CN109127459A - A kind of building waste Material Sorting method - Google Patents
A kind of building waste Material Sorting method Download PDFInfo
- Publication number
- CN109127459A CN109127459A CN201810753326.XA CN201810753326A CN109127459A CN 109127459 A CN109127459 A CN 109127459A CN 201810753326 A CN201810753326 A CN 201810753326A CN 109127459 A CN109127459 A CN 109127459A
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- CN
- China
- Prior art keywords
- building waste
- manipulator
- waste material
- density
- information
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B07C5/38—Collecting or arranging articles in groups
-
- 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
The present invention relates to a kind of building waste Material Sorting methods, obtain the profile information and location information of material by the image information of building waste material, and the volume of material is gone out by the elevation information and conjugate material wheel exterior feature data-evaluation that obtain material.Then the weight for obtaining material by tension sensor during manipulator at the uniform velocity crawl material upwards, the density of material is obtained according to weight of material and volume of material, knows which classification box the material should be sorted to by comparing density.The motion profile of manipulator is finally calculated according to the position of the location information of material, the current location information of mechanical arm and classification box, manipulator is controlled by the motion profile and completes Material Sorting.Its accuracy for sorting material is high, speed is fast.
Description
Technical field
The present invention relates to environment protection fields, and in particular to a kind of building waste Material Sorting method.
Background technique
The aggregates regeneration techniques such as building castoff decrement, recycling, recycling have become society need study and solve
Important topic；Wherein, effectively recycling and be used for the regeneration of building waste aggregate discarded concrete, the useless brick in building waste has
Biggish application prospect.And the key technique of resource recycling be building waste mixing in material (include: plastics,
Timber, brick, concrete, cloth waste, steel etc.) efficiently separate.At present frequently with the method for manual sorting, wet concentration and wind
It carries out, but manual sorting exists inefficient, and not can solve cost of labor instantly and goes up this problem of becoming increasingly conspicuous；Wet concentration
There are water pollutions, and do not meet the requirement of the resource-effective friendly environment society's strategy of national development；Pneumatic concentration belongs to the following ratio
The technology having wide application prospects, but there are weight substances to mix, it is difficult to efficiently separate this clean technical problem.
In view of this, the present inventor is directed to problems existing for above-mentioned building waste Material Sorting, and deeply conceive, into
And develop the present invention.
Summary of the invention
The purpose of the present invention is to provide a kind of building waste Material Sorting method, the accuracy for sorting material is high, fast
Degree is fast.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of building waste Material Sorting method, specifically includes the following steps:
Building waste material is transmitted by step 1 by conveyer belt, during transmission, passes through image collector
The image information for setting acquisition building waste material, is then based on intelligent vision technology and handles acquired image information,
Obtain the location information of material profile and material；
Side on a moving belt is arranged in distance measuring sensor by step 2, in the transmit process of building waste material, will be passed through
The elevation information of distance measuring sensor acquisition building waste material；
Step 3, the volume that material is estimated according to the profile and elevation information of building waste material；
Step 4 grabs building waste material by manipulator, and tension sensor is arranged on a robotic arm, grabs in manipulator
During taking material at the uniform velocity to rise, the weight of material is obtained by tension sensor；
The weight of step 5, the building waste material according to obtained in step 4, and combine the material estimated in step 3
The density information of the material is calculated in volume；
Step 6, setting is used to hold the classification box of different classes of building waste material on conveyer belt side, different
Classification box represents different material densities；Material representated by the material density and classification box that manipulator in step 5 is grabbed
Density is compared, when the material density that manipulator grabs is same or similar with the material density of one of classification box, then
The material for indicating that manipulator grabs should be sorted in corresponding classification box；At this point, the material level confidence according to obtained in step 1
Breath and the current location information of manipulator, calculate manipulator to the motion profile of corresponding classification box, pass through the motion profile
Control manipulator is moved, and realizes the sorting of building waste.
Described image acquisition device is industrial camera.
The distance measuring sensor is laser range sensor.
