Object class identification method and sorting equipment

Abstract

The invention discloses an object class identification method. The method is applied to sorting equipment. The sorting equipment comprises a mechanical arm and a driver used for driving the mechanicalarm. The object class identification method comprises the following steps of acquiring image information of an object; acquiring the torque information of the driver when the driver drives the mechanical arm to lift the object upwards; and obtaining the volume of the object according to the image information, and obtaining the density of the object according to the volume and the torque information of the object so as to obtain the class of the object according to the density of the object. According to the method and the equipment, the torque information of the driver when the driver drivesthe mechanical arm to lift the object upwards is obtained by utilizing torque collecting and feedback functions of the driver, the weight of the object is obtained according to the torque information,and the weight of the object does not need to be obtained by additionally utilizing a sensor. In addition, the invention further discloses the sorting equipment.

Description

technical field [0001] The invention relates to the technical field of garbage sorting and recycling, in particular to an object category identification method and sorting equipment. Background technique [0002] As the problem of environmental pollution becomes more and more serious, the recycling of garbage has become an important part of the sustainable development strategy. Since there are often multiple types of objects mixed in the garbage, before the garbage is recycled, it is first necessary to classify the garbage, so as to recycle and treat different types of garbage separately. [0003] With the development of automation technology, garbage sorting has also changed from relying on traditional manual methods to automatic sorting through sorting equipment. Existing sorting equipment usually includes: a robot, a camera, and a controller. The camera collects garbage images, and the controller recognizes the location and category (such as bottles, stones, etc.) The c...

AI Technical Summary

Problems solved by technology

It measures the weight of the material by installing a tension sensor on the robot, adding an additional sensor, resulting in an increase in cost; in addition, it uses an industrial camera to identify the outline of the material and a distance sensor to measure the height. For materials with irregular shapes, calculate The volume error is too large, and most of the garbage materials are irregular in shape, so this method is less feasible in practical applications

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