CN106423913A - Construction waste sorting method and system - Google Patents
Construction waste sorting method and system Download PDFInfo
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- CN106423913A CN106423913A CN201610812378.0A CN201610812378A CN106423913A CN 106423913 A CN106423913 A CN 106423913A CN 201610812378 A CN201610812378 A CN 201610812378A CN 106423913 A CN106423913 A CN 106423913A
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- brick
- fragment
- image
- conveyer belt
- compound
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Classifications
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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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
Abstract
The invention provides a construction waste sorting method and system. The construction waste storing method comprises the following steps: conveying a mishmash through a dispersing conveying belt; acquiring an image of the mishmash conveyed by the dispersing conveying belt, and processing to obtain the content of bricks in the mishmash as well as the position of each brick; and conveying the bricks arriving at the tail end of the dispersing conveying belt to a brick conveyor belt, and conveying the rest particles to another conveyor belt, thus realizing waste sorting. With the adoption of the method and the system, the bricks and concrete can be quickly automatically sorted; the recognizing process is performed earlier than the separating process, so that the sorting time can be accurately controlled; the cost is low; in addition, additional maintenance is avoided; the method and the system are applicable to the actual production environment.
Description
Technical field
The present invention relates to image detection and identification field, particularly a kind of method for separating of building waste and system.
Background technology
With the development of China's urban construction, building waste processes the environment difficulties having formed sternness.China builds at present
Building refuse recycling level is relatively low, is confined to simple process to the recycling of building waste, thus causing the wasting of resources, soil
The environmental problem such as earth and underground water pollution.Carry out construction refuse resource energetically using the necessarily choosing being China's sustainable development
Select.European and American developed countries existing protracted experience and technological reserve in terms of life and industrial refuse sorting technology：Electromagnetic sensor
Can discriminate whether containing metallic element, near infrared spectrum can distinguish different organic wastes, X-ray fluorescence spectra can be distinguished
Inorganic refuse etc..
There are many problems in existing domestic building waste screening installation, the different material difficulty of such as separately close proportion
Greatly, from sandstone aggregate, wherein how to efficiently separate out fragment of brick and concrete block improves building waste process quality and will solve
One key technical problems.Existing screening installation has that some need to solve：Fragment of brick is made with the stacking situation of concrete
Obtain sensor cannot correctly be judged；Equipment requirement identification process and assorting room are carried out simultaneously, but assorting room is often
Due to the processing speed reason of processor, it is slower than recognition time it is difficult to accurately control time；Equipment cost is high, is not durable.
Content of the invention
Present invention is primarily targeted at overcoming drawbacks described above of the prior art, propose a kind of based on machine vision,
The method for separating of a kind of building waste that quickly fragment of brick and concrete can be made a distinction and system.
The present invention adopts the following technical scheme that：
A kind of method for separating of building waste it is characterised in that：First, compound is defeated by disperseing conveyer belt to carry out
Send；Compound image during collection dispersion tape transport, is processed and is obtained in compound the content of fragment of brick and each
Individual fragment of brick position；The fragment of brick reaching dispersion conveying end of tape is delivered to fragment of brick conveyer belt, remaining particle delivers to another conveyer belt, from
And realize refuse classification.
Preferably, in dispersion conveying end of tape setting air-blast atomizer device, this air-blast atomizer device is provided with multiple nozzles, leads to
The position crossing fragment of brick determines the corresponding nozzle triggered time；When fragment of brick reaches dispersion conveying end of tape, triggering corresponding nozzle spray
Go out gases at high pressure so that fragment of brick is delivered to described fragment of brick conveyer belt.
Preferably, the content of described identification fragment of brick, comprises the following steps that：
A1 will collect compound image and be converted to gray level image, then be filtered processing；
Filtered image is respectively adopted A2 maximum variance between clusters and Canny edge detection method is processed, point
Do not obtain comprising the compound image of fragment of brick and other particle outline and the image only comprising fragment of brick profile；
A3 calculates the area of each profile in two images, is only comprised the contour area sum of image of fragment of brick and mixes
The contour area sum of material image makees ratio, obtains fragment of brick content in compound.
Preferably, in described step A2, delete described compound image respectively and described comprise in brick pattern picture with
The profile of image lower limb contact, obtains the area of each profile.