After adopting the above scheme, the present invention obtains profile information and the position of material by the image information of building waste material
Confidence breath goes out the volume of material by the elevation information and conjugate material wheel exterior feature data-evaluation that obtain material.Then in manipulator
The weight for obtaining material during at the uniform velocity grabbing material upwards by tension sensor, is obtained according to weight of material and volume of material
The density for taking material knows which classification box the material should be sorted to by comparing density.Finally according to the position of material
The motion profile of manipulator is calculated in the position of information, the current location information of mechanical arm and classification box, passes through the fortune
Dynamic TRAJECTORY CONTROL manipulator completes Material Sorting.Total value, the present invention identify material by obtaining material density, substantially reduce
The error rate of sorting.Simultaneously by intelligent planning Robotic Manipulator Motion Trajectory, realizes accurate sorting material, substantially increase work
Efficiency saves human resources.
Specific embodiment
Present invention discloses a kind of building waste Material Sorting methods, specifically includes the following steps:
Building waste material is transmitted by step 1 by conveyer belt, during transmission, passes through image collector
The image information for setting acquisition building waste material, is handled acquired image information based on intelligent vision technology, is obtained
The location information of material profile and material.
The acquisition of material image can be realized by industrial camera.
Step 2, by laser range sensor setting, side will in the transmit process of building waste material on a moving belt
The elevation information of building waste material is obtained by laser range sensor.Wherein, laser range sensor can also use it
The distance measuring sensor of his type, such as ultrasonic distance-measuring sensor.
Step 3, the volume that material is estimated according to the profile and elevation information of building waste material.
Step 4 grabs building waste material by manipulator, and tension sensor is arranged on a robotic arm, grabs in manipulator
During taking material at the uniform velocity to rise, the weight of material is obtained by tension sensor.
The weight of step 5, the building waste material according to obtained in step 4, and combine the material estimated in step 3
The density information of the material is calculated in volume.
Step 6, setting is used to hold the classification box of different classes of building waste material on conveyer belt side, different
Classification box represents different material densities；Material representated by the material density and classification box that manipulator in step 5 is grabbed
Density is compared, when the material density that manipulator grabs is same or similar with the material density of one of classification box, then
The material for indicating that manipulator grabs should be sorted in corresponding classification box.At this point, the material level confidence according to obtained in step 1
Breath and the current location information of manipulator, calculate manipulator to the motion profile of corresponding classification box, pass through the motion profile
Control manipulator is moved, and realizes the sorting of building waste.
It is sorted using mixture of the above method to wood, brick, plastic tube, concrete, it is sorted to respectively
In classification box 1-4, wherein classification box 1 is used to hold wood, density range 0.44-0.57g/cm；Classification box 2 is used to hold
Brick, density range 1.7-1.8g/cm；Classification box 3 is used to hold plastic tube, density range 1.38-1.41g/cm；
Classification box 4 is used to hold concrete, density range 2.35-2.40g/cm.It is as shown in the table to sort result:
Table 1
As known from Table 1, the wood on conveyer belt, brick, plastic tube, concrete are accurately grabbed by manipulator accordingly
Classification box in.
It is of the invention it is critical that the present invention by the image information of building waste material obtain material profile information and
Location information goes out the volume of material by the elevation information and conjugate material wheel exterior feature data-evaluation that obtain material.Then in machinery
Hand obtains the weight of material by tension sensor during at the uniform velocity grabbing material upwards, according to weight of material and volume of material
The density for obtaining material knows which classification box the material should be sorted to by comparing density.Finally according to the position of material
The motion profile of manipulator is calculated in the position of confidence breath, the current location information of mechanical arm and classification box, by this
Motion profile controls manipulator and completes Material Sorting.Total value, the present invention identify material by obtaining material density, drop significantly
The error rate of low sorting.Simultaneously by intelligent planning Robotic Manipulator Motion Trajectory, realizes accurate sorting material, substantially increase work
Make efficiency, saves human resources.
The above is only the embodiment of the present invention, is not intended to limit the scope of the present invention, therefore all
Any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention still fall within this
In the range of inventive technique scheme.
