WO2024089871A1

WO2024089871A1 - Control apparatus, foreign matter removal apparatus, and information processing method

Info

Publication number: WO2024089871A1
Application number: PCT/JP2022/040336
Authority: WO
Inventors: 弘規近藤
Original assignee: 株式会社Fuji
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2024-05-02

Abstract

A control apparatus according to the present disclosure is used for a foreign matter removal apparatus comprising a removal part that removes a foreign matter included in a target object conveyed by a conveyance apparatus, and a detection part that is provided on the upstream side of the removal part and detects the target object and the foreign matter. This control apparatus comprises a control part that sets, in response to property information of the foreign matter including at least one or more of the size, shape, and material of the foreign matter obtained by the detection part, a release position of the foreign matter in a disposal part to which the foreign matter is discharged and a moving route through which the foreign matter is collected and the removal part is moved to the disposal part.

Description

CONTROL DEVICE, FOREIGN MATTER REMOVAL DEVICE, AND INFORMATION PROCESSING METHOD

This specification discloses a control device, a foreign object removal device, and an information processing method.

Conventionally, a foreign matter removal device that removes foreign matter from an object has been proposed that, for example, obtains first image data by photographing a group of items being transported by a transport device, separates the items to be sorted from the group of items, moves the separated items to a sorting position, and photographs the items after they have been separated from the group of items to obtain second image data (see, for example, Patent Document 1). This foreign matter removal device is said to be able to sort items that are not distributed more accurately than conventional devices.

JP 2021-030107 A

However, the device in Patent Document 1 determines the type of multiple objects shown in the first image data, decides on a sorting target based on the determination result, and determines the type of another target from the second image data. Furthermore, multiple robot arms that sort and discharge waste are provided at different positions relative to a storage container that contains foreign objects. While the device in Patent Document 1 sorts objects with high accuracy, it is still not sufficient, and there is a need for a more appropriate way to remove foreign objects from the targets.

The present disclosure has been made to solve these problems, and has as its main objective the provision of a control device, a foreign object removal device, and an information processing method that can more appropriately remove foreign objects from an object.

This disclosure takes the following steps to achieve the above-mentioned primary objective:

The control device disclosed in this specification includes:
A control device for use in a foreign matter removal device including a removal unit that removes foreign matter contained in an object transported by a transport device, and a detection unit that is located upstream of the removal unit and detects the object and the foreign matter,
a control unit that sets a release position of the foreign object in a disposal unit that is a discharge destination of the foreign object and a movement path for collecting the foreign object and moving the removal unit to the disposal unit in accordance with characteristic information of the foreign object obtained by the detection unit, the release position being determined based on at least one of the size, shape, and material of the foreign object;
A control device comprising:

This control device sets the release position and movement path according to characteristic information of the foreign object obtained by the detection unit, including at least one of the size, shape, and material of the foreign object, so that the foreign object can be more appropriately removed from the target object.

FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10. FIG. 2 is an explanatory diagram showing an example of a schematic configuration of a foreign matter removal device 30. FIG. 2 is a perspective view showing an example of a schematic configuration of a removal unit 40. 3A and 3B are explanatory diagrams showing examples of captured

images

81 and 82 of the detection unit 31. 11 is a flowchart showing an example of a foreign matter removal processing routine. FIG. 11 is an explanatory diagram showing an example of a process for setting a travel route. FIG. 4 is an explanatory diagram showing an example of a release position for a long foreign object 14A. FIG. 11 is an explanatory diagram showing an example of a release position for a rectangular foreign object 14B. FIG. 11 is an explanatory diagram showing an example of a release position of a foreign object 14C made of a light material.

The embodiment for carrying out the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10 that recycles waste materials. FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a foreign matter removal device 30. FIG. 3 is a perspective view showing an example of the schematic configuration of a removal unit 40. FIG. 4 is an explanatory diagram showing examples of captured

images

81, 82 captured by a detection unit 31. Note that in this embodiment, the left-right direction, front-rear direction, and up-down direction are as shown in FIGS. 1 to 4 and 6 to 9. Also, in this embodiment, the direction in which waste materials 12 are transported is referred to as the transport direction D.

The waste materials 12 processed by the recycling system 10 are a mixture of objects 13 to be recycled, such as stones, sand, and concrete, and foreign objects 14, including paper, resin, wood, and metals. As shown in FIG. 1, the recycling system 10 includes a primary crusher 15, a primary magnetic separator 16, a screener 17, a foreign object removal device 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying devices 20-25.

