A method for sorting garbage

Abstract

The invention discloses a garbage sorting method, which relates to garbage classification equipment. By arranging a delivery receiving plate, a temporary storage plate, a mechanical arm, a first camera, a second camera, a controller and a garbage can, etc., different sorting methods are adopted according to different quantities of garbage to be sorted. When sorting a single garbage, it is directly put into a corresponding unit barrel after identification, and the sorting is fast, the process is simple and the efficiency is high. When sorting multiple garbage, a secondary identification method is adopted, and the single garbage to be sorted can be clamped out separately and secondary identification is performed. After the identification is completed, it is put into the corresponding unit barrel according to the identification result. Through the secondary identification method, the error rate can be effectively reduced and the sorting accuracy rate can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage sorting equipment, and in particular to a garbage sorting method. Background Art

[0002] Implementing the classification of domestic waste can effectively improve the urban and rural environment, promote resource recycling, and improve the quality of new urbanization and the level of ecological civilization construction. The existing garbage classification method is mainly through manual classification. Manual garbage classification is inefficient. Due to the lack of knowledge of garbage categories, the classification accuracy is not high, and it is difficult to implement. It requires a lot of human resources, resulting in the difficulty of popularizing the awareness of garbage classification. The wide variety of garbage also makes it easy for people to make mistakes in judging the garbage categories. The development of a device for automatic classification of domestic waste can reduce the labor cost of garbage classification, increase the feasibility of garbage classification policies, popularize garbage classification, save resources, protect the environment, and implement the sustainable development strategy.

[0003] The automatic sorting device for domestic waste is a device for classifying and sorting domestic waste. The mainstream method is to use deep learning to train the garbage model, use machine vision to identify the input garbage, and then use the machine to put the input garbage into the corresponding category of garbage bins one by one to achieve garbage sorting.

[0004] However, the classification and sorting device based on the above method still has certain defects. First, no matter whether the garbage is single or multiple, it needs to be put into the corresponding category of garbage bin by machine (such as robotic arm) after identification. The fixed program is not conducive to simplifying and improving the sorting efficiency; second, for the scenario of multiple garbage input at a time, only one identification is performed. Due to the interference of garbage, the number of identification errors increases, which is not conducive to improving the sorting accuracy. Summary of the invention

[0005] In view of the above shortcomings, the present invention provides a garbage sorting method to solve the problem that the existing sorting device has low efficiency when sorting a single garbage and insufficient accuracy when sorting multiple garbage.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] A garbage sorting method includes a controller and also includes:

[0008] A delivery receiving plate, wherein the delivery receiving plate is equipped with a first driving mechanism for driving the delivery receiving plate to be opened or closed, and the first driving mechanism is electrically connected to a controller to be controlled by the controller;

[0009] A temporary storage board, wherein the temporary storage board is equipped with a second driving mechanism for controlling the opening or closing of the temporary storage board, and the second driving mechanism is electrically connected to the controller to be controlled by the controller;

[0010] A mechanical arm, which is electrically connected to the controller and grabs the garbage to be sorted to a designated location according to the instructions of the controller;

[0011] A first camera, which is located above the delivery receiving plate and is used to take pictures of the garbage to be sorted on the delivery receiving plate;

[0012] A second camera, located above the temporary storage board, is used to take pictures of the garbage to be sorted on the temporary storage board;

[0013] The first camera and the second camera are respectively electrically connected to the controller and transmit camera information to the controller;

[0014] A trash can, comprising a plurality of unit barrels with open tops for temporarily placing different types of trash, the trash can being located below a receiving plate and a temporary storage plate, the trash can being equipped with a third driving mechanism for controlling the rotation of the trash can, the third driving mechanism being able to rotate the trash can and allowing one of the unit barrels to rotate to just below the receiving plate or the temporary storage plate, the third driving mechanism being electrically connected to a controller so as to be controlled by the controller.

[0015] Furthermore, the mechanical arm includes a vertical pole, a large arm, a small arm, a lifting platform, a screw, a clamping claw, a base, a screw motor, a large arm driving mechanism and a small arm driving mechanism;

[0016] The vertical pole is vertically arranged on the base, the screw motor is fixedly installed on the base, the screw is vertically arranged and connected to the output shaft of the screw motor to rotate under the drive of the screw motor; the lifting platform is sleeved on the vertical pole and can move up and down along the axis of the column, and the lifting platform is threadedly connected to the screw through an internal thread;

[0017] One end of the big arm is rotatably mounted on the lifting platform and driven by the big arm driving mechanism to be able to rotate on the horizontal plane, one end of the small arm is rotatably mounted on the other end of the big arm and driven by the small arm driving mechanism to be able to rotate on the horizontal plane, and the clamp is mounted on the other end of the small arm for clamping the garbage to be sorted;

[0018] The big arm driving mechanism and the small arm driving mechanism are respectively electrically connected to the controller to be controlled by the controller.

[0019] Furthermore, the boom driving mechanism includes a boom motor, a boom driving wheel, a boom driven wheel and a boom belt;

[0020] The boom motor is fixedly arranged on the lifting platform, the boom motor is electrically connected to the controller to be controlled by the controller, the boom driving wheel is fixedly arranged on the output shaft of the boom motor, the boom driven wheel is fixedly arranged at the end where the boom is connected to the lifting platform, the rotation axis of the boom driven wheel coincides with the rotation axis of the boom on the lifting platform, and the boom belt is matched and sleeved on the boom driving wheel and the boom driven wheel.

