は、種別判定不可能物品をディスプレイ４に示す場合の一例である。図４に示すように、制御装置６は、種別判定可能物品の空き缶Ｘ１ａ、および木材Ｘ１ｂ以外の他の廃棄物Ｘ２がタッチパネル上でタッチ操作可能な状態で表示する。また、制御装置６は、第１選別エリア１０ａから第６選別エリア１０ｆに対応するアイコン１１ａからアイコン１１ｆも表示する。 The control device 6 displays the other waste X2 excluding the first waste X1 on the display 4 in a selectable state (step S7). FIG. 4 is an example of a case where an article whose type cannot be determined is shown on the display 4. As shown in FIG. 4, the control device 6 displays the empty can X1a of the type-determinable article and the waste X2 other than the wood X1b in a touch-operable state on the touch panel. The control device 6 also displays icons 11a to icons 11f corresponding to the first sorting area 10a to the sixth sorting area 10f.
　このように表示されたディスプレイ４を操作するユーザは、枠で囲まれた以外の種別判定不能物品（他の廃棄物Ｘ２）をタッチすることで選択する。このとき制御装置６は、種別判定不可能物品が選択されたか否か検知する（ステップＳ８）。制御装置６は、種別判定不可能物品が選択された場合（ステップＳ８　Ｙｅｓ）、種別判定不可能物品の画像データＤにおける座標を取得する（ステップＳ９）。 The user who operates the display 4 displayed in this way selects by touching an article (other waste X2) whose type cannot be determined other than the one surrounded by the frame. At this time, the control device 6 detects whether or not an article whose type cannot be determined is selected (step S8). When the type-determinable article is selected (step S8 Yes), the control device 6 acquires the coordinates in the image data D of the type-determinable article (step S9).
　制御装置６は、画像データＤにおける座標を取得すると、種別判定不可能物品の位置情報を取得する（ステップＳ１１）。より具体的には、制御装置６は、種別判定不可能物品がタッチされ選択された場合、そのタッチされた座標を含む種別判定不可能物品の形状と色とを画像処理によって取得する。制御装置６は、画像処理によって取得した種別判定不可能物品の形状から面積を演算する。制御装置６は、算出した面積から種別判定不可能物品の中央部分の位置を演算する。 When the control device 6 acquires the coordinates in the image data D, it acquires the position information of the article whose type cannot be determined (step S11). More specifically, when the type-determinable article is touched and selected, the control device 6 acquires the shape and color of the type-determinable article including the touched coordinates by image processing. The control device 6 calculates the area from the shape of the article whose type cannot be determined obtained by image processing. The control device 6 calculates the position of the central portion of the article whose type cannot be determined from the calculated area.
　また、制御装置６は、種別判定不可能物品が置かれた方向と前後方向または左右方向とがなす角度αを演算する。角度αは、例えば選択された木材の廃棄物Ｘ２ａの場合、図４の仮想線（２点鎖線参照）に示す通り、木材の廃棄物Ｘ２ａの長手方向と左右方向とがなす角度である。制御装置６は、角度αから搬送装置８のアーム８ｃが種別判定不可能物品を掴むためのアーム８ｃの角度（治具の回転角度）を演算する。 Further, the control device 6 calculates an angle α between the direction in which the type-determinable article is placed and the front-back direction or the left-right direction. The angle α is, for example, in the case of the selected wood waste X2a, the angle formed by the longitudinal direction and the left-right direction of the wood waste X2a as shown by the virtual line (see the two-dot chain line) in FIG. The control device 6 calculates the angle (rotation angle of the jig) of the arm 8c for the arm 8c of the transport device 8 to grasp the article whose type cannot be determined from the angle α.
　また、制御装置６は、図示しない赤外線センサによって種別判定不可能物品の上下方向の位置を演算する。種別判定不可能物品の上下方向の位置は、アーム８ｃの先端に接触センサを設けて、アーム８ｃと種別判定不可能物品が接触したときに、種別判定不可能物品の上下方向の位置を演算してもよい。 Further, the control device 6 calculates the vertical position of the article whose type cannot be determined by an infrared sensor (not shown). For the vertical position of the non-classifiable article, a contact sensor is provided at the tip of the arm 8c, and when the arm 8c and the non-classifiable article come into contact, the vertical position of the non-classifiable article is calculated. You may.