The primary crusher 15 is a device that performs primary crushing of the waste material 12, which is the raw material. The primary crusher 15 crushes the waste material 12 to a predetermined primary size or less (e.g., 40 cm or less). The primary magnetic separator 16 is a device that removes magnetic foreign matter contained in the waste material 12 by magnetic force. The screener 17 is a device that separates the waste material 12 into the primary size or more and the waste material 12 less than the primary size, for example, by passing the waste material 12 over a mesh. The secondary crusher 18 is a device that performs secondary crushing of the waste material 12 into a size smaller than that of the primary crusher 15. The secondary crusher 18 crushes the waste material 12 to a predetermined secondary size or less (e.g., 10 cm or less). The secondary magnetic separator 19 is a device that removes magnetic material from the waste material 12 that could not be completely removed by the primary magnetic separator 16 and the foreign matter removal device 30.

The conveying devices 20 to 25 as the conveying line are devices that place the waste material 12 on a conveying surface and convey it along the conveying direction D, and are configured as belt conveyors, for example. Note that the conveying devices 20 to 25 may be configured as something other than a belt conveyor, so long as they are capable of conveying the waste material 12.

The foreign matter removal device 30 is a device that places the waste material 12 on the conveying surface of the conveying device 22, conveys the waste material 12 within the conveying line, and removes the foreign matter 14. As shown in FIG. 2, the foreign matter removal device 30 is composed of a detection unit 31, a removal unit 40, and a control device 50. The foreign matter removal device 30 also includes a disposal unit 36. The conveying device 22 places the waste material 12 on the conveying surface and conveys the waste material 12 at a predetermined conveying speed.

The detection unit 31 is disposed upstream of the removal unit 40 in the conveying direction D. The detection unit 31 includes an imaging unit 32 that images the waste material 12, including the target object 13 and the foreign object 14, conveyed by the conveying unit 22, and a measuring unit 33 that measures the height of the waste material 12. The imaging unit 32 is configured, for example, as a camera that captures an image of the waste material 12 placed on the conveying surface of the conveying device 22 and conveyed. The imaging unit 32 is held above the conveying surface of the conveying device 22 by a holding member that is provided so as to straddle the conveying device 22 in the left-right direction. The imaging unit 32 captures an image of a predetermined range including the waste material 12 from above the conveying surface of the conveying device 22, and outputs image data to the control device 50. As shown in FIG. 4, the imaging unit 32 captures captured

images

81 and 82, including the target object 13 and the foreign object 14. The captured image 81 is an example of an image in a state in which the waste material 12 is not being conveyed on the conveying device 22. The captured image 82 is an example of an image of the state in which the waste material 12 and the foreign matter 14 are being transported on the transport device 22. The control device 50 acquires the width of the waste material 12 from the captured image, and acquires the amount of the waste material 12. The measurement unit 33 detects the height of the waste material 12 on the transport device 22. For example, the measurement unit 33 may be provided upstream of the removal unit 40 in the transport direction D, and may be configured as a stereo camera equipped with two cameras. Alternatively, the measurement unit 33 may be a sensor that detects a reflected wave obtained by irradiating the transport surface and obtains the height of the reflection position. The measurement unit 33 is held above the transport surface of the transport device 22 by a holding member provided so as to straddle the transport device 22 in the left-right direction. The measurement unit 33 outputs information regarding the detected height of the waste material 12 to the control device 50. The foreign matter removal device 30 equipped with the measurement unit 33 can control the transport of the waste material 12 by using information on the height direction of the waste material 12. On the other hand, the foreign matter removal device 30 may omit the measuring unit 33, and may omit the use of height information of the waste material 12.

The disposal section 36 is a dust box that contains the foreign objects 14. The disposal section 36 has two or more storage sections, for example, a first storage section 37 and a second storage section 38, depending on the material of the foreign objects 14. The first storage section 37 is a dust box that contains relatively heavy objects, such as metals, rocks, and wood chips. The second storage section 38 is a dust box that contains relatively light objects, such as light materials such as resin and paper. The disposal section 36 is not limited to the above-mentioned separation method, and may separate metals and materials other than metals. In the following description, the heavy foreign objects 14 of the first material may be referred to as

foreign objects

14A and 14B, and the light foreign object 14 of the second material may be referred to as foreign object 14C, but these are collectively referred to as foreign objects 14.

