Sorting destination identification device, sorting destination identification method, and program

Patent metadata

Field	Value
Publication number	US-11987307-B2
Application number	US-202118246858-A
Country	US
Kind code	B2
Filing date	Sep 28, 2021
Priority date	Oct 2, 2020
Publication date	May 21, 2024
Grant date	May 21, 2024

Abstract

A sorting destination determining device extracts first records indicating a reversal to a slewing direction of a slewing body, extracts from records before the first records a second record indicating opening of an opening/closing state, extracts from the first records a third record immediately before which the second record is registered, and determines a sorting destination of a dismantled part on the basis of a slewing angle registered in the third record.

First claim

The invention claimed is:

1. A sorting destination determining device for determining a sorting destination of an object from operational data of a working machine including a slewing body and a holder for holding the object and configured to perform a sorting operation of sorting the object to a sorting destination among a plurality of sorting destinations under control by an operator, the sorting destination determining device comprising:
an acquisition part for acquiring the operational data having a plurality of chronologically registered records, each record including a slewing angle of the slewing body and a holding state of the holder which are associated with each other;
an extraction part for extracting from the records first records indicating a reversal to a slewing direction of the slewing body on a basis of the slewing angles registered in the operational data, extracting from the records before the first records a second record indicating releasing of the holding state, and extracting from the first records a third record immediately before which the second record is registered; and
a determination part for determining the sorting destination of the object on the basis of the slewing angle registered in the third record.

2. The sorting destination determining device according to claim 1 , wherein
each record further includes a positional coordinate of the holder, and
the determination part is configured to determine the sorting destination of the object on the basis of the slewing angle registered in the third record and the positional coordinate registered in the second record.

3. The sorting destination determining device according to claim 2 , further comprising:
a calculation part for calculating, on a basis of the third record and the second record, input data including information on a slewing angle in the reversal to the slewing direction and coordinate information on a release position at which the object is released; and
a generation part for generating a predictive model for determining the sorting destination of the object, by performing a machine learning with teaching data including the input data and output data indicating the sorting destination of the object, wherein
the determination part is configured to determine the sorting destination of the object by the predictive model.

4. The sorting destination determining device according to claim 3 , wherein
the predictive model includes a plurality of decision trees generated by a random forest,
the input data is an explanatory variable in the random forest,
the output data is a target variable in the random forest, and
the determination part is configured to determine the sorting destination of the object using the decision trees generated through the machine learning with the teaching data.

5. The sorting destination determining device according to claim 3 , wherein the information on the slewing angle in the reversal to the slewing direction includes the slewing angle registered in the third record.

6. The sorting destination determining device according to claim 3 , wherein the coordinate information on the release position includes the positional coordinate of the holder registered in the second record.

7. The sorting destination determining device according to claim 3 , wherein the input data further includes an elapsed time until the slewing direction of the slewing body is reversed after the holder releases, and a moved distance of the slewing body until the slewing direction of the slewing body is reversed after the holder releases.

8. The sorting destination determining device according to claim 1 , wherein the extraction part is configured to perform exponential smoothing of the slewing angles in the operational data, and to extract the first records on a basis of the exponentially smoothed slewing angles.

9. The sorting destination determining device according to claim 1 , wherein the sorting operation includes:
an operation of
holding the object in an operation area,
slewing in a certain direction while holding the object,
releasing the object to thereby place the object at the sorting destination of the sorting destinations, and
returning to the operation area by slewing in a direction opposite to the certain direction; and

a repetition of the operation.

10. The sorting destination determining device according to claim 1 , wherein
the operational data is sample data which have been obtained during a time when the working machine is in operation, and
the record further includes a sampling time.

11. The sorting destination determining device according to claim 1 , wherein the slewing angle is a slewing angle to a reference position of the working machine.

12. The sorting destination determining device according to claim 1 , wherein the second record is a record that indicates a first releasing of the holding state among a predetermined number of records before the first record.

13. A sorting destination determining method for a sorting destination determining device for determining a sorting destination of an object from operational data of a working machine including a slewing body and a holder for holding the object and configured to perform a sorting operation of sorting the object to a sorting destination among a plurality of sorting destinations under control by an operator, the sorting destination determining method comprising:
acquiring operational data having a plurality of chronologically registered records, each record including a slewing angle of the slewing body and a holding state of the holder which are associated with each other;
extracting from the records first records indicating a reversal to a slewing direction of the slewing body on a basis of the slewing angles registered in the operational data, extracting from the records before the first records a second record indicating releasing of the holding state, and extracting from the first records a third record immediately before which the second record is registered; and
determining the sorting destination of the object on the basis of the slewing angle registered in the third record.

14. A non-transitory computer readable recording medium storing a program for causing a computer to serve as a sorting destination determining device for determining a sorting destination of an object from operational data of a working machine including a slewing body and a holder for holding an object and configured to perform a sorting operation of sorting an object to a sorting destination among a plurality of sorting destinations under control by an operator, the program causing the computer to execute a process of:
acquiring the operational data having a plurality of chronologically registered records, each record including a slewing angle of the slewing body and a holding state of the holder which are associated with each other;
extracting from the records first records indicating a reversal to a slewing direction of the working machine on a basis of the slewing angles registered in the operational data, extracting from the records before the first records a second record indicating releasing of the holding state, and extracting from the first records a third record immediately before which the second record is registered; and
determining the sorting destination of the object on the basis of the slewing angle registered in the third record.

Assignees

• Kobelco Constr Mach Co Ltd
• Univ Hiroshima

Inventors

• Takahashi Katsuhiko
• Morikawa Katsumi
• Nishi Yasutoshi

Classifications

• B62D67/00 Primary

  Systematic disassembly of vehicles for recovery of salvageable components, e.g. for recycling (for disposal of vehicles by destroying or transformation B09B3/00, B09B5/00 {; general arrangement of separating plants B03B9/00; recovery of plastics B29B17/00}) · CPC title

• G06Q50/08

  Construction · CPC title

• G06N5/01 Primary

  Dynamic search techniques; Heuristics; Dynamic trees; Branch-and-bound · CPC title

• Y02W30/56

  of vehicles · CPC title

• G06N20/20

  Ensemble learning · CPC title