　このように、制御装置６は、画像データＤにおけるタッチされた座標から、画像処理によって種別判定不可能物品の中央部分の位置と、角度α、上下方向の位置を演算し、搬送装置８のアーム８ｃが種別判定不可能物品を掴むための位置情報を取得する。これによって、ユーザが種別判定不可能物品のいかなる場所をタッチした場合であっても、アーム８ｃは種別判定不可能物品を確実に掴み、搬送できる。 In this way, the control device 6 calculates the position of the central portion of the article whose type cannot be determined by image processing, the angle α, and the position in the vertical direction from the touched coordinates in the image data D, and the arm of the transport device 8 8c acquires position information for grasping an article whose type cannot be determined. As a result, even if the user touches any place of the non-classifiable article, the arm 8c can surely grasp and transport the non-classifiable article.
　制御装置６は、位置情報を取得するとともに、図４の画像データＤに数字を含んだ丸で示すように、種別判定不可能物品が選択された旨をディスプレイ４に表示する。例えば、木材の廃棄物Ｘ２ａが選択された場合、制御装置６は、選択された木材の廃棄物Ｘ２ａの選択されたポイントの画像データＤ上の座標を取得するとともに、選択されたポイントに丸を付けて表示する。なお、制御装置６は、取得した位置情報を画像データＤ上の座標に変換し、ディスプレイ４に表示してもよい。すなわち、ユーザが選択したポイントに変えて、または加えて、位置情報に対応するディスプレイ４上の座標を表示してもよい。このように、制御装置６が位置情報に対応した座標をディスプレイ４に表示することで、ユーザは、アーム８ｃが廃棄物Ｘのどの位置を掴むのか認識しやすい。 The control device 6 acquires position information and displays on the display 4 that an article whose type cannot be determined has been selected, as shown by a circle containing a number in the image data D of FIG. For example, when wood waste X2a is selected, the control device 6 acquires the coordinates on the image data D of the selected points of the selected wood waste X2a and circles the selected points. Attach and display. The control device 6 may convert the acquired position information into coordinates on the image data D and display it on the display 4. That is, the coordinates on the display 4 corresponding to the position information may be displayed in addition to or changed to the point selected by the user. In this way, by displaying the coordinates corresponding to the position information on the display 4 by the control device 6, the user can easily recognize which position of the waste X the arm 8c grabs.
　続いて、ユーザは、選択した廃棄物Ｘを搬送する選別エリアのアイコン１１ａからアイコン１１ｃまでの何れかをタッチして選択する。このとき、制御装置６は、選択された搬送先が指定されたか否か検知する（ステップＳ１１）。制御装置６は、搬送先が指定された場合（ステップＳ１１　ＹＥＳ）、搬送先の情報を取得する。さらに制御装置６は、搬送先が指定された場合、ステップＳ８で表示した丸の中に選別エリアの番号を表示する。このため、ユーザは、選択した種別判定不可能物品がどの選別エリアに搬送されるか一目で明らかに認識できる。この結果、物品選別システム１の操作性が向上する。制御装置６は、種別判定不可能物品の位置情報と搬送先を取得すると、それら情報を搬送装置８に送信する（ステップＳ１２）。 Subsequently, the user touches and selects any of the icons 11a to 11c of the sorting area for transporting the selected waste X. At this time, the control device 6 detects whether or not the selected transport destination has been designated (step S11). When the transport destination is specified (YES in step S11), the control device 6 acquires the transport destination information. Further, when the transport destination is specified, the control device 6 displays the number of the sorting area in the circle displayed in step S8. Therefore, the user can clearly recognize at a glance to which sorting area the selected non-classifiable article is transported. As a result, the operability of the article sorting system 1 is improved. When the control device 6 acquires the position information and the transport destination of the article whose type cannot be determined, the control device 6 transmits the information to the transport device 8 (step S12).
　制御装置６は、位置情報と搬送先を送信すると種別判定不可能物品を学習する（ステップＳ１３）。より具体的には、制御装置６は、画像データＤから選択された種別判定不可能物品（他の廃棄物Ｘ２）の色と形状を記憶部６ａに記憶する。さらに制御装置６は、選択された他の廃棄物Ｘ２の搬送先の選別エリアの情報に基づいて他の廃棄物Ｘ２の種別を取得する。制御装置６は、他の廃棄物Ｘ２の色および形状と種別を関連づけて教師データとして記憶部６ａに記憶する。 The control device 6 learns an article whose type cannot be determined by transmitting the position information and the transport destination (step S13). More specifically, the control device 6 stores the color and shape of the non-classifiable article (other waste X2) selected from the image data D in the storage unit 6a. Further, the control device 6 acquires the type of the other waste X2 based on the information of the sorting area of the transport destination of the selected other waste X2. The control device 6 stores the color, shape, and type of the other waste X2 in the storage unit 6a as teacher data in association with each other.