The removal unit 40 is a device that removes foreign matter 14 from the target object 13 transported by the transport device 22, and is configured as an XY robot, for example. The removal unit 40 detects and removes foreign matter 14 present in the waste material 12 based on the image captured by the imaging unit 32. The removal unit 40 is provided downstream of the detection unit 31 in the transport direction D. The removal unit 40 includes an X-axis slider 41, a Y-axis slider 43, a lifting unit 45, a collection unit 47, a removal head 48, and a gripping member 49. The removal unit 40 discards the collected foreign matter 14 into the disposal unit 36 disposed to the side of the transport device 22. The removal unit 40 may be configured in other ways, such as a multi-joint arm robot.

The X-axis slider 41 includes a drive mechanism 42. The drive mechanism 42 includes a guide rail installed along a direction perpendicular to the transport direction D of the transport device 22, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to the slider of the Y-axis slider 43 installed on the transport section 22 along the transport direction D. A removal head 48 having a lifting section 45 is fixed to the slider of the X-axis slider 41. The drive mechanism 42 may be, for example, a linear motion mechanism using a ball screw equipped with a screw shaft and a nut. Note that the drive mechanism 42 is not particularly limited as long as it is a linear motion mechanism, and may be a linear motor or the like. In the X-axis slider 41, the drive mechanism 42 moves the removal head 48 along the X-axis direction. The Y-axis slider 43 includes a drive mechanism 44. The drive mechanism 44 includes a guide rail installed along the transport direction D, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to a support part 35 installed on the transport part 22 along the transport direction D. The X-axis slider 41 is disposed on the slider of the Y-axis slider 43. The drive mechanism 44 may be a mechanism similar to the drive mechanism 42. In the Y-axis slider 43, the drive mechanism 44 moves the X-axis slider 41 along the Y-axis direction. The lifting part 45 is fixed to a removal head 48 disposed on the X-axis slider 41. The lifting part 45 includes a drive mechanism 46 that lifts and lowers the collection part 47 along the Z-axis. The drive mechanism 46 may be a mechanism similar to the drive mechanism 42. The lifting part 45 lifts and lowers the collection part 47 along the Z-axis direction by the drive mechanism 46.

The collection unit 47 has a plurality of gripping members 49. The collection unit 47 is equipped with a camera and/or a sensor and is configured to be able to acquire information on the posture of the foreign object 14 gripped by the gripping members 49. The gripping members 49 may be gripping claws that grip an object. The collection unit 47 grips and releases the foreign object 14 by opening and closing the gripping members 49 to collect and remove it from the waste material 12. The collection unit 47 opens and closes the gripping members 49 by a gripping drive unit (not shown). The collection unit 47 is moved in the X, Y, and Z directions within a predetermined range of the transport unit 22 by the X-axis slider 41, the Y-axis slider 43, and the lift unit 45.

The control device 50 is a device that controls the entire foreign matter removal device 30, and is equipped with a control unit 51 and a memory unit 52. The control unit 51 is configured as a microprocessor centered on a CPU, and controls the entire device. The control unit 51 outputs control signals to the detection unit 31 and the removal unit 40, and inputs signals from the detection unit 31 and the removal unit 40. The memory unit 52 is a storage medium that stores information, and is configured, for example, by a HDD or flash memory.

Next, the operation of the foreign matter removal device 30 thus configured will be described. First, the process of removing the foreign matter 14 from the waste material 12 to produce the target object 13 will be described. FIG. 5 is a flowchart showing an example of a foreign matter removal process routine executed by the control unit 51 of the control device 50. This routine is stored in the memory unit 52, and is executed by the control unit 51 after the foreign matter removal device 30 is started. When this routine is started, the control unit 51 first drives the conveying device 22 (S100) and determines whether it is the timing to detect the waste material 12 on the conveying device 22 (S110). This detection timing can be, for example, a timing at which all of the foreign matter 14 contained in the conveyed waste material 12 can be detected. This detection timing can be, for example, a timing at which the imaging unit 32 captures all of the waste material 12 conveyed by the conveying device 22 in continuous still images, and the still image moves to the next image. Note that when the imaging unit 32 captures a video, the detection timing can be a certain period of time during which still images are acquired. Furthermore, the detection timing of the measurement unit 33 may be, for example, every certain time period, or may be the same as the detection timing of the imaging unit 32.

