Automatic sorting system for household refuse

Abstract

Disclosed is an automatic sorting system for household refuse. The system comprises a refuse target identification unit, a refuse sorting control unit, a mechanical arm and a sampling camera which is mounted at the fixed position of a conveying belt for conveying household refuse; the sampling camera shoots the household refuse on the conveying belt in real time and transmits obtained optical images to the refuse target identification unit; the refuse target identification unit receives the optical images in real time and displays the images, according to the characteristics of presorted target refuse, the optical images are treated, targets in the images are identified, and target posture information frames are obtained, and are input into the refuse sorting control unit; and the refuse sorting control unit judges whether a target enters the working section of the leisure mechanical arm or not according to the input target posture information frames and the opposite position of the mechanical arm and the conveying belt, the posture information of the target entering the working section of the mechanical arm is converted into a mechanical arm coordinate system and sent to the corresponding mechanical arm, and the corresponding mechanical arm is controlled to grab the corresponding target.

Description

technical field [0001] The invention belongs to the field of environmental protection machinery and solves the problem of fast and automatic sorting of target objects in domestic garbage. Background technique [0002] The domestic garbage recycling production line generally uses the conveyor belt as the carrier, and sorts the flat garbage on the conveyor belt. The existing garbage sorting is generally realized by manual picking. The method of using multiple manipulators on the garbage sorting line to grab and sort the target objects has the advantages of high work efficiency and reduced labor intensity of workers. [0003] However, due to the wide variety of domestic waste and the complex and harsh environment, there are many target categories and feature types that need to be identified from domestic waste, such as bottles and cans of various shapes and colors. The method of this feature cannot meet the requirements in real-time; and the accuracy of the feature extraction...

AI Technical Summary

Problems solved by technology

[0003] However, due to the wide variety of domestic waste and the complex and harsh environment, there are many target categories and feature types that need to be identified from domestic waste, such as bottles and cans of various shapes and colors. The method of this feature cannot meet the requirements in real time; and the accuracy of the feature extraction method has not been high, and it is difficult to meet the use requirements in the industrial automation production line

[0004] Moreover, most of the existing manipulator control is the motion control of a single manipulator. Even the control of multiple manipulators is the sorting task for different types of sorting targets in different processes.

For the actual application of multi-target garbage sorting on the mobile production line, this sorting method is easy to miss and the efficiency is low

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