CN116899913B - Sorting and recycling method, sorting and recycling system, server, storage medium and processing technology for agricultural and forestry waste - Google Patents
Sorting and recycling method, sorting and recycling system, server, storage medium and processing technology for agricultural and forestry waste Download PDFInfo
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- 238000011084 recovery Methods 0.000 claims abstract description 57
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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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/30—Administration of product recycling or disposal
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- 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
Abstract
The application provides a sorting and recycling method, a system, a server and a storage medium for agricultural and forestry waste, wherein the method comprises the following steps: acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste; synthesizing a third image of the forestry and agricultural residues based on the first image and the second image; acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction; determining a sorting type of the forestry and agricultural residues based on the third image and the fourth image; and controlling a sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
Description
Technical Field
The application relates to the technical field of recycling classification, in particular to a sorting and recycling method, a sorting and recycling system, a server, a storage medium and a processing technology of agricultural and forestry wastes.
Background
The agricultural and forestry waste contains abundant cellulose, hemicellulose, starch, protein, mineral matters and the like, has extremely high utilization value, and can solve the problem of environmental pollution by utilizing the agricultural and forestry waste to prepare fuel, feed, fertilizer and other substances, and is an effective way for developing recycling economy and realizing sustainable development of agriculture. Agricultural and forestry waste typically includes straw, weeds, branches, leaves, roots, shavings, peanut hulls, corncobs, walnut hulls, and the like. The recycling treatment of the agricultural and forestry waste comprises the processes of crushing, finishing and the like. However, in the prior art, the agricultural and forestry waste is not classified, but cannot be processed in a targeted manner.
Disclosure of Invention
The application provides a sorting and recycling method, a sorting and recycling system, a server and a storage medium for agricultural and forestry wastes, and aims to solve the technical problem that agricultural and forestry wastes cannot be subjected to targeted fine processing because the agricultural and forestry wastes are not subjected to sorting treatment in the prior art.
In a first aspect, a method for sorting and recycling agricultural and forestry waste includes:
acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
synthesizing a third image of the forestry and agricultural residues based on the first image and the second image;
acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
determining a sorting type of the forestry and agricultural residues based on the third image and the fourth image;
and controlling a sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
Optionally, determining the sort type of the forestry and agricultural residues based on the third image and the fourth image comprises:
extracting image information of the agricultural and forestry waste in the third image;
judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
the sorting module is controlled to sort the agricultural and forestry wastes to a first recycling unit according to the first sort type;
and controlling the sorting module to sort the agricultural and forestry waste to a second recycling unit according to the second sort type.
Optionally, after synthesizing the third image of the agricultural and forestry waste based on the first image and the second image, the method further comprises:
based on the third image, length data of the agricultural and forestry waste are obtained;
determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
the sorting module is controlled to apply a sorting action to the sorting location to sort the agricultural and forestry waste into a recovery unit corresponding to the sort type.
Optionally, acquiring the first image of the agricultural and forestry waste taken by the first image acquisition module at the first time and the second image taken at the second time includes:
continuously acquiring images shot by the first image acquisition module;
if the head of the agricultural and forestry waste appears in the image for the first time, the image is the first image;
and if the tail of the agricultural and forestry waste appears in the image for the first time, the image is the second image.
Optionally, the acquiring the third image acquired by the second image acquisition module at the second moment includes:
if the tail of the agricultural and forestry waste appears in the image for the first time, the shooting time of the image is the second time;
and acquiring a fourth image acquired by the second image acquisition module at the second moment.
In a second aspect, the application also provides a process for realizing the recycling treatment of the agricultural and forestry waste by using the sorting and recycling method of the agricultural and forestry waste.
In a third aspect, an embodiment of the present application further provides a sorting and recycling system for agricultural and forestry waste, including:
at least two recovery units;
a conveyor line configured to convey agricultural and forestry waste;
the first image acquisition module is configured to acquire a first image of the agricultural and forestry waste taken by the first image acquisition module at a first moment and a second image taken by the first image acquisition module at a second moment; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
the second image acquisition module is configured to acquire a fourth image acquired by the second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
the acquisition and identification module is configured to synthesize a third image of the agricultural and forestry waste based on the first image and the second image; determining a sorting type of the forestry and agricultural residues based on the fourth image and the third image;
and the sorting module is configured to control the sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
Optionally, the at least two recovery units comprise at least a first recovery unit and a second recovery unit;
the acquiring and identifying are configured to:
extracting image information of the agricultural and forestry waste in the third image;
judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
the sorting module is further configured to: sorting the forestry and agricultural residues to the first recovery unit according to the first sort type and sorting the forestry and agricultural residues to the second recovery unit according to the second sort type.