　例えば、選択された他の廃棄物Ｘ２が図４における廃棄物Ｘ２ａの場合、制御装置６は、ステップＳ１０で取得した廃棄物Ｘ２ａの形状および色を記憶する。また、制御装置６は、ステップＳ１１で搬送先が選択されると、搬送先の選別エリアの情報を取得する。例えば、ユーザが廃棄物Ｘ２ａを選択したのち、搬送先として第１選別エリア１０ａを選択したとする。この場合、制御装置６は、廃棄物Ｘ２ａの形状および色と、廃棄物Ｘ２ａの種別が木材であるとの情報を関連づける。第１選別エリア１０ａが木材でできた廃棄物Ｘを搬送するエリアであることは、予め制御装置６に記憶させておけばよい。制御装置６は、関連づけた情報を記憶部６ａに記憶された教師データに追加する。制御装置６は、他の廃棄物Ｘ２の色および形状と種別を関連づけた情報を教師データに追加すると学習を完了する。なお、制御装置６は、各選別エリアが固定されており変化しない場合、制御装置６は、形状および色と搬送先だけを関連付けて記憶してもよい。 For example, when the other selected waste X2 is the waste X2a in FIG. 4, the control device 6 stores the shape and color of the waste X2a acquired in step S10. Further, when the transport destination is selected in step S11, the control device 6 acquires information on the sorting area of the transport destination. For example, suppose that the user selects the waste X2a and then selects the first sorting area 10a as the transport destination. In this case, the control device 6 associates the shape and color of the waste X2a with the information that the type of the waste X2a is wood. It may be stored in advance in the control device 6 that the first sorting area 10a is an area for transporting the waste X made of wood. The control device 6 adds the associated information to the teacher data stored in the storage unit 6a. The control device 6 completes the learning by adding the information related to the color, shape, and type of the other waste X2 to the teacher data. When each sorting area is fixed and does not change, the control device 6 may store only the shape and color and the transport destination in association with each other.
　このように、制御装置６は、教師データに他の廃棄物Ｘ２の情報を追加することで学習する。これによって、次回、ほぼ同じ形状および色の他の廃棄物Ｘ２（例えば木材の廃棄物Ｘ２ａ）が搬入された場合、制御装置６は、種別判定可能物品として判定する。この結果、同じ形状および色の他の廃棄物Ｘ２をユーザが選択する手間が省ける。なお、制御装置６は、他の廃棄物Ｘ２の色と形状と搬送先を取得後、すぐにステップＳ１３の学習をおこなってもよい。すなわち、制御装置６は、ステップＳ１１の後にステップＳ１３の処理を行ってもよい。 In this way, the control device 6 learns by adding information on other waste X2 to the teacher data. As a result, when another waste X2 having substantially the same shape and color (for example, wood waste X2a) is brought in next time, the control device 6 determines that the article can be classified as a type. As a result, the user does not have to select another waste X2 having the same shape and color. The control device 6 may learn step S13 immediately after acquiring the color, shape, and transport destination of the other waste X2. That is, the control device 6 may perform the process of step S13 after step S11.
　制御装置６は、種別判定不可能物品が選択されていない場合（ステップＳ８　ＮＯ）および搬送先が指定されていない場合（ステップＳ１１　ＮＯ）、ステップＳ１の前に処理を戻す。また、制御装置６は、ステップＳ１１の処理を終えると、ステップＳ１の前に処理を戻す。なお、本実施形態では画像データＤは動画である。カメラ２は、搬送されて減り続ける廃棄物Ｘを撮像し続ける。制御装置６は、画像を常時取得し、画像データＤの情報に基づいてステップＳ１からステップＳ１３までの処理を続ける。 The control device 6 returns the process before step S1 when the type-determinable article is not selected (step S8 NO) and when the transport destination is not specified (step S11 NO). Further, when the control device 6 finishes the process of step S11, the control device 6 returns the process before step S1. In the present embodiment, the image data D is a moving image. The camera 2 continues to image the waste X that is being transported and is decreasing. The control device 6 constantly acquires an image and continues the processing from step S1 to step S13 based on the information of the image data D.
　このような物品選別システム１によれば、制御装置６が画像データＤから選別可能な第１の廃棄物Ｘ１を選別し、制御装置６が選別できなかった他の廃棄物Ｘ２をディスプレイ４上で選択できるように表示することができる。このため、ディスプレイ４を使用するユーザが、制御装置６が選別できなかった他の廃棄物Ｘ２を選別することができる。この結果、ユーザは、廃棄物Ｘの選別を遠隔で行うことができる。 According to such an article sorting system 1, the control device 6 sorts the first waste X1 that can be sorted from the image data D, and the other waste X2 that the control device 6 could not sort is sorted on the display 4. It can be displayed so that it can be selected. Therefore, the user who uses the display 4 can sort out the other waste X2 that the control device 6 could not sort out. As a result, the user can remotely sort the waste X.
　さらにユーザは、ディスプレイ４を確認することで、制御装置６が選別できなかった他の廃棄物Ｘを簡単に認識し、選択することができる。この結果、ユーザの操作性が向上する。 Further, by checking the display 4, the user can easily recognize and select other waste X that the control device 6 could not sort. As a result, the operability of the user is improved.
　また、本開示の搬送装置８は、他の廃棄物Ｘ２の位置情報と選別エリア１０の位置情報を取得し、ユーザに代わって他の廃棄物Ｘ２を選別エリア１０まで搬送することができる。このように、他の廃棄物Ｘ２の選別エリア１０までの搬送を搬送装置８によって行うことができれば、選別工程を確実に遠隔操作で行うことができる。 Further, the transport device 8 of the present disclosure can acquire the position information of the other waste X2 and the position information of the sorting area 10 and transport the other waste X2 to the sorting area 10 on behalf of the user. As described above, if the transport device 8 can transport the other waste X2 to the sorting area 10, the sorting process can be reliably performed by remote control.
　さらに、複数の廃棄物Ｘのうち一部は制御装置６によって自動的に選別される。この結果、廃棄物Ｘをユーザが選択する手間が省ける。 Further, a part of the plurality of wastes X is automatically sorted by the control device 6. As a result, it is possible to save the user the trouble of selecting the waste X.
　＜第２実施形態＞
　次に、本開示の第２実施形態について図５を用いて説明する。なお、第２実施形態の説明においては、第１実施形態と異なる点のみ説明する。 <Second Embodiment>
Next, the second embodiment of the present disclosure will be described with reference to FIG. In the description of the second embodiment, only the points different from those of the first embodiment will be described.
　本開示の第２実施形態に係る物品選別システム２０１は、第１カメラ２０２ａと、第２カメラ２０２ｂと、ディスプレイ２０４と、制御装置２０６と、第１搬送装置２０８ａと、第２搬送装置２０８ｂと、選別エリア２１０と、ベルトコンベア２１２と、を備える。本実施形態では、第１搬送装置２０８ａおよび第２搬送装置２０８ｂはいずれもロボットアームである。すなわち、第２実施形態における物品選別システム２０１は、ベルトコンベア２１２を流れる廃棄物Ｘを２機のロボットアームによって選別する点で、第１実施形態の物品選別システム１と異なる。なお、第１搬送装置２０８ａおよび第２搬送装置２０８ｂは、いずれか一方、または両方がガントリー型のロボットであってもよい。 The article sorting system 201 according to the second embodiment of the present disclosure includes a first camera 202a, a second camera 202b, a display 204, a control device 206, a first conveyor device 208a, a second conveyor device 208b, and the like. A sorting area 210 and a belt conveyor 212 are provided. In the present embodiment, both the first transfer device 208a and the second transfer device 208b are robot arms. That is, the article sorting system 201 in the second embodiment is different from the article sorting system 1 in the first embodiment in that the waste X flowing through the belt conveyor 212 is sorted by two robot arms. The first transfer device 208a and the second transfer device 208b may be one or both of the gantry type robots.
　物品選別システム２０１は、ベルトコンベア２１２を流れる廃棄物Ｘを、複数のカメラ２０２と、複数の搬送装置２０８と、を用いて選別する廃棄物選別システムである。このような、物品選別システム２０１は、第１実施形態における荒選別の後工程において、廃棄物をさらに細かく選別する際に使用される。 The article sorting system 201 is a waste sorting system that sorts the waste X flowing through the belt conveyor 212 by using a plurality of cameras 202 and a plurality of transporting devices 208. Such an article sorting system 201 is used for further finely sorting waste in the post-process of rough sorting in the first embodiment.
　制御装置２０６は、第１カメラ２０２ａで撮像した画像データＤに基づいて、第１搬送装置２０８ａを制御し、第２カメラ２０２ｂで撮像した画像データＤに基づいて、第２搬送装置２０８ｂを制御する。より具体的には、制御装置２０６は各カメラから取得した画像データＤをそれぞれ別々にディスプレイ２０４に表示する。その後の制御装置２０６の行う処理については、第１実施形態と同様であるため説明を省略する。なお、物品選別システム２０１は、２つのディスプレイ２０４を備え、各ディスプレイ２０４に各カメラ２０２ａ，２０２ｂから取得した画像データＤをそれぞれ別々に表示してもよい。 The control device 206 controls the first transport device 208a based on the image data D captured by the first camera 202a, and controls the second transport device 208b based on the image data D captured by the second camera 202b. .. More specifically, the control device 206 separately displays the image data D acquired from each camera on the display 204. The subsequent processing performed by the control device 206 is the same as that of the first embodiment, and thus the description thereof will be omitted. The article sorting system 201 may include two displays 204, and the image data D acquired from the cameras 202a and 202b may be displayed separately on each display 204.
　＜第３実施形態＞
　次に、本開示の第３実施形態について図１および図６を用いて説明する。なお、第３実施形態の説明においては、第１実施形態と異なる点のみ説明する。 <Third Embodiment>
Next, the third embodiment of the present disclosure will be described with reference to FIGS. 1 and 6. In the description of the third embodiment, only the points different from those of the first embodiment will be described.
　図１に示すように、本開示の第３実施形態に係る物品選別システム３０１は、第１実施形態に係る物品選別システム１の各構成に加えて、コントローラ３０５が設けられる。本実施形態では、コントローラ３０５はディスプレイ３０４または制御装置３０６に電気的に接続可能なマウスである。コントローラ３０５のマウスは少なくともホイールが設けられ、ユーザがホイールを回転させると、回転に応じた信号を制御装置３０６に送信する。 As shown in FIG. 1, in the article sorting system 301 according to the third embodiment of the present disclosure, a controller 305 is provided in addition to each configuration of the article sorting system 1 according to the first embodiment. In this embodiment, the controller 305 is a mouse that can be electrically connected to the display 304 or the control device 306. The mouse of the controller 305 is provided with at least a wheel, and when the user rotates the wheel, a signal corresponding to the rotation is transmitted to the control device 306.
　図６に示すように、制御装置３０６は、第１の廃棄物Ｘ１を除いた他の廃棄物Ｘ２をディスプレイ３０４上に選択可能な状態で表示するとともに、アーム３０８ｃが廃棄物Ｘ２を掴む方向を示した直線Ｆを表示する。制御装置３０６は、ユーザがホイールを回転させること直線Ｆを回転させる（図６の回転矢印参照）。 As shown in FIG. 6, the control device 306 displays the other waste X2 excluding the first waste X1 in a selectable state on the display 304, and indicates the direction in which the arm 308c grips the waste X2. The indicated straight line F is displayed. The control device 306 rotates the straight line F when the user rotates the wheel (see the rotation arrow in FIG. 6).
　制御装置３０６は、第１実施形態における種別判定不可能物品を掴むためのアーム３０８ｃの角度（治具の回転角度）を演算に変えて、直線Ｆの角度を用いてアーム３０８ｃの角度を決定する。制御装置３０６は、ユーザが指示した方向にアーム３０８ｃを動かし、廃棄物Ｘ２を確実に掴む。制御装置３０６は、このときのアーム３０８ｃの角度を記憶し、次回に同じ形状の廃棄物Ｘ２が表示された場合、記憶した角度を用いて廃棄物Ｘ２を掴んでもよい。これによって制御装置３０６の演算負荷を削減しながら、確実に廃棄物Ｘ２を掴むことができる。 The control device 306 changes the angle (rotation angle of the jig) of the arm 308c for grasping the article whose type cannot be determined in the first embodiment into a calculation, and determines the angle of the arm 308c using the angle of the straight line F. .. The control device 306 moves the arm 308c in the direction instructed by the user to surely grasp the waste X2. The control device 306 may store the angle of the arm 308c at this time, and when the waste X2 having the same shape is displayed next time, the waste X2 may be grasped using the stored angle. As a result, the waste X2 can be reliably grasped while reducing the calculation load of the control device 306.
　＜他の実施形態＞
　以上、本開示の実施形態について説明したが、本開示は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々に変更が可能である。 <Other embodiments>
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and various changes can be made without departing from the gist of the invention.
　（ａ）上記第１実施形態および第２実施形態では、廃棄物Ｘを選別する物品選別システム１、物品選別システム２０１を例に説明したが、本開示はこれに限定されない。物品選別システム１，２０１は、搬送するための物品を選別するためのシステムであればよく、積み置きされた複数の形状や色彩の異なる物品（例えば、薬草など）を選別して搬送するシステムであってもよい。 (A) In the first embodiment and the second embodiment, the article sorting system 1 and the article sorting system 201 for sorting the waste X have been described as examples, but the present disclosure is not limited to this. The article sorting system 1,201 may be a system for sorting articles to be transported, and is a system for sorting and transporting a plurality of stacked articles having different shapes and colors (for example, medicinal herbs). There may be.
　（ｂ）上記第１実施形態では、ディスプレイ４に種別判定不可能物品が選択された旨を表示する例として、丸と数字を用いたが本開示はこれに限定されない。制御装置６は、ディスプレイ４に種別判定不可能物品が選択された旨を表示できればよく、選択された画面上の座標を表示するために丸以外の図形（例えば×など）を用いて表示してもよい。また、選別エリアを示す記号としてアルファベットなどを用いてもよい。いずれにせよ、制御装置６は、種別判定不可能物品が選択された旨がユーザに認識できる記号を表示できればよい。 (B) In the first embodiment, circles and numbers are used as an example of displaying on the display 4 that an article whose type cannot be determined is selected, but the present disclosure is not limited to this. The control device 6 only needs to be able to display on the display 4 that an article whose type cannot be determined is selected, and displays using a figure other than a circle (for example, ×) to display the coordinates on the selected screen. May be good. Further, an alphabet or the like may be used as a symbol indicating a sorting area. In any case, it is sufficient that the control device 6 can display a symbol that the user can recognize that the article whose type cannot be determined is selected.
　（ｂ）上記第２実施形態では、２つのカメラ２０２ａ，２０２ｂ、２つの搬送装置２０８ａ，２０８ｂを例に用いて説明したが、本開示はこれに限定されない。物品選別システム２０１は、カメラ、および搬送装置を３台以上用いて、廃棄物Ｘを選別してもよい。 (B) In the second embodiment described above, two cameras 202a and 202b and two transport devices 208a and 208b have been described as examples, but the present disclosure is not limited to this. The article sorting system 201 may sort the waste X by using three or more cameras and a transport device.
（ｃ）上記第３実施形態では、直線Ｆをコントローラ３０５によって回転させる例を用いて説明したが、本開示はこれに限定されない。ディスプレイ３０４がタッチパネルの場合、ユーザがディプレイ３０４を直接操作し、直線Ｆを回転させてもよい。 (C) In the third embodiment, the straight line F is rotated by the controller 305, but the present disclosure is not limited to this. When the display 304 is a touch panel, the user may directly operate the display 304 to rotate the straight line F.
１，２０１，３０１：物品選別システム　　２，２０２ａ，２０２ｂ：カメラ
４，２０４：ディスプレイ　　６，２０６，３０６：制御装置
６ａ：記憶部　　８，２０８ａ，２０８ｂ：搬送装置
Ｄ：画像データ 
Ｘ１：第１の廃棄物（第１の物品の一例）
Ｘ２：他の廃棄物（他の物品の一例） 1,201,301: Article sorting system 2,202a, 202b: Camera 4,204: Display 6,206,306: Control device 6a: Storage unit 8,208a, 208b: Conveyor device D: Image data
X1: First waste (an example of the first article)
X2: Other waste (an example of other articles)

Claims (6)

  1. 　複数の物品を撮像するカメラと、
    　前記カメラで撮像した画像データを表示するディスプレイと、
    　前記カメラで撮像した前記画像データを取得し、前記画像データの中から自動的に選別可能な第１の物品を選別し、
    　前記選別した前記第１の物品を前記ディスプレイに表示し、前記第１の物品を除いた他の物品を前記ディスプレイ上に選択可能な状態で表示する制御装置と、
    を備える、
    物品選別システム。     A camera that captures multiple articles,
    A display that displays image data captured by the camera, and
    The image data captured by the camera is acquired, and the first article that can be automatically sorted is selected from the image data.
    A control device that displays the selected first article on the display and displays other articles excluding the first article on the display in a selectable state.
    To prepare
    Goods sorting system.
  2. 　前記ディスプレイはタッチパネル式であり、
    　前記制御装置は、前記他の物品を前記ディスプレイ上でタッチ操作可能な状態で表示する、請求項１に記載の物品選別システム。     The display is a touch panel type.
    The article sorting system according to claim 1, wherein the control device displays the other articles in a touch-operable state on the display.
  3. 　前記物品を搬送する搬送装置をさらに備え、
    　前記制御装置は、前記他の物品が選択された場合、前記搬送装置に前記物品の位置情報を送信する、
    請求項１または２に記載の物品選別システム。     Further equipped with a transport device for transporting the article,
    When the other article is selected, the control device transmits the position information of the article to the transport device.
    The article sorting system according to claim 1 or 2.
  4. 　前記搬送装置は、前記物品の種別によって複数の搬送先を有し、
    　前記制御装置は、前記他の物品の搬送先を前記複数の搬送先の中から指定可能な画面を前記ディスプレイに表示する、請求項３に記載の物品選別システム。     The transport device has a plurality of transport destinations depending on the type of the article.
    The article sorting system according to claim 3, wherein the control device displays a screen on the display on which a transfer destination of the other article can be specified from among the plurality of transfer destinations.
  5. 　前記制御装置は、記憶部を有し、
    　前記記憶部は、前記第１の物品を判定するための教師データを記憶し、
    　前記制御装置は、前記カメラで取得した画像データと前記教師データとを照合することで、複数の前記物品をから前記第１の物品を選別する、
    請求項１から４のいずれか１項に記載の物品選別システム。     The control device has a storage unit and has a storage unit.
    The storage unit stores teacher data for determining the first article, and stores the teacher data.
    The control device selects the first article from a plurality of the articles by collating the image data acquired by the camera with the teacher data.
    The article sorting system according to any one of claims 1 to 4.
  6. 　前記第１の物品を除いた他の物品を掴むアーム部をさらに備え、
    　前記制御装置は、前記ディスプレイに前記第１の物品を除いた他の物品を掴む方向を示す線を表示し、
    　前記方向に基づいて前記アームを作動させる、
    請求項１から５のいずれか１項に記載の物品選別システム。     Further provided with an arm portion for gripping other articles other than the first article,
    The control device displays on the display a line indicating a direction for grasping other articles other than the first article.
    Activating the arm based on the direction,
    The article sorting system according to any one of claims 1 to 5.
PCT/JP2021/032078 2020-09-04 2021-09-01 Article sorting system WO2022050299A1 (en)

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JP2013111728A (en) * 2011-11-30 2013-06-10 Ihi Corp Gripping operation setting method, device and program
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JP2020062633A (en) * 2018-10-19 2020-04-23 株式会社御池鐵工所 Waste sorting apparatus and waste sorting method
JP6695539B1 (en) * 2019-08-16 2020-05-20 株式会社イーアイアイ Article sorting apparatus, article sorting system and article sorting method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10180667A (en) * 1996-12-26 1998-07-07 Nkk Corp Robot system for selecting particular article in waste
JP2013111728A (en) * 2011-11-30 2013-06-10 Ihi Corp Gripping operation setting method, device and program
JP2017109197A (en) * 2016-07-06 2017-06-22 ウエノテックス株式会社 Waste screening system and screening method therefor
JP2019195751A (en) * 2018-05-08 2019-11-14 ウエノテックス株式会社 Waste material sorting system, teaching data generation device, teaching data generation system, and teaching data generation program
JP2020062633A (en) * 2018-10-19 2020-04-23 株式会社御池鐵工所 Waste sorting apparatus and waste sorting method
JP6695539B1 (en) * 2019-08-16 2020-05-20 株式会社イーアイアイ Article sorting apparatus, article sorting system and article sorting method

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