CN209792032U - Garbage sorting system based on vision and intelligent recognition technology - Google Patents
Garbage sorting system based on vision and intelligent recognition technology Download PDFInfo
- Publication number
- CN209792032U CN209792032U CN201920483356.3U CN201920483356U CN209792032U CN 209792032 U CN209792032 U CN 209792032U CN 201920483356 U CN201920483356 U CN 201920483356U CN 209792032 U CN209792032 U CN 209792032U
- Authority
- CN
- China
- Prior art keywords
- garbage
- image
- target
- sorting system
- grabbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a rubbish sorting system based on vision and intelligent recognition technology, which comprises a conveying device and an image acquisition device, wherein the image acquisition device is positioned at the preset position of the conveying device, and is arranged to acquire a plurality of continuous images of rubbish on the conveying device in real time and splice the images into a complete and non-overlapping rubbish image in the conveying process of the conveying device; the grabbing device is used for grabbing the target garbage; the control unit is used for identifying the material of the garbage according to the garbage image fed back by the image acquisition device to obtain target garbage and position information corresponding to the target garbage, and controlling the grabbing device to grab the target garbage; the subsequent discernment to the target rubbish of being convenient for, simultaneously, can accurate control grabbing device snatchs the target rubbish, realizes automatic separation rubbish.
Description
Technical Field
The utility model relates to a rubbish field of retrieving especially relates to a can automatic separation rubbish based on vision and intelligent recognition technology's rubbish sorting system.
background
The problem of environmental pollution caused by garbage is increasingly serious, at present, the garbage is mainly sorted by mechanical sorting technologies such as size screening, air sorting, liquid flotation, bouncing sorting, magnetic sorting, eddy current sorting, sensor airflow sorting and the like, wherein manual sorting is an indispensable link in the technologies, and the manual sorting is mainly used for selecting large-size target garbage which cannot be identified by the mechanical sorting technologies and carrying out sorting quality control, for example, small-size impurities are removed, so that high-purity garbage recycled materials are obtained.
The manual separation has the problems of low separation efficiency, poor working environment, damage to the physical health of workers and the like.
In view of the above, there is a need to provide a new garbage sorting system based on visual and intelligent recognition technology to solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can automatic separation rubbish based on vision and intelligent recognition technique select separately system.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme: a garbage sorting system based on vision and intelligent recognition technology comprises a conveying device used for conveying garbage to be sorted; the waste sorting system further comprises:
the image acquisition device is positioned at a preset position of the conveying device, and is set to acquire a plurality of continuous images of the garbage on the conveying device in real time and splice the images into a complete garbage image without overlapping in the conveying process of the conveying device;
The grabbing device is used for grabbing the target garbage;
The control unit is used for identifying the material of the garbage according to the garbage image fed back by the image acquisition device to obtain target garbage and position information corresponding to the target garbage, and controlling the grabbing device to grab the target garbage.
As the utility model discloses further modified technical scheme, the image acquisition device include the linear array camera, with linear array camera complex first encoder and image control module, image control module sets up to the basis the signal of telecommunication of first encoder feedback is a complete and non-overlapping rubbish image with many continuous image concatenations that the linear array camera acquireed.
As a further improved technical solution of the present invention, the conveying device includes a conveying line and a driving assembly for driving the conveying line, the driving assembly includes a driving member in communication connection with the control unit, a driving roller connected with the driving member, and a driven roller linked with the driving roller; the first encoder is connected to the driven roller.
As the utility model discloses further modified technical scheme, the control unit includes degree of depth learning training and calculation module, degree of depth learning training and calculation module are used for the basis the material that rubbish image recognition goes out rubbish reachs the positional information that target rubbish and target rubbish correspond.
As the utility model discloses further modified technical scheme, image acquisition device still including install in the darkroom of conveyor top, install in light filling device in the darkroom, the darkroom has the orientation the open shooting opening of conveyor, linear array camera install in the darkroom.
As a further improved technical solution of the present invention, the control unit includes a grabbing control module; the grabbing device comprises a mounting frame, a manipulator and a second encoder, wherein the manipulator is installed on the mounting frame and is in communication connection with the grabbing control module, the second encoder is matched with the manipulator for use, and the grabbing control module is set to control the manipulator to grab target garbage according to position information corresponding to the target garbage and an electric signal fed back by the second encoder.