In a fourth aspect, the present application also proposes a server comprising:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of sorting and recycling agricultural and forestry waste as previously described.
In a fifth aspect, the present application also proposes a storage medium having stored thereon a computer program to be loaded by a processor for performing the method of sorting and recycling of forestry waste as described above.
According to the technical scheme, a first image of the head part containing the agricultural and forestry waste at a first moment and a second image of the tail part containing the agricultural and forestry waste at a second moment, which are shot by a first image acquisition module, are acquired, so that a third image of the agricultural and forestry waste is obtained; acquiring a fourth image acquired by a second image acquisition module at the second moment; and determining the sorting type of the agricultural and forestry wastes based on the fourth image and the third image, so that the sorting module sorts the agricultural and forestry wastes into corresponding recycling units according to the sorting type, sorting of the waste agricultural and forestry wastes is realized, and the subsequent targeted fine machining of the agricultural and forestry wastes is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for sorting and recycling agricultural and forestry waste according to an embodiment of the present application;
fig. 2 is a schematic flow chart of step S400 and step S600 in the method for sorting and recycling agricultural and forestry waste according to the embodiment of the present application;
FIG. 3 is a schematic flow chart of a method for sorting and recycling agricultural and forestry waste according to an embodiment of the present application;
fig. 4 is a schematic flow chart of steps S100, S200, and S300 in the method for sorting and recycling agricultural and forestry waste according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a sorting and recycling system for agricultural and forestry waste according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a server for implementing a sorting and recycling method of agricultural and forestry waste according to an embodiment of the present application.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the application. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. Moreover, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been described in detail so as not to obscure the description of the application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
In a first aspect, referring to fig. 1, an embodiment of the present application provides a method for sorting and recycling agricultural and forestry waste, including:
s100, acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
s200, synthesizing a third image of the agricultural and forestry waste based on the first image and the second image;
s300, acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
s400, determining the sorting type of the agricultural and forestry waste based on the third image and the fourth image;
and S600, controlling a sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
According to the technical scheme, a first image of the head part containing the agricultural and forestry waste at a first moment and a second image of the tail part containing the agricultural and forestry waste at a second moment, which are shot by a first image acquisition module, are acquired, so that a third image of the agricultural and forestry waste is obtained; acquiring a fourth image acquired by a second image acquisition module at the second moment; and determining the sorting type of the agricultural and forestry wastes based on the fourth image and the third image, so that the sorting module sorts the agricultural and forestry wastes into corresponding recycling units according to the sorting type, sorting of the waste agricultural and forestry wastes is realized, and the subsequent targeted fine machining of the agricultural and forestry wastes is facilitated.
As an alternative implementation of the above embodiment, as shown in fig. 2, determining the sort type of the forestry waste based on the third image and the fourth image includes:
s410, extracting image information of the agricultural and forestry waste in the third image;
s420, judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
in an embodiment, the agricultural and forestry waste is classified into a first type of sort and a second type of sort according to the third image and the length data. For example, the first sort type is short forestry waste and the second sort type is long forestry waste.
The step of controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
s610, controlling a sorting module to sort the agricultural and forestry waste to a first recycling unit according to the first sort type;
s620, controlling the sorting module to sort the agricultural and forestry waste to a second recycling unit according to the second sort type.
In an embodiment, the sorting module sorts short-sized forestry and agricultural residues to the first recovery unit and sorts long-sized forestry and agricultural residues to the second recovery unit, thereby realizing sorting and recovery of the forestry and agricultural residues.
For example, short-sized agricultural and forestry waste can be directly extruded into fiber bundles, and long-sized agricultural and forestry waste is further processed after being sliced, cut and crushed. Through the technical scheme of the embodiment, the agricultural and forestry wastes with different specifications can be divided into two different types, so that different treatment methods can be conveniently given, the pertinence is strong, the treatment effect is good, and the practicability of the obtained product is high.
As an alternative implementation of the above embodiment, as shown in fig. 3, after the third image of the forestry and agricultural residues is obtained based on the first image and the second image, the method further includes:
s500, obtaining length data of the agricultural and forestry waste based on the third image; determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
and S610, controlling the sorting module to apply sorting actions to the sorting parts so as to sort the agricultural and forestry wastes into recovery units corresponding to the sorting types.
