CN110202716B - Waste plastic bottle sorting system and sorting method thereof - Google Patents
Waste plastic bottle sorting system and sorting method thereof Download PDFInfo
- Publication number
- CN110202716B CN110202716B CN201910421270.2A CN201910421270A CN110202716B CN 110202716 B CN110202716 B CN 110202716B CN 201910421270 A CN201910421270 A CN 201910421270A CN 110202716 B CN110202716 B CN 110202716B
- Authority
- CN
- China
- Prior art keywords
- unit
- sorting
- waste plastic
- detection module
- data
- Prior art date
- 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.)
- Active
Links
- 239000004033 plastic Substances 0.000 title claims abstract description 94
- 239000002699 waste material Substances 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims description 20
- 238000001514 detection method Methods 0.000 claims abstract description 98
- 239000000463 material Substances 0.000 claims abstract description 73
- 230000000007 visual effect Effects 0.000 claims abstract description 34
- 238000004458 analytical method Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 6
- 238000002329 infrared spectrum Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003892 spreading Methods 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- 238000012216 screening Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
- 239000003086 colorant Substances 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 238000007664 blowing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B17/00—Recovery of plastics or other constituents of waste material containing plastics
- B29B17/02—Separating plastics from other materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B17/00—Recovery of plastics or other constituents of waste material containing plastics
- B29B17/02—Separating plastics from other materials
- B29B2017/0203—Separating plastics from plastics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B17/00—Recovery of plastics or other constituents of waste material containing plastics
- B29B17/02—Separating plastics from other materials
- B29B2017/0213—Specific separating techniques
- B29B2017/0279—Optical identification, e.g. cameras or spectroscopy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Landscapes
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
- Separation, Recovery Or Treatment Of Waste Materials Containing Plastics (AREA)
Abstract
The waste plastic bottle sorting system comprises a detection unit, a system control unit, a mechanical sorting unit and a conveying unit, wherein the conveying unit sequentially conveys waste plastic bottles into the detection unit and the mechanical sorting unit, and the system control unit is respectively connected with the detection unit, the mechanical sorting unit and the conveying unit; the detection unit comprises a visual detection module, a material detection module and a light source; the visual detection module is used for collecting color information, shape information and position information of the waste plastic bottles on the conveying unit based on a camera shooting principle; the plastic bottle sorting machine has the advantages that the visual color analysis and the infrared material analysis are effectively combined, the information of the plastic bottles is accurately and rapidly processed and conveyed to the mechanical sorting unit, and the mechanical sorting unit can accurately sort the plastic bottles on the conveying unit.
Description
Technical Field
The invention relates to the technical field of waste recovery, in particular to a waste plastic bottle sorting system and a sorting method thereof.
Background
With the development of industry, plastic products are applied in various fields of industry, agriculture and daily life, and waste plastic garbage produced every day in the world cannot be measured, but the great pressure on the environment is obvious, and in order to treat the plastic garbage, the current methods are generally landfill, incineration and the like. However, the natural degradation time of the common plastic garbage is long, the common plastic garbage can be degraded after hundreds of years, and a large amount of harmful substances such as methane can be generated in the degradation process, so that the landfill method has obtained the problem of a plurality of experts; and harmful gases, smoke dust and the like generated by the incineration method directly affect the environment. Meanwhile, as the plastic is used as a petrochemical product, the main raw material of the plastic is petroleum, the plastic is a non-renewable resource, the global petroleum is increasingly contented at present, and the cost of the crude oil is higher, so the plastic is the best method for solving the problem of plastic garbage at present for recycling the plastic product. The method effectively solves the threat of plastic products to the environment, and can promote the recycling of resources.
