Search

JP-7855613-B2 - control device

JP7855613B2JP 7855613 B2JP7855613 B2JP 7855613B2JP-7855613-B2

Inventors

  • 本江 雅信
  • 李 健
  • 平井 義人

Assignees

  • 株式会社PFU

Dates

Publication Date
20260508
Application Date
20211222

Claims (6)

  1. A first calculation unit calculates a first coordinate which is the coordinate of the area centroid of the container in an image taken by a camera that takes an image of the waste group, in a transport path through which the waste group including the container is transported. A second calculation unit calculates a second coordinate, which is the coordinate of the extraction point when the container is extracted from the group of waste being transported along the transport path, by moving a specified amount from the first coordinate toward the bottom of the container. A control device equipped with the following.
  2. Based on the aforementioned image, a recognition unit recognizes the location and type of containers included in the waste group. The control device according to claim 1, further comprising:
  3. The recognition unit recognizes the existence region and the type using a trained model. The control device according to claim 2.
  4. The second calculation unit controls the specified amount based on the type. The control device according to claim 2.
  5. The second calculation unit controls the specified amount based on the length of the container in the longitudinal direction. The control device according to claim 1.
  6. The second calculation unit calculates the second coordinate based on the predetermined quantity for each type recognized by the recognition unit. The control device according to claim 2.

Description

This disclosure relates to a control device . At waste disposal sites, large quantities of waste flow along conveyor belts and are processed daily. At these sites, waste sorting is carried out manually. While waste sorting is a simple task, it places a heavy burden on the workers who perform it (hereinafter sometimes referred to as "sorters"). Therefore, automated waste sorting devices (hereinafter sometimes referred to as "waste sorting devices") have been developed. Patent No. 6854995 specificationJapanese Patent Publication No. 2012-158406 Figure 1 shows an example of the configuration of the container sorting system according to Embodiment 1 of this disclosure.Figure 2 shows an example of the configuration of the control device and sorting device of Embodiment 1 of the present disclosure.Figure 3 shows an example of the extraction unit of Embodiment 1 of the present disclosure.Figure 4 shows an example of the extraction unit in Embodiment 1 of the present disclosure.Figure 5 shows an example of the processing procedure in the container sorting system of Embodiment 1 of this disclosure.Figure 6 shows an example of the operation of the container sorting system of Embodiment 1 of this disclosure.Figure 7 shows an example of a specified amount determination table for Example 1 of this disclosure. The embodiments of this disclosure will be described below with reference to the drawings. In the following embodiments, identical components will be denoted by the same reference numerals. [Example 1] <Configuration of the container sorting system> Figure 1 shows an example of the configuration of the container sorting system according to Embodiment 1 of this disclosure. In Figure 1, the container sorting system 1 includes a control device 10, a camera 20, a sorting device 30, and a belt conveyor 40. The control device 10, the camera 20, and the sorting device 30 are connected to each other via a network. In the following explanation, we will use the case where the container sorting system 1 shown in Figure 1 is installed in a waste treatment plant where a group of waste materials flows on a belt conveyor 40 as an example. In other words, in the following explanation, we will use the case where the object to be sorted by the container sorting system 1 is waste as an example. Furthermore, in the following explanation, we will use the case where the desired waste material is bottles as an example. Bottles are just one example of a container, and the disclosed technology is applicable to containers other than bottles. In other words, the object to be sorted by the container sorting system 1 is not limited to bottles, and the container sorting system 1 can be used for various containers. The belt conveyor 40 transports the waste group placed on the belt conveyor 40 in the transport direction CD (+X direction). In other words, the belt conveyor 40 forms a transport path through which the waste group is transported in the transport direction CD. Camera 20 is positioned above the conveyor belt 40 on which the waste material is transported. It has a predetermined field of view and captures a predetermined area on the upper surface of the conveyor belt 40 from above at a constant frame rate. Therefore, the image captured by camera 20 becomes an image of the waste material (hereinafter sometimes referred to as the "waste material image"). The waste material image is transmitted from camera 20 to the control device 10. The control device 10 controls the operation of the sorting device 30 based on the waste group image. The sorting device 30, under the control of the control device 10, sorts bottles by extracting them from the group of waste being transported in the transport direction CD by the belt conveyor 40, and transports the extracted bottles outside the belt conveyor 40. <Configuration of the control device and sorting device> Figure 2 shows an example configuration of the control device and sorting device according to Embodiment 1 of the present disclosure. In Figure 2, the control device 10 includes an image processing unit 11, a trained model storage unit 15, and a sorting device control unit 16. The image processing unit 11 includes an image recognition unit 12, an area centroid calculation unit 13, and an extraction point coordinate calculation unit 14. The sorting device 30 includes an extraction unit 31. The waste group image captured by the camera 20 is input to the image processing unit 11. Figures 3 and 4 show an example of the extraction unit of Embodiment 1 of the present disclosure. For example, the extraction unit 31 is formed using a robot hand 311, as shown in Figure 3. Alternatively, for example, the extraction unit 31 is formed using a suction pad 312, as shown in Figure 4. The sorting device 30 sorts by using the extraction unit 31 to extract bottles from a group of waste being transported on the belt conveyor 40, according to control from the sorting device control unit 16. The extraction unit 31 i