CN107999399A - Building waste on-line sorting system and method based on the detection of dot matrix EO-1 hyperion - Google Patents
Building waste on-line sorting system and method based on the detection of dot matrix EO-1 hyperion Download PDFInfo
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- CN107999399A CN107999399A CN201711449229.3A CN201711449229A CN107999399A CN 107999399 A CN107999399 A CN 107999399A CN 201711449229 A CN201711449229 A CN 201711449229A CN 107999399 A CN107999399 A CN 107999399A
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- host computer
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- hyperion
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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
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
Based on the building waste on-line sorting system and method for dot matrix EO-1 hyperion detection, including conveying charging gear, image collecting device, crawl executive device, bloom spectrum detection device, classified collection device and host computer；The conveying charging gear is connected with speed change transported material with host computer；The image information that the image collecting device is connected with host computer to gather material is for calculating barycenter and the anglec of rotation；The crawl executive device is connected with host computer to capture material according to control command；The bloom spectrum detection device is installed on the hyperspectral information for being crawled material in crawl executive device with collection；The host computer is connected with bloom spectrum detection device to judge material variety with reference to Principal Component Analysis Algorithm, and controls and capture the correspondence position that executive device puts it into classified collection device.Cost is less expensive, after start operation, is picked up in whole production line without manually participating in, safe, accuracy is reliable.
Description
Technical field
The present invention relates to building waste to sort field, and particularly a kind of building waste based on the detection of dot matrix EO-1 hyperion is online
Sorting system and method.
Background technology
China is construction market maximum in the world, current building amount exceed world's total amount more than half, urban construction
Middle rubbish produces and the quantity of discharge is also in rapid growth, wherein, building waste accounts for 30%-the 40% of rubbish total amount.Building
Rubbish arbitrarily stacks both land occupation areas, reduces soil quality, while is also easy to produce security risk, also has dirt to water resource
Dye, China's construction refuse resource utilization rate only has 5%, also in that China's building waste Treatment and recovery utilizes technology water
After falling to normal price, urban building waste processing uses the processing mode directly filled, not only land occupation but also pollution environment and flourishing state
Family is larger compared to gap, and building waste will also result in serious environmental issue.Many discarded objects in building waste are through dividing
After picking, reject or crushing, similar concrete, steel, timber etc. can be used as regenerated resources to re-use mostly, so just
Being classified and recycled to building waste is needed, realizes that comprehensive resource is disposed.
For existing building waste sorting system mainly by loading machine by garbage transporting to conveyer belt, some granularities are big
Building stones first pass through broken, then the sieve for the different meshes for passing through rotary screen recycles different grain size building stones.By using shaking
The equipment such as dynamic sieve, rotary screen, coordinate air separation technique and other special process means to sub-elect what volume mass differed greatly
Object, while need to add manual sorting's link, the impurity not differentiated between on belt is picked up.This method is difficult to high accuracy
Size, color, the building waste of different material similar in shape are sorted, coarseness sorting can only be carried out to building waste, could not
Building waste is carried out rationally to utilize and regenerate to use, while the work of manual sorting is also more dirty and messy and dangerous.
The content of the invention
It is a primary object of the present invention to overcome drawbacks described above of the prior art, propose a kind of efficient, safe and reliable
Based on dot matrix EO-1 hyperion detection building waste on-line sorting system and method.
The present invention adopts the following technical scheme that：
Building waste on-line sorting system based on the detection of dot matrix EO-1 hyperion, it is characterised in that：Including conveying charging gear,
Image collecting device, crawl executive device, bloom spectrum detection device, classified collection device and host computer；The conveying charging gear
Be connected with speed change transported material with host computer；The image information that the image collecting device is connected with host computer to gather material supplies
Calculate barycenter and the anglec of rotation；The crawl executive device is connected with host computer to capture material according to control command；The EO-1 hyperion is examined
Survey device and be installed on the hyperspectral information for being crawled material in crawl executive device with collection；The host computer is filled with EO-1 hyperion detection
Put and be connected to judge material variety with reference to Principal Component Analysis Algorithm, and control crawl executive device to put it into classified collection device
Correspondence position.
Preferably, described image harvester includes camera bellows, light source, CCD camera, monitor station；The camera bellows is set up in described
Transport above charging gear；The monitor station is fixed in camera bellows；The CCD camera be fixed on monitor station and with the host computer phase
Even；The light source is fixed in camera bellows.