When it is detection time in S110, the control unit 51 acquires the captured image captured by the imaging unit 32 and the height value measured by the measurement unit 33, and performs detection processing for the waste material 12 and the foreign object 14 using the captured image and the height value (S120). As the detection processing for the waste material 12, the control unit 51 performs processing for detecting an area with a different brightness from the conveying surface of the conveying device 22, for example, and determining that area as the area of the waste material 12. The control unit 51 may also determine the area of the waste material 12 from the acquired height of the conveying surface. Furthermore, the control unit 51 can determine the presence or absence of the foreign object 14 based on whether or not there is an area of the foreign object 14 in the captured image (see FIG. 4).

The control unit 51 then determines whether or not a foreign object 14 is present in the captured image of the transport device 22 (S130). When a foreign object 14 is present in the transport device 22, the control unit 51 acquires characteristic information including the size, shape, and material of the foreign object 14 based on the detection result obtained by the detection unit 31 (S140). The control unit 51 can acquire the size and shape of the foreign object 14 by detecting the area of the foreign object 14 contained in the captured image. The control unit 51 also stores in the memory unit 52 correspondence information that associates characteristics such as brightness ranges empirically determined from images of various foreign objects 14 with materials, and can use this to determine the material of the foreign object 14.

Then, the control unit 51 performs a process of setting a release position of the foreign object 14 in the disposal unit 36, which is the destination of the foreign object 14, and a movement path for collecting the foreign object 14 and moving it through the removal unit 40 to the disposal unit 36, according to the characteristic information of the foreign object 14 obtained by the detection unit 31 (S150 to S190). Specifically, the control unit 51 determines whether the material of the foreign object 14 is a first material that is a material other than a light material, or a second material that is a light material (S150). Light material foreign objects 14 may include, for example, resin such as vinyl, and paper scraps. Furthermore, foreign objects 14 other than light materials may include pieces of metal and wood.

When the detected foreign object 14 is of the first material, i.e., the foreign object 14 is relatively heavy, the control unit 51 selects the first storage unit 37 as the disposal location and sets the release reference area to the end area and an upper position (S160). The control unit 51 uses the characteristic information of the foreign object 14 to select the release reference area of the disposal unit 36 on the end side closer to the conveying device 22, and sets the release position of the foreign object 14 and the posture of the foreign object 14 based on the release reference area (S180). The release position in the first storage unit 37 can be a position that is a shorter moving distance from the position where the gripping member 49 picks up the foreign object 14. This release position does not necessarily have to be within the release reference area, but is set so that the foreign object 14 is within the release reference area as much as possible (see Figures 6 to 9 described below). Since the heavy foreign object 14 made of the first material falls vertically downward with precision, the control unit 51 sets the release position closer to the end and higher on the disposal unit 36, thereby further restricting the movement of the gripping member 49 and further shortening the processing time.

On the other hand, when the detected foreign object 14 is of the second material, that is, when the foreign object 14 is a light material, the control unit 51 selects the second storage unit 38 as the disposal location and selects the release reference area to be the central area and a lower position (S170). Next, the control unit 51 sets the release position of the foreign object 14 based on the characteristic information of the foreign object 14 and the posture of the foreign object 14 based on the release reference area (S180). The release position in the second storage unit 38 can be a position that is a shorter moving distance from the position where the foreign object 14 is collected by the gripping member 49. This release position does not necessarily have to be within the release reference area, but it is set so that the foreign object 14 is within the release reference area as much as possible (see FIG. 6 described later). Since the foreign object 14 of the second material, which is a light material, may not fall vertically downward, the control unit 51 sets the release reference area to be more central and lower, so that the foreign object 14 can be more reliably dropped into the disposal unit 36.

After S180, the control unit 51 sets a turn-back position where the removal head 48 will turn around after collecting the foreign matter 14 at the collection position, and sets a movement path that passes through the initial position, the turn-back position, and the release position and returns to the initial position (S190). The initial position is a position where the removal head 48 waits, and can be the center on the most upstream side in the conveying direction D. The control unit 51 can calculate a position where the removal head 48 can move from the initial position directly above the foreign matter 14 and move at the same speed as the conveying speed of the foreign matter 14 to lower the gripping member 49 to grip it, and set the collection position. The control unit 51 can also set the position where the movement from this collection position to the release position R starts as the turn-back position. The control unit 51 can also set the release position by the process described next. Note that if multiple foreign matters 14 are detected in S130, the control unit 51 executes the processes of S140 to S190 for each foreign matter 14.