The portable beverage such as bottled mineral water is increasingly popular with people due to the characteristics of convenient carrying, cleanness, sanitation and the like, and a large number of waste plastic bottles are produced accordingly. For recycling the waste plastic bottles, crushing, cleaning, impurity separation and the like are needed, the traditional recovery process and recovery equipment are low in technical content, the recovery cost is high, and the added cost performance of recovery is not ideal. Because various colors exist in the waste plastic bottles, the colors are mixed together after the waste plastic bottles are crushed and cannot be distinguished, and the traditional process for processing the waste plastic bottles by using the raw materials is to use the mixture of various colors, so that the quality of finished products is low and the colors are inconsistent easily caused.
The most advanced plastic bottle cleaning and recycling line in the market at present comprises the following primary process flows: brick-unpacking-hot floating washing-removing body marks and bottle caps-primary bottle selection-manual bottle selection-crushing-friction scrubbing-drying-screening machine-cleaning-drying-finished product bottle chips. The existing equipment basically realizes a full-automatic production operation mode, but the higher treatment efficiency is not achieved in the detection and sorting part, and part of colored bottles are blown out in the original bottle sorting part at present by means of photoelectric detection and compressed air blowing, but the starting mode cannot realize accurate blowing out, the sorting accuracy is less than 80 percent, and transparent bottles are brought out, so that part of manual sorting and bottle picking are needed in the later stage; after primary bottle primary selection and manual bottle picking, the residual bottles on the production line are all colorless transparent bottles, at the moment, the bottles are required to be sorted and selected according to the difference of material properties, so that the bottles are convenient to recycle in later stage, at present, the operation mode is that after the primary bottles are crushed and cleaned, non-PET materials are blown out through a material screening machine by a pneumatic spray head in the material screening machine, and the same reason is that before the bottles are used for entering the material screening machine, the bottles are crushed to bottle flakes with the size of only 1cm, so that in the pneumatic blowing process, the mistaken selection and taking out rate is up to 1:8, and in order to ensure the bottle flakes with high purity, two material screening machines are required to be added, so that the production and treatment cost is very high.
In addition, as disclosed in patent document CN106964563, a plastic bottle sorting method identifies materials through an image identification system, mainly performs image identification through an industrial camera and an industrial personal computer, and after identification, the sorting area is divided through a baffle, but different materials may fall down at the same time, and the baffle cannot effectively perform sorting and screening, so that the sorting efficiency of the sorting system is low, and the enterprise requirement cannot be met.
Further, as disclosed in patent document CN 108582580A, the plastic on-line sorting device based on the near infrared technology and the sorting method thereof can not collect other data rapidly and accurately and feed back to the manipulator for sorting only through infrared material analysis.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a waste plastic bottle sorting system and a sorting method thereof, wherein the waste plastic bottle sorting system can be used for accurately and quickly sorting by combining vision with material analysis.
The invention is realized by the following technical scheme:
The waste plastic bottle sorting system comprises a detection unit, a system control unit, a mechanical sorting unit and a conveying unit, wherein the conveying unit sequentially conveys waste plastic bottles into the detection unit and the mechanical sorting unit, and the system control unit is respectively connected with the detection unit, the mechanical sorting unit and the conveying unit; the detection unit comprises a visual detection module, a material detection module and a light source; the visual detection module is used for collecting color information, shape information and position information of the waste plastic bottles on the conveying unit based on a camera shooting principle; the material detection module is used for carrying out material analysis on waste plastic bottles on the conveying unit and collecting material information based on an infrared online detection method; the system control unit generates sorting targets and dynamic position data thereof according to set parameters by receiving color information, shape information, position information and material information of the visual detection module and the material detection module; the mechanical sorting unit precisely sorts the waste plastic bottles on the conveying unit according to the sorting targets and the dynamic position data of the system control unit.
As the improvement of above-mentioned scheme, the material detection module set up to the infrared spectrum wave band that the material detects corresponds, material PE:1210,1412and 1724nm; material PET:1656nm; the PVC material is 1712 and 1765nm; the PP material is 1199,1394 and 1721nm; PS 1677nm.