In an embodiment, by the method, the sorting position of the agricultural and forestry waste is determined, so that when the sorting module sorts, sorting action is applied to the sorting position to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type, and the agricultural and forestry waste is effectively sorted into the corresponding recovery unit, so that the agricultural and forestry waste is prevented from falling in the sorting process.
For example, in an embodiment, the sorting location of the forestry and agricultural residues is determined to be a middle based on the length data and a first type of sorting type; and grabbing the middle part of the gripper during grabbing. Determining that sorting parts of the agricultural and forestry waste are two end parts based on the length data and the second sort type; and grabbing the end part during grabbing.
As an alternative implementation of the above embodiment, as shown in fig. 4, acquiring a first image of the agricultural and forestry waste taken by the first image acquisition module at a first time and a second image taken at a second time includes:
s110, continuously acquiring images shot by the first image acquisition module;
s120, if the head of the agricultural and forestry waste appears in the image for the first time, the image is the first image;
s130, if the tail of the agricultural and forestry waste appears in the image for the first time, the image is the second image.
And synthesizing a fourth image through the first image and the second image to obtain an overall image of the agricultural and forestry waste, and further determining to obtain length data. The synthesized fourth image can also be used for obtaining an overall image of the agricultural and forestry waste, so that the overall image can be conveniently compared with the third image to judge whether the agricultural and forestry waste is long agricultural and forestry waste or not.
In an embodiment, the length data may also be determined by a time difference between the first time instant and the second time instant and a conveying speed of the conveying line.
As an alternative implementation of the foregoing embodiment, as shown in fig. 4, the acquiring a third image acquired by the second image acquisition module at the second time includes:
s310, if the tail of the agricultural and forestry waste appears in the image for the first time, the shooting time of the image is a second time; and acquiring a third image acquired by the second image acquisition module at the second moment.
In an embodiment, the third image and the fourth image are compared to determine whether the third image has the same image information of the forestry and agricultural residues in the fourth image, so as to determine whether the forestry and agricultural residues are long-type forestry and agricultural residues. When the third image has the same image information in the fourth image, the agricultural and forestry waste is long agricultural and forestry waste, otherwise, the agricultural and forestry waste is short agricultural and forestry waste.
In a second aspect, as shown in fig. 5, the embodiment of the application further provides a sorting and recycling system for agricultural and forestry waste, which comprises
At least two recovery units (110, 120);
a conveyor line 200 configured to convey agricultural and forestry waste;
a first image acquisition module 310 configured to acquire a first image of the agricultural and forestry waste taken by the first image acquisition module at a first time and a second image taken at a second time; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
a second image acquisition module 320 configured to acquire a fourth image acquired by the second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
an acquisition and identification module 400 configured to derive a third image of the forestry and agricultural residues based on the first image and the second image; determining a sorting type of the forestry and agricultural residues based on the third image and the fourth image;
the sorting module 500 is configured to control the sorting module to sort the agricultural and forestry waste into a recovery unit corresponding to the sorting type according to the sorting type.
As an alternative implementation of the above embodiment, the at least two recovery units comprise at least a first recovery unit and a second recovery unit;
the acquiring and identifying are configured to:
extracting image information of the agricultural and forestry waste in the third image;
judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
the sorting module is further configured to: sorting the forestry and agricultural residues to the first recovery unit according to the first sort type and sorting the forestry and agricultural residues to the second recovery unit according to the second sort type.
The application also proposes a server comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method for sorting and recycling agricultural and forestry waste as described above:
s100, acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
s200, synthesizing a third image of the agricultural and forestry waste based on the first image and the second image;
s300, acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
s400, determining the sorting type of the agricultural and forestry waste based on the third image and the fourth image;
and S600, controlling a sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
As an optional implementation of the above embodiment, determining the sort type of the forestry and agricultural residues based on the third image and the fourth image includes:
s410, extracting image information of the agricultural and forestry waste in the third image;
s420, judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
in an embodiment, the agricultural and forestry waste is classified into a first type of sort and a second type of sort according to the third image and the length data. For example, the first sort type is short forestry waste and the second sort type is long forestry waste.
The step of controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
s610, controlling a sorting module to sort the agricultural and forestry waste to a first recycling unit according to the first sort type;
s620, controlling the sorting module to sort the agricultural and forestry waste to a second recycling unit according to the second sort type.