Preferably, the position of described identification fragment of brick, comprises the following steps that：
B1 will collect compound image and be converted to gray level image, then be filtered processing；
Filtered image is processed by B2 using Canny edge detection method；Canny edge detection algorithm is arranged
Suitable high-low threshold value, is only comprised fragment of brick profile with using the gray feature of different colours so as to remaining particle is ignored
Image；Filtered image is respectively adopted Canny edge detection method processed, B3 obtains the matter of each fragment of brick in image
The heart and the coordinate in figure, thus obtaining the distance of fragment of brick and described air-blast atomizer device, then determine immediate described correspondence
Nozzle, and calculate the triggered time.
A kind of separation system of building waste it is characterised in that:Also include
Dispersion conveyer belt, for conveying compound, it passes through the motor control transfer rate being attached thereto；
Air-blast atomizer device, is installed on below dispersion conveying end of tape, and it is provided with some edge dispersion conveyer belt widths
Nozzle spaced apart；
Image collecting device, is installed on above dispersion conveyer belt, for the compound image on collection dispersion conveyer belt；
Fragment of brick conveyer belt, for conveying fragment of brick, in the horizontal direction apart from air-blast atomizer device and dispersion conveyer belt one spacing
From；
Concrete conveyance band, remaining particle falling from dispersion conveyer belt falling at tail end for conveying, positioned at fragment of brick conveyer belt
Lower section；
Host computer, is connected with motor, air-blast atomizer device and image collecting device, for by the compound collecting image
Processed and obtained the content of fragment of brick and each fragment of brick position in compound, control air-blast atomizer device will to reach dispersion conveying
Fragment of brick conveyer belt delivered to by the fragment of brick of end of tape, thus realizing refuse classification.
Preferably, described host computer is provided with as lower module
Parameter setting module, for arranging the described dispersion transfer rate of conveyer belt and the acquisition time of image collecting device
Interval；
Image display, for showing the described compound image collecting in real time；
Image procossing and geometrical Characteristics Analysis module, the compound collecting image are processed and are obtained in compound
The content of fragment of brick and each fragment of brick position.
Preferably, described host computer is additionally provided with material ratio display module, for the real-time content showing described fragment of brick and
The ratio of fragment of brick and other particles.
Preferably, the top of described concrete conveyance band and the end in the vertical direction of described dispersion conveyer belt partly weigh
Folded.
From the above-mentioned description of this invention, compared with prior art, the present invention has the advantages that：
First, with respect to traditional building waste sorting unit, this method and system pass through to disperse conveyer belt coordinate host computer,
Harvester etc. can disperse fragment of brick and concrete well, be conducive to the identification of material and separate；
2nd, begin to carry out image recognition to compound in the transmit process of compound, identification process was early than separating
Journey, more accurately control can sort the time；
3rd, the speed of dispersion conveyer belt, collected by camera time interval is adjustable it is adaptable to different magnitude of compound；
4th, the accounting of fragment of brick and concrete in compound can be obtained in real time；
5th, compared to methods such as near infrared spectrum, X-ray fluorescence spectras, the inventive method and system cost are low, and need not
Extra maintenance is it is adaptable to actual production environment.
Brief description
Fig. 1 is the structural representation of the building waste separation system of the application；
Fig. 2 is dispersion conveyer belt top view；
Fig. 3 is image procossing and geometrical Characteristics Analysis flow chart；
Wherein：Feed bin 1, baffle plate 2, feeding web 3, dispersion conveyer belt 4, industrial camera 5, air-blast atomizer device 6, upper
Machine 7, fragment of brick conveyer belt 8, concrete conveyance band 9.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
A kind of separation system of building waste, can quickly be sorted with concrete to fragment of brick.With reference to Fig. 1, Fig. 2, bag
Include feed bin 1, baffle plate 2, feeding web 3, dispersion conveyer belt 4, image collecting device, air-blast atomizer device 6, host computer 7, fragment of brick
Conveyer belt 8 and concrete conveyance band 9.This feed bin 1 is used for depositing the mixing through broken concrete to be sorted and fragment of brick
Material, in 30-50mm, fragment of brick is redness for the concrete after crushing and fragment of brick particle size range, and concrete is grey.This charging is defeated
Band 3 is sent to be inclined upwardly setting, its initiating terminal is located at below feed bin 1 discharging opening, and end is located on the starting point end disperseing conveyer belt 4
Side, and the speed of feeding web 3 is slower than dispersion conveyer belt 4, by the material dispersion of unit volume in bigger area.Gear
Plate 2 stands on the starting point of feeding web 3, for preventing the compound dropping from feed bin 1 from feeding web 3 starting point
Landing.Dispersion conveyer belt 4, for conveying compound, it passes through the motor control transfer rate that is attached thereto, this transfer rate according to
According to the inlet amount setting of feed bin 1 and feeding web 3, this motor can adopt stepper motor.
Air-blast atomizer device 6, is arranged on immediately below the end of dispersion conveyer belt 4, width is not less than the width of dispersion conveyer belt 4
Degree, it includes some nozzles spaced apart along dispersion conveyer belt 4 width, for reaching the brick of dispersion conveyer belt 4 end
Block sprays toward fragment of brick conveyer belt 8.The arrangement pitch of this some nozzle determines according to the particle diameter of particle to be checked, and interval is not less than treating point
Select the minimum grain size (such as 30mm) of compound.
Image collecting device, for the compound image on collection dispersion conveyer belt 4.Industrial camera 5 can be adopted, its installation
Position can cover the width range of whole dispersion conveyer belt 4 it is ensured that disperseing conveyer belt 4 according to the field range of industrial camera 5
On each particle can be photographed.The frame per second of selected industrial camera 5 should meet IMAQ rate request.Camera passes through
USB3.0 data wire is connected with host computer 7, and the acquisition interval time of industrial camera 5 is by the parameter setting module control in host computer 7
System.
Fragment of brick conveyer belt 8 and concrete conveyance band 9, this fragment of brick conveyer belt 8 is used for conveying fragment of brick, in the horizontal direction apart from gas
Dynamic spray nozzle device 6 and dispersion conveyer belt 4 certain distance；This concrete conveyance band 9 be located at fragment of brick conveyer belt 8 lower section and its top with
The end in the vertical direction of dispersion conveyer belt 4 partly overlaps, and this concrete conveyance band 9 is used for conveying from dispersion conveyer belt 4 end
Make a clean sweep of the concrete falling.
Host computer 7, is connected with motor and is controlled the speed of stepper motor with output signal, be connected with image collecting device to control
The time for exposure of industrial camera 5 processed, frequency acquisition, are connected with air-blast atomizer device 6 and control each air-blast atomizer with output signal
On off state.Specifically, its compound collecting image can be processed and be obtained in compound the content of fragment of brick and
Each fragment of brick position, then control air-blast atomizer device 6 will to reach the fragment of brick spray feed of dispersion conveyer belt 4 end to fragment of brick conveyer belt 8,
Thus realizing refuse classification.Concrete has recovery value, can reclaim and reproduce coarse aggregate and fine aggregate, by the content of fragment of brick
Can estimate and will be obtained how many fragments of brick and how many concrete.
The host computer 7 of the present invention is provided with as lower module：
Parameter setting module, for arrange the described dispersion transfer rate of conveyer belt 4 and image collecting device collection when
Between be spaced.In advance speed of service v of dispersion conveyer belt 4 is configured, to meet the demand of different magnitude materials.Same with this
When, the acquisition interval time of industrial camera 5 is also automatically set into the corresponding time, and installation warrants are as follows：As shown in Fig. 2 industrial phase
The field of view 10 that machine 5 photographs, the length along dispersion conveyer belt 4 traffic direction is a, and the speed of service of conveyer belt sets in parameter
Put and in module, be set to v, for making each particle be taken and only shooting once, the acquisition interval time t1 of camera is set to：
T1=a/v.
Image display, for showing the described compound image collecting in real time.In dispersion conveyer belt 4 course of conveying
In, the image on dispersion conveyer belt 4 that in real time display industrial camera 5 collects, confirm scene whether stable operation.User
Can as needed, partial enlargement image, observe the details of material on conveyer belt.
Image procossing and geometrical Characteristics Analysis module, are responsible for the compound image that industrial camera 5 collects is processed,
Make each particle outline high-visible, and identify that each particle is fragment of brick or concrete, process and obtain in compound
The content of fragment of brick and each fragment of brick position.
The ratio of material ratio display module, the content for real-time display fragment of brick and fragment of brick and concrete.
Based on said system, the present invention also proposes a kind of method for separating of building waste,
First, the compound of feed bin 1 is delivered to dispersion conveyer belt 4 through feeding web 3, dispersion conveyer belt 4 is steadily defeated
Send compound.By industrial camera 5 gather dispersion conveyer belt 4 course of conveying in compound image, and by this image send to
Host computer 7 is processed, and obtains the content of fragment of brick and each fragment of brick position in compound.
With reference to Fig. 3, the comprising the following steps that of the content of identification fragment of brick：
The GRB collecting compound image is converted to gray level image by A1, and the gray value of each pixel is
Gray=R × 0.299+G × 0.587+B × 0.114
Wherein：R, G, B are respectively the value of three passages of pixel red, green, blue, and Gray is the gray value tried to achieve.
Then, then to the image after gray processing carry out medium filtering, to eliminate fragment of brick, concrete surface rough grain brings
Noise.Medium filtering is by each pixel of image with 3 × 3 neighborhoods (square area centered on current pixel) pixel
Value replaces.In this step, image copy to is somewhat become in big image, on new images, following and left and right side, respectively increased
A line and a row pixel, replicate artwork in closest to row or column to fill these pixels.Successively from left to right from top to bottom
Search each 3 × 3 pixel region in image, take the intermediate value in 9 grey scale pixel values in region, to replace the center in 3 × 3 regions
The gray value of pixel.After the end of operation of all regions, delete the border added, make image return to life size.
Filtered image is respectively adopted A2 maximum variance between clusters and Canny edge detection method is processed, point
The image not obtaining compound image and only comprising fragment of brick.
Wherein maximum variance between clusters are as follows：
Note t is the segmentation threshold of prospect (fragment of brick and concrete particle) and background (dispersion conveyer belt 4), foreground pixel number
Accounting for image scaled is w0, and average gray is u0；It is w1 that background pixel number accounts for image scaled, and average gray is u1.Then image
Average gray is：U=w0 × u0+w1 × u1.The variance of foreground and background image：G=w0 × (u0-u) 2+w1 × (u1-u) 2=
w0×w1×(u0-u1)2.Obtain making maximum threshold value T of inter-class variance g using the method for traversal it is believed that now prospect and
Background difference is maximum.
Canny edge detection method is as follows：
Suitable high-low threshold value is arranged to Canny edge detection algorithm, with the gray feature using different colours, makes grey
Concrete particle be ignored, only comprised redness fragment of brick profile image.Assume that the image being applied is I, define one
It is 3 convolution array to size, is respectively acting on x the and y direction of image, Gx and Gy represents respectively through transverse direction and longitudinal direction convolution behaviour
Image intensity value after work, result of calculation is：
In conjunction with two above result, obtain amplitude and the direction of image gradient：
Judge whether the gradient of each pixel in image is maximum in 3 × 3 neighborhoods centered on it, if maximum
Then using this pixel as candidate edge.
Then using threshold value afterwards, binaryzation is carried out to image.Setting two threshold values of height, if the gradient of a pixel
Higher than high threshold, then it is considered as edge pixel；If being less than Low threshold, it is ignored；If between high-low threshold value,
Edge pixel just can be considered with the pixel higher than high threshold when this pixel is connected.Suitable high-low threshold value is set, makes brick
The edge of block particle is retained.
Finally delete the profile contacting with image lower limb.Inevitably, in the image shooting, some particles may
Appear in vision periphery, and be only photographed a portion, the left margin in the visual field in such as Fig. 2, but these particles again can be
Next time is repeated to photograph when shooting.In order to avoid same particle repeated identify, delete image contact with left margin
Grain.
A3 calculates the area of each profile in two images, is only comprised the contour area sum of image of fragment of brick and mixes
The contour area sum of material image makees ratio, obtains fragment of brick content in compound.Due to the fragment of brick after crushing and concrete particle diameter
For 30-50mm, grain shape close it is possible to projected area than representing the mass ratio of fragment of brick, it is hereby achieved that
The content of fragment of brick in all materials
For the position of identification fragment of brick, comprise the following steps that：
The image comprising only fragment of brick is operated, seeks the barycenter of in figure fragment of brick.If the initial point of every image collecting
Coordinate (0,0) is located at conveyer belt top in Fig. 2, the intersection of a and L, and x-axis down extends, and y-axis is turned left extension.To each fragment of brick
Particle asks for barycenter and its coordinate (x, y) in figure, such as Fig. 2.Then the distance that fragment of brick particle can be obtained with nozzle is y+
L, corresponding nozzle is and immediate air-blast atomizer on barycenter x-axis direction that the stand-by period t2 of triggering nozzle is：T2=(y+
L)/v.
When through the t time, corresponding fragment of brick is sent to dispersion conveyer belt 4 end, and the triggering of host computer 7 sending signal is corresponding
Nozzle, nozzle sprays gases at high pressure, by fragment of brick spray feed to fragment of brick conveyer belt 8.V is the dispersion conveyer belt of setting in setup module
Speed.Remaining particle and concrete fall to concrete conveyance band 9 under gravity, thus realizing refuse classification.
Above are only the specific embodiment of the present invention, but the design concept of the present invention is not limited thereto, all utilize this
Design carries out the change of unsubstantiality to the present invention, all should belong to the behavior invading the scope of the present invention.
Claims (9)
1. a kind of method for separating of building waste it is characterised in that：First, compound is conveyed by disperseing conveyer belt；
Compound image during collection dispersion tape transport, is processed and is obtained the content of fragment of brick and each brick in compound
Block position；The fragment of brick reaching dispersion conveying end of tape is delivered to fragment of brick conveyer belt, remaining particle delivers to another conveyer belt, thus real
Existing refuse classification.
2. as claimed in claim 1 a kind of method for separating of building waste it is characterised in that：In dispersion conveying end of tape setting
Air-blast atomizer device, this air-blast atomizer device is provided with multiple nozzles, determines the corresponding nozzle triggered time by the position of fragment of brick；
When fragment of brick reaches dispersion conveying end of tape, triggering corresponding nozzle sprays gases at high pressure so that fragment of brick is delivered to described fragment of brick conveying
Band.
3. as claimed in claim 1 a kind of method for separating of building waste it is characterised in that：Described identifies containing of fragment of brick
Amount, comprises the following steps that：
A1 will collect compound image and be converted to gray level image, then be filtered processing；
Filtered image is respectively adopted A2 maximum variance between clusters and Canny edge detection method is processed, respectively
To the compound image comprising fragment of brick and other particle outline and the image only comprising fragment of brick profile；
A3 calculates the area of each profile in two images, is only comprised the contour area sum of image and the compound figure of fragment of brick
The contour area sum of picture makees ratio, obtains fragment of brick content in compound.
4. as claimed in claim 3 a kind of method for separating of building waste it is characterised in that：Described step A2 is deleted respectively
Except described compound image comprises, with described, the profile that contacts in brick pattern picture with image lower limb, obtain the face of each profile
Long-pending.
5. as claimed in claim 2 a kind of method for separating of building waste it is characterised in that：The position of described identification fragment of brick
Put, comprise the following steps that：
B1 will collect compound image and be converted to gray level image, then be filtered processing；
Filtered image is respectively adopted Canny edge detection method and is processed by B2, and Canny edge detection algorithm is arranged
Suitable high-low threshold value, is only comprised fragment of brick profile with using the gray feature of different colours so as to remaining particle is ignored
Image；
B3 obtains the barycenter of each fragment of brick and the coordinate in figure in image, thus obtaining fragment of brick and described air-blast atomizer device
Distance, then determine immediate described corresponding nozzle, and calculate the triggered time.
6. a kind of separation system of building waste it is characterised in that:Also include
Dispersion conveyer belt, for conveying compound, it passes through the motor control transfer rate being attached thereto；
Air-blast atomizer device, is installed on below dispersion conveying end of tape, and it is provided with some edge dispersion conveyer belt width intervals
The nozzle of distribution；
Image collecting device, is installed on above dispersion conveyer belt, for the compound image on collection dispersion conveyer belt；
Fragment of brick conveyer belt, for conveying fragment of brick, in the horizontal direction apart from air-blast atomizer device and dispersion conveyer belt certain distance；
Concrete conveyance band, remaining particle falling from dispersion conveyer belt falling at tail end for conveying, below fragment of brick conveyer belt；
Host computer, is connected with motor, air-blast atomizer device and image collecting device, for carrying out the compound collecting image
Process and obtain the content of fragment of brick and each fragment of brick position in compound, control air-blast atomizer device will to reach dispersion conveyer belt end
The fragment of brick at end delivers to fragment of brick conveyer belt, thus realizing refuse classification.
7. as claimed in claim 6 a kind of separation system of building waste it is characterised in that:Described host computer is provided with following mould
Block
Parameter setting module, for arranging between the described transfer rate of dispersion conveyer belt and the acquisition time of image collecting device
Every；
Image display, for showing the described compound image collecting in real time；
Image procossing and geometrical Characteristics Analysis module, the compound collecting image are processed and are obtained fragment of brick in compound
Content and each fragment of brick position.
8. as claimed in claim 6 a kind of separation system of building waste it is characterised in that：Described host computer is additionally provided with material
Ratio display module, for the ratio of the real-time content showing described fragment of brick and fragment of brick and other particles.
9. as claimed in claim 6 a kind of separation system of building waste it is characterised in that：The beginning of described concrete conveyance band
End is partly overlapped with the end in the vertical direction of described dispersion conveyer belt.
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| CN201610812378.0A CN106423913A (en) | 2016-09-09 | 2016-09-09 | Construction waste sorting method and system |
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