As a further improved technical scheme of the utility model, the manipulator is the Delta robot.
As a further improved technical solution of the present invention, the conveying device includes a conveying line and a driving assembly for driving the conveying line, the driving assembly includes a driving member in communication connection with the control unit, a driving roller connected with the driving member, and a driven roller linked with the driving roller; the second encoder is connected to the driven roller.
As the utility model discloses further modified technical scheme, the rubbish is selected separately the system and is still including being used for storing the district of storage of the rubbish that grabbing device divides to elect, the district of storage is located conveyor is last to be close to grabbing device's position department.
As a further improved technical scheme of the utility model, conveyor still includes the transfer chain, locates the guardrail of the feed end of transfer chain.
The utility model has the advantages that: the image acquisition device in the garbage sorting system based on the vision and intelligent identification technology can acquire a complete and non-overlapping garbage image, so that the subsequent identification of target garbage is facilitated; and simultaneously, the utility model provides a material that rubbish was discerned to rubbish system of sorting based on vision and intelligent recognition technique according to the last rubbish image recognition of the conveyor who acquires reachs the positional information that target rubbish and target rubbish correspond to, thereby, can accurate control grabbing device snatchs target rubbish, realizes automatic separation rubbish.
drawings
Fig. 1 is the utility model provides a garbage sorting system's based on vision and intelligent recognition technique schematic structure.
Fig. 2 is an exploded view of the grasping device in fig. 1.
Detailed Description
The present invention will be described in detail with reference to the embodiments shown in the drawings, and reference is made to fig. 1 to 2, which are preferred embodiments of the present invention. It should be understood that the detailed description and specific examples, while indicating the invention, are given by way of illustration only, not by way of limitation.
Please refer to fig. 1 to 2, which are the present invention provides a garbage sorting system 100 based on vision and intelligent recognition technology, including a conveying device 1 for conveying garbage to be sorted, an image acquiring device 2 for acquiring garbage images on the conveying device 1, a grabbing device 3 for grabbing target garbage, and a control unit 5, wherein the conveying device 1, the image acquiring device 2, and the grabbing device 3 are all in communication connection with the control unit 5, the control unit 5 is configured to obtain position information corresponding to the target garbage and the target garbage according to the material of the garbage image identified by the image acquiring device 2, and control the grabbing device 3 to grab the target garbage.
Conveyor 1 includes transfer chain 11, is used for the installation transfer chain 11's conveying line frame 12, is used for the drive assembly 13 of transfer chain 11 operation, drive assembly 13 include including with the drive piece 131 that the control unit communication is connected, with drive roll (not numbered) that drive piece 131 is connected, with the driven voller 132 of drive roll linkage, the control unit control drive piece 131 drive the drive roll rotates, drives driven voller 132 rotates, makes transfer chain 11 operation to carry rubbish.
In one embodiment, the driving member is a motor, but not limited thereto.
Furthermore, the conveying line 11 is provided with a feeding end and a discharging end which are arranged oppositely, the garbage to be sorted is put into the conveying line 11 from the feeding end, and the garbage is driven to move to the discharging end in the running process of the conveying line 11.
The conveying device 1 further comprises a guardrail 14 arranged at the feeding end, so that workers are prevented from being involved in the conveying device 1 to cause accidents, and the safety performance of the garbage sorting system 100 is enhanced.
The image acquisition device 2 is arranged at a preset position of the conveying device 1, and in the process of conveying garbage by the conveying device 1, the image acquisition device 2 acquires multiple continuous images of garbage passing through the shooting range of the image acquisition device 2 in real time and splices the images into a complete garbage image without overlapping, so that the target garbage in the garbage image can be conveniently identified subsequently.
In one embodiment, the image obtaining apparatus 2 includes a line camera (not shown) for obtaining images of garbage, a first encoder (not shown) matched with the line camera, and an image control module, and when the image control module controls the line camera to start shooting images, the image obtaining apparatus synchronously obtains a first encoder value corresponding to the images, and concatenates the images into a complete garbage image without repetition according to the first encoder values of a plurality of consecutive images. The shooting speed of the image acquisition device 2 is improved, the working range of the image acquisition device 2 is enlarged, and the definition of the finally acquired garbage image is improved. Of course, without being limited thereto, an area-array camera may be provided instead of the line-array camera to obtain images of the trash on the conveying device 1, and it is understood that the first encoder is not required to be used when the line-array camera is replaced with the area-array camera.
In the embodiment in which the image acquisition means 2 comprise a line camera, during operation of the conveying device 1, the linear array camera acquires a plurality of continuous images of the garbage passing through the linear array camera and feeds the images back to the image control module, meanwhile, the image control module acquires a first encoder value corresponding to the image, splices the images into a complete and unrepeated garbage image according to the first encoder values of the continuous images, and records the first encoder value corresponding to the acquired garbage image, after the subsequent control unit sends a signal for acquiring the garbage image, the image control module feeds the acquired garbage image and the first encoder value corresponding to the garbage image back to the control unit, so that the control unit can conveniently identify the target garbage in the garbage image and then obtain the position information of the target garbage according to the first encoder value of the garbage image.
Simultaneously, the running speed of transfer chain 11 can be gathered in real time to first encoder, be more convenient for with grabbing device 3 cooperatees, realizes the developments and snatchs target rubbish.
As will be appreciated, the electrical signal fed back by the first encoder includes the first encoder value described above, the operating speed of the conveyor line 11 described above, and the like.
It will be appreciated that the first encoder value corresponding to the spam image may represent information on the location of the target spam on the conveyor line 11 in the spam image.
specifically, the first encoder is connected to the driven roller 132, and therefore, it is possible to prevent inaccurate data acquired due to slipping of the conveyor line 11.
Further, the image acquiring device 2 further comprises a darkroom 21 arranged above the conveying device 1 and a light supplementing device arranged in the darkroom 21, and the line camera is arranged in the darkroom 21 to prevent external stray light from influencing the shooting effect of the line camera.
specifically, the dark room 21 is mounted on the conveyor stand 12, and the dark room 21 has a shooting opening (not numbered) opened toward the conveyor 1 so that the line camera can acquire images of passing trash.
Further, the dark room 21 has a peripheral wall 211, a top wall closing one end of the peripheral wall 211 away from the conveying device, and an opening (not numbered) is provided on the peripheral wall 211; the darkroom 21 further comprises a door body 212 movably connected to the peripheral wall 211 to open or close the opening, so as to facilitate the mounting and dismounting of the line camera.
In one embodiment, the control unit 5 is a computer for controlling the operation of the garbage sorting system 100 based on the visual and intelligent recognition technology, and it is understood that the specific model of the computer is not specially specified, and all computers capable of controlling the operation of the garbage sorting system 100 are within the scope of the present invention. Of course, this is not a limitation.
further, the control unit comprises a deep learning training and calculating module, wherein a deep learning algorithm, such as the fast R-CNN target detection algorithm, is prestored in the deep learning training and calculating module, so as to identify the material of different types of garbage according to the acquired garbage image, and obtain the target garbage.
Specifically, the step of identifying the target garbage by the Faster R-CNN target detection algorithm mainly comprises the following steps:
S1: the deep learning training and calculating module acquires a garbage image input in a multi-dimensional array form, and the garbage image is processed by a pre-training CNN model to obtain a convolution characteristic graph;
S2: processing the convolution characteristic graph by RPN (region P _ ropose network), and identifying a region possibly containing target garbage;
S3: and classifying the garbage positioned in the boundary box based on the R-CNN module, identifying the target garbage and obtaining the position of the target garbage.
It is understood that the target waste is the waste to be sorted, such as plastic bottles, fabrics, paper, etc.
After the deep learning training and calculation module calculates target garbage, the control unit extracts a first encoder value corresponding to the linear array camera shooting the target garbage.
Furthermore, the control unit comprises a grabbing control module, the grabbing control module can control the grabbing device, after the deep learning training and calculation module identifies that the garbage image contains the target garbage, the control unit feeds back a first encoder value corresponding to the garbage image to the grabbing control module, and the grabbing control module is convenient to accurately control the grabbing device 3 to grab the target garbage.