In an embodiment, the sorting module sorts short-sized forestry and agricultural residues to the first recovery unit and sorts long-sized forestry and agricultural residues to the second recovery unit, thereby realizing sorting and recovery of the forestry and agricultural residues.
For example, short-sized agricultural and forestry waste can be directly extruded into fiber bundles, and long-sized agricultural and forestry waste is further processed after being sliced, cut and crushed. Through the technical scheme of the embodiment, the agricultural and forestry wastes with different specifications can be divided into two different types, so that different treatment methods can be conveniently given, the pertinence is strong, the treatment effect is good, and the practicability of the obtained product is high.
As an optional implementation of the above embodiment, after the deriving the third image of the forestry and agricultural residues based on the first image and the second image, the method further includes:
s500, obtaining length data of the agricultural and forestry waste based on the third image; determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
and S610, controlling the sorting module to apply sorting actions to the sorting parts so as to sort the agricultural and forestry wastes into recovery units corresponding to the sorting types.
In an embodiment, by the method, the sorting position of the agricultural and forestry waste is determined, so that when the sorting module sorts, sorting action is applied to the sorting position to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type, and the agricultural and forestry waste is effectively sorted into the corresponding recovery unit, so that the agricultural and forestry waste is prevented from falling in the sorting process.
For example, in an embodiment, the sorting location of the forestry and agricultural residues is determined to be a middle based on the length data and a first type of sorting type; and grabbing the middle part of the gripper during grabbing. Determining that sorting parts of the agricultural and forestry waste are two end parts based on the length data and the second sort type; and grabbing the end part during grabbing.
As an optional implementation of the above embodiment, acquiring a first image of the forestry and agricultural residues taken by the first image acquisition module at a first time and a second image taken at a second time includes:
s110, continuously acquiring images shot by the first image acquisition module;
s120, if the head of the agricultural and forestry waste appears in the image for the first time, the image is the first image;
s130, if the tail of the agricultural and forestry waste appears in the image for the first time, the image is the second image.
And synthesizing a fourth image through the first image and the second image to obtain an overall image of the agricultural and forestry waste, and further determining to obtain length data. The synthesized fourth image can also be used for obtaining an overall image of the agricultural and forestry waste, so that the overall image can be conveniently compared with the third image to judge whether the agricultural and forestry waste is long agricultural and forestry waste or not.
In an embodiment, the length data may also be determined by a time difference between the first time instant and the second time instant and a conveying speed of the conveying line.
As an optional implementation manner of the foregoing embodiment, the acquiring a third image acquired by the second image acquisition module at the second time includes:
s310, if the tail of the agricultural and forestry waste appears in the image for the first time, the shooting time of the image is a second time; and acquiring a fourth image acquired by the second image acquisition module at the second moment.
In an embodiment, the third image and the fourth image are compared to determine whether the third image has the same image information of the forestry and agricultural residues in the fourth image, so as to determine whether the forestry and agricultural residues are long-type forestry and agricultural residues. When the third image has the same image information in the fourth image, the agricultural and forestry waste is long agricultural and forestry waste, otherwise, the agricultural and forestry waste is short agricultural and forestry waste.
Specifically, please refer to fig. 5, which illustrates a schematic structure of a server according to an embodiment of the present application. The server includes a Central Processing Unit (CPU), a system memory including a Random Access Memory (RAM) and a Read Only Memory (ROM), and a system bus connecting the system memory and the central processing unit. The server also includes a basic input/output system (I/O) system to facilitate the transfer of information between the various devices within the computer, and a mass storage device for storing an operating system, application programs, and other program modules.
The basic input/output system includes a display for displaying information and an input device such as a mouse, keyboard for a user to input information. Wherein the display and the input device are connected to the central processing unit via an input-output controller connected to the system bus. The basic input/output system may also include an input/output controller for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, the input-output controller also provides output to a display screen, a printer, or other type of output device.
The mass storage device is connected to the central processing unit through a mass storage controller (not shown) connected to the system bus. The mass storage device and its associated computer-readable media provide non-volatile storage for the server. That is, the mass storage device may include a computer readable medium (not shown) such as a hard disk or CD-ROM drive.
The computer readable medium may include computer storage media and communication media without loss of generality. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage medium is not limited to the one described above. The above-described system memory and mass storage devices may be collectively referred to as memory.
The server may also operate in accordance with various embodiments of the application, through a network, such as the internet, connected to a remote computer on the network. I.e. the server may be connected to the network via a network interface unit connected to the system bus, or alternatively, a network interface unit may be used to connect to other types of networks or remote computer systems (not shown).