6 is an explanatory diagram showing an example of a process in which the control unit 51 sets a movement path. The dotted arrow in the figure is an example of a movement path of the foreign object 14 of the first material, and the solid arrow is a movement path of the foreign object 14 of the second material, which is a light material. In the first storage unit 37, which is farther from the turning position T, the control unit 51 sets the end side closer to the turning position T as the release position. Here, the turning position T refers to, for example, the position where the gripping member 49 turns from the collection position P where the gripping member 49 grips and collects the foreign object 14 to the release position R of the disposal unit 36. In the first storage unit 37, which discards heavy foreign objects 14, an L-shaped release reference area 37a is set on the opening edge side close to the conveying device 22 and the opening edge side close to the second storage unit 38. By setting the release position R inside or near this release reference area 37a, the control unit 51 can set the movement path of the foreign object 14 to a shorter distance. In addition, in the second storage section 38, which discards the light-weight foreign objects 14, a T-shaped release reference area 38a is set on the opening edge side close to the transport device 22 and on a line passing through the center. The control section 51 sets the release position R so that the

release reference areas

37a and 38a include as much of the projected area of the foreign objects 14 as possible.

7A and 7B are explanatory diagrams showing an example of the release position and removal process of a long foreign object 14A of the first material, where FIG. 7A is an explanatory diagram of the release position of the foreign object 14A, and FIG. 7B is an explanatory diagram of the release height of the foreign object 14A. When the foreign object 14A is a long object and has a length that fits into the end side of the first storage section 37, the control section 51 sets the position along the end side of the opening edge of the first storage section 37 as the release position R, and sets the posture along the end side of the opening edge of the first storage section 37 as the release posture (FIG. 7A). In addition, since this foreign object 14A falls vertically downward, the control section 51 can set a higher release position (FIG. 7B). In this case, the movement distance of the removal head 48 is shorter than when the foreign object 14A is released at a low position toward the center of the first storage section 37, so that the processing time can be further reduced. 8A and 8B are explanatory diagrams showing an example of the release position and removal process of the rectangular foreign object 14B of the first material, in which FIG. 8A is an explanatory diagram of the release position of the foreign object 14B and FIG. 8B is an explanatory diagram of the release height of the foreign object 14B. When the foreign object 14B is a rectangular heavy object and has a length that fits into the end side of the first storage section 37, the control section 51 sets the position along the end side of the opening edge of the first storage section 37 as the release position R, and sets the posture along the end side of the opening edge of the first storage section 37 as the release posture (FIG. 8A). The release position of the foreign object 14B is a position along the lower left corner of the first storage section 37, which is the shortest distance. In addition, since this foreign object 14B falls vertically downward, the control section 51 can set a higher release position (FIG. 8B). In this case, the removal head 48 moves a shorter distance than when releasing the foreign object 14B at a low position on the center side of the first storage section 37, so that the processing time can be further reduced. 9A and 9B are explanatory diagrams showing an example of the release position and removal process of a foreign object 14C made of a light material, with FIG. 9A being an explanatory diagram of the release position of the foreign object 14C and FIG. 9B being an explanatory diagram of the release height of the foreign object 14C. When the foreign object 14C is made of a light material, it may not fall vertically downward, so the control unit 51 sets the release position R to the center of the second storage unit 38 compared to the foreign object 14C made of the first material (FIG. 9A). Also, since this foreign object 14C may not fall vertically downward, the control unit 51 sets the release position to a lower position compared to the first material (FIG. 9B). In this way, the control unit 51 can set a more appropriate release position and movement path for the foreign object 14 according to the characteristic information of the foreign object 14.