As an improvement of the scheme, the conveying unit is a conveying belt mechanism, and the conveying belt can transmit light; the visual detection module and the material detection module are arranged above the conveying belt, and the light source is arranged below the conveying belt and just faces the visual detection module and the material detection module to form a light source detection area.
As an improvement of the scheme, the conveying belt is made of transparent materials or a plurality of light holes are uniformly distributed on the conveying belt.
As an improvement of the above scheme, the mechanical sorting unit comprises at least one parallel robot for sorting the waste plastic bottles on the conveying unit.
As the improvement of the scheme, the parallel robot is provided with the sucking disc mechanism, the sucking disc mechanism adsorbs the waste plastic bottles on the conveying unit through negative pressure generated by the vacuum pump, and then the connection between the sucking disc mechanism and the vacuum pump is cut off through the switch valve to release the waste plastic bottles.
As an improvement of the scheme, the device also comprises a safety protection cover for the coating detection unit, the mechanical sorting unit and the conveying unit.
The sorting method of the waste plastic bottle sorting system comprises the following specific steps:
1S, spreading the pretreated bottles on a conveying unit and conveying the bottles into a detecting unit;
2S, a visual detection module in the detection unit performs visual photographing on the waste plastic bottles on the detection unit through camera imaging, and preliminary position information, shape information and color information are acquired; the visual detection module sends color data, shape data and position coordinate data of the final waste plastic bottle to the system control unit through data processing;
3S, a material detection module in the detection unit judges the materials of the waste plastic bottles with different position coordinates based on an infrared online detection method, and transmits the material data, the shape data and the position coordinate data to a system control unit;
4S, the system control unit combines the received color data, shape data and position coordinate data of the visual detection module with the material data, shape data and position coordinate data of the material detection module, calculates dynamic position coordinate information of waste plastic bottles to be sorted according to preset sorting parameters and the conveying speed of the conveying unit, and forms a sorting instruction to be transmitted to the mechanical sorting unit;
And 5S, the mechanical sorting unit sorts the waste plastic bottles on the conveying unit according to the received sorting instruction.
As an improvement of the scheme, in 2S, for the waste plastic bottle with larger difference between the shape information and the normal shape parameters, the obtained image is subjected to preliminary filtering by combining the gain adjustment of the light source brightness through visual algorithm software, the color type and the color value of the bottle are judged through color value analysis and data comparison, and final color data is output; meanwhile, calculating outline information and a position center coordinate point of the bottle according to the image state of the waste plastic bottle.
As an improvement of the scheme, the mechanical sorting unit is formed by a plurality of parallel robots, the system control unit calculates the most reasonable optimized motion track through motion path simulation, sends the motion track and the collaborative task which are subjected to simulation calculation to each parallel robot in real time, and performs optimization updating on data in real time to ensure that the plurality of parallel robots work cooperatively, so that the highest sorting efficiency can be achieved.
The invention has the following beneficial effects:
1. The detection unit is reasonable in structural arrangement, particularly the position of the light source is arranged and the light-transmitting conveyer belt is improved, so that the detection unit can effectively and clearly collect data of waste plastic bottles, and the plastic bottles can effectively collect all effective information in the moment when passing through the plastic bottles.
2. The visual color analysis and the infrared material analysis are effectively combined, and the information of the plastic bottles is accurately and rapidly processed and conveyed to the mechanical sorting unit, so that the mechanical sorting unit can accurately sort the plastic bottles on the conveying unit.
3. The system is integrally designed in a modularized manner, is reasonable in layout, can be suitable for being added in the existing traditional production line, and the mechanical sorting units can be arranged in series and meet sorting requirements of production lines with different tonnages.
Drawings
Fig. 1 is a perspective view of a waste plastic bottle sorting system according to the present invention.
Fig. 2 is a front cross-sectional view of the system for sorting plastic bottles for waste according to the present invention.
Fig. 3 is an internal structural view of the waste plastic bottle sorting system of the present invention.
FIG. 4 is a near infrared spectrum of a portion of a sorting material according to the present invention.