The memory further comprises one or more programs, the one or more programs are stored in the memory, and the one or more programs are used for executing the sorting and recycling method of the agricultural and forestry waste provided by the embodiment: s100, acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
s200, synthesizing a third image of the agricultural and forestry waste based on the first image and the second image;
s300, acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
s400, determining the sorting type of the agricultural and forestry waste based on the third image and the fourth image;
and S600, controlling a sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type.
As an optional implementation of the above embodiment, determining the sort type of the forestry and agricultural residues based on the third image and the fourth image includes:
s410, extracting image information of the agricultural and forestry waste in the third image;
s420, judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
in an embodiment, the agricultural and forestry waste is classified into a first type of sort and a second type of sort according to the third image and the length data. For example, the first sort type is short forestry waste and the second sort type is long forestry waste.
The step of controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
s610, controlling a sorting module to sort the agricultural and forestry waste to a first recycling unit according to the first sort type;
s620, controlling the sorting module to sort the agricultural and forestry waste to a second recycling unit according to the second sort type.
In an embodiment, the sorting module sorts short-sized forestry and agricultural residues to the first recovery unit and sorts long-sized forestry and agricultural residues to the second recovery unit, thereby realizing sorting and recovery of the forestry and agricultural residues.
For example, short-sized agricultural and forestry waste can be directly extruded into fiber bundles, and long-sized agricultural and forestry waste is further processed after being sliced, cut and crushed. Through the technical scheme of the embodiment, the agricultural and forestry wastes with different specifications can be divided into two different types, so that different treatment methods can be conveniently given, the pertinence is strong, the treatment effect is good, and the practicability of the obtained product is high.
As an optional implementation of the above embodiment, after the deriving the third image of the forestry and agricultural residues based on the first image and the second image, the method further includes:
s500, obtaining length data of the agricultural and forestry waste based on the third image; determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
and S610, controlling the sorting module to apply sorting actions to the sorting parts so as to sort the agricultural and forestry wastes into recovery units corresponding to the sorting types.
In an embodiment, by the method, the sorting position of the agricultural and forestry waste is determined, so that when the sorting module sorts, sorting action is applied to the sorting position to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type, and the agricultural and forestry waste is effectively sorted into the corresponding recovery unit, so that the agricultural and forestry waste is prevented from falling in the sorting process.
For example, in an embodiment, the sorting location of the forestry and agricultural residues is determined to be a middle based on the length data and a first type of sorting type; and grabbing the middle part of the gripper during grabbing. Determining that sorting parts of the agricultural and forestry waste are two end parts based on the length data and the second sort type; and grabbing the end part during grabbing.
As an optional implementation of the above embodiment, acquiring a first image of the forestry and agricultural residues taken by the first image acquisition module at a first time and a second image taken at a second time includes:
s110, continuously acquiring images shot by the first image acquisition module;
s120, if the head of the agricultural and forestry waste appears in the image for the first time, the image is the first image;
s130, if the tail of the agricultural and forestry waste appears in the image for the first time, the image is the second image.
And synthesizing a fourth image through the first image and the second image to obtain an overall image of the agricultural and forestry waste, and further determining to obtain length data. The synthesized fourth image can also be used for obtaining an overall image of the agricultural and forestry waste, so that the overall image can be conveniently compared with the third image to judge whether the agricultural and forestry waste is long agricultural and forestry waste or not.
In an embodiment, the length data may also be determined by a time difference between the first time instant and the second time instant and a conveying speed of the conveying line.
As an optional implementation manner of the foregoing embodiment, the acquiring a third image acquired by the second image acquisition module at the second time includes:
s310, if the tail of the agricultural and forestry waste appears in the image for the first time, the shooting time of the image is a second time; and acquiring a third image acquired by the second image acquisition module at the second moment.
In an embodiment, the third image and the fourth image are compared to determine whether the third image has the same image information of the forestry and agricultural residues in the fourth image, so as to determine whether the forestry and agricultural residues are long-type forestry and agricultural residues. When the third image has the same image information in the fourth image, the agricultural and forestry waste is long agricultural and forestry waste, otherwise, the agricultural and forestry waste is short agricultural and forestry waste.
The above description is made in detail on the method, system, server, storage medium and treatment process for sorting and recycling agricultural and forestry waste provided by the embodiment of the present application, and specific examples are applied to explain the principle and implementation of the present application, and the above description of the embodiment is only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application.