Further, a coordinate system transformation relation model between the linear array camera and the grabbing device 3 established through a calibration algorithm is prestored in the grabbing control module, and the grabbing control module obtains a preset encoder increment corresponding to the target garbage when the target garbage runs to the grabbing position of the grabbing device 3 according to a first encoder value corresponding to the garbage image containing the target garbage and the coordinate system transformation relation model.
Grabbing device 3 includes mounting bracket 31, install in on mounting bracket 31 and be located conveyor 1 top manipulator 32 and with the second encoder (not shown in the figure) that manipulator 32 cooperation was used, manipulator 32 with grab control module communication and connect, it sets up to control the manipulator and snatch target rubbish according to the position information that target rubbish corresponds and the signal of telecommunication of second encoder feedback to snatch control module.
the electrical signal is a signal that can indicate the running speed and the real-time position of the conveying line 11, and can also be understood as a second encoder value.
Specifically, the grabbing control module obtains a real-time encoder increment according to a first encoder value corresponding to a garbage image containing the target garbage and a second encoder value fed back by a second encoder to confirm the current position of the target garbage, and when the real-time encoder increment reaches a preset encoder increment, the current position is located at the grabbing position of the manipulator 32, and the manipulator 32 grabs the target garbage.
It can be understood that, in the embodiment where the image acquiring apparatus 2 is an area-array camera, the control unit acquires the corresponding second encoder value and feeds the second encoder value back to the capture control module while controlling the area-array camera to take a picture, and the capture control module obtains the real-time encoder increment according to the real-time second encoder value to determine the current position of the target garbage.
Further, the second encoder is connected to on the driven roller, can prevent to skid because of transfer chain 11 and lead to the data of gathering inaccurate.
Specifically, the mounting frame 31 is supported on the ground, so that the gripping device 3 can be installed in a modular manner, and is easy and convenient to install.
in a specific embodiment, the manipulator 32 is a Delta robot, which is convenient to install and debug and can rapidly grab the target garbage. Of course, this is not a limitation.
It is understood that the structure of the Delta robot can follow the structure of the existing Delta robot, and is not limited herein.
Further, the garbage sorting system 100 further includes a storage area 4 for storing the garbage sorted by the gripping device 3, wherein the storage area 4 is disposed on the conveying device 1 at a position close to the gripping device 3, so that the gripping device 3 can directly transfer the sorted garbage into the storage area 4.
In one embodiment, the number of the storage areas 4 is two, and the two storage areas 4 are respectively disposed on two opposite sides of the conveying line to receive two different types of garbage. Of course, it is understood that the number of the storage areas 4 can be set according to specific requirements.
Further, the utility model also provides a rubbish sorting method based on foretell rubbish sorting system 100, includes following step:
Placing the waste on a continuously running conveyor;
It can be understood that, because the conveying device is in the operating state, after the garbage is placed on the conveying device, the conveying device 1 drives the garbage to move towards the discharge port.
S2: acquiring a plurality of continuous images of the garbage on the conveying device 1 in real time and splicing the images into a complete garbage image without overlapping;
Step S2 specifically includes the following steps:
In the operation process of the conveying device 1, when the image control module controls the linear array camera to start shooting images, a first encoder value corresponding to the images is synchronously acquired, the images are spliced into a complete and unrepeated garbage image according to the first encoder values of the continuous images, and the first encoder value corresponding to the acquired garbage image is recorded;
After the control unit sends a signal for acquiring the garbage image, the image control module feeds back the acquired garbage image and a first encoder value corresponding to the garbage image to the control unit.
It will be appreciated that the control unit obtains and stores the corresponding first encoder values of the images of the refuse for subsequent cooperation with the catching device 3 for achieving accurate catching of the target refuse.
S3: identifying the material of the garbage according to the garbage image to obtain target garbage and position information corresponding to the target garbage;
Step S3 specifically includes the following steps: and a deep learning training and calculating module in the control unit identifies the material of the garbage according to the garbage image to obtain target garbage, a grabbing control module in the control unit extracts a first encoder value corresponding to the garbage image with the target garbage, and meanwhile, a preset encoder increment corresponding to the target garbage when the target garbage runs to a grabbing position of the grabbing device 3 is obtained according to a coordinate system transformation relation model.
The position information corresponding to the target garbage refers to a first encoder value corresponding to a garbage image containing the target garbage.
S4: and controlling the grabbing device 3 to grab the target garbage.
step S4 specifically includes the following steps: and the grabbing control module acquires the value of the second encoder in real time to obtain a real-time encoder increment so as to confirm the current position of the target garbage, and controls the manipulator to grab the target garbage and transfer the target garbage to the storage area 4 corresponding to the target garbage when the real-time encoder increment reaches a preset encoder increment, namely when the target garbage is conveyed to the grabbing position of the manipulator.
To sum up, the image acquiring device 2 in the garbage sorting system 100 based on vision and intelligent recognition technology of the present invention can acquire a complete and non-overlapping garbage image, which is convenient for the subsequent recognition of the target garbage; and simultaneously, the utility model provides a rubbish sorting system 100 based on vision and intelligent recognition technique reachs the positional information that target rubbish and target rubbish correspond according to the material of the rubbish image recognition rubbish on the conveyor 1 who acquires to, can accurate control grabbing device 3 snatchs target rubbish, realizes automatic separation rubbish.
it should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A garbage sorting system based on vision and intelligent recognition technology comprises a conveying device used for conveying garbage to be sorted; the method is characterized in that: the waste sorting system further comprises:
the image acquisition device is positioned at a preset position of the conveying device, and is set to acquire a plurality of continuous images of the garbage on the conveying device in real time and splice the images into a complete garbage image without overlapping in the conveying process of the conveying device;
The grabbing device is used for grabbing the target garbage;
The control unit is used for identifying the material of the garbage according to the garbage image fed back by the image acquisition device to obtain target garbage and position information corresponding to the target garbage, and controlling the grabbing device to grab the target garbage.
2. The visual and intelligent recognition technology-based garbage sorting system of claim 1, wherein: the image acquisition device comprises a linear array camera, a first encoder matched with the linear array camera and an image control module, wherein the image control module is used for splicing a plurality of continuous images acquired by the linear array camera into a complete and non-overlapping garbage image according to an electric signal fed back by the first encoder.
3. The visual and intelligent recognition technology-based garbage sorting system of claim 2, wherein: the conveying device comprises a conveying line and a driving assembly for driving the conveying line, wherein the driving assembly comprises a driving piece in communication connection with the control unit, a driving roller connected with the driving piece, and a driven roller linked with the driving roller; the first encoder is connected to the driven roller.
4. The visual and intelligent recognition technology-based garbage sorting system according to any one of claims 1-3, wherein: the control unit comprises a deep learning training and calculating module, and the deep learning training and calculating module is used for identifying the material of the garbage according to the garbage image to obtain target garbage and position information corresponding to the target garbage.
5. The visual and intelligent recognition technology-based garbage sorting system of claim 2, wherein: the image acquisition device further comprises a darkroom arranged above the conveying device and a light supplementing device arranged in the darkroom, the darkroom is provided with a shooting opening which is opened towards the conveying device, and the linear array camera is arranged in the darkroom.
6. the visual and intelligent recognition technology-based garbage sorting system of claim 1, wherein: the control unit comprises a grabbing control module; the grabbing device comprises a mounting frame, a manipulator and a second encoder, wherein the manipulator is installed on the mounting frame and is in communication connection with the grabbing control module, the second encoder is matched with the manipulator for use, and the grabbing control module is set to control the manipulator to grab target garbage according to position information corresponding to the target garbage and an electric signal fed back by the second encoder.
7. the visual and intelligent recognition technology-based garbage sorting system of claim 6, wherein: the manipulator is a Delta robot.
8. the visual and intelligent recognition technology-based garbage sorting system of claim 6, wherein: the conveying device comprises a conveying line and a driving assembly for driving the conveying line, wherein the driving assembly comprises a driving piece in communication connection with the control unit, a driving roller connected with the driving piece, and a driven roller linked with the driving roller; the second encoder is connected to the driven roller.
9. The visual and intelligent recognition technology-based garbage sorting system of claim 1, wherein: the garbage sorting system further comprises a storage area used for storing the garbage sorted by the grabbing device, and the storage area is arranged on the conveying device and close to the grabbing device.
10. The visual and intelligent recognition technology-based garbage sorting system of claim 1, wherein: the conveying device further comprises a conveying line and a guardrail arranged at the feeding end of the conveying line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920483356.3U CN209792032U (en) | 2019-04-11 | 2019-04-11 | Garbage sorting system based on vision and intelligent recognition technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920483356.3U CN209792032U (en) | 2019-04-11 | 2019-04-11 | Garbage sorting system based on vision and intelligent recognition technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209792032U true CN209792032U (en) | 2019-12-17 |
Family
ID=68828858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920483356.3U Active CN209792032U (en) | 2019-04-11 | 2019-04-11 | Garbage sorting system based on vision and intelligent recognition technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209792032U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834063A (en) * | 2019-04-11 | 2019-06-04 | 苏州嘉诺环境工程有限公司 | Garbage sorting system and refuse classification method |
| CN111298968A (en) * | 2020-02-26 | 2020-06-19 | 西南大学 | System is selected separately to clothing workshop rubbish |
| CN113378868A (en) * | 2020-02-25 | 2021-09-10 | 顺丰科技有限公司 | Garbage sorting method and device, server and computer readable storage medium |
-
2019
- 2019-04-11 CN CN201920483356.3U patent/CN209792032U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834063A (en) * | 2019-04-11 | 2019-06-04 | 苏州嘉诺环境工程有限公司 | Garbage sorting system and refuse classification method |
| CN113378868A (en) * | 2020-02-25 | 2021-09-10 | 顺丰科技有限公司 | Garbage sorting method and device, server and computer readable storage medium |
| CN111298968A (en) * | 2020-02-26 | 2020-06-19 | 西南大学 | System is selected separately to clothing workshop rubbish |
| CN111298968B (en) * | 2020-02-26 | 2021-06-08 | 西南大学 | System is selected separately to clothing workshop rubbish |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209792032U (en) | Garbage sorting system based on vision and intelligent recognition technology | |
| CN109834063A (en) | Garbage sorting system and refuse classification method | |
| CN110743818A (en) | Garbage sorting system and garbage sorting method based on vision and deep learning | |
| US20230046145A1 (en) | Systems and methods for detecting waste receptacles using convolutional neural networks | |
| US11473254B2 (en) | Traffic cones and traffic cone lanterns placement and collection system and a method | |
| CN112044793B (en) | Automatic identification and classification production line and classification method for waste mobile phones | |
| CN107009391B (en) | Robot grabbing method | |
| CN105214961B (en) | A kind of food processing streamline quality testing and the fully-automatic equipment of weight grading | |
| CN111524184B (en) | Intelligent unstacking method and unstacking system based on 3D vision | |
| CN105539921A (en) | Automatic packaging method | |
| CN110694921A (en) | Vegetable sorting system and control method thereof | |
| CN112024424A (en) | Man-machine cooperation type garbage sorting system | |
| CN111015662A (en) | Method, system and equipment for dynamically grabbing object and method, system and equipment for dynamically grabbing garbage | |
| CN211637369U (en) | Industrial internet teaching training platform | |
| CN204564598U (en) | Glass tube sorting unit and glass tube outward appearance automatic detection system | |
| CN104056790A (en) | Intelligent potato sorting method and apparatus | |
| CN114618788A (en) | Glove sorting device and method based on visual detection | |
| CN109872621B (en) | Automatic material sorting teaching system | |
| CN111558549B (en) | Automatic detection, identification and sorting device for intelligent building blocks | |
| CN211100232U (en) | Garbage sorting system based on vision and deep learning | |
| CN217165375U (en) | Glove sorting device based on visual detection | |
| CN111229637A (en) | Automatic detection device and detection method for inner hole burrs of electronic connector | |
| CN211437053U (en) | Vegetable sorting system | |
| CN216784519U (en) | Intelligent garbage classification equipment | |
| CN210923441U (en) | Full-automatic camera adjustment mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 558, Longqiao Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee after: Suzhou Jianuo Environmental Technology Co.,Ltd. Address before: No. 558, Longqiao Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee before: SUZHOU JONO ENVIRONMENT ENGINEERING Co.,Ltd. |