FIG. 5 is a near infrared spectrum of a portion of a sorting material according to the present invention.
Fig. 6 is a comparison of the present invention before and after the automatic filtering extraction process.
Reference numerals illustrate: the system comprises a detection unit 1, a system control unit 2, a mechanical sorting unit 3, a conveying unit 4, a safety protection cover 5, a visual detection module 6, a material detection module 7, a light source 8, a discharge port 9 and a discharge channel 10.
Detailed Description
Example 1
As shown in fig. 1 to 3, the waste plastic bottle sorting system comprises a detection unit 1, a system control unit 2, a mechanical sorting unit 3, a conveying unit 4 and a safety protection cover 5, wherein the conveying unit 4 sequentially conveys waste plastic bottles into the detection unit 1 and the mechanical sorting unit 3, and the system control unit 2 is respectively connected with the detection unit 1, the mechanical sorting unit 3 and the conveying unit 4; the detection unit 1 comprises a visual detection module 6, a material detection module 7 and a light source 8; the visual detection module 6 is used for collecting color information, shape information and position information of the waste plastic bottles on the conveying unit 4 based on a camera shooting principle; the material detection module 7 is based on an infrared online detection method, and is used for analyzing the materials of the waste plastic bottles on the conveying unit 4 and collecting material information; the system control unit 2 generates sorting targets and dynamic position data thereof according to set parameters by receiving color information, shape information, position information and material information of the visual detection module 6 and the material detection module 7; the mechanical sorting unit 3 precisely sorts the waste plastic bottles on the conveying unit 4 according to the sorting targets of the system control unit 2and the dynamic position data thereof. As shown in fig. 4 and 5, the material detection module 7 sets the infrared spectrum band corresponding to the material detection as the material PE:1210,1412and 1724nm; material PET:1656nm; the PVC material is 1712 and 1765nm; the PP material is 1199,1394 and 1721nm; PS 1677nm. The conveying unit 4 is a conveying belt mechanism, and a conveying belt of the conveying unit can transmit light; the conveyer belt be transparent material or equipartition set up a plurality of light trap (not shown) on the conveyer belt. The visual detection module 6 and the material detection module 7 are arranged above the conveying belt, and the light source 8 is arranged on the conveying belt and just faces the visual detection module 6 and the material detection module 7 to form a light source 8 detection area. The mechanical sorting unit 3 comprises at least one parallel robot for sorting the waste plastic bottles on the conveying unit 4. The parallel robot is provided with a sucking disc mechanism (not shown), and the sucking disc mechanism absorbs waste plastic bottles on the conveying unit 4 through negative pressure generated by the vacuum pump and then is connected with the vacuum pump (not shown) through the switch valve to release the waste plastic bottles. Two sides of the conveying unit 4 at the lowering position of the mechanical sorting unit 3 are provided with a discharge hole 9 and a discharge channel 10, and the mechanical sorting unit 3 throws the sorted waste plastic bottles into the discharge hole 9. The safety protection cover 5 covers the detection unit 1, the mechanical sorting unit 3 and the conveying unit 4.
Example 2
Unlike embodiment 1, the mechanical sorting unit 3 is composed of a plurality of parallel robots, the system control unit 2 calculates the most reasonable optimized motion track through motion path simulation, sends the motion track and collaborative task which are calculated through simulation to each parallel robot in real time, and performs optimization and updating on data in real time to ensure that the plurality of parallel robots work cooperatively, so that the highest sorting efficiency can be achieved.