After S190, the control unit 51 determines whether it is time to start removing the foreign body 14 (S200), and if the removal start timing has not arrived, it waits. The control unit 51 can set this removal start timing based on the time it takes for the removal head 48 to move directly above the foreign body 14 using the above calculation. On the other hand, when the removal start timing arrives, the control unit 51 controls each drive unit such as the

drive mechanisms

42, 44, and 46 to move the removal head 48 of the removal unit 40 to the collection position P along the above-set movement path (S210). The control unit 51 lowers the gripping member 49 before the removal head 48 reaches the collection position P, collects the foreign body 14 at the collection position P using the gripping member 49, and obtains the posture of the foreign body 14 from the collection unit 47 while raising the foreign body 14 (S220). Next, the control unit 51 controls each driving unit to move the removal head 48 of the removal unit 40 along the movement path via the turning position T to the collection position P and to place the foreign body 14 in the release position (S230). As shown in Figs. 7A, 8A, and 9A, the control unit 51 changes the position of the foreign body 14 as necessary so that the foreign body 14 is in the release position. When the removal head 48 reaches the release position R defined by the XY coordinates and the Z coordinates, the control unit 51 releases the foreign body 14 and moves the removal head 48 of the removal unit 40 to the initial position H along the set movement path (S240). At this time, if there is another foreign body 14 to be removed, the control unit 51 may move directly from the release position R to the next collection position P.

After S240, or when there is no foreign object 14 in S130, the control unit 51 determines whether or not all recycling processes for the waste material 12 have been completed (S250), and when all recycling processes for the waste material 12 have not been completed, executes the processes from S110 onwards. That is, when there is a foreign object 14 on the conveying device 22, the control unit 51 determines a collection position P for collecting the foreign object 14, a turning position T for changing the direction of movement, and a release position R for dropping the foreign object 14 according to the characteristic information of the foreign object 14, and repeatedly executes the process of removing the foreign object 14. On the other hand, when all recycling processes for the waste material 12 have been completed in S250, this routine ends.

Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The foreign matter removal device 30 of this embodiment corresponds to an example of a foreign matter removal device of this disclosure, the control device 50 corresponds to an example of a control device, the detection unit 31 corresponds to an example of a detection unit, the removal unit 40 corresponds to an example of a removal unit, and the control unit 51 corresponds to an example of a control unit. In addition, the transport device 22 corresponds to an example of a transport device, the waste material 12 corresponds to an example of a waste material, and the foreign matter 14 corresponds to an example of a foreign matter. Note that in this embodiment, by explaining the operation of the foreign matter removal device 30, an example of an information processing method of this disclosure is also clarified.

The control device 50 described above is used in a foreign object removal device 30 that includes a removal unit 40 that removes foreign objects 14 contained in the target object 13 transported by the transport device 22, and a detection unit 31 that is located upstream of the removal unit 40 and detects the target object 13 and foreign objects 14. This control device 50 sets a release position R of the foreign object 14 in the disposal unit 36, which is the destination of the foreign object 14, and a movement path for collecting the foreign object 14 and moving the removal unit 40 to the disposal unit 36, according to characteristic information of the foreign object 14 obtained by the detection unit 31, including at least one of the size, shape, and material of the foreign object 14. This control device 50 sets the release position R and the movement path according to characteristic information of the foreign object 14 obtained by the detection unit 31, including at least one of the size, shape, and material of the foreign object 14, so that the foreign object 14 can be more appropriately removed from the target object 13.

In addition, the control unit 51 uses the characteristic information of the foreign object 14 to set the release position R of the disposal unit 36 at the end side closer to the transport device 22 and the attitude of the foreign object 14 at the release position R. Since the control device 50 can set the release position closer to the transport device 22 using the characteristic information of the foreign object 14, the time required to remove the foreign object 14 can be further shortened. Furthermore, the control unit 51 sets a moving path that has a shorter moving distance between the collection position P and the release position R of the foreign object 14. With this control device 50, the time required to remove the foreign object 14 can be further shortened. Furthermore, when setting the release position R according to the material of the foreign object 14, the control unit 51 sets a lower position for the foreign object 14C of the second material that is lighter than the first material as the release position R compared to the

foreign objects

14A and 14B of the first material. With this control device 50, the lighter foreign object 14C that may not fall vertically downward can be released at a position closer to the disposal unit 36, so that the foreign object 14C can be more reliably released to the disposal unit 36. When setting the release position R according to the material of the foreign object 14, the control unit 51 sets the release position R for the foreign object 14C made of a second material that is lighter than the first material to be closer to the center of the disposal unit 36 than for the

foreign objects

14A and 14B made of the first material. With this control device 50, the lighter foreign object 14C, which may not fall vertically downward, can be released at the center of the disposal unit 36, so that the foreign object 14C can be more reliably released into the disposal unit 36.