Claims (3)
1. a kind of building waste Material Sorting method, it is characterised in that: the method for sorting specifically includes the following steps:
Building waste material is transmitted by step 1 by conveyer belt, during transmission, is adopted by image collecting device
The image information for collecting building waste material, is then based on intelligent vision technology and handles acquired image information, obtains
The location information of material profile and material；
Side on a moving belt is arranged in distance measuring sensor by step 2, in the transmit process of building waste material, will pass through ranging
The elevation information of sensor acquisition building waste material；
Step 3, the volume that material is estimated according to the profile and elevation information of building waste material；
Step 4 grabs building waste material by manipulator, and tension sensor is arranged on a robotic arm, grabs object in manipulator
During material at the uniform velocity rises, the weight of material is obtained by tension sensor；
The weight of step 5, the building waste material according to obtained in step 4, and combine the material body estimated in step 3
Product, is calculated the density information of the material；
Step 6, setting is used to hold the classification box of different classes of building waste material, different classification on conveyer belt side
Box represents different material densities；Material density representated by the material density and classification box that manipulator in step 5 is grabbed
It is compared, when the material density that manipulator grabs is same or similar with the material density of one of classification box, then it represents that
The material that manipulator grabs should be sorted in corresponding classification box；At this point, the material location information according to obtained in step 1 with
And the location information that manipulator is current, manipulator is calculated to the motion profile of corresponding classification box, is controlled by the motion profile
Manipulator is moved, and realizes the sorting of building waste.
2. a kind of building waste Material Sorting method according to claim 1, it is characterised in that: described image acquisition device
For industrial camera.
3. a kind of building waste Material Sorting method according to claim 1, it is characterised in that: the distance measuring sensor is
Laser range sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753326.XA CN109127459A (en) | 2018-07-10 | 2018-07-10 | A kind of building waste Material Sorting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753326.XA CN109127459A (en) | 2018-07-10 | 2018-07-10 | A kind of building waste Material Sorting method |
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| CN109127459A true CN109127459A (en) | 2019-01-04 |
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| CN201810753326.XA Pending CN109127459A (en) | 2018-07-10 | 2018-07-10 | A kind of building waste Material Sorting method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110624857A (en) * | 2019-10-21 | 2019-12-31 | 广东弓叶科技有限公司 | Object type identification method and sorting equipment |
| CN110773550A (en) * | 2019-10-31 | 2020-02-11 | 深圳市宝政通环境有限公司 | Comprehensive recovery processing method for large garbage |
| CN113617680A (en) * | 2021-08-13 | 2021-11-09 | 东北大学秦皇岛分校 | Ore sorting device and method for density estimation based on robot |
| CN113680685A (en) * | 2021-08-24 | 2021-11-23 | 安徽自然美环境科技有限公司 | Garbage classification treatment system based on recoverability |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110624857A (en) * | 2019-10-21 | 2019-12-31 | 广东弓叶科技有限公司 | Object type identification method and sorting equipment |
| CN110773550A (en) * | 2019-10-31 | 2020-02-11 | 深圳市宝政通环境有限公司 | Comprehensive recovery processing method for large garbage |
| CN110773550B (en) * | 2019-10-31 | 2021-11-05 | 深圳市宝政通环境有限公司 | Comprehensive recovery processing method for large garbage |
| CN113617680A (en) * | 2021-08-13 | 2021-11-09 | 东北大学秦皇岛分校 | Ore sorting device and method for density estimation based on robot |
| CN113680685A (en) * | 2021-08-24 | 2021-11-23 | 安徽自然美环境科技有限公司 | Garbage classification treatment system based on recoverability |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190805 Address after: 362000 North China Road, Quanzhou City, Fujian Province, 269 Applicant after: Huaqiao University Applicant after: Fujian Southern Highway Mechanical Co., Ltd. Address before: Fengze District of Quanzhou city of Fujian Province east of Huaqiao University, 362000 Applicant before: Huaqiao University |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190104 |