Example 3
The sorting method of the waste plastic bottle sorting system comprises the following specific steps:
1S, spreading the pretreated bottles on a conveying unit 4 and conveying the bottles into a detecting unit 1;
2S, a visual detection module 6 in the detection unit 1 performs visual photographing on the waste plastic bottles on the detection unit 1 through camera imaging, and preliminary position information, shape information and color information are acquired; as shown in fig. 6, the obtained image is subjected to preliminary filtering by combining the gain adjustment of the brightness of the light source 8 through visual algorithm software, the color type and the color value of the bottle are judged through color value analysis and data comparison, and final color data are output; meanwhile, calculating outline information and a position center coordinate point of the bottle according to the image state of the waste plastic bottle. The vision detection module 6 sends the color data, the shape data and the position coordinate data of the final waste plastic bottle to the system control unit 2;
3S, a material detection module 7 in the detection unit 1 judges the materials of the waste plastic bottles with different position coordinates based on an infrared online detection method, and transmits the material data, the shape data and the position coordinate data to the system control unit 2;
4S, the system control unit 2 combines the received color data, shape data and position coordinate data of the visual detection module 6 with the material data, shape data and position coordinate data of the material detection module 7, calculates dynamic position coordinate information of waste plastic bottles to be sorted according to preset sorting parameters and the conveying speed of the conveying unit 4, and forms a sorting instruction to be transmitted to the mechanical sorting unit 3;
and 5S, the mechanical sorting unit 3 sorts the waste plastic bottles on the conveying unit 4 according to the received sorting instruction.
The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.
Claims (10)
1. The waste plastic bottle sorting system comprises a detection unit, a system control unit, a mechanical sorting unit and a conveying unit, wherein the conveying unit sequentially conveys waste plastic bottles into the detection unit and the mechanical sorting unit, and the system control unit is respectively connected with the detection unit, the mechanical sorting unit and the conveying unit; the detection unit is characterized by comprising a visual detection module, a material detection module and a light source; the visual detection module is used for collecting color information, shape information and position information of the waste plastic bottles on the conveying unit based on a camera shooting principle; the material detection module is used for carrying out material analysis on waste plastic bottles on the conveying unit and collecting material information based on an infrared online detection method; the system control unit generates sorting targets and dynamic position data thereof according to set parameters by receiving color information, shape information, position information and material information of the visual detection module and the material detection module; the mechanical sorting unit precisely sorts the waste plastic bottles on the conveying unit according to the sorting targets and the dynamic position data of the system control unit.
2. The sorting system of claim 1, wherein the material detection module sets the infrared spectrum band corresponding to the material detection to be the material PE:1210,1412and1724nm; material PET:1656nm; the PVC material is 1712 and 1765nm; the PP material is 1199,1394 and 1721nm; PS 1677nm.
3. The waste plastic bottle sorting system of claim 1, wherein the conveying unit is a conveyor belt mechanism, the conveyor belt of which is light-permeable; the visual detection module and the material detection module are arranged above the conveying belt, and the light source is arranged below the conveying belt and just faces the visual detection module and the material detection module to form a light source detection area.
4. The plastic bottle sorting system according to claim 3, wherein the conveyor belt is made of transparent material or a plurality of light holes are uniformly distributed on the conveyor belt, and the light of the light source passes through the plastic bottles through the conveyor belt, so that the data acquisition of the detection unit is facilitated.
5. The system of any one of claims 1 to 4, wherein the mechanical sorting unit comprises at least one parallel robot for sorting the plastic bottles on the conveyor unit.
6. The sorting system of waste plastic bottles according to claim 5, wherein the parallel robot is provided with a sucker mechanism, and the sucker mechanism is connected with the vacuum pump through a switch valve after absorbing waste plastic bottles on the conveying unit by negative pressure generated by the vacuum pump to release the waste plastic bottles.
7. The waste plastic bottle sorting system of claim 5, further comprising a safety shield covering the detection unit, the mechanical sorting unit, the conveying unit.