The disposal section 36 has two or more first and

second storage sections

37 and 38 according to the material of the foreign object 14, and the control section 51 sets the end side closer to the turning position T of the first storage section 37, which is farther from the turning position T where the foreign object 14 is collected and then moved to the disposal section 36, as the release position R. This control device 50 can collect foreign objects 14 of different materials separately, and by shortening the moving distance, the time required to remove the foreign object 14 can be shortened. Furthermore, the control section 51 controls the removal section 40 to collect the foreign object 14 detected by the detection section 31, move the removal section 40 to the release position R along the set moving path, and control the removal section 40 to release the foreign object 14 to the disposal section 36. This control device 50 removes the foreign object 14 at the release position R and moving path set according to the characteristic information of the foreign object 14, so that the foreign object 14 can be more appropriately removed from the target object 13.

The foreign matter removal device 30 also includes a removal section 40 that removes foreign matter 14 contained in the target object 13 transported by the transport device 22, a detection section 31 that is located upstream of the removal section 40 and detects the target object 13 and foreign matter 14, and the control device 50 described above, and further includes a disposal section 36 that is a destination for the foreign matter 14. As with the control device 50 described above, this foreign matter removal device 30 sets the release position R and movement path according to characteristic information of the foreign matter 14, so that the foreign matter 14 can be more appropriately removed from the target object 13.

It goes without saying that this disclosure is in no way limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

For example, in the above embodiment, the characteristic information of the foreign object 14 includes the size, shape, and material of the foreign object 14, but is not limited to this, and one or more of these may be omitted, or other factors may be included in addition to or instead of these. Note that if the material of the foreign object 14 is omitted from the characteristic information of the foreign object 14, the control device 50 may omit changing the release position R of the foreign object 14 or omitting to separate and dispose of it. For example, the control device 50 sets the release position R lower or closer to the center for the foreign object 14C of the second material, which is lighter than the

foreign objects

14A and 14B of the first material, but this may be omitted.

In the above-described embodiment, the control device 50 changes the disposal location of the disposal section 36 depending on the material of the foreign object 14, but is not limited to this, and may change the disposal location of the disposal section 36 depending on the size of the foreign object 14, or may change the disposal location of the disposal section 36 depending on the shape of the foreign object 14. Furthermore, the disposal section 36 has two first and

second storage sections

37 and 38, but is not particularly limited to this, and may have three or more storage sections.

In the above-described embodiment, the control device 50 sets the release position R using the release reference area 37a and the release reference area 38a, but this is not particularly limited, and the release position R may be set without using these as long as the foreign object 14 is released to the end of the disposal section 36 on the conveying device 22 side.

In the above-described embodiment, all foreign objects 14 made of the second material, which is a light material, are released toward the center of the second storage section 38, but this is not particularly limited, and foreign objects 14 made of the second material may also be released toward the end of the disposal section 36 closer to the transport device 22 depending on their shape and size. This control device 50 can also more appropriately remove foreign objects 14 from the target object 13.

In the above-described embodiment, the control device 50 detects the presence or absence of the target object 13 or foreign object 14 on the transport device 22 using the image captured by the imaging unit 32 and the height information of the measurement unit 33, but this is not particularly limited, and either the image captured by the imaging unit 32 or the height information of the measurement unit 33 may be omitted. This control device 50 can also detect the presence or absence of the waste material 12 on the transport device 22. Note that it is preferable for the foreign object removal device 30 to detect the presence or absence of the waste material 12 on the transport device 22 using the imaging unit 32 and the measurement unit 33, as this allows for more accurate detection. Also, the detection unit 31 may be equipped with other detection devices instead of or in addition to the imaging unit 32 and the measurement unit 33.

In the above-described embodiment, the image captured by the imaging unit 32 is used to detect the presence or absence of waste material 12 on the transport device 22, and to detect foreign objects 14 contained in the waste material 12, but this is not particularly limited, and each detection may be performed using a separate image. Furthermore, the foreign object removal device 30 may have multiple detection units 31. It is more efficient and preferable for the foreign object removal device 30 to detect the presence or absence of waste material 12 on the transport device 22 and to detect foreign objects 14 contained in the waste material 12 using the same captured image.

In the above-described embodiment, the present disclosure has been described as a foreign matter removal device 30 equipped with a control device 50, but is not particularly limited to this, and the present disclosure may be the control device 50 itself, or may be an information processing method executed by a computer.

Here, the control method of the present disclosure may be configured as follows: For example, the information processing method of the present disclosure is an information processing method executed by a computer of a foreign matter removal device including a removal unit that removes foreign matter contained in an object transported by a transport device, and a detection unit that is located upstream of the removal unit and detects the object and the foreign matter, comprising:
a step of setting a release position of the foreign object in a disposal unit which is a discharge destination of the foreign object and a movement path for collecting the foreign object and moving the removal unit to the disposal unit according to characteristic information of the foreign object obtained by the detection unit, the release position being determined based on at least one of the size, shape, and material of the foreign object;
It includes.

In this information processing method, as with the control device described above, the release position and movement path are set according to the characteristic information of the foreign object, so that the foreign object can be more appropriately removed from the target object. Note that in this information processing method, various aspects of the control device described above may be adopted, and steps may be added that realize each function of the control device described above.

　This specification also discloses the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 3" in claim 4 as originally filed, the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 4" in claim 5 as originally filed, the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 5" in claim 6 as originally filed, the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 6" in claim 7 as originally filed, and the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 7" in claim 8 as originally filed.

This disclosure can be used in technical fields such as industrial waste recycling.

10 recycling system, 12 waste material, 13 target object, 14, 14A, 14B, 14C foreign object, 15 primary crusher, 16 primary magnetic separator, 17 screening machine, 18 secondary crusher, 19 secondary magnetic separator, 20-25 transport device, 30 foreign object removal device, 31 detection unit, 32 imaging unit, 33 measurement unit, 35 support unit, 36 disposal unit, 37 first storage unit, 37a release reference area, 38 second storage unit , 38a release reference area, 40 removal section, 41 X-axis slider, 42 drive mechanism, 43 Y-axis slider, 44 drive mechanism, 45 lift section, 46 drive mechanism, 47 collection section, 48 removal head, 49 gripping member, 50 control device, 51 control section, 52 memory section, 81 captured image, 82 captured image, D transport direction, H initial position, M operator, P collection position, R release position, T turn-back position.

Claims

A control device for use in a foreign matter removal device including a removal unit that removes foreign matter contained in an object transported by a transport device, and a detection unit that is located upstream of the removal unit and detects the object and the foreign matter,
a control unit that sets a release position of the foreign object in a disposal unit that is a discharge destination of the foreign object and a movement path for collecting the foreign object and moving the removal unit to the disposal unit in accordance with characteristic information of the foreign object obtained by the detection unit, the release position being determined based on at least one of the size, shape, and material of the foreign object;
A control device comprising:
The control device according to claim 1, wherein the control unit uses characteristic information about the foreign object to set the release position of the disposal unit on the end side closest to the transport device and the attitude of the foreign object that fits into the release position.
The control device according to claim 1 or 2, wherein the control unit sets the movement path such that the movement distance between the collection position and the release position of the foreign object is the shortest.
The control device according to claim 1 or 2, wherein when the control unit sets the release position according to the material of the foreign object, for a foreign object made of a second material that is lighter than a first material, the control unit sets the release position to a lower position compared to a foreign object made of the first material.
The control device according to claim 1 or 2, wherein when the control unit sets the release position according to the material of the foreign object, for a foreign object made of a second material that is lighter than a first material, the control unit sets the release position closer to the center of the disposal section than for a foreign object made of the first material.
The disposal section has two or more storage sections according to the material of the foreign object,
The control device according to claim 1 or 2, wherein the control unit sets the release position to an end side closer to a turning position in the storage section farther from the turning position where the foreign object is moved to the storage section after collecting the foreign object.
The control unit controls the removal unit to collect the foreign matter detected by the detection unit,
The control device according to claim 1 or 2, further comprising: controlling the removal unit to move to the release position along the set movement path and release the foreign matter to the disposal unit.
a removal unit that removes foreign matter contained in the object transported by the transport device;
a detection unit located upstream of the removal unit and detecting the target object and foreign matter;
A control device according to claim 1 or 2;
A foreign object removal device comprising:
1. An information processing method executed by a computer of a foreign matter removal device including a removal unit that removes foreign matter contained in an object transported by a transport device, and a detection unit that is located upstream of the removal unit and detects the object and the foreign matter, comprising:
a step of setting a release position of the foreign object in a disposal unit which is a discharge destination of the foreign object and a movement path for collecting the foreign object and moving the removal unit to the disposal unit according to characteristic information of the foreign object obtained by the detection unit, the release position being determined based on at least one of the size, shape, and material of the foreign object;
An information processing method comprising: