CN117566385A - Uniform garbage sorting feeding method and system - Google Patents
Uniform garbage sorting feeding method and system Download PDFInfo
- Publication number
- CN117566385A CN117566385A CN202311863603.XA CN202311863603A CN117566385A CN 117566385 A CN117566385 A CN 117566385A CN 202311863603 A CN202311863603 A CN 202311863603A CN 117566385 A CN117566385 A CN 117566385A
- Authority
- CN
- China
- Prior art keywords
- conveyor belt
- sorting
- feeding
- spreading rate
- garbage sorting
- 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.)
- Pending
Links
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000000463 material Substances 0.000 claims abstract description 75
- 230000007480 spreading Effects 0.000 claims abstract description 59
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000000694 effects Effects 0.000 abstract description 8
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 239000007787 solid Substances 0.000 abstract description 3
- 238000013480 data collection Methods 0.000 abstract 1
- 230000007423 decrease Effects 0.000 description 4
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000005054 agglomeration Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000010893 paper waste Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 239000002910 solid waste Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0291—Speed of the load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention relates to the technical field of garbage sorting, in particular to a uniform garbage sorting feeding method and system, wherein a 3D detection device is arranged on an intermediate conveying belt, an AI image detection device is arranged on a sorting conveying belt, the feeding amount of materials on the intermediate conveying belt is collected in real time, the real-time data collection is carried out on the material spreading and dispersing condition on the sorting conveying belt, the feeding amount and the spreading rate are effectively combined, the running speed of the intermediate conveying belt is controlled and regulated and optimized in real time, the feeding rate and the material spreading uniformity are balanced, the subsequent garbage sorting is facilitated, and a solid foundation is provided for the garbage sorting device to achieve the optimal sorting rate and sorting effect.
Description
Technical Field
The invention relates to the technical field of garbage sorting, in particular to a uniform garbage sorting feeding method and system.
Background
The garbage is classified, recovered and classified, and particularly waste plastics (such as express packages, takeaway packages and shopping bags) and waste paper are classified, recovered and alike, so that the waste plastics are prevented from being mixed, buried and burned, the recycling utilization rate of the household garbage is improved, and the garbage is an important measure for reducing carbon emission of solid waste disposal.
The existing common garbage sorting devices (such as magnetic iron removal, eddy current, photoelectric sorting machines, winnowing machines, bouncing screens and the like) are required to obtain good sorting effects, so that reasonable range and uniformity of feeding rate are ensured, the uniformity of material dispersion and paving is improved on the working face of the sorting device, and stacking is reduced. However, some low-value recoverable materials, such as plastic bags, takeaway packages, milk boxes, paper cups, food packaging bags, waste textiles and the like, have the characteristics of different sizes, light weight, large area, adhesion agglomeration, easy strip winding and the like, and the existing feeding mode cannot enable the sorting device to achieve the optimal sorting efficiency or the optimal sorting effect.
It should be noted that the information disclosed in this background section is only for the purpose of increasing the understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a garbage sorting and uniform feeding method, which comprises the following steps:
the materials are transmitted through a feeding conveyor belt and enter an intermediate conveyor belt;
the 3D detection device detects materials on the intermediate conveyor belt in real time to obtain the feeding amount in unit time;
the materials are transmitted through the middle conveyor belt and enter the sorting conveyor belt;
the AI image recognition device detects the materials on the sorting conveyor belt in real time to obtain the spreading rate of the materials on the sorting conveyor belt in unit time;
the master control module controls the running speed of the middle conveyor belt according to the feeding amount and the spreading rate in unit time.
Further, the obtaining the feeding amount in the unit time includes the following steps:
the encoder records the moving distance of the middle conveyor belt;
according to the moving distance, the encoder controls the 3D detection device to acquire the depth information of the material on the intermediate conveyor belt within the unit distance;
calculating the sectional area in the unit distance according to the material depth information on the intermediate conveyor belt in the unit distance and the width of the intermediate conveyor belt in the unit distance;
calculating the slice volume in the unit distance according to the sectional area in the unit distance;
and summing the slice volumes in unit time to obtain the volume of the material in unit time, namely the feeding quantity.
Further, the cross-sectional area S within the unit distance 0 The expression is as follows:
w is the width of the belt, W is the line scanning resolution of the 3D detection device, and h is the depth information of the material.
Further, the slice volume V per unit distance is expressed as:
V＝S 0 *L
wherein L is the unit distance.
Further, the step of obtaining the spreading rate of the material on the sorting conveyor belt comprises the following steps:
the AI image recognition device collects outline information and area information of materials on the sorting conveyor belt;
and calculating the spreading rate by combining the contour information and the area information of the materials and the area of the sorting conveyor belt.
Further, the spreading rate is expressed as:
wherein S is the area of the conveyor belt, S 1 The sum of the areas of all the material projected onto the belt surface.
Further, the combination of the feeding amount and the spreading rate per unit time to control the running speed of the intermediate conveyor belt comprises the steps of:
predicting a theoretical spreading rate according to the feeding amount and the material volume;
the theoretical spreading rate is fed back to the master control module so as to control the running speed of the middle conveyor belt;
comparing the theoretical spreading rate with the actual spreading rate acquired by the AI image recognition device to acquire an offset value;
the master control module further corrects the running speed of the intermediate conveyor belt according to the deviation value.
Further, the running speed of the feeding conveyor belt is proportional to the running speed of the intermediate conveyor belt.
Further, the running speed of the sorting conveyor remains unchanged.
The invention also provides a garbage sorting and feeding system for implementing the garbage sorting and uniform feeding method according to any one of the above, which comprises a feeding conveyor belt, an intermediate conveyor belt, a sorting conveyor belt, a 3D detection device and an AI image recognition device.
Based on the above, compared with the existing feeding mode, the method and the system for uniformly feeding the garbage sorting provided by the invention have the advantages that the 3D detection device is arranged on the middle conveyor belt, the real-time acquisition of the feeding amount of the materials on the middle conveyor belt is carried out, the AI image detection device is arranged on the sorting conveyor belt, the real-time data acquisition of the material spreading and dispersing condition on the sorting conveyor belt is carried out, the feeding amount and the spreading rate are effectively combined, the running speed of the middle conveyor belt is controlled and regulated and optimized in real time, the feeding rate and the material spreading uniformity are balanced, the subsequent garbage sorting is facilitated, and a solid foundation is provided for the garbage sorting device to achieve the optimal sorting rate and sorting effect
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities particularly pointed out in the specification and the like.
Drawings
For a clearer description of embodiments of the invention or of the solutions of the prior art, a brief description will be given below of the drawings that are needed in the description of the embodiments or of the prior art, it being obvious that the drawings in the description below are some embodiments of the invention, from which other drawings can be obtained, without the aid of inventive labour, for a person skilled in the art; in the following description, the positional relationship described in the drawings is based on the orientation of the components shown in the drawings unless otherwise specified.
FIG. 1 is a schematic flow chart of a method for uniformly feeding garbage sorting according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a process for obtaining a real-time feed according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of controlling the running speed of an intermediate conveyor belt by feed amount and spreading rate according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a uniform garbage sorting and feeding system according to an embodiment of the present invention;
the marks in the figure:
10-feeding conveyor belt 20-middle conveyor belt 30-sorting conveyor belt 40-3D detection device 50-AI image recognition device 60-general control module
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention; the technical features designed in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or components referred to must have a specific orientation or be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. 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 such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. In addition, the term "comprising" and any variations thereof are meant to be "at least inclusive".
For ease of understanding, explanation is first made for individual nouns:
spreading rate: the ratio of the total area of the materials in the state of dispersing and spreading the materials to the surface area of the sorting conveyor belt.
Unit distance and unit time: the setting can be performed according to specific actual working condition environments, and the setting is not limited.
Depth information: height of material collected by 3D detection device
Cross-sectional area information: area of material perpendicular to moving direction, collected by 3D detection device
Example 1
In order to solve the above-mentioned technical problems or advantages that the conventional feeding method cannot achieve the best sorting efficiency or the best sorting effect of the sorting device, an embodiment of the present invention provides a method for uniformly feeding garbage. As shown in fig. 1 and 2, it comprises the steps of:
the material is transported by the feeding conveyor belt 10 and enters the intermediate conveyor belt 20;
the 3D detecting device 40 detects the material on the intermediate conveyor 20 in real time to obtain the feeding amount in unit time;
the material is transported via the intermediate conveyor 20 and enters the sorting conveyor 30;
the AI image recognition device 50 detects the materials on the sorting conveyor belt 30 in real time to obtain the spreading rate of the materials on the sorting conveyor belt 30 in unit time;
the general control module 60 controls the running speed of the intermediate conveyor 20 according to the amount of feed and the spreading rate per unit time.
Further, the method comprises the steps of,
the obtaining of the feed amount per unit time comprises the following steps:
the encoder records the moving distance of the middle conveyor belt;
according to the moving distance, the encoder controls the 3D detection device to acquire the depth information of the material on the intermediate conveyor belt within the unit distance;
calculating the sectional area in the unit distance according to the material depth information on the intermediate conveyor belt in the unit distance and the width of the intermediate conveyor belt in the unit distance;
calculating the slice volume in the unit distance according to the sectional area in the unit distance;
and summing the slice volumes in unit time to obtain the volume of the material in unit time, namely the feeding quantity.
Further, the cross-sectional area S within the unit distance 0 The expression is as follows:
w is the width of the belt, W is the line scanning resolution of the 3D detection device, and h is the depth information of the material.
Further, the slice volume V per unit distance is expressed as:
V＝S 0 *L
wherein L is the unit distance.
In specific implementation, when the material is conveyed into the intermediate conveyor belt 20 through the feeding conveyor belt 10, the material is conveyed through the 3D detection device 40,3D detection device 40 on the intermediate conveyor belt 20, the depth information of the material is obtained, the sectional area information of the object in unit time is calculated, the slice volume of the object in unit distance is calculated according to the sectional area information of the object, and the slice volumes of the object in unit distance are summed to obtain the feeding amount. Preferably, an encoder is provided on the intermediate conveyor 20 for recording the moving distance of the intermediate conveyor 20, and the 3D detecting device 40 is also triggered by the encoder to sample, so that the feeding amount can be accurately obtained and calculated when the running speed of the intermediate conveyor 20 is changed.
In some preferred embodiments, the 3D detection device 40 is a line scan 3D camera.
The material is transported via the intermediate conveyor 20 into the sorting conveyor 30, where the material assumes a stacked condition on the intermediate conveyor 20, and where the sorting conveyor 30 operates at a relatively higher speed than the intermediate conveyor 20, and where the material spreads out due to the speed difference as it enters the sorting conveyor 30. It should be noted that a material-refining and bulk material device may be disposed between the intermediate conveyor belt 20 and the sorting conveyor belt 30 according to the actual working condition, so as to achieve a better spreading effect.
The running speed of the sorting conveyor 30 is kept unchanged, the materials are conveyed by the sorting conveyor 30, the spread materials are detected in real time by the AI image detection device 50 and the AI image detection device 50, the contour information and the area information of each material are collected, the spreading rate is calculated by combining the area of the sorting conveyor 50, and the spreading rate is expressed as follows:
wherein S is the area of the conveyor belt, S 1 The sum of the areas of all the material projected onto the belt surface.
Preferably, the A I image detecting device 50 is an RGB camera.
The master control module combines the feeding amount and the spreading rate, and controls the running speed of the intermediate conveyor belt 20 through the speed controller, so that the running speed of the intermediate conveyor belt 20 is reduced when the feeding amount and the spreading rate are large, and the running speed of the intermediate conveyor belt 20 is improved when the feeding amount and the spreading rate are small.
On this basis, in order to more accurately control the operation speed of the intermediate conveyor 20, a preset spreading rate is set in advance according to the sorting capability of the rear-end garbage sorting apparatus before loading, and the operation speed of the intermediate conveyor 20 is set according to the preset spreading rate so that the operation speed of the intermediate conveyor 20 matches the sorting capability of the sorting apparatus in a long time range. Meanwhile, the running speed of the intermediate conveyor belt 20 is controlled according to the feeding amount and the spreading rate acquired in real time by taking the preset spreading rate as a standard, so that the effects of balancing the feeding rate and the material spreading uniformity according to different materials in a short time range and facilitating the subsequent garbage sorting are achieved.
Example two
On the basis of the above embodiment, the present embodiment refines the running speed of the intermediate conveyor by combining the feeding amount and the spreading rate in unit time with the master control module, as shown in fig. 3, and includes the following steps:
predicting a theoretical spreading rate according to the feeding amount and the material volume;
the theoretical spreading rate is fed back to the master control module so as to control the running speed of the middle conveyor belt;
comparing the theoretical spreading rate with the actual spreading rate acquired by the AI image recognition device to acquire an offset value;
the master control module further corrects the running speed of the intermediate conveyor belt according to the deviation value.
In the specific implementation, because of the variety of garbage, each shape is different in size and irregular in shape, and the volume information detected by the 3D detection device 40 cannot be directly quantized into the spreading rate. Therefore, a calibration step needs to be performed before the loading work is formally performed, namely:
a batch of materials to be sorted is placed, the materials are operated by the feeding conveyor belt 10, the middle conveyor belt 20 and the sorting conveyor belt 30, the 3D detection device 40 acquires the volume information of the materials, the AI image detection device 50 acquires the paving area of the materials on the sorting conveyor belt 20, at the moment, the approximate equivalent height H can be calculated by combining the feeding amount and the paving area, and then the volume information of the materials acquired by the 3D detection device 40 in unit time.
In the formal feeding working process, the equivalent height H is combined, and the deformation formula of the volume formula is adopted:
S 1 ＝V/H
calculating the sum S of the areas of the approximate theoretical material projected on the belt surface 1 The approximate theoretical spreading rate P is:
preferably, the above calibration steps can be repeated multiple times to average the equivalent height H, reducing errors.
The theoretical spreading rate is fed back to the master control module 60, and the master control module 60 compares the theoretical spreading rate with a preset spreading rate, reduces the running speed of the intermediate conveyor 20 when the theoretical spreading rate is greater than the preset spreading rate, and increases the running speed of the intermediate conveyor 20 when the theoretical spreading rate is less than the preset spreading rate.
Meanwhile, the master control module 60 compares the theoretical paving rate with the actual paving rate acquired by the AI image detection device 50 to obtain a deviation value of the theoretical paving rate and the actual paving rate, and when the theoretical paving rate is predicted in the next unit time, the deviation value is added to predict, so that the intermediate conveyor 20 is finely regulated and controlled, and the feeding rate and the material paving uniformity are balanced more accurately.
In some preferred embodiments, to avoid accumulation of material on the intermediate conveyor 20 as the speed of the intermediate conveyor 20 decreases, the speed of the loading conveyor 10 is proportional to the speed of the intermediate conveyor 20, i.e., as the speed of the intermediate conveyor 20 decreases, the speed of the loading conveyor 10 decreases and the amount of material fed decreases. When the running speed of the intermediate conveyor 20 increases, the running speed of the feeding conveyor 10 increases, and the amount of the fed material increases.
In some preferred embodiments, as shown in fig. 4, the present invention further provides a garbage sorting feeding system for implementing the garbage sorting uniform feeding method according to any one of the above embodiments, which includes a loading conveyor 10, an intermediate conveyor 20, a sorting conveyor 30, a 3D detection device 40, an AI image detection device 50, and a general control module 60.
In summary, compared with the existing feeding mode, the method and system for uniformly feeding garbage sorting provided by the invention have the advantages that the 3D detection device is arranged on the intermediate conveyor belt, the real-time acquisition of the feeding amount of materials on the intermediate conveyor belt is performed, the AI image detection device is arranged on the sorting conveyor belt, the real-time data acquisition of the material spreading and dispersing condition on the sorting conveyor belt is performed, the feeding amount and the spreading rate are effectively combined, the running speed of the intermediate conveyor belt is controlled and regulated and optimized in real time, the feeding rate and the material spreading uniformity are balanced, the subsequent garbage sorting is facilitated, and a solid foundation is provided for the garbage sorting device to achieve the optimal sorting rate and sorting effect
In addition, it should be understood by those skilled in the art that although many problems exist in the prior art, each embodiment or technical solution of the present invention may be modified in only one or several respects, without having to solve all technical problems listed in the prior art or the background art at the same time. Those skilled in the art will understand that nothing in one claim should be taken as a limitation on that claim.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A garbage sorting and uniform feeding method is characterized by comprising the following steps of: the method comprises the following steps:
the materials are transmitted through a feeding conveyor belt and enter an intermediate conveyor belt;
the 3D detection device detects materials on the intermediate conveyor belt in real time to obtain the feeding amount in unit time;
the materials are transmitted through the middle conveyor belt and enter the sorting conveyor belt;
the AI image recognition device detects the materials on the sorting conveyor belt in real time to obtain the spreading rate of the materials on the sorting conveyor belt in unit time;
the master control module controls the running speed of the middle conveyor belt according to the feeding amount and the spreading rate in unit time.
2. The uniform garbage sorting feeding method according to claim 1, wherein: the obtaining of the feed amount per unit time comprises the following steps:
the encoder records the moving distance of the middle conveyor belt;
according to the moving distance, the encoder controls the 3D detection device to acquire the depth information of the material on the intermediate conveyor belt within the unit distance;
calculating the sectional area in the unit distance according to the material depth information on the intermediate conveyor belt in the unit distance and the width of the intermediate conveyor belt in the unit distance;
calculating the slice volume in the unit distance according to the sectional area in the unit distance;
and summing the slice volumes in unit time to obtain the volume of the material in unit time, namely the feeding quantity.
3. The uniform garbage sorting feeding method according to claim 2, wherein: the cross-sectional area S within the unit distance 0 The expression is as follows:
w is the width of the belt, W is the line scanning resolution of the 3D detection device, and h is the depth information of the material.
4. A method for uniformly feeding garbage sorting according to claim 3, wherein: the slice volume V per unit distance is expressed as:
V＝S 0 *L
wherein L is the unit distance.
5. The uniform garbage sorting feeding method according to claim 1, wherein: the spreading rate of the obtained material on the sorting conveyor belt comprises the following steps:
the AI image recognition device collects outline information and area information of materials on the sorting conveyor belt;
and calculating the spreading rate by combining the contour information and the area information of the materials and the area of the sorting conveyor belt.
6. The uniform garbage sorting feeding method according to claim 5, wherein: the spreading rate P is expressed as follows:
wherein S is the area of the conveyor belt, S 1 The sum of the areas of all the material projected onto the belt surface.
7. The uniform garbage sorting feeding method according to claim 1, wherein: the combination of the feed rate and the spreading rate per unit time to control the running speed of the intermediate conveyor belt comprises the steps of:
predicting a theoretical spreading rate according to the feeding amount and the material volume;
the theoretical spreading rate is fed back to the master control module so as to control the running speed of the middle conveyor belt;
comparing the theoretical spreading rate with the actual spreading rate acquired by the AI image recognition device to acquire an offset value;
the master control module further corrects the running speed of the intermediate conveyor belt according to the deviation value.
8. The uniform garbage sorting feeding method according to claim 1, wherein: the running speed of the feeding conveyor belt is proportional to the running speed of the intermediate conveyor belt.
9. The uniform garbage sorting feeding method according to claim 1, wherein: the running speed of the sorting conveyor remains unchanged.
10. A garbage sorting and feeding system, which is characterized in that: a method for implementing the uniform feeding method for garbage sorting according to any one of claims 1 to 9, comprising a feeding conveyor, an intermediate conveyor, a sorting conveyor, a 3D detection device and an AI image recognition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311863603.XA CN117566385A (en) | 2023-12-29 | 2023-12-29 | Uniform garbage sorting feeding method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311863603.XA CN117566385A (en) | 2023-12-29 | 2023-12-29 | Uniform garbage sorting feeding method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117566385A true CN117566385A (en) | 2024-02-20 |
Family
ID=89890287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311863603.XA Pending CN117566385A (en) | 2023-12-29 | 2023-12-29 | Uniform garbage sorting feeding method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117566385A (en) |
-
2023
- 2023-12-29 CN CN202311863603.XA patent/CN117566385A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8360230B2 (en) | Method and apparatus for measuring a parameter during the transport of objects to a processing device | |
| CN109178960A (en) | A kind of intelligent stacking system and method suitable for different size carton package | |
| US5423431A (en) | Method and an apparatus for waste handling | |
| CN1130299C (en) | Bag making device and method for producing foil sheet bag | |
| CN107531427A (en) | The conveyer package management system of view-based access control model | |
| CN108277720A (en) | Bituminous mixing plant grading of aggregates on-line checking, anti-flash control method and system | |
| CN102583095B (en) | Printed material collecting device and working method thereof | |
| CN106097562B (en) | A kind of intelligence coin sorting equipment | |
| GB2175927A (en) | Method and apparatus for taking-off flocks from fibre bales | |
| CN208898125U (en) | A kind of intelligent stacking system suitable for different size carton package | |
| CN207107799U (en) | A kind of goods and materials storage dispensing device | |
| US20150274467A1 (en) | Device and Method for Controlling the Tracking of a Value Document Stack | |
| CN106216545A (en) | A kind of production method based on intelligent vision feeder | |
| CN117566385A (en) | Uniform garbage sorting feeding method and system | |
| EP0987606A3 (en) | Image forming apparatus and image forming method | |
| JP3679843B2 (en) | Article counting device by image processing | |
| CN208933790U (en) | A kind of supply system of gathering materials of continuous asphalt mixing plant | |
| CN114951009B (en) | Parcel delivery method, four-section delivery system, equipment and storage medium | |
| CN216026332U (en) | Salt package automatic classification system | |
| CN114030907B (en) | Feeding system | |
| CN210526929U (en) | Automatic push away material binding apparatus and full-automatic sorting and bundling production line | |
| CN113619885A (en) | Intelligent equipment for packing of textile machinery | |
| JP2022540937A (en) | A distance sensing conveyor package management system that measures and controls the density of parcels on the conveyor | |
| CN109137678A (en) | A kind of gather materials supply system and the method for continuous asphalt mixing plant | |
| CN114212445B (en) | Material processing feeding servo system based on structured light volume measurement |
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 |