[0021] Further, the forearm drive mechanism includes a forearm motor, a forearm driving wheel, a forearm driven wheel, a second forearm driven wheel, a third forearm driven wheel, a first forearm belt and a second forearm belt;

[0022] The forearm motor is fixedly arranged on the lifting platform, the forearm motor is electrically connected to the controller so as to be controlled by the controller, the forearm driving wheel is fixedly arranged on the output shaft of the forearm motor, the forearm driven wheel is rotatably arranged on the end of the boom connected to the lifting platform, and the forearm first belt is matched and sleeved on the forearm driving wheel and the forearm driven wheel;

[0023] The second driven wheel of the forearm is fixedly set on one side surface of the driven wheel of the forearm, and the rotation axis of the driven wheel of the forearm and the second driven wheel of the forearm coincides with the rotation axis of the boom on the lifting platform. The third driven wheel of the forearm is fixedly set on the end portion where the forearm is connected to the boom, and the rotation axis of the third driven wheel of the forearm coincides with the rotation axis of the forearm on the boom. The second belt of the forearm is matchably sleeved on the second driven wheel of the forearm and the third driven wheel of the forearm.

[0024] Further, the clamp includes a mounting portion, a first clamp motor, a first clamp arm, a second clamp arm and a second clamp motor; the first clamp motor and the second clamp motor are respectively electrically connected to the controller to be controlled by the controller;

[0025] The first gripper motor is fixedly mounted on the end of the forearm away from the upper arm, and the output shaft of the first gripper motor is vertically downward and fixedly connected to the mounting portion;

[0026] The first clamp arm and the second clamp arm are arranged facing each other, and mutually meshing gear teeth are respectively arranged on the facing side surfaces of the upper parts of the first clamp arm and the second clamp arm, the upper part of the first clamp arm is rotatably mounted on the mounting part, the second clamp jaw motor is fixedly mounted on the mounting part, and the second clamp arm is fixedly mounted on the output shaft of the second clamp jaw motor so that the second clamp jaw motor can drive the second clamp arm to rotate to drive the first clamp arm and the second clamp arm to open and close.

[0027] Furthermore, clamping heads are respectively provided at the bottom of the first clamping arm and the second clamping arm, and the two clamping heads protrude from the sides of the first clamping arm and the second clamping arm facing each other.

[0028] Furthermore, when the two clamps are clamped, the bottoms fit together but the tops do not fit together to form a V-shaped gap.

[0029] Furthermore, a plurality of bull's-eye universal wheels for stably supporting the trash can are arranged at the bottom of the trash can.

[0030] Furthermore, the garbage sorting method comprises a frame, a mounting plate is installed in the middle of the frame, and a first through hole and a second through hole are opened on the mounting plate;

[0031] The delivery receiving plate is installed on the first through hole so that the first through hole is opened when the delivery receiving plate is opened, and the first through hole is closed when the delivery receiving plate is closed;

[0032] The temporary storage plate is mounted on the second through hole so that the second through hole is open when the temporary storage plate is opened, and the second through hole is closed when the temporary storage plate is closed;

[0033] The mechanical arm is mounted on the top surface of the mounting plate;

[0034] The first camera and the second camera are located above the mounting plate, and the trash can is located below the mounting plate.

[0035] Furthermore, the first driving mechanism, the second driving mechanism and the third driving mechanism are electric motors.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a garbage sorting method, which adopts different sorting methods according to different quantities of garbage to be sorted by setting a delivery receiving plate, a temporary storage plate, a mechanical arm, a first camera, a second camera, a controller and a garbage can, and when sorting a single garbage, it is directly put into the corresponding unit barrel after identification, and the sorting is fast, the process is simple and the efficiency is high; and when sorting multiple garbage, a secondary identification method is adopted, and the single garbage to be sorted can be individually clamped out and secondary identified, and after the identification is completed, it is put into the corresponding unit barrel according to the identification result, so that the error rate can be effectively reduced and the sorting accuracy can be improved through the secondary identification method.

[0037] The garbage sorting method of the present invention can reduce the labor cost of garbage classification, increase the feasibility of garbage classification policies, popularize garbage classification, save resources, protect the environment, and implement the sustainable development strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0039] Figure 1 It is a schematic diagram of the structure of the garbage sorting device of the present invention at one viewing angle;

[0040] Figure 2 It is a schematic diagram of the structure of the garbage sorting device of the present invention from another viewing angle;

[0041] Figure 3 It is a schematic diagram of the structure of the mechanical arm of the present invention at one viewing angle;

[0042] Figure 4 is a schematic structural diagram of the mechanical arm of the present invention from another viewing angle;

[0043] Figure 5 It is a schematic diagram of the structure of the clamp of the present invention at a viewing angle;

[0044] Figure 6 It is a schematic structural diagram of the clamping jaw of the present invention from another viewing angle. DETAILED DESCRIPTION

[0045] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Please refer to Figure 1 and Figure 2 A preferred embodiment of the present invention provides a garbage sorting method, including a delivery receiving plate 10, a temporary storage plate 20, a robotic arm 30, a first camera 40, a second camera 50, a controller 60, a garbage can 70 and a frame 90.

[0047] Please continue to refer to Figure 1 and Figure 2 The frame 90 is preferably a square frame structure built of aluminum alloy profiles. The aluminum alloy profiles are fixed by bolts, welding, etc. to maintain the stability of the frame 90. A mounting plate 91 is installed horizontally in the middle of the frame 90. The mounting plate 91 roughly divides the frame 90 into upper and lower parts. A first through hole 92 and a second through hole 93 are opened on the mounting plate 91. The first through hole 92 is a square through hole, and the second through hole 93 is a circular hole. The first through hole 92 and the second through hole 93 both penetrate the mounting plate 91.

[0048] The controller 60 is fixedly mounted on the mounting plate 92 and is a conventional controller with its own control system. It contains a deep learning garbage model and can identify garbage based on the received image information.

[0049] The delivery receiving plate 10 is mounted on the mounting plate 91. The delivery receiving plate 10 is equipped with a first driving mechanism 11 for driving the delivery receiving plate 10 to open or close. The first driving mechanism 11 is electrically connected to the controller 60 to be controlled by the controller 60. The delivery receiving plate 10 is mounted on the first through hole 92 so that the first through hole 92 is open when the delivery receiving plate 10 is opened, and the first through hole 92 is closed when the delivery receiving plate 10 is closed. In this preferred embodiment, the delivery receiving plate 10 is composed of two plate-like structures, and the first driving mechanism 11 is an electric motor, which is equipped with two, one for each plate-like structure, and the output shafts of the motors are respectively fixedly connected to the sides of the two plate-like structures of the delivery receiving plate 10 that are away from each other, so that under the drive of the first driving mechanism 11 in the form of a motor, the plate-like structure can be flipped. When the two plate-like structures of the delivery receiving plate 10 are flipped to a horizontal position and the two adjacent sides are abutted, the delivery receiving plate 10 is closed. At this time, the first through hole 92 is closed, and garbage cannot pass through when the first driving mechanism 11 is closed; when the two plate-like structures of the delivery receiving plate 10 are flipped downward to a vertical position, the delivery receiving plate 10 is opened, and the first through hole 92 is open. The delivery receiving plate 10 is opened so that the first through hole 92 is open, and the garbage can pass through the opened delivery receiving plate 10 and fall downward through the open first through hole 92. The first driving mechanism 11 is electrically connected to the controller 60 to be controlled by the controller 60 . The controller 60 controls the first driving mechanism 11 according to the specific identification situation to realize turning on or off the first driving mechanism 11 .

[0050] The temporary storage board 20 is mounted on the mounting plate 91. The temporary storage board 20 is equipped with a second driving mechanism 21 for driving the delivery receiving plate 10 to open or close. The second driving mechanism 21 is electrically connected to the controller 60 to be controlled by the controller 60. The temporary storage board 20 is mounted on the second through hole 93 so that the second through hole 93 is open when the temporary storage board 20 is opened, and the second through hole 93 is closed when the temporary storage board 20 is closed. In this preferred embodiment, the temporary storage board 20 is composed of two plate-like structures, and the second driving mechanism 21 is a motor, which is equipped with two, and each plate-like structure is equipped with a motor, and the output shaft of the motor is fixedly connected to the side away from the two plate-like structures of the temporary storage board 20, so that under the drive of the second driving mechanism 21 in the form of a motor, the plate-like structure can be turned over, and when the two plate-like structures of the temporary storage board 20 are turned over to the horizontal position and the two adjacent sides are abutted, the temporary storage board 20 is closed, and the second through hole 93 is closed at this time, so that garbage cannot pass through when the second driving mechanism 21 is closed; when the two plate-like structures of the temporary storage board 20 are turned down to the vertical position, the temporary storage board 20 is opened, and the second through hole 93 is opened at this time. The temporary storage board 20 is opened so that the second through hole 93 is opened, and the garbage can pass through the opened temporary storage board 20 and fall down through the opened second through hole 93. The second driving mechanism 21 is electrically connected to the controller 60 to be controlled by the controller 60, and the controller 60 controls the first driving mechanism 11 according to the specific identification situation to realize the opening or closing of the second driving mechanism 21.

[0051] The mechanical arm 30 is mounted on the top surface of the mounting plate 91. The mechanical arm 30 is electrically connected to the controller 60 and grabs the garbage to be sorted to a designated position according to the instruction of the controller 60.

[0052] Please refer to Figures 3 to 6 The robot arm 30 includes a vertical rod 31, a large arm 32, a small arm 33, a lifting platform 34, a screw 35, a clamp 36, a base 37, a screw motor 38, a large arm driving mechanism and a small arm driving mechanism.

[0053] The base 37 is fixedly mounted on the top surface of the mounting plate 91, and the vertical rods 31 are vertically mounted on the base 37. There are three vertical rods 31, which form an equilateral triangle. The screw motor 38 is fixedly mounted on the base 37, and the screw 35 is vertically mounted and connected to the output shaft of the screw motor 38 through a coupling so as to rotate under the drive of the screw motor 38. The lifting platform 34 is sleeved on the vertical rod 31 and can move up and down along the axis of the column 41. The lifting platform 34 is threadedly connected to the screw 35 through an internal thread, that is, the middle part of the lifting platform 34 is provided with an internal thread, and the internal thread matches the external thread of the screw 35. The internal and external threads are matched and connected, and a screw substructure is formed between the screw 35, the vertical rod 31, and the lifting platform 34. When the screw motor 38 rotates forward, under the action of the screw substructure formed between the screw 35, the vertical rod 31, and the lifting platform 34, the lifting platform 34 can move upward along the axial direction of the column 31, and when the screw motor 38 rotates reversely, the lifting platform 34 can move downward along the axial direction of the column 31, that is, the lifting platform 34 can be lifted and lowered by the forward and reverse rotation of the screw motor 38.

[0054] One end of the boom 32 is rotatably mounted on the lifting platform 34 and driven by the boom driving mechanism to rotate on the horizontal plane. The boom 32 can rise and fall with the rise and fall of the lifting platform 34 to achieve a change in height. On the other hand, it can rotate on the horizontal plane under the drive of the boom driving mechanism to achieve a change in horizontal orientation to adjust the position on the horizontal orientation. The rotation axis of the boom 32 on the lifting platform 34 coincides with the axis of a column 31. One end of the forearm 33 is rotatably mounted on the other end of the boom 32 and driven by the forearm driving mechanism to rotate on the horizontal plane. The forearm 33 can rise and fall with the rise and fall of the boom 32 to achieve a change in height. On the other hand, it can rotate on the horizontal plane under the drive of the forearm driving mechanism to achieve a change in position on the horizontal orientation to adjust the position on the horizontal plane. Through the change in the horizontal position of the boom 32 and the forearm 33, the position change of the end of the forearm 33 away from the boom 32 is achieved, that is, the position adjustment of the end of the forearm 33 away from the boom 32 is achieved. The clamping jaw 36 is mounted on the other end of the small arm 33, that is, on the end of the small arm 33 away from the upper arm 32, and is used to clamp the garbage to be sorted. The clamping jaw 36 can be raised and lowered with the raising and lowering of the small arm 33. At the same time, the position of the clamping jaw 36 can be adjusted by adjusting the position of the end of the small arm 33 away from the upper arm 32, so that the horizontal position and height of the clamping jaw 36 can be adjusted, so that the clamping jaw 36 can clamp the garbage at a certain position and transfer it to a certain position. For example, by adjusting the small arm 33 and the upper arm 32, the clamping jaw 36 can be located directly above the delivery receiving plate 10 or the temporary storage plate 20.

[0055] The boom driving mechanism includes a boom motor 321, a boom driving wheel 322, a boom driven wheel 323 and a boom belt 324. The boom motor 321 is fixedly arranged on the lifting platform 34, the boom motor 321 is electrically connected to the controller 60 to be controlled by the controller 60, the boom driving wheel 322 is fixedly arranged on the output shaft of the boom motor 321, the boom driven wheel 323 is fixedly arranged at the end where the boom 32 is connected to the lifting platform 34, the rotation axis of the boom driven wheel 323 coincides with the rotation axis of the boom 32 on the lifting platform 34, and the boom belt 324 is matched and sleeved on the boom driving wheel 322 and the boom driven wheel 323. During implementation, under the control of the controller 60, the boom motor 321 rotates forward, driving the boom driving wheel 322 to rotate, and under the action of the boom belt 324, the boom driven wheel 323 rotates accordingly, so that the boom 32 can swing horizontally in one direction on the lifting platform 34. When the boom motor 321 reverses, the boom 32 can swing horizontally in the opposite direction. In this way, the boom 32 can be driven by the boom driving mechanism to rotate on a horizontal plane. In this way, the boom motor 321 is fixedly arranged on the lifting platform 34, thereby reducing the weight of the boom 32, reducing the moment of inertia and torque, and making it easier for the boom 32 to rotate.

[0056] The forearm driving mechanism includes a forearm motor 331 , a forearm driving wheel 332 , a forearm driven wheel 333 , a forearm second driven wheel 335 , a forearm third driven wheel 336 , a forearm first belt 337 and a forearm second belt 338 .

[0057] The arm motor 331 is fixedly arranged on the lifting platform 34, and the arm motor 331 is electrically connected to the controller 60 to be controlled by the controller 60. The arm driving wheel 332 is fixedly arranged on the output shaft of the arm motor 331, and the arm driven wheel 333 is rotatably arranged on the end of the arm 32 connected to the lifting platform 34. The arm first belt 337 is matched and sleeved on the arm driving wheel 332 and the arm driven wheel 333; the arm second driven wheel 335 is fixedly arranged on the arm driven wheel On one side surface of 333, the rotation axis of the forearm driven wheel 333 and the forearm second driven wheel 335 coincides with the rotation axis of the boom 32 on the lifting platform 34, the forearm third driven wheel 336 is fixedly arranged on the end portion where the forearm 33 is connected to the boom 32, the rotation axis of the forearm third driven wheel 336 coincides with the rotation axis of the forearm 33 on the boom 32, and the forearm second belt 338 is matchedly mounted on the forearm second driven wheel 335 and the forearm third driven wheel 336. During implementation, under the control of the controller 60, the arm motor 331 rotates forward, driving the arm driving wheel 332 to rotate, and under the action of the first arm belt 337, the arm driven wheel 333 rotates accordingly, and the second arm driven wheel 335 rotates accordingly. Since the arm driven wheel 333 is rotatably arranged on the boom 32, it will not lead the boom 32 to rotate. The second arm driven wheel 335 rotates, and under the action of the second arm belt 338, the third arm driven wheel 336 rotates accordingly, so that the arm 33 swings horizontally in one direction on the boom 32. When the arm motor 331 reverses, the arm 33 can swing horizontally in the opposite direction. In the above manner, the arm 32 can be driven on the horizontal plane by the boom driving mechanism, and in this manner, the arm motor 331 is fixedly arranged on the lifting platform 34, thereby reducing the weight of the arm 33, reducing the moment of inertia and torque, and making it easier for the arm 33 to rotate.

[0058] In this preferred embodiment, the upper arm 32 and the lower arm 33 can reach any point within the grasping range by rotating at different angles, and the lifting platform 34 moves in the vertical plane along the screw rod 35, and has a higher load capacity. The upper arm 32 and the lower arm 33 have two joints. The upper arm 32 is connected to the upper arm driven wheel 323 with 72 teeth at the first joint by the upper arm motor 321 on the lifting platform 34 through the upper arm belt 324, and the reduction ratio is 1 to 4.5. The lower arm 33 is connected to the lower arm driven wheel 333 with 62 teeth at the first joint by the lower arm motor 331 on the lifting platform 34 through the first lower arm belt 337, and then the lower arm driven wheel 333 with 33 teeth on the lower arm second driven wheel 335 is connected to the lower arm third driven wheel 336 with 62 teeth at the second joint through the second lower arm belt 338, and the reduction ratio is 1 to 2.

[0059] The clamp 36 includes a mounting portion 361, a first clamp motor 362, a first clamp arm 363, a second clamp arm 364, and a second clamp motor 365. The first clamp motor 362 is fixedly mounted on the end of the small arm 33 away from the large arm 32, and the output shaft of the first clamp motor 362 is vertically downward and fixedly connected to the mounting portion 361, so that the mounting portion 361 can be driven to rotate, and garbage can be grasped at any angle by 360° rotation. The first clamp arm 363 and the second clamp arm 364 are arranged opposite to each other, and the upper sides of the first clamp arm 363 and the second clamp arm 364 are respectively provided with mutually meshing gears 366, the upper part of the first clamp arm 363 is rotatably mounted on the mounting portion 361, the second clamp motor 355 is fixedly mounted on the mounting portion 361, and the second clamp arm 364 is fixedly mounted on the output shaft of the second clamp motor 365 so that the second clamp motor 365 can drive the second clamp arm 364 to rotate to drive the first clamp arm 363 and the second clamp arm 364 to open and close. The first clamping jaw motor 362 and the second clamping jaw motor 365 are respectively electrically connected to the controller 60 to be controlled by the controller 60. During implementation, the controller 60 controls the first clamping jaw motor 362 to drive the mounting portion 361 to rotate so as to adjust the azimuth angles of the first clamping arm 363 and the second clamping arm 364, and then the controller 60 controls the second clamping jaw motor 365 to drive the second clamping arm 364 to rotate around the output shaft, and under the meshing action of the gear teeth 366, the first clamping arm 363 rotates accordingly, and at this time, the first clamping arm 363 and the second clamping arm 364 move away from each other to open or move closer to each other to close, and the first clamping arm 363 and the second clamping arm 364 move closer to each other to close to each other to clamp the garbage.

[0060] The first clamp arm 363 and the second clamp arm 364 are provided with clamp heads 367 at their bottoms, and the two clamp heads 367 protrude from the sides of the first clamp arm 363 and the second clamp arm 364 facing each other, so that when the clamp jaws are closed, there is a certain space between the middle parts of the sides of the first clamp arm 363 and the second clamp arm 364 facing each other, and the clamp heads 367 at the bottom are in contact with each other and can play a supporting role for the garbage. This structural form can facilitate the clamping of large-volume garbage. The clamp heads 367 are provided to clamp small-volume garbage, and in a preferred embodiment, when the two clamp heads 367 are clamped, the bottoms of the two clamp heads 367 fit together while the tops do not fit together to form a V-shaped gap, and the V-shaped gap can provide an upward support force to the garbage when the two clamp heads 367 clamp the garbage, so as to ensure that there is a supporting role when clamping, so that the clamping of small garbage is more stable.

[0061] In this preferred embodiment, the robot arm 30 has four degrees of freedom to achieve the grabbing and delivery of garbage at any point within the reachable grabbing range.

[0062] A top plate 94 is provided on the top of the frame 90, and the top plate 94 is located above the mounting plate 91. The first camera 40 and the second camera 50 are respectively installed on the bottom surface of the top plate 94. The first camera 40 is located above the delivery receiving plate 10 and is used to take pictures of the garbage to be sorted on the delivery receiving plate 10; the second camera 50 is located above the temporary storage plate 20 and is used to take pictures of the garbage to be sorted on the temporary storage plate 20. The first camera 40 and the second camera 50 are respectively electrically connected to the controller 60 and transmit the camera information to the controller 60, and the controller 60 performs data analysis and judgment according to the first camera 40 and the second camera 50.

[0063] The bottom of the frame 90 is provided with a bottom plate 95, which is located below the mounting plate 91. The trash can 70 includes a plurality of unit barrels 71 with open tops for temporarily placing different types of trash. In the preferred embodiment, there are four unit barrels 71, each of which is in contact with two unit barrels 71 respectively so that the four unit barrels 71 are arranged in a four-leaf clover shape. The trash can 70 is located below the delivery receiving plate 10 and the temporary storage plate 20. The trash can 70 is equipped with a third driving mechanism 72 for controlling the rotation of the trash can 70. The third driving mechanism 72 can rotate the trash can 70 and enable one of the unit barrels 71 to rotate to the right below the delivery receiving plate 10 or the temporary storage plate 20. The third driving mechanism 72 is electrically connected to the controller 60 to be controlled by the controller 60. Specifically, in this preferred embodiment, four unit barrels 71 are fixed together and balanced on a support disc 73, and the third driving mechanism 72 is an electric motor, whose output shaft is vertically arranged upward and fixedly connected to the center of the support disc 73, so that when the third driving mechanism 72, which is an electric motor, is in operation, it can drive the support disc 73 and the unit barrels 71 thereon to rotate, and under the action of rotation, one of the unit barrels 71 can be rotated to the right below the delivery receiving plate 10 or the temporary storage plate 20, so that the garbage can be dropped downward into the corresponding unit barrel 71 through the opening of the delivery receiving plate 10 or the temporary storage plate 20. Further, the bottom of the trash can 70 is provided with a plurality of bull's eye universal wheels 80 for realizing stable support of the trash can 70, and the bull's eye universal wheels 80 are multiple, and a circle is formed around a circle, and the circle is concentric with the support disc 73, and the bull's eye universal wheels 80 are fixedly installed on the bottom plate 95, and the top is in contact with the support disc 73, and is set. The four unit barrels 71 plus the supporting disc 73 have a large mass, especially after garbage is put into the mass. In order to reduce the friction caused by gravity, the third driving mechanism 72 can drive the supporting disc 73 to rotate smoothly, and a bull's eye universal wheel 80 is provided to provide sufficient support force while reducing the rotational friction caused by gravity.

[0064] The following is a specific implementation process of a preferred embodiment of the present invention:

[0065] The delivery receiving plate 10 and the temporary storage plate 20 are in a closed state, and the garbage to be sorted is delivered to the delivery receiving plate 10. The first camera 40 takes a picture of the garbage on the delivery receiving plate 10 and transmits the picture information to the controller 60. The controller 60 analyzes and identifies the image information received from the first camera 40 to read and determine the quantity, type, coordinates, etc. of the corresponding garbage;

[0066] When the controller 60 determines that the garbage on the delivery receiving plate 10 is a single garbage, the controller 60 controls the third driving mechanism 72 to drive the garbage can 70 to rotate, so that the unit barrel 71 of the corresponding garbage type is located directly below the delivery receiving plate 10, and then the controller 60 controls the first driving mechanism 11 to open the delivery receiving plate 10. When the delivery receiving plate 10 is opened, the garbage falls into the unit barrel 71 of the corresponding garbage type directly below, thereby realizing garbage sorting;

[0067] When the controller 60 determines that the garbage on the receiving plate 10 is a plurality of garbage, the controller 60 controls the mechanical arm 30 to grab the garbage to be sorted to the specified position according to the position coordinate information and category information of the identified garbage. Specifically, the controller 60 controls the screw motor 38, the upper arm motor 321 and the lower arm motor 331 to operate to adjust the clamping jaw 36 to be located directly above the receiving plate 10, specifically directly above a piece of garbage to be sorted. If necessary, the first clamping jaw motor 362 can be controlled to adjust the position of the clamping jaw 36 to adapt to the shape of the garbage for easy clamping; then the screw motor 38 is controlled to make the lifting platform 34 descend, and the second clamping jaw motor 365 is controlled to make the first clamping arm 363 and the second clamping jaw motor 365 move upward. The clamping arm 364 is clamped to clamp the garbage, and then the screw motor 38 is controlled to make the lifting platform 34 rise, and at the same time, the big arm motor 321 and the small arm motor 331 are controlled to operate, so that the clamping claw 36 is located directly above the temporary storage board 20, and then the second clamping claw motor 365 is controlled to open the first clamping arm 363 and the second clamping arm 364, and the garbage to be sorted falls onto the temporary storage board 20. The second camera 50 takes a picture of the garbage on the temporary storage board 20 and transmits the camera information to the controller 60. The controller 60 analyzes and recognizes the image information received from the second camera 50, that is, judges through secondary recognition. When the two recognition results are consistent, the controller 60 controls the third driving mechanism 72 drives the trash can 70 to rotate so that the unit barrel 71 corresponding to the two recognitions is located directly below the temporary storage board 20, and the controller 60 controls the second driving mechanism 21 to open the temporary storage board 20. When the temporary storage board 20 is opened, the garbage falls into the unit barrel 71 of the corresponding garbage category directly below, thereby realizing the sorting of the garbage. After the garbage is sorted, the temporary storage board 20 is closed; and if the two recognition results are inconsistent, considering that the second camera 50 only performs camera recognition on a single garbage when shooting, there is less interference information, so the recognition result of the image information transmitted by the second camera 50 shall prevail, and the controller 60 controls the third driving mechanism 72 to drive the trash can 70 to rotate so that the unit barrel 71 corresponding to the last recognition result is located directly below the temporary storage board 20. The corresponding unit barrel 71 is located directly below the temporary storage plate 20, and the controller 60 controls the second driving mechanism 21 to open the temporary storage plate 20. When the temporary storage plate 20 is opened, the garbage falls into the unit barrel 71 of the corresponding garbage category directly below, thereby realizing the sorting of the garbage. After the garbage is sorted, the temporary storage plate 20 is closed; after the garbage is sorted, the next garbage located on the delivery receiving plate 10 is clamped by the mechanical arm 30 according to the position coordinates and category information to realize the sorting of the garbage located on the delivery receiving plate 10, until the controller 60 determines that the garbage located on the delivery receiving plate 10 is a single garbage, and then the last garbage is sorted by the above-mentioned method of processing a single garbage, and finally the sorting of all garbage is realized.

[0068] The present invention adopts different sorting methods for different quantities of to-be-sorted garbage. When sorting a single garbage, it is directly put into the corresponding unit barrel after identification, and the sorting is fast, the process is simple, and the efficiency is high. When sorting multiple garbage, a secondary identification method is adopted, and the single garbage to be sorted can be clamped out separately and subjected to secondary identification. After the identification is completed, it is put into the corresponding unit barrel according to the identification result. The secondary identification method can effectively eliminate the mutual interference in the identification of multiple garbage, and solves the problem that when multiple garbage are simultaneously located on the delivery receiving board, the garbage interferes with each other and the identification errors increase. The secondary identification is adopted, and the secondary identification is performed in the scenario of single garbage, which can effectively reduce the error rate and improve the sorting accuracy.

[0069] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A garbage sorting method, comprising a controller (60), characterized in that: Also included are: A delivery receiving plate (10), wherein the delivery receiving plate (10) is equipped with a first driving mechanism (11) for driving the delivery receiving plate (10) to open or close, and the first driving mechanism (11) is electrically connected to a controller (60) so as to be controlled by the controller (60); A temporary storage plate (20), wherein the temporary storage plate (20) is equipped with a second driving mechanism (21) for controlling the opening or closing of the temporary storage plate (20), and the second driving mechanism (21) is electrically connected to the controller (60) to be controlled by the controller (60); A mechanical arm (30) which is electrically connected to the controller (60) and grabs the garbage to be sorted to a designated location according to the instructions of the controller (60); A first camera (40), located above the delivery receiving plate (10) and used for photographing the garbage to be sorted located on the delivery receiving plate (10); A second camera (50), located above the temporary storage plate (20) and used for photographing the garbage to be sorted located on the temporary storage plate (20); The first camera (40) and the second camera (50) are respectively electrically connected to the controller (60) and transmit camera information to the controller (60); A trash can (70), comprising a plurality of unit barrels (71) with open tops for temporarily placing different types of trash, the trash can (70) being located below a delivery receiving plate (10) and a temporary storage plate (20), the trash can (70) being equipped with a third driving mechanism (72) for controlling the rotation of the trash can (70), the third driving mechanism (72) being capable of rotating the trash can (70) and enabling one of the unit barrels (71) to rotate to a position directly below the delivery receiving plate (10) or the temporary storage plate (20), the third driving mechanism (72) being electrically connected to a controller (60) so as to be controlled by the controller (60); The bottom of the trash can (70) is provided with a plurality of bull's eye universal wheels (80) for achieving stable support of the trash can (70); The first driving mechanism (11), the second driving mechanism (21) and the third driving mechanism (72) are electric motors; When the controller (60) determines that the garbage located on the delivery receiving plate (10) is a single piece of garbage, the controller (60) controls the third driving mechanism (72) to drive the garbage can (70) to rotate, so that the unit barrel (71) of the corresponding garbage type is located directly below the delivery receiving plate (10), and then the controller (60) controls the first driving mechanism (11) to open the delivery receiving plate (10). When the delivery receiving plate (10) is opened, the garbage falls into the unit barrel (71) of the corresponding garbage type directly below, thereby achieving garbage sorting; When the controller (60) determines that the garbage on the receiving plate (10) is a plurality of garbage, the controller (60) controls the mechanical arm (30) to grab the garbage to be sorted to a designated position according to the position coordinate information and category information of the identified garbage; The garbage to be sorted falls onto the temporary storage plate (20), the second camera (50) photographs the garbage on the temporary storage plate (20), and transmits the photographic information to the controller (60), the controller (60) analyzes and identifies the image information received from the second camera (50), and when the two identification results are consistent, the controller (60) controls the third drive mechanism (72) to drive the garbage bin (70) to rotate, so that the unit barrels (71) corresponding to the two identifications are located directly below the temporary storage plate (20), and the controller (60) controls the second drive mechanism (21) to open the temporary storage plate (20), and when the temporary storage plate (20) is opened, the garbage falls into the unit barrels (71) of the corresponding garbage category directly below, thereby realizing the sorting of the garbage.

2. The garbage sorting method according to claim 1, characterized in that: The mechanical arm (30) comprises a vertical rod (31), a large arm (32), a small arm (33), a lifting platform (34), a screw (35), a clamping claw (36), a base (37), a screw motor (38), a large arm driving mechanism and a small arm driving mechanism; The vertical rod (31) is vertically arranged on the base (37), the screw motor (38) is fixedly mounted on the base (37), the screw rod (35) is vertically arranged and connected to the output shaft of the screw motor (38) so as to rotate under the drive of the screw motor (38); the lifting platform (34) is sleeved on the vertical rod (31) and can move up and down along the axis of the column (41), and the lifting platform (34) is threadedly connected to the screw rod (35) through an internal thread; One end of the upper arm (32) is rotatably mounted on the lifting platform (34) and driven by the upper arm driving mechanism so as to be rotatable on a horizontal plane; one end of the lower arm (33) is rotatably mounted on the other end of the upper arm (32) and driven by the lower arm driving mechanism so as to be rotatable on a horizontal plane; the clamp (36) is mounted on the other end of the lower arm (33) and is used to clamp garbage to be sorted; The upper arm driving mechanism and the lower arm driving mechanism are respectively electrically connected to the controller (60) to be controlled by the controller (60).

3. The garbage sorting method according to claim 2, characterized in that: The boom driving mechanism comprises a boom motor (321), a boom driving wheel (322), a boom driven wheel (323) and a boom belt (324); The boom motor (321) is fixedly arranged on the lifting platform (34); the boom motor (321) is electrically connected to a controller (60) so as to be controlled by the controller (60); the boom driving wheel (322) is fixedly arranged on an output shaft of the boom motor (321); the boom driven wheel (323) is fixedly arranged at an end portion of the boom (32) connected to the lifting platform (34); the rotation axis of the boom driven wheel (323) coincides with the rotation axis of the boom (32) on the lifting platform (34); and the boom belt (324) is matched and sleeved on the boom driving wheel (322) and the boom driven wheel (323).

4. The garbage sorting method according to claim 2, characterized in that: The forearm driving mechanism comprises a forearm motor (331), a forearm driving wheel (332), a forearm driven wheel (333), a forearm second driven wheel (335), a forearm third driven wheel (336), a forearm first belt (337) and a forearm second belt (338); The forearm motor (331) is fixedly arranged on the lifting platform (34), the forearm motor (331) is electrically connected to the controller (60) so as to be controlled by the controller (60), the forearm driving wheel (332) is fixedly arranged on the output shaft of the forearm motor (331), the forearm driven wheel (333) is rotatably arranged on the end of the upper arm (32) connected to the lifting platform (34), and the forearm first belt (337) is matched and sleeved on the forearm driving wheel (332) and the forearm driven wheel (333); The second driven wheel (335) of the forearm is fixedly arranged on a side surface of the driven wheel (333) of the forearm, and the rotation axes of the driven wheel (333) and the second driven wheel (335) of the forearm coincide with the rotation axis of the upper arm (32) on the lifting platform (34). The third driven wheel (336) of the forearm is fixedly arranged on the end of the forearm (33) connected to the upper arm (32), and the rotation axis of the third driven wheel (336) of the forearm coincides with the rotation axis of the forearm (33) on the upper arm (32). The second belt (338) of the forearm is matched and sleeved on the second driven wheel (335) of the forearm and the third driven wheel (336) of the forearm.

5. The garbage sorting method according to claim 2, characterized in that: The clamping jaw (36) comprises a mounting portion (361), a first clamping jaw motor (362), a first clamping arm (363), a second clamping arm (364) and a second clamping jaw motor (365); the first clamping jaw motor (362) and the second clamping jaw motor (365) are respectively electrically connected to the controller (60) to be controlled by the controller (60); The first clamping jaw motor (362) is fixedly mounted on the end of the forearm (33) away from the upper arm (32), and the output shaft of the first clamping jaw motor (362) is vertically downward and fixedly connected to the mounting portion (361); The first clamp arm (363) and the second clamp arm (364) are arranged facing each other, and mutually meshing gear teeth (366) are respectively arranged on the upper side surfaces of the first clamp arm (363) and the second clamp arm (364). The upper part of the first clamp arm (363) is rotatably mounted on the mounting portion (361), the second clamping jaw motor (365) is fixedly mounted on the mounting portion (361), and the second clamping arm (364) is fixedly mounted on the output shaft of the second clamping jaw motor (365) so that the second clamping jaw motor (365) can drive the second clamping arm (364) to rotate to drive the first clamping arm (363) and the second clamping arm (364) to open and close.

6. The garbage sorting method according to claim 5, characterized in that: A clamping head (367) is respectively provided at the bottom of the first clamping arm (363) and the second clamping arm (364), and the two clamping heads (367) protrude from the facing sides of the first clamping arm (363) and the second clamping arm (364).

7. The garbage sorting method according to claim 6, characterized in that: When the two clamps (367) are clamped, the bottoms fit together but the tops do not fit together to form a V-shaped gap.

8. The garbage sorting method according to claim 1, characterized in that: The garbage sorting method comprises a frame (90), a mounting plate (91) is mounted in the middle of the frame (90), and a first through hole (92) and a second through hole (93) are formed on the mounting plate (91); The delivery receiving plate (10) is mounted on the first through hole (92) so that when the delivery receiving plate (10) is opened, the first through hole (92) is open, and when the delivery receiving plate (10) is closed, the first through hole (92) is closed; The temporary storage plate (20) is mounted on the second through hole (93) so that when the temporary storage plate (20) is opened, the second through hole (93) is open, and when the temporary storage plate (20) is closed, the second through hole (93) is closed; The mechanical arm (30) is mounted on the top surface of the mounting plate (91); The first camera (40) and the second camera (50) are located above the mounting plate (91), and the trash can (70) is located below the mounting plate (91).

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