8. Sorting method based on a sorting system for plastic bottles for waste according to any one of claims 1 to 7 characterised by the specific steps of:
1S, spreading the pretreated bottles on a conveying unit and conveying the bottles into a detecting unit;
2S, a visual detection module in the detection unit performs visual photographing on the waste plastic bottles on the detection unit through camera imaging, and preliminary position information, shape information and color information are acquired; the visual detection module sends color data, shape data and position coordinate data of the final waste plastic bottle to the system control unit through data processing;
3S, a material detection module in the detection unit judges the materials of the waste plastic bottles with different position coordinates based on an infrared online detection method, and transmits the material data, the shape data and the position coordinate data to a system control unit;
4S, the system control unit combines the received color data, shape data and position coordinate data of the visual detection module with the material data, shape data and position coordinate data of the material detection module, calculates dynamic position coordinate information of waste plastic bottles to be sorted according to preset sorting parameters and the conveying speed of the conveying unit, and forms a sorting instruction to be transmitted to the mechanical sorting unit;
And 5S, the mechanical sorting unit sorts the waste plastic bottles on the conveying unit according to the received sorting instruction.
9. The sorting method of the sorting system of the waste plastic bottles according to claim 8, wherein the sorting method is characterized in that in 2S, waste plastic bottles with differences between shape information and normal shape parameters are subjected to preliminary filtering by combining gain adjustment of light source brightness through visual algorithm software, the color type and the color value of the bottles are judged through color value analysis and data comparison, and final color data are output; meanwhile, calculating outline information and a position center coordinate point of the bottle according to the image state of the waste plastic bottle.
10. The sorting method of the waste plastic bottle sorting system according to claim 8, wherein the mechanical sorting unit is composed of a plurality of parallel robots, the system control unit calculates the most reasonable optimized motion track through motion path simulation and sends the motion track and the collaborative task which are subjected to simulation calculation to each parallel robot in real time, and the data are optimized and updated in real time to ensure that the parallel robots work cooperatively, so that the highest sorting efficiency can be achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910421270.2A CN110202716B (en) | 2019-05-17 | 2019-05-17 | Waste plastic bottle sorting system and sorting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910421270.2A CN110202716B (en) | 2019-05-17 | 2019-05-17 | Waste plastic bottle sorting system and sorting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110202716A CN110202716A (en) | 2019-09-06 |
| CN110202716B true CN110202716B (en) | 2024-04-30 |
Family
ID=67787778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910421270.2A Active CN110202716B (en) | 2019-05-17 | 2019-05-17 | Waste plastic bottle sorting system and sorting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202716B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883984A (en) * | 2019-11-06 | 2020-03-17 | 张跃 | Plastic bottle classification recycling device based on light element composition principle |
| CN111112127A (en) * | 2019-12-18 | 2020-05-08 | 厦门大学嘉庚学院 | System and method for synchronously identifying color and material of beverage bottle |
| CN112847947A (en) * | 2021-02-25 | 2021-05-28 | 上海睿聚环保科技有限公司 | Automatic sorting method for plastic bottles |
| CN113172007A (en) * | 2021-05-07 | 2021-07-27 | 杭州电子科技大学 | Intelligent sorting device for waste plastic bottles based on machine vision detection system |
| CN114769135A (en) * | 2022-04-07 | 2022-07-22 | 杭州电子科技大学 | Sucking disc formula plastic part sorting machine |
| CN114819694A (en) * | 2022-05-11 | 2022-07-29 | 燕龙基再生资源利用(佛山)有限公司 | Industrial chain management method and system for recycling waste glass |
