A multi-manipulator garbage sorting control system

Abstract

The invention discloses a multi-mechanical hand garbage sorting control system. The system comprises a target grabbing object position receiving module, a multi-mechanical hand dispatch control module, a plurality of track control modules and mechanical hands, wherein the mechanical hands are in one-to-one correspondence with the track control modules; the multi-mechanical hand dispatch control module judges whether a target grabbing object enters a working zone of a free mechanical hand or not, and distributes the coordinate and attitude angle information of the target grabbing object to the mechanical hand track control module corresponding to the free mechanical hand; and the mechanical hand track control module controls the mechanical hand to grab the target grabbing object. According to the system, the sorting capacity of all the mechanical hands is fully utilized, a plurality of sorting tasks are distributed to the plurality of mechanical hands for sorting at the same time, the capacity of sorting maximum target grabbing objects of the entire system can be achieved, and the working efficiency is high.

Description

technical field [0001] The invention relates to a multi-manipulator garbage sorting control system, which belongs to the field of environmental protection automation equipment. Background technique [0002] At the front end of the domestic waste recycling production line, it is necessary to sort and recycle the recyclables in the waste. Most of the recyclables in the existing domestic garbage are manually sorted, which has the disadvantages of poor working environment, high labor intensity and low work efficiency. [0003] At present, the structure of the glass bottle sorting system in domestic waste is to install a machine vision system at the front end of the conveyor belt. Through image acquisition and image processing of the flat garbage on the conveyor belt, the recognized glass bottle shape and pose information is transmitted to the robot controller. The manipulator controller controls the end of the manipulator to reach the designated coordinate point to grab the gla...

AI Technical Summary

Problems solved by technology

[0004] However, 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 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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