Preferably, the crawl executive device includes three axis straight line modules and gripper, the three axis straight line module with it is described
Host computer is connected；The gripper is connected with three axis straight line modules.
Preferably, the bloom spectrum detection device includes dot matrix EO-1 hyperion camera and rotary head, rotary head installation
In in the crawl executive device, which is installed on the rotary head.
Preferably, the classified collection device includes some material collecting tanks, and some material collecting tanks are positioned at the conveying feed dress
Put sidepiece.
Building waste on-line sorting method, it is characterised in that：Include the following steps
1) transported to gather the image information of material by material dispersion, and carry out image procossing and obtain barycenter and rotation
Angle；
2) material is captured according to barycenter and anglec of rotation combination motion control arithmetic；
3) collection is crawled the hyperspectral information of material, obtains characteristic wavelength with reference to Principal Component Analysis Algorithm to judge material
Species；
4) material is put into the correspondence position of classified collection device according to material variety combination motion control arithmetic.
Preferably, described image processing include image gray processing, image filtering, binaryzation, edge detection, searching profile,
Calculate Contour moment and calculate barycenter and direction.
Preferably, the Principal Component Analysis Algorithm includes：
3.1) matrix A is obtained by sample matrix data are normal standardized, and seek the correlation matrix R of matrix A；
3.2) the characteristic value s of correlation matrix R is sought with Jacobian technique；
3.3) contribution rate of each component is sought according to characteristic value s, according to required threshold value, when contribution rate of accumulative total reaches threshold
Value, then the component for taking several contribution rates of corresponding maximum is principal component；
3.4) using wave band as abscissa, the loading coefficient curve of each principal component is made；Analyze loading coefficient curve, each bar curve
Wave crest and wave trough at be initial data distinctive points, be characteristic wavelength.
Preferably, the motion control arithmetic includes input crawl or releasing position, sets moving interpolation parameter, detection to insert
Benefit movement is captured in place with execution or release movement.
From the above-mentioned description of this invention, compared with prior art, the present invention has the advantages that：
The feed separation of accumulation is transported on sorting line by the present invention by conveying charging gear first, passes through Image Acquisition
Device, obtains material elementary contour information, then by algorithm process, the centroid position coordinate and rotation angle for obtaining material are believed
Breath, feeds back to crawl executive device and is captured, and while crawl, passes through the dot matrix EO-1 hyperion in crawl executive device
Camera calibration material spectral information, based on spectrum analysis algorithm, obtains the material category of material and performs corresponding released movement,
Different building wastes can be subjected to classification recycling online, while the detection of dot matrix EO-1 hyperion detects calculation amount compared to linear array imaging
Smaller, faster, cost is less expensive for software responses speed, after start operation, is picked up in whole production line without manually participating in, safety
Property it is high, accuracy is reliable.
Brief description of the drawings
Fig. 1 is present system structure chart；
Fig. 2 is module map of the present invention；
Fig. 3 is flow chart of the present invention；
Wherein：10th, charging gear is conveyed, 20, image collecting device, 21, camera bellows, 30, crawl executive device, 31, three axis
Straight line module, 32, gripper, 40, bloom spectrum detection device, 41, dot matrix EO-1 hyperion camera, 42, rotary head, 50, classification receives
Acquisition means, 60, host computer.
Embodiment
Below by way of embodiment, the invention will be further described.
With reference to Fig. 1, Fig. 2, based on the building waste on-line sorting system of dot matrix EO-1 hyperion detection, including conveying charging gear
10th, image collecting device 20, crawl executive device 30, bloom spectrum detection device 40, classified collection device 50 and host computer 60 etc..
The conveying charging gear 10 is connected with host computer 60, its movement velocity is controlled by host computer 60, for speed change transports building rubbish
The materials such as rubbish simultaneously separate overlapping material, and conveying charging gear 10 is set as detection zone close to material feeding end.
The image collecting device 20 is connected with the image information of material in acquisition testing area with host computer 60.Image collector
Put 20 and include camera bellows 21, light source, CCD camera, monitor station etc..The camera bellows 21 is set up in above detection zone.The monitor station is fixed
In in camera bellows 21, it is built by aluminium section bar.The CCD camera is fixed on monitor station and is connected with host computer 60, is used for
Gather the image information of material.The light source is fixed in camera bellows 21, for providing external condition for information gathering in camera bellows 21, with
Just CCD camera accurately gathers the elementary contour information of material.
The crawl executive device 30 is connected with host computer 60, fixed for the material of conveying classify according to control command
Position crawl.Crawl executive device 30 includes three axis straight line modules 31 and gripper 32, the three axis straight line module 31 and host computer 60
It is connected, it can move realization positioning on X-axis, Y-axis, Z axis.The gripper 32 is connected with three axis straight line modules 31 grabs for execution
Take or release movement.The three axis straight line module 31 and gripper 32 are equipped with locomotory apparatus, are controlled by host computer 60.
The bloom spectrum detection device 40 is installed in crawl executive device 30, it includes dot matrix EO-1 hyperion camera 41 and rotation
Holder 42, the dot matrix EO-1 hyperion camera 41 are installed on the rotary head 42, and the hyperspectral information of material is crawled for gathering.
The rotary head 42 is installed on three axis straight line modules 31 and close to 32 position of gripper, for demarcating dot matrix EO-1 hyperion camera 41
Angle lens, are projeced into focus and are crawled on material.
Classified collection device 50 includes some material collecting tanks, which is used for positioned at conveying 10 sidepiece of charging gear
Accommodate different materials.The host computer 60 is connected with bloom spectrum detection device 40, and the hyperspectral information collected is combined and led by it
Constituent analysis algorithm judges material variety, and the correspondence for controlling crawl executive device 30 to put it into classified collection device 50 is gathered materials
In groove, after placement, the different groove locations that gathers materials is demarcated, records the center position coordinates of material collecting tank, for three axis
The target location that straight line module 31 moves determines.
With reference to Fig. 3, the present invention also proposes a kind of building waste on-line sorting method, includes the following steps：
1) material variable-speed is dispersedly transported by conveying charging gear 10, separating piled material, it is ensured that material information
The accuracy of collection.When reaching detection zone, the image information of material is gathered, host computer 60 carries out image procossing and obtains barycenter and rotation
Corner.The image procossing include image gray processing, image filtering, binaryzation, edge detection, find profile, calculate Contour moment and
Barycenter and direction are calculated, by being converted to material in the position of coordinate system of three axis straight line modules 31 and the rotation of gripper 32
Angle.
2) host computer 60 treats that material is transported according to barycenter and anglec of rotation combination motion control arithmetic control crawl executive device 30
When transporting in the range of can capturing, material is captured, motion control arithmetic includes input crawl position, sets moving interpolation parameter, inspection
Survey moving interpolation in place with perform grasping movement etc..
3) the EO-1 hyperion camera collection of bloom spectrum detection device 40 is crawled the hyperspectral information of material, with reference to principal component point
Analysis algorithm obtains characteristic wavelength to judge material variety, which includes：
3.1) obtain sample matrix data are normal standardized matrix A (M rows, N row, M are the number of samples of required identification, N
For the collectable wave band number of EO-1 hyperion camera), and seek the correlation matrix R of matrix A.
3.2) the characteristic value s and feature vector V of correlation matrix R is sought with Jacobian technique.
3.3) contribution rate of each component is sought according to characteristic value s, according to required threshold value, when contribution rate of accumulative total reaches threshold
Value, then the component for taking several contribution rates of corresponding maximum is principal component.
3.4) using wave band as abscissa, the loading coefficient curve of each principal component is made；Analyze loading coefficient curve, each bar curve
Wave crest and wave trough at be initial data distinctive points, be characteristic wavelength.
4) host computer 60 controls crawl executive device 30 to be put into material point according to material variety combination motion control arithmetic
The correspondence position of class collection device 50.Material judgement is carried out to taking out characteristic wavelength, different materials is performed corresponding different
Target location motion control arithmetic, idiographic flow is：Extract characteristic wavelength, judge material attribute, input release target position
Put, set moving interpolation parameter, detection moving interpolation in place, perform release movement etc..
After the grasping movement of a material is completed, continue to read the image information data of the material collected, to entering
Material image information in the range of can capturing judged, repeat image processing algorithm, spectral information Processing Algorithm and
Motion control arithmetic, it is final to realize online sorting function in real time.
The embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change that unsubstantiality is carried out to the present invention, the behavior for invading the scope of the present invention should all be belonged to.
Claims (9)
1. the building waste on-line sorting system based on the detection of dot matrix EO-1 hyperion, it is characterised in that：Including conveying charging gear, figure
As harvester, crawl executive device, bloom spectrum detection device, classified collection device and host computer；The conveying charging gear with
Host computer is connected with speed change transported material；The image information that the image collecting device is connected with host computer to gather material is in terms of
Calculate barycenter and the anglec of rotation；The crawl executive device is connected with host computer to capture material according to control command；The EO-1 hyperion detects
Device is installed on the hyperspectral information for being crawled material in crawl executive device with collection；The host computer and bloom spectrum detection device
It is connected to judge material variety with reference to Principal Component Analysis Algorithm, and controls crawl executive device to put it into classified collection device
Correspondence position.
2. the building waste on-line sorting system as claimed in claim 1 based on the detection of dot matrix EO-1 hyperion, it is characterised in that：Institute
Stating image collecting device includes camera bellows, light source, CCD camera, monitor station；The camera bellows is set up in above the transport charging gear；
The monitor station is fixed in camera bellows；The CCD camera is fixed on monitor station and is connected with the host computer；The light source is fixed on secretly
In case.
3. the building waste on-line sorting system as claimed in claim 1 based on the detection of dot matrix EO-1 hyperion, it is characterised in that：Institute
Stating crawl executive device includes three axis straight line modules and gripper, which is connected with the host computer；The machinery
Pawl is connected with three axis straight line modules.
4. the building waste on-line sorting system based on the detection of dot matrix EO-1 hyperion as described in right 1, it is characterised in that：The height
Spectrum detection device includes dot matrix EO-1 hyperion camera and rotary head, which is installed in the crawl executive device,
The dot matrix EO-1 hyperion camera is installed on the rotary head.
5. the building waste on-line sorting system as claimed in claim 1 based on the detection of dot matrix EO-1 hyperion, it is characterised in that：Institute
Stating classified collection device includes some material collecting tanks, which is fed device side portion positioned at the conveying.
6. building waste on-line sorting method, it is characterised in that：Include the following steps
1) transported to gather the image information of material by material dispersion, and carry out image procossing and obtain barycenter and the anglec of rotation；
2) material is captured according to barycenter and anglec of rotation combination motion control arithmetic；
3) collection is crawled the hyperspectral information of material, obtains characteristic wavelength with reference to Principal Component Analysis Algorithm to judge material kind
Class；
4) material is put into the correspondence position of classified collection device according to material variety combination motion control arithmetic.
7. building waste on-line sorting method as claimed in claim 6, it is characterised in that：Described image processing includes image ash
Degreeization, image filtering, binaryzation, edge detection, searching profile, calculating Contour moment and calculating barycenter and direction.
8. building waste on-line sorting method as claimed in claim 6, it is characterised in that：The Principal Component Analysis Algorithm bag
Include：
3.1) matrix A is obtained by sample matrix data are normal standardized, and seek the correlation matrix R of matrix A；
3.2) the characteristic value s of correlation matrix R is sought with Jacobian technique；
3.3) contribution rate of each component is sought according to characteristic value s, according to required threshold value, when contribution rate of accumulative total reaches threshold value, then
The component for taking several contribution rates of corresponding maximum is principal component；
3.4) using wave band as abscissa, the loading coefficient curve of each principal component is made；Analyze loading coefficient curve, the ripple of each bar curve
It is the distinctive points of initial data at spike paddy, is characteristic wavelength.
9. building waste on-line sorting method as claimed in claim 6, it is characterised in that：The motion control arithmetic includes defeated
Enter crawl or releasing position, setting moving interpolation parameter, detection moving interpolation are captured in place with execution or release movement.
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Cited By (14)
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| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN109250351A (en) * | 2018-08-29 | 2019-01-22 | 深圳市研本品牌设计有限公司 | A kind of garbage classification device |
| CN109675827A (en) * | 2018-12-19 | 2019-04-26 | 福建南方路面机械有限公司 | A kind of building waste identification sorting device, recognition methods and its grasping means |
| CN110302981A (en) * | 2019-06-17 | 2019-10-08 | 华侨大学 | A kind of solid waste sorts online grasping means and system |
| CN110395506A (en) * | 2019-08-06 | 2019-11-01 | 东莞弓叶互联科技有限公司 | Sorting-type intelligence garbage-sorting bucket and garbage-sorting method |
| CN110516570A (en) * | 2019-08-15 | 2019-11-29 | 东莞弓叶互联科技有限公司 | A kind of garbage classification recognition methods of view-based access control model and device |
| CN110665848A (en) * | 2019-10-31 | 2020-01-10 | 华侨大学 | Building solid waste sorting system based on CCD camera and high spectrum camera detection |
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| CN109250351A (en) * | 2018-08-29 | 2019-01-22 | 深圳市研本品牌设计有限公司 | A kind of garbage classification device |
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