| CN114919102B (en) * | 2022-07-21 | 2022-10-25 | 江苏晨逸京泽生物科技有限公司 | Method and system for filtering and separating nursing waste |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000002651A (en) * | 1998-06-17 | 2000-01-07 | Hitachi Plant Eng & Constr Co Ltd | Method and apparatus for discrimination of plastic |
| EP1421999A2 (en) * | 2002-11-21 | 2004-05-26 | CTR Carinthian Tech Research AG | Process for identification, classification and sorting of objects and materials and according recognition system |
| CN103350074A (en) * | 2013-06-20 | 2013-10-16 | 安徽中科光电色选机械有限公司 | Plastic sheet color separating and sorting device |
| CN104148301A (en) * | 2014-07-09 | 2014-11-19 | 广州市数峰电子科技有限公司 | Waste plastic bottle sorting device and method on basis of cloud computing and image recognition |
| CN106140655A (en) * | 2016-08-01 | 2016-11-23 | 界首市振航塑料机械有限公司 | Waste and old polyester whole bottle intelligent sorting system |
| CN108906659A (en) * | 2018-09-04 | 2018-11-30 | 福建南方路面机械有限公司 | A kind of solid sorting system and method for sorting based on machine vision |
-
2019
- 2019-05-17 CN CN201910421270.2A patent/CN110202716B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000002651A (en) * | 1998-06-17 | 2000-01-07 | Hitachi Plant Eng & Constr Co Ltd | Method and apparatus for discrimination of plastic |
| EP1421999A2 (en) * | 2002-11-21 | 2004-05-26 | CTR Carinthian Tech Research AG | Process for identification, classification and sorting of objects and materials and according recognition system |
| CN103350074A (en) * | 2013-06-20 | 2013-10-16 | 安徽中科光电色选机械有限公司 | Plastic sheet color separating and sorting device |
| CN104148301A (en) * | 2014-07-09 | 2014-11-19 | 广州市数峰电子科技有限公司 | Waste plastic bottle sorting device and method on basis of cloud computing and image recognition |
| CN106140655A (en) * | 2016-08-01 | 2016-11-23 | 界首市振航塑料机械有限公司 | Waste and old polyester whole bottle intelligent sorting system |
| CN108906659A (en) * | 2018-09-04 | 2018-11-30 | 福建南方路面机械有限公司 | A kind of solid sorting system and method for sorting based on machine vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110202716A (en) | 2019-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110202716B (en) | Waste plastic bottle sorting system and sorting method thereof | |
| CN205289011U (en) | Building rubbish sorting device based on machine vision | |
| CN203540946U (en) | On-line ore sorting machine based on visual identification technology | |
| CN106975616A (en) | A kind of intelligent city's separating domestic garbage equipment | |
| CN112693032A (en) | High-flux intelligent sorting method and system for recycling waste plastics | |
| CN110524752B (en) | Automatic color selection system and method for plastic bottles | |
| CN103350074A (en) | Plastic sheet color separating and sorting device | |
| CN211217987U (en) | Artificial intelligence mechanical arm with identification sensor for urban solid waste treatment device | |
| CN114472207B (en) | Mineral sorting system and mineral sorting method | |
| CN103831257A (en) | Plastic sorting machine and sorting method | |
| CN105127110B (en) | A kind of automatic fraction collector of universal multispectral imaging mixed plastic | |
| CN110064599A (en) | A kind of building waste optics sorting and processing system and processing method | |
| CN106140655A (en) | Waste and old polyester whole bottle intelligent sorting system | |
| CN106622988A (en) | High-performance carrot computer vision track defective product removing and length and thickness grading device | |
| CN210477480U (en) | Waste plastic bottle sorting system | |
| CN203811551U (en) | Quality detecting and screening equipment of caps | |
| CN101758030B (en) | Chain-chip automatic sorting array machine | |
| CA3224924A1 (en) | Method and system for conducting ore presorting based on hierarchical arrayed intelligent sorting | |
| CN206589210U (en) | A kind of mixed plastic photoelectricity recognizes screening installation | |
| CN206701918U (en) | A kind of garbage sorting device of Multi-sensor Fusion | |
| CN106426642A (en) | Near-infrared sorting device for waste household appliance dismantled and broken plastic | |
| CN112275661A (en) | Intelligent machine fresh tea leaf picking grader | |
| CN107234074A (en) | A kind of timesharing LED double infrared online material sorting devices and method for separating | |
| CN208743094U (en) | Jujube defect intelligent classification separation system | |
| CN203778359U (en) | Plastic sorting machine for sorting PET (Polyethylene Glycol Terephthalate), PVC (Polyvinyl Chloride) and PP (Propene Polymer) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |