EP0439674A2 - Dispositif pour trier des déchets - Google Patents

Dispositif pour trier des déchets Download PDF

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Publication number
EP0439674A2
EP0439674A2 EP90117089A EP90117089A EP0439674A2 EP 0439674 A2 EP0439674 A2 EP 0439674A2 EP 90117089 A EP90117089 A EP 90117089A EP 90117089 A EP90117089 A EP 90117089A EP 0439674 A2 EP0439674 A2 EP 0439674A2
Authority
EP
European Patent Office
Prior art keywords
conveyor belt
waste
sensor
gripping
sensors
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.)
Granted
Application number
EP90117089A
Other languages
German (de)
English (en)
Other versions
EP0439674B1 (fr
EP0439674A3 (en
Inventor
Gustav Edelhoff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Edelhoff Polytechnik GmbH and Co
Original Assignee
Edelhoff Polytechnik GmbH and Co
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Edelhoff Polytechnik GmbH and Co filed Critical Edelhoff Polytechnik GmbH and Co
Priority to AT90117089T priority Critical patent/ATE104178T1/de
Publication of EP0439674A2 publication Critical patent/EP0439674A2/fr
Publication of EP0439674A3 publication Critical patent/EP0439674A3/de
Application granted granted Critical
Publication of EP0439674B1 publication Critical patent/EP0439674B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
    • 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

Definitions

  • the invention relates to a device for sorting waste with at least one conveyor belt, above which a magnetic separator is arranged.
  • packaging material e.g. paper, plastic, glass, sheet metal
  • the waste has been separated according to its components by laborious manual work under heavy pollution and odor pollution.
  • the individual waste components are picked up by workers on a conveyor belt (on which the waste was previously spread).
  • a magnetic separator To sort out ferrous metals from the waste, it is also known to arrange a magnetic separator above the conveyor belt.
  • the task is to provide a device for sorting waste that is automated, so that it is not necessary to pick up the individual waste components by hand, which is carried out only with a high level of dirt and odor.
  • At least one sensor extends over the width of the conveyor belt.
  • at least one further conveyor belt is arranged parallel to it, and movable gripping robots are provided between the conveyor belts, which can be moved as a result of signals from the aforementioned at least one sensor.
  • Sensors are provided, which are then coupled to a number of gripping robots corresponding to the number of sensors. If a sensor detects a certain waste component, its position on the conveyor belt is determined and a corresponding computer program is used to calculate when the corresponding point on the conveyor belt is transported in the direction of travel to the point at which the gripping robot can access it.
  • This gripping robot is controlled accordingly by a control program, so that it can pick up the piece of waste located by the sensor from the transport after the previously calculated time delay.
  • the gripping robot is then moved to a conveyor belt running in parallel, on which it can deposit the corresponding piece of waste.
  • several gripping robots can also be provided per conveyor belt for one type of waste.
  • the magnetic separator can consist of a conveyor belt equipped with magnets, which is aligned essentially perpendicular to the running direction of the conveyor belt.
  • ferrous metals can advantageously be continuously discarded.
  • a scraper can be arranged transversely to the conveyor belt of the magnetic separator, below which a collecting container for collecting the ferrous metal waste is set up.
  • the sensors can be capacitive, inductive, ultrasonic, infrared or visual sensors or combinations of these. It is to be coordinated according to the type of waste to be detected, which sensors are best suited for determining the location of the waste the conveyor belt.
  • the gripping robots controlled by the sensor signals can be moved perpendicular to the running direction of the conveyor belts aligned parallel to one another.
  • One sensor can control several gripping robots or several sensors can control one gripping robot.
  • a storage and loading silo can be arranged above the loading point of the conveyor belt.
  • a separation device is preferably arranged below the storage and loading silo.
  • a robot-assisted suction device which can possibly detect undetected small parts and convey them into a separate container, can be connected downstream of the gripping robots.
  • At least one X-ray fluoroscopy sensor can be provided as the sensor.
  • X-ray fluoroscopy sensors of this type are already used, for example, in the screening of luggage at airports.
  • such sensors can be detected particularly advantageously the type of waste and the position of the respective piece of waste on the conveyor belt.
  • at least one vertical or horizontal plate is also arranged, which is provided on one side with at least one X-ray tube and on the other side of the conveyor belt a corresponding image intensifier plate for dubbing contains the captured image on a receiver.
  • the image intensifier plate is provided with a luminous layer which generates a quantum image.
  • the incident cathode beam is amplified via dynodes and forwarded to a receiver for evaluation.
  • the image generated on the image intensifier plate can be recorded with a camera and forwarded accordingly to the receiver.
  • the waste conveyed past on a conveyor belt is illuminated by a stroboscopic X-ray tube. Due to the different brightness and contours of the illuminated material, its density and thus the type of waste can be determined. The center of gravity of the material and the position on the conveyor belt can be determined with the aid of a computer.
  • a first X-ray fluoroscopy sensor for detecting highly radiation-inhibiting waste can be arranged along the conveyor belt, followed by a gripping robot controlled by this to remove the highly radiation-inhibiting waste and another X-ray fluoroscopy sensor in the running direction of the conveyor belt.
  • a storage and feed silo 30 is arranged above the feed point of a conveyor belt 12. This silo is loaded with household waste, for example, which is delivered by refuse collection vehicles.
  • a separating device 32 is arranged below the outlet opening. In the present embodiment, this consists of flat surfaces that extend across the width of the conveyor belt 12.
  • the waste distributed over the width of the conveyor belt is conveyed at the speed v of the conveyor belt in the direction of the arrow.
  • a magnetic separator is arranged behind the separating device 32.
  • This magnetic separator essentially consists of a further conveyor belt 14, which is aligned perpendicular to the direction of travel of the conveyor belt 12.
  • the conveyor belt 14 itself is equipped with magnets so that it picks up corresponding magnetic parts of the waste from the conveyor belt 12 and transports it to a scraper arranged at the end of the conveyor belt 14.
  • the iron metal scrap picked up by the magnetic Stripped conveyor belt 14 and collected in a collecting container 24 arranged below the stripper 22.
  • This collecting container is only shown schematically in the figure and will usually be a replaceable container.
  • sensors 16, 16 ', 16' 'spanning the conveyor belt are provided to the magnetic separator.
  • This example shows three sensors for different waste components.
  • the sensors 16, 16 ', 16' ' which can be designed as capacitive, inductive, ultrasonic, infrared or visual sensors, detect the position of a certain piece of waste made of the corresponding material in the x direction.
  • the conveyor belt can be clocked so that it only passes through the sensors when a certain amount of waste is on the belt.
  • the corresponding gripping robot 20, 20 ', 20''above the conveyor belt 12 on the portal 21, 21', 21 '' is moved into the corresponding x position.
  • the gripping robot 20 grips , 20 ', 20 '' the scrap. This is picked up and placed on the conveyor belt 18, 18 ', 18''assigned to the gripping robot, where it is transported to a collecting container 28, 28', 28 ''.
  • every robot can be assigned to a certain type of waste.
  • a robot it is also possible for a robot to be controlled by several sensors and to operate several parallel conveyor belts.
  • a sensor can also control several robots that deposit the sorted waste on a conveyor belt.
  • the gripping robots 20, 20 ′, 20 ′′ have a single gripping arm.
  • multiple gripping arms can also be provided on the gripping robots 20, 20 ', 20' '.
  • the conveyor belts do not have to be aligned parallel, as shown here.
  • This device can be used, for example, to collect recycled goods such as paper, glass, sheet metal, rubber and organic waste. Material that is not to be recycled remains on the conveyor belt 12 and is collected in the collecting container 26. This non-recyclable waste can be sent to a waste incineration plant, for example.
  • the section of the modified embodiment of the device according to the invention shown in FIG. 2 is connected downstream of the magnetic separator 14 (cf. FIG. 1).
  • a cell-like fluoroscopic sensor 40 is initially arranged, in which the fluoroscopy takes place via the plates 42 and 44.
  • the fluoroscopic sensor 40 can be used, for example, to determine strong radiation inhibitors, such as lead, in a first preselection on the conveyor belt.
  • at least one X-ray tube is installed in one of the two plates 42 or 44. Stroboscopic the waste conveyed past on the conveyor belt 12 is screened.
  • the image intensifier plate which is arranged in the respective opposite plate 42 or 44, forwards the recorded image to a computer, not shown.
  • At least one gripping robot 46 is controlled via this computer in accordance with the signals relating to the position, type and center of gravity of the waste, so that this strongly radiation-inhibiting waste can be picked up by the conveyor belt 12 and stored in a container 48.
  • the waste stream freed from the strong radiation inhibitors in this way is conveyed via the conveyor belt 12 to a further X-ray fluoroscopic sensor 50, which is also provided with two vertically or horizontally arranged plates 52 and 54 with a stroboscopic X-ray tube and a corresponding image intensification.
  • the plate 54 is connected to a receiver 56 via a line.
  • the evaluation of the different brightnesses, which serve as a measure for the density differences and thus for material detection, is carried out via a computer 58.
  • the position on the belt is determined with the aid of the center of gravity determination via the image evaluation.
  • a coordinate data record determined in this way is then passed to the control 60 for the gripping robots 20, 20 ', 20' '.
  • the sorted recyclable waste is then sent for recycling, while the unsorted waste can be disposed of in a waste incineration plant, for example.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Sorting Of Articles (AREA)
  • Processing Of Solid Wastes (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Paper (AREA)
EP90117089A 1990-01-31 1990-09-05 Dispositif pour trier des déchets Expired - Lifetime EP0439674B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90117089T ATE104178T1 (de) 1990-01-31 1990-09-05 Vorrichtung zum sortieren von abfaellen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4002806A DE4002806A1 (de) 1990-01-31 1990-01-31 Vorrichtung zum sortieren von abfaellen
DE4002806 1990-01-31

Publications (3)

Publication Number Publication Date
EP0439674A2 true EP0439674A2 (fr) 1991-08-07
EP0439674A3 EP0439674A3 (en) 1992-01-02
EP0439674B1 EP0439674B1 (fr) 1994-04-13

Family

ID=6399128

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90117089A Expired - Lifetime EP0439674B1 (fr) 1990-01-31 1990-09-05 Dispositif pour trier des déchets

Country Status (3)

Country Link
EP (1) EP0439674B1 (fr)
AT (1) ATE104178T1 (fr)
DE (2) DE4002806A1 (fr)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0554207A2 (fr) * 1992-01-28 1993-08-04 F.P. Industriservice A/S Procédé et installation de tri d'articles
EP0588150A1 (fr) * 1992-09-17 1994-03-23 STUDIO PROFESSIONALE DR. ING. COLLI, Alfonso Procédé de sélection et de collecte séparée de déchets solide
EP0599052A2 (fr) * 1992-10-23 1994-06-01 RWE Entsorgung Aktiengesellschaft Procédé d'identification de matériaux de forme aléatoire et/ou plane en déterminant la structure des matériaux par application d'ondes électromagnétiques et/ou acoustiques
AT176U1 (de) * 1993-04-13 1995-04-25 Reliste Steuerungstechnik Ges Anordnung zum aussortieren von muellbestandteilen aus einem bewegten muellstrom
EP0873797A2 (fr) * 1997-04-23 1998-10-28 Binder & Co. Aktiengesellschaft Procédé de tri de déchets de papier
FR2777212A1 (fr) * 1998-04-10 1999-10-15 Cgea Comp Gen Entre Auto Installation pour trier des matieres plastiques
EP1616636A1 (fr) 2004-07-13 2006-01-18 Casella Waste Systems, Inc. Systèmes et méthodes de tri de matériaux récyclables et d'aquisition de données relatives à ces matériaux dans une installation de récupération
EP1616637A2 (fr) 2004-07-13 2006-01-18 Casella Waste Systems, Inc. Systèmes et méthodes de tri de matériaux recyclables dans une installation de récupération
EP1621262A1 (fr) * 2004-07-30 2006-02-01 Kratzmaier - Konstruktionen GmbH Appareil de manipulation, en particulier de triage, de matériaux en vrac
US7960668B2 (en) 2004-08-18 2011-06-14 Deutsche Post Ag Method and device for sorting postal items
CN102574161A (zh) * 2009-09-14 2012-07-11 马里凯普有限公司 用于分类废物的方法和设备
WO2012156579A1 (fr) * 2011-05-13 2012-11-22 Zenrobotics Oy Procédé et appareil pour déplacer et positionner une unité de préhension, et robot muni de l'unité de préhension
US9908807B2 (en) 2004-11-12 2018-03-06 Re Community Holdings Ii, Inc. System for and method of mixed-color cullet characterization and certification, and providing contaminant-free, uniformly colored mixed-color cullet
CN109834063A (zh) * 2019-04-11 2019-06-04 苏州嘉诺环境工程有限公司 垃圾分选系统及垃圾分选方法
CN110371632A (zh) * 2018-04-13 2019-10-25 三星显示有限公司 面板输送装置及面板输送方法
WO2019211267A1 (fr) * 2018-05-02 2019-11-07 Envac Optibag Ab Tri combiné de conteneurs de déchets et de matériau
IT201800009614A1 (it) * 2018-10-19 2020-04-19 Ecofil Srl Metodo e sistema di selezione dei materiali oggetto di raccolta differenziata
WO2020079125A1 (fr) * 2018-10-19 2020-04-23 Ecofil Societa' A Responsabilita' Limitata Procédé et système de tri de matériaux provenant de déchets collectés
GB2612653A (en) * 2021-11-09 2023-05-10 Danu Robotics Ltd Robotic system and method for picking and/or sorting objects
WO2023084207A1 (fr) * 2021-11-09 2023-05-19 Danu Robotics Ltd Système robotique et procédé de saisie et/ou de tri d'objets
CN116921247A (zh) * 2023-09-15 2023-10-24 北京安麒智能科技有限公司 一种垃圾智能分拣系统的控制方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4302283A1 (de) * 1993-01-25 1994-07-28 Inst Umwelttechnologien Gmbh Verfahren und Vorrichtung zum Separieren und Sortieren von Kunststoffabfällen
DE4440748C2 (de) * 1994-11-15 1996-12-12 Schirmer Umwelttechnik Gmbh Separationseinrichtung für eine Sortieranlage
DE10329946B4 (de) * 2003-07-02 2005-05-19 SRW Sächsische Recyclingwerke GmbH Verfahren und Vorrichtungen zur Abtrennung von Kabel- und Drahtteilen aus Abfällen
US7757863B2 (en) 2003-11-17 2010-07-20 Casella Waste Systems, Inc. Systems and methods for glass recycling at a beneficiator and/or a material recovery facility
US8459466B2 (en) 2007-05-23 2013-06-11 Re Community Energy, Llc Systems and methods for optimizing a single-stream materials recovery facility
SE544045C2 (en) * 2020-02-10 2021-11-16 Zenrobotics Oy Waste Sorting Robot comprising a rotatable manipulator mounted on a cross beam
CN113378868A (zh) * 2020-02-25 2021-09-10 顺丰科技有限公司 垃圾分拣方法和装置、服务器、计算机可读存储介质

Citations (5)

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Publication number Priority date Publication date Assignee Title
US4309600A (en) * 1967-12-15 1982-01-05 Cincinnati Milacron Inc. Machine tool
EP0046624A1 (fr) * 1980-08-20 1982-03-03 MACHINEFABRIEK JOHs ABERSON B.V. Dispositif de désempilage et de triage pour enlever des objets moulés empilables
GB2134661A (en) * 1983-01-31 1984-08-15 Ara Services Inc Apparatus for separating non- magnetic metal items from other material
DE3520486A1 (de) * 1985-06-07 1986-12-11 Josef 7084 Westhausen Thor Verfahren und vorrichtung zur trennung von kunststoffabfaellen aus muell, insbesondere hausmuell
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products

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US4738367A (en) * 1984-02-22 1988-04-19 Venturedyne, Ltd. Magnetic refuse separator
ES2006844A6 (es) * 1988-03-08 1989-05-16 Plaza Ramon Fernando Sistema de recuperacion de metales no ferricos a partir de chatarra.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4309600A (en) * 1967-12-15 1982-01-05 Cincinnati Milacron Inc. Machine tool
EP0046624A1 (fr) * 1980-08-20 1982-03-03 MACHINEFABRIEK JOHs ABERSON B.V. Dispositif de désempilage et de triage pour enlever des objets moulés empilables
GB2134661A (en) * 1983-01-31 1984-08-15 Ara Services Inc Apparatus for separating non- magnetic metal items from other material
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
DE3520486A1 (de) * 1985-06-07 1986-12-11 Josef 7084 Westhausen Thor Verfahren und vorrichtung zur trennung von kunststoffabfaellen aus muell, insbesondere hausmuell

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"KLEINE ENZYKLOPÄDIE TECHNIK", 1957, Verlag Enzyklopädie Leipzig, Seiten 368-369 *

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0554207A2 (fr) * 1992-01-28 1993-08-04 F.P. Industriservice A/S Procédé et installation de tri d'articles
EP0554207A3 (fr) * 1992-01-28 1994-10-12 F P Industriservice A S Procédé et installation de tri d'articles.
EP0588150A1 (fr) * 1992-09-17 1994-03-23 STUDIO PROFESSIONALE DR. ING. COLLI, Alfonso Procédé de sélection et de collecte séparée de déchets solide
EP0599052A2 (fr) * 1992-10-23 1994-06-01 RWE Entsorgung Aktiengesellschaft Procédé d'identification de matériaux de forme aléatoire et/ou plane en déterminant la structure des matériaux par application d'ondes électromagnétiques et/ou acoustiques
EP0599052A3 (fr) * 1992-10-23 1995-02-15 Rwe Entsorgung Ag Procédé d'identification de matériaux de forme aléatoire et/ou plane en déterminant la structure des matériaux par application d'ondes électromagnétiques et/ou acoustiques.
AT176U1 (de) * 1993-04-13 1995-04-25 Reliste Steuerungstechnik Ges Anordnung zum aussortieren von muellbestandteilen aus einem bewegten muellstrom
EP0873797A2 (fr) * 1997-04-23 1998-10-28 Binder & Co. Aktiengesellschaft Procédé de tri de déchets de papier
EP0873797A3 (fr) * 1997-04-23 1999-04-14 Binder & Co. Aktiengesellschaft Procédé de tri de déchets de papier
FR2777212A1 (fr) * 1998-04-10 1999-10-15 Cgea Comp Gen Entre Auto Installation pour trier des matieres plastiques
US7264124B2 (en) 2003-11-17 2007-09-04 Casella Waste Systems, Inc. Systems and methods for sorting recyclables at a material recovery facility
US7341156B2 (en) 2003-11-17 2008-03-11 Casella Waste Systems, Inc. Systems and methods for sorting, collecting data pertaining to and certifying recyclables at a material recovery facility
EP1616636A1 (fr) 2004-07-13 2006-01-18 Casella Waste Systems, Inc. Systèmes et méthodes de tri de matériaux récyclables et d'aquisition de données relatives à ces matériaux dans une installation de récupération
EP1616637A2 (fr) 2004-07-13 2006-01-18 Casella Waste Systems, Inc. Systèmes et méthodes de tri de matériaux recyclables dans une installation de récupération
EP1621262A1 (fr) * 2004-07-30 2006-02-01 Kratzmaier - Konstruktionen GmbH Appareil de manipulation, en particulier de triage, de matériaux en vrac
US7960668B2 (en) 2004-08-18 2011-06-14 Deutsche Post Ag Method and device for sorting postal items
US9908807B2 (en) 2004-11-12 2018-03-06 Re Community Holdings Ii, Inc. System for and method of mixed-color cullet characterization and certification, and providing contaminant-free, uniformly colored mixed-color cullet
CN102574161A (zh) * 2009-09-14 2012-07-11 马里凯普有限公司 用于分类废物的方法和设备
CN102574161B (zh) * 2009-09-14 2016-03-16 马里凯普有限公司 用于分类废物的方法和设备
WO2012156579A1 (fr) * 2011-05-13 2012-11-22 Zenrobotics Oy Procédé et appareil pour déplacer et positionner une unité de préhension, et robot muni de l'unité de préhension
CN103648732A (zh) * 2011-05-13 2014-03-19 泽恩机器人技术有限公司 用于运动和定位抓持单元的方法和设备以及设置有抓持单元的机器人
CN110371632A (zh) * 2018-04-13 2019-10-25 三星显示有限公司 面板输送装置及面板输送方法
CN110371632B (zh) * 2018-04-13 2023-10-13 三星显示有限公司 面板输送装置及面板输送方法
WO2019211267A1 (fr) * 2018-05-02 2019-11-07 Envac Optibag Ab Tri combiné de conteneurs de déchets et de matériau
IT201800009614A1 (it) * 2018-10-19 2020-04-19 Ecofil Srl Metodo e sistema di selezione dei materiali oggetto di raccolta differenziata
WO2020079125A1 (fr) * 2018-10-19 2020-04-23 Ecofil Societa' A Responsabilita' Limitata Procédé et système de tri de matériaux provenant de déchets collectés
CN109834063A (zh) * 2019-04-11 2019-06-04 苏州嘉诺环境工程有限公司 垃圾分选系统及垃圾分选方法
GB2612653A (en) * 2021-11-09 2023-05-10 Danu Robotics Ltd Robotic system and method for picking and/or sorting objects
WO2023084207A1 (fr) * 2021-11-09 2023-05-19 Danu Robotics Ltd Système robotique et procédé de saisie et/ou de tri d'objets
CN116921247A (zh) * 2023-09-15 2023-10-24 北京安麒智能科技有限公司 一种垃圾智能分拣系统的控制方法
CN116921247B (zh) * 2023-09-15 2023-12-12 北京安麒智能科技有限公司 一种垃圾智能分拣系统的控制方法

Also Published As

Publication number Publication date
EP0439674B1 (fr) 1994-04-13
DE59005364D1 (de) 1994-05-19
DE4002806A1 (de) 1991-08-01
ATE104178T1 (de) 1994-04-15
EP0439674A3 (en) 1992-01-02

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