Claims (7)
1. The method for sorting and recycling the agricultural and forestry waste is characterized by comprising the following steps:
acquiring a first image of agricultural and forestry waste shot at a first moment and a second image shot at a second moment by a first image acquisition module; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
synthesizing a third image of the forestry and agricultural residues based on the first image and the second image;
acquiring a fourth image acquired by a second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
determining a sorting type of the forestry and agricultural residues based on the third image and the fourth image;
controlling a sorting module according to the sorting type to sort the agricultural and forestry waste into a recovery unit corresponding to the sorting type;
wherein determining the sort type of the forestry and agricultural residues based on the third image and the fourth image comprises:
extracting image information of the agricultural and forestry waste in the third image;
judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
the sorting module is controlled to sort the agricultural and forestry wastes to a first recycling unit according to the first sort type;
the sorting module is controlled to sort the agricultural and forestry wastes to a second recycling unit according to the second sort type;
wherein, based on the first image and the second image, after synthesizing the third image of the forestry and agricultural residues, the method further comprises:
based on the third image, length data of the agricultural and forestry waste are obtained;
determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
the sorting module is controlled to apply a sorting action to the sorting location to sort the agricultural and forestry waste into a recovery unit corresponding to the sort type.
2. The sortation recycling method of claim 1, wherein obtaining a first image of forestry waste taken by a first image acquisition module at a first time and a second image taken at a second time comprises:
continuously acquiring images shot by the first image acquisition module;
if the head of the agricultural and forestry waste appears in the image for the first time, the image is the first image;
and if the tail of the agricultural and forestry waste appears in the image for the first time, the image is the second image.
3. The sortation recycling method of claim 2, wherein said obtaining a third image acquired by a second image acquisition module at said second time instant comprises:
if the tail of the agricultural and forestry waste appears in the image for the first time, the shooting time of the image is the second time;
and acquiring a fourth image acquired by the second image acquisition module at the second moment.
4. A process for realizing recycling treatment of agricultural and forestry waste by using the sorting and recycling method of agricultural and forestry waste according to any one of claims 1 to 3.
5. An agricultural and forestry waste sorting and recycling system, which is characterized by comprising
At least two recovery units;
a conveyor line configured to convey agricultural and forestry waste;
the first image acquisition module is configured to acquire a first image of the agricultural and forestry waste taken by the first image acquisition module at a first moment and a second image taken by the first image acquisition module at a second moment; the first image at least comprises the head part of the agricultural and forestry waste, and the second image at least comprises the tail part of the agricultural and forestry waste;
the second image acquisition module is configured to acquire a fourth image acquired by the second image acquisition module at the second moment; wherein the second image acquisition module is positioned at the downstream of the first image acquisition module in the agricultural and forestry waste transmission direction;
the acquisition and identification module is configured to synthesize a third image of the agricultural and forestry waste based on the first image and the second image; determining a sorting type of the forestry and agricultural residues based on the fourth image and the third image;
the sorting module is configured to control the sorting module to sort the agricultural and forestry wastes into recovery units corresponding to the sorting type according to the sorting type;
wherein the at least two recovery units comprise at least a first recovery unit and a second recovery unit;
the acquiring and identifying are configured to:
extracting image information of the agricultural and forestry waste in the third image;
judging whether a part of the image information exists in the fourth image based on the image information;
if the agricultural and forestry waste is not present, determining that the agricultural and forestry waste is of a first type of sorting, otherwise, determining that the agricultural and forestry waste is of a second type of sorting;
the sorting module is further configured to: sorting the forestry and agricultural residues to the first recovery unit according to the first type of sort and to the second recovery unit according to the second type of sort;
the acquiring and identifying are further configured to:
based on the third image, length data of the agricultural and forestry waste are obtained;
determining sorting positions of the agricultural and forestry wastes based on the length data;
controlling the sorting module to sort the agricultural and forestry waste into the recovery unit corresponding to the sorting type according to the sorting type comprises the following steps:
the sorting module is further configured to apply a sorting action to the sorting location to sort the agroforestry waste into a recovery unit corresponding to the sort type.
6. A server, the server comprising:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of sorting and recycling agricultural and forestry waste of any of claims 1-3.
7. A storage medium having stored thereon a computer program to be loaded by a processor for performing the method of sorting and recycling of forestry waste according to any of the preceding claims 1 to 3.
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