A method, system, electronic device and storage medium for picking sundries

Abstract

The present application provides a method, system, electronic device and storage medium for picking debris, the method comprising: a material crushing device crushes the aggregate garbage material in the construction waste material received by itself into a plurality of aggregate garbage blocks in a quasi-cubic shape according to a preset volume, and crushes the debris garbage material in the construction waste material into a plurality of debris garbage blocks in a quasi-cubic shape according to a preset volume; a feeder distributes the aggregate garbage blocks and the debris garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding; in the process of the conveyor belt transporting the aggregate garbage blocks and the debris garbage blocks to the material collection device connected to the other end of the conveyor belt at a uniform speed, each manipulator grabs the debris garbage blocks within its own grabbing range according to a preset grabbing frequency. The present application can replace manual picking with automatic mechanical picking, and provide guidance to users by displaying working condition parameters.

Description

Technical Field

[0001] The present application relates to the field of debris processing, and in particular, to a debris picking method, system, electronic device and storage medium. Background Art

[0002] Currently, manual sorting and removal of impurities is an indispensable process link in the resource disposal process of decoration waste.

[0003] However, manual sorting and debris removal is also facing many challenges: first, the composition of construction waste is complex, and the types of debris that need to be sorted manually are diverse, making manual sorting difficult and intensive; second, 85% of the working environments of manual sorting of construction waste exceed the standard for noise, dust, and odor, and the environment is very harsh; third, 80% of the sorting workers are over 45 years old, making it increasingly difficult to recruit workers; fourth, the sorting workers have strong subjective consciousness, and there is great uncertainty in the sorting quality; fifth, due to the health, safety, and environmental protection supervision of the sorting workers, the labor costs of enterprises are gradually increasing. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, system, electronic device and storage medium for picking debris, which can replace manual picking with mechanical automatic picking and provide guidance to users by displaying working condition parameters.

[0005] In a first aspect, an embodiment of the present application provides a method for picking out debris, the method comprising:

[0006] The material crushing device crushes the aggregate waste materials in the construction waste materials received by itself into a plurality of aggregate waste blocks in a quasi-cubic shape according to a preset volume, and crushes the sundry waste materials in the construction waste materials into a plurality of sundry waste blocks in a quasi-cubic shape according to the preset volume;

[0007] The feeder evenly distributes the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding;

[0008] In the process that the conveyor belt uniformly transports the aggregate garbage blocks and the sundry garbage blocks to the material collection device connected to the other end of the conveyor belt, each manipulator arranged around the conveyor belt grabs the sundry garbage blocks within its grabbing range that are identified by its sundry identification device through image recognition according to a preset grabbing frequency;

[0009] According to the width of the conveyor belt, the spacing between adjacent target garbage blocks, the average length of the target garbage blocks, the average width of the target garbage blocks and the running speed of the conveyor belt, the theoretical maximum hourly target garbage block carrying quantity of the conveyor belt is calculated, wherein the target garbage blocks include: the aggregate garbage blocks and the sundry garbage blocks;

[0010] The theoretical maximum grabbing efficiency of the manipulator for the debris garbage block is calculated based on the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying quantity, and the proportion of the debris garbage block in the target garbage block;

[0011] The theoretical maximum hourly target garbage block carrying capacity and the theoretical maximum grabbing efficiency are displayed.

[0012] In a possible implementation, the method further includes:

[0013] Calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt;

[0014] The theoretical maximum target garbage block distribution density is displayed.

[0015] In a possible implementation, the method further includes:

[0016] Calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block;

[0017] The theoretical maximum hourly target waste block processing mass is displayed.

[0018] In a possible implementation manner, before calculating the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block, the method further includes:

[0019] Calculating the mass proportion of the sundry garbage blocks in the target garbage blocks according to the mass proportion of the sundry garbage blocks in the target garbage blocks, the average density of the aggregate garbage blocks and the average density of the sundry garbage blocks;

[0020] The mass percentage is displayed.

[0021] In a possible implementation, the method further includes:

[0022] Selecting m reference target garbage blocks from the target garbage blocks, where m is an integer greater than 1;

[0023] Measuring the actual volume of each of the reference target garbage blocks;

[0024] Taking the arithmetic average of the actual volumes of each of the reference target garbage blocks to obtain the average volume of the reference target garbage blocks;

[0025] The average volume of the reference target garbage blocks is cubed to obtain a target length, and the target length is used as the average length of the target garbage blocks, the target length is used as the average width of the target garbage blocks, and the target length is used as the average height of the target garbage blocks.

[0026] In a second aspect, an embodiment of the present application further provides a debris picking system, the system comprising:

[0027] The material crushing device is used to crush the aggregate waste materials in the construction waste materials received by itself into a plurality of aggregate waste blocks in a quasi-cubic shape according to a preset volume, and to crush the sundry waste materials in the construction waste materials into a plurality of sundry waste blocks in a quasi-cubic shape according to the preset volume;

[0028] A feeder, used to evenly distribute the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding;

[0029] In the process that the conveyor belt uniformly transports the aggregate garbage blocks and the sundry garbage blocks to the material collection device connected to the other end of the conveyor belt, each manipulator arranged around the conveyor belt is used to grab the sundry garbage blocks within its grabbing range that are identified by its sundry identification device through image recognition according to a preset grabbing frequency;

[0030] a calculation unit, for calculating the theoretical maximum hourly target garbage material block carrying quantity of the conveyor belt according to the width of the conveyor belt, the spacing between adjacent target garbage material blocks, the average length of the target garbage material blocks, the average width of the target garbage material blocks and the running speed of the conveyor belt, wherein the target garbage material blocks include: the aggregate garbage material blocks and the sundry garbage material blocks;

[0031] The calculation unit is further used to calculate the theoretical maximum grabbing efficiency of the manipulator for the debris garbage block according to the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying quantity, and the proportion of the debris garbage block in the target garbage block;

[0032] The display unit is used to display the theoretical maximum hourly target garbage block carrying quantity and the theoretical maximum grabbing efficiency.

[0033] In a possible implementation manner, the calculation unit is further used to calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt;

[0034] The display unit is also used to display the theoretical maximum target garbage block distribution density.

[0035] In a possible implementation manner, the calculation unit is further used to calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block;

[0036] The display unit is also used to display the theoretical maximum hourly target garbage block processing quality.

[0037] In a possible implementation manner, the calculation unit is further used to calculate the mass proportion of the sundry garbage material block in the target garbage material block according to the quantity proportion of the sundry garbage material block in the target garbage material block, the average density of the aggregate garbage material block and the average density of the sundry garbage material block;

[0038] The display unit is also used to display the mass ratio.

[0039] In a possible implementation, the system further includes:

[0040] a selection unit, configured to select m reference target garbage blocks from the target garbage blocks before the calculation unit calculates the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage blocks, the average width of the target garbage blocks, the average height of the target garbage blocks, the average density of the aggregate garbage blocks, the average density of the sundry garbage blocks and the proportion of the sundry garbage blocks in the target garbage blocks, wherein m is an integer greater than 1;

[0041] A measuring unit, used to measure the actual volume of each of the reference target garbage blocks;

[0042] The calculation unit is further used to perform arithmetic averaging on the actual volumes of each of the reference target garbage blocks to obtain an average volume of the reference target garbage blocks;

[0043] The calculation unit is also used to cube the average volume of the reference target garbage block to obtain a target length, and use the target length as the average length of the target garbage block, and use the target length as the average width of the target garbage block, and use the target length as the average height of the target garbage block.

[0044] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the debris picking method described in any one of the first aspects.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the debris picking method as described in any one of the first aspects are executed.

[0046] The embodiments of the present application provide a method, system, electronic device and storage medium for picking debris, which can replace manual picking with automatic mechanical picking and provide guidance to users by displaying working condition parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A flowchart of a method for picking out debris provided by an embodiment of the present application is shown;

[0049] Figure 2 A schematic diagram showing the top-down distribution of aggregate garbage blocks and sundry garbage blocks on a conveyor belt provided in an embodiment of the present application is shown.

[0050] Figure 3 A flow chart of another method for picking out debris provided by an embodiment of the present application is shown;

[0051] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0053] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0054] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0055] To facilitate understanding of this embodiment, a method, system, electronic device and storage medium for picking out debris provided in an embodiment of the present application are introduced in detail.

[0056] Reference Figure 1FIG. 1 is a flowchart of a method for picking out debris provided in an embodiment of the present application, and the method includes:

[0057] S101. The material crushing device crushes the aggregate waste materials in the construction waste materials it receives into a plurality of cube-shaped aggregate waste blocks according to a preset volume, and crushes the sundry waste materials in the construction waste materials into a plurality of cube-shaped sundry waste blocks according to the preset volume.

[0058] The cube-shaped debris and garbage blocks are convenient for the robot to grab them in the subsequent steps.

[0059] Users can adjust the preset volume according to their needs.

[0060] S102, the feeder evenly distributes the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding.

[0061] Reference Figure 2 FIG. 1 is a schematic diagram of the top view distribution of aggregate garbage blocks and sundry garbage blocks on a conveyor belt provided in an embodiment of the present application, wherein: Figure 2 The middle unit 1 is the aggregate garbage block, and the unit 2 is the sundry garbage block.

[0062] In order to improve the efficiency of the robot in grabbing the debris garbage blocks in the subsequent steps, the debris garbage blocks on the conveyor belt are required to be evenly and spaced apart. In this way, there is no squeezing between different blocks (including aggregate garbage blocks and debris garbage blocks), the robot has sufficient grabbing space, and can improve the conveyor belt's transportation efficiency for aggregate garbage blocks. Users can set the interval between adjacent blocks by themselves.

[0063] S103. While the conveyor belt is transporting the aggregate garbage blocks and the sundry garbage blocks to a material collection device connected to the other end of the conveyor belt at a uniform speed, each manipulator arranged around the conveyor belt grabs the sundry garbage blocks within its grabbing range that are identified by its own sundry identification device through image recognition according to a preset grabbing frequency.

[0064] Exemplarily, the preset grabbing frequency may be 1.5 seconds / time or 1.8 seconds / time, etc., which can be adjusted by the user. Similarly, the user can adjust the running speed of the conveyor belt according to demand.

[0065] Step S103 is the process of removing debris. After grabbing the debris and garbage blocks, each robot arm can throw the debris and garbage blocks into the debris and garbage holding container and continue to grab.

[0066] The aggregate waste blocks are collected by the material collecting device, and the collected aggregate waste blocks can be reused later.

[0067] S104. Calculate the theoretical maximum hourly target garbage block carrying capacity of the conveyor belt according to the width of the conveyor belt, the spacing between adjacent target garbage blocks, the average length of the target garbage blocks, the average width of the target garbage blocks and the operating speed of the conveyor belt, wherein the target garbage blocks include: the aggregate garbage blocks and the sundry garbage blocks.

[0068] For example, parameters such as the spacing between adjacent target garbage blocks, the average length of the target garbage blocks, etc. can be obtained by photographing the conveyor belt with a 2D or 3D camera and then reading it with image recognition software (the frequency of photographing and reading can be once every 1 minute).

[0069] Specifically, the theoretical maximum hourly target garbage block load of the conveyor belt can be calculated using the following formula:

[0070]

[0071] Among them, N is the theoretical maximum hourly target garbage block carrying capacity of the conveyor belt, in pieces; V is the operating speed of the conveyor belt, in meters per second; d is the spacing between adjacent target garbage blocks, in meters; B is the width of the conveyor belt, in meters; L is the average length of the target garbage blocks, in meters; W is the average width of the target garbage blocks, in meters.

[0072] Since the target garbage block is in a cube-like shape, the preset volume can be cubed to obtain the average length, average width and average height of the target garbage block.

[0073] Alternatively, m reference target garbage blocks are selected from the target garbage blocks, the total volume of the m reference target garbage blocks is measured, and the total volume is cubed to obtain the average length, average width and average height of the target garbage blocks, which is more accurate than the previous method.

[0074] S105. Calculate the theoretical maximum grabbing efficiency of the manipulator for the miscellaneous garbage blocks based on the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying capacity, and the proportion of the miscellaneous garbage blocks in the target garbage blocks.

[0075] Specifically, the theoretical maximum grabbing efficiency of the robot for debris and garbage blocks can be calculated by the following formula:

[0076]

[0077] Among them, δ is the theoretical maximum grabbing efficiency of the manipulator for debris garbage blocks, in %; n is the number of manipulators, in pieces; Z is the preset grabbing frequency, in seconds / time; N is the theoretical maximum hourly target garbage block carrying capacity, in pieces; X is the proportion of debris garbage blocks in the target garbage blocks, in %.

[0078] Since the target garbage block is in a cube-like shape, the preset volume can be cubed to obtain the average length, average width and average height of the target garbage block.

[0079] Alternatively, m reference target garbage blocks are selected from the target garbage blocks, the total volume of the m reference target garbage blocks is measured, and the total volume is cubed to obtain the average length, average width and average height of the target garbage blocks, which is more accurate than the previous method.

[0080] In addition, a theoretical maximum grasping efficiency curve can be drawn based on the theoretical maximum grasping efficiency at different times.

[0081] S106, displaying the theoretical maximum hourly target garbage block carrying quantity and the theoretical maximum grabbing efficiency.

[0082] Preferably, when the theoretical maximum grabbing efficiency is lower than a preset threshold (for example, 60%), an alarm can be issued to the user so that the user can adjust the operating speed of the conveyor belt and the loading amount of the construction waste raw materials.

[0083] In a possible implementation, the method further includes:

[0084] Calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt;

[0085] Specifically, the theoretical maximum target garbage block distribution density on the conveyor belt can be calculated by the following formula:

[0086]

[0087] Among them, α is the theoretical maximum target garbage block distribution density on the conveyor belt, in %; N is the theoretical maximum hourly target garbage block carrying capacity, in pieces; L is the average length of the target garbage block, in meters; W is the average width of the target garbage block, in pieces; V is the operating speed of the conveyor belt, in meters per second; B is the width of the conveyor belt, in meters.

[0088] Since the target garbage block is in a cube-like shape, the preset volume can be cubed to obtain the average length, average width and average height of the target garbage block.

[0089] Alternatively, m reference target garbage blocks are selected from the target garbage blocks, the total volume of the m reference target garbage blocks is measured, and the total volume is cubed to obtain the average length, average width and average height of the target garbage blocks, which is more accurate than the previous method.

[0090] The theoretical maximum target garbage block distribution density is displayed.

[0091] In a possible implementation, the method further includes:

[0092] Calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block;

[0093] Specifically, the theoretical maximum hourly target garbage block processing mass can be calculated by the following formula:

[0094]

[0095] Wherein, Q is the theoretical maximum hourly target garbage block processing mass, in tons / hour; N is the theoretical maximum hourly target garbage block carrying quantity, in pieces; L is the average length of the target garbage block, in meters; W is the average width of the target garbage block, in meters; H is the average height of the target garbage block, in meters; ρ 1 is the average density of aggregate waste blocks, in tons / cubic meter; ρ 2 is the average density of the debris garbage block, in tons / cubic meter; X is the proportion of the debris garbage block in the target garbage block.

[0096] Since the target garbage block is in a cube-like shape, the preset volume can be cubed to obtain the average length, average width and average height of the target garbage block.

[0097] Alternatively, m reference target garbage blocks are selected from the target garbage blocks, the total volume of the m reference target garbage blocks is measured, and the total volume is cubed to obtain the average length, average width and average height of the target garbage blocks, which is more accurate than the previous method.

[0098] The theoretical maximum hourly target waste block processing mass is displayed.

[0099] In a possible implementation, the method further includes:

[0100] Calculating the mass proportion of the sundry garbage blocks in the target garbage blocks according to the mass proportion of the sundry garbage blocks in the target garbage blocks, the average density of the aggregate garbage blocks and the average density of the sundry garbage blocks;

[0101] Specifically, the mass proportion of the debris garbage block in the target garbage block can be calculated by the following formula:

[0102]

[0103] Among them, β is the mass ratio of the debris garbage block in the target garbage block, in %; X is the number ratio of the debris garbage block in the target garbage block, in %; ρ 1 is the average density of aggregate waste blocks, in tons / cubic meter; ρ 2 It is the average density of debris blocks, in tons / cubic meter.

[0104] Since the target garbage block is in a cube-like shape, the preset volume can be cubed to obtain the average length, average width and average height of the target garbage block.

[0105] Alternatively, m reference target garbage blocks are selected from the target garbage blocks, the total volume of the m reference target garbage blocks is measured, and the total volume is cubed to obtain the average length, average width and average height of the target garbage blocks, which is more accurate than the previous method.

[0106] The mass percentage is displayed.

[0107] Reference Figure 3 As shown, it is a flow chart of another debris picking method provided by an embodiment of the present application. In a possible implementation manner, before calculating the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the debris garbage block and the proportion of the debris garbage block in the target garbage block, the method further includes:

[0108] S301. Select m reference target garbage blocks from the target garbage blocks, where m is an integer greater than 1.

[0109] For example, m may be 200.

[0110] S302: Measure the actual volume of each of the reference target garbage blocks.

[0111] S303: arithmetically average the actual volumes of each of the reference target garbage material blocks to obtain the average volume of the reference target garbage material blocks.

[0112] S304 cubes the average volume of the reference target garbage block to obtain a target length, and uses the target length as the average length of the target garbage block, and uses the target length as the average width of the target garbage block, and uses the target length as the average height of the target garbage block.

[0113] A method for picking debris provided in an embodiment of the present application can replace manual picking with automatic mechanical picking, and provide guidance to users by displaying working condition parameters.

[0114] The present application also provides a debris picking system, the system comprising:

[0115] The material crushing device is used to crush the aggregate waste materials in the construction waste materials received by itself into a plurality of aggregate waste blocks in a quasi-cubic shape according to a preset volume, and to crush the sundry waste materials in the construction waste materials into a plurality of sundry waste blocks in a quasi-cubic shape according to the preset volume;

[0116] A feeder, used to evenly distribute the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding;

[0117] In the process that the conveyor belt uniformly transports the aggregate garbage blocks and the sundry garbage blocks to the material collection device connected to the other end of the conveyor belt, each manipulator arranged around the conveyor belt is used to grab the sundry garbage blocks within its grabbing range that are identified by its sundry identification device through image recognition according to a preset grabbing frequency;

[0118] a calculation unit, for calculating the theoretical maximum hourly target garbage material block carrying quantity of the conveyor belt according to the width of the conveyor belt, the spacing between adjacent target garbage material blocks, the average length of the target garbage material blocks, the average width of the target garbage material blocks and the running speed of the conveyor belt, wherein the target garbage material blocks include: the aggregate garbage material blocks and the sundry garbage material blocks;

[0119] The calculation unit is further used to calculate the theoretical maximum grabbing efficiency of the manipulator for the debris garbage block according to the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying quantity, and the proportion of the debris garbage block in the target garbage block;

[0120] The display unit is used to display the theoretical maximum hourly target garbage block carrying quantity and the theoretical maximum grabbing efficiency.

[0121] In a possible implementation manner, the calculation unit is further used to calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt;

[0122] The display unit is also used to display the theoretical maximum target garbage block distribution density.

[0123] In a possible implementation manner, the calculation unit is further used to calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block;

[0124] The display unit is also used to display the theoretical maximum hourly target garbage block processing quality.

[0125] In a possible implementation manner, the calculation unit is further used to calculate the mass proportion of the sundry garbage material block in the target garbage material block according to the quantity proportion of the sundry garbage material block in the target garbage material block, the average density of the aggregate garbage material block and the average density of the sundry garbage material block;

[0126] The display unit is also used to display the mass ratio.

[0127] In a possible implementation, the system further includes:

[0128] a selection unit, configured to select m reference target garbage blocks from the target garbage blocks before the calculation unit calculates the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage blocks, the average width of the target garbage blocks, the average height of the target garbage blocks, the average density of the aggregate garbage blocks, the average density of the sundry garbage blocks and the proportion of the sundry garbage blocks in the target garbage blocks, wherein m is an integer greater than 1;

[0129] A measuring unit, used to measure the actual volume of each of the reference target garbage blocks;

[0130] The calculation unit is further used to perform arithmetic averaging on the actual volumes of each of the reference target garbage blocks to obtain an average volume of the reference target garbage blocks;

[0131] The calculation unit is also used to cube the average volume of the reference target garbage block to obtain a target length, and use the target length as the average length of the target garbage block, and use the target length as the average width of the target garbage block, and use the target length as the average height of the target garbage block.

[0132] An embodiment of the present application provides a debris picking system that can replace manual picking with mechanical automatic picking and provide guidance to users by displaying working condition parameters.

[0133] Reference Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, wherein the memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device is running, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the above-mentioned method for picking out debris.

[0134] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the above-mentioned method of picking out debris can be executed.

[0135] Corresponding to the above-mentioned method for picking out debris, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for picking out debris are executed.

[0136] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, system and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0137] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0139] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0140] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for picking out debris, characterized in that: The method comprises: The material crushing device crushes the aggregate waste materials in the construction waste materials received by itself into a plurality of aggregate waste blocks in a quasi-cubic shape according to a preset volume, and crushes the sundry waste materials in the construction waste materials into a plurality of sundry waste blocks in a quasi-cubic shape according to the preset volume; The feeder evenly distributes the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding; In the process that the conveyor belt uniformly transports the aggregate garbage blocks and the sundry garbage blocks to the material collection device connected to the other end of the conveyor belt, each manipulator arranged around the conveyor belt grabs the sundry garbage blocks within its grabbing range that are identified by its sundry identification device through image recognition according to a preset grabbing frequency; According to the width of the conveyor belt, the spacing between adjacent target garbage blocks, the average length of the target garbage blocks, the average width of the target garbage blocks and the running speed of the conveyor belt, the theoretical maximum hourly target garbage block carrying quantity of the conveyor belt is calculated, wherein the target garbage blocks include: the aggregate garbage blocks and the sundry garbage blocks; The theoretical maximum grabbing efficiency of the manipulator for the debris garbage block is calculated based on the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying quantity, and the proportion of the debris garbage block in the target garbage block; Display the theoretical maximum hourly target garbage block carrying quantity and the theoretical maximum grabbing efficiency; The method further comprises: Selecting m reference target garbage blocks from the target garbage blocks, where m is an integer greater than 1; Measuring the actual volume of each of the reference target garbage blocks; Taking the arithmetic average of the actual volumes of each of the reference target garbage blocks to obtain the average volume of the reference target garbage blocks; The average volume of the reference target garbage blocks is cubed to obtain a target length, and the target length is used as the average length of the target garbage blocks, the target length is used as the average width of the target garbage blocks, and the target length is used as the average height of the target garbage blocks.

2. The debris picking method according to claim 1, characterized in that: The method further comprises: Calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt; The theoretical maximum target garbage block distribution density is displayed.

3. The debris picking method according to claim 1, characterized in that: The method further comprises: Calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block; The theoretical maximum hourly target waste block processing mass is displayed.

4. The debris picking method according to claim 1, characterized in that: The method further comprises: Calculating the mass proportion of the sundry garbage blocks in the target garbage blocks according to the mass proportion of the sundry garbage blocks in the target garbage blocks, the average density of the aggregate garbage blocks and the average density of the sundry garbage blocks; The mass percentage is displayed.

5. A debris picking system, characterized in that: The system comprises: The material crushing device is used to crush the aggregate waste materials in the construction waste materials received by itself into a plurality of aggregate waste blocks in a quasi-cubic shape according to a preset volume, and to crush the sundry waste materials in the construction waste materials into a plurality of sundry waste blocks in a quasi-cubic shape according to the preset volume; A feeder, used to evenly distribute the aggregate garbage blocks and the sundry garbage blocks on a conveyor belt connected to the feeder at one end by means of vibration feeding; In the process that the conveyor belt uniformly transports the aggregate garbage blocks and the sundry garbage blocks to the material collection device connected to the other end of the conveyor belt, each manipulator arranged around the conveyor belt is used to grab the sundry garbage blocks within its grabbing range that are identified by its sundry identification device through image recognition according to a preset grabbing frequency; a calculation unit, for calculating the theoretical maximum hourly target garbage material block carrying quantity of the conveyor belt according to the width of the conveyor belt, the spacing between adjacent target garbage material blocks, the average length of the target garbage material blocks, the average width of the target garbage material blocks and the running speed of the conveyor belt, wherein the target garbage material blocks include: the aggregate garbage material blocks and the sundry garbage material blocks; The calculation unit is further used to calculate the theoretical maximum grabbing efficiency of the manipulator for the debris garbage block according to the preset grabbing frequency, the number of the manipulators, the theoretical maximum hourly target garbage block carrying quantity, and the proportion of the debris garbage block in the target garbage block; A display unit, used to display the theoretical maximum hourly target garbage block carrying quantity and the theoretical maximum grabbing efficiency; The system further comprises: A selection unit, configured to select m reference target garbage blocks from the target garbage blocks, wherein m is an integer greater than 1; A measuring unit, used to measure the actual volume of each of the reference target garbage blocks; The calculation unit is further used to perform arithmetic averaging on the actual volumes of each of the reference target garbage blocks to obtain an average volume of the reference target garbage blocks; The calculation unit is also used to cube the average volume of the reference target garbage block to obtain a target length, and use the target length as the average length of the target garbage block, and use the target length as the average width of the target garbage block, and use the target length as the average height of the target garbage block.

6. The debris picking system according to claim 5, characterized in that: The calculation unit is further used to calculate the theoretical maximum target garbage block distribution density on the conveyor belt according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the operating speed of the conveyor belt and the width of the conveyor belt; The display unit is also used to display the theoretical maximum target garbage block distribution density.

7. The debris picking system according to claim 5, characterized in that: The calculation unit is further used to calculate the theoretical maximum hourly target garbage block processing quality according to the theoretical maximum hourly target garbage block carrying quantity, the average length of the target garbage block, the average width of the target garbage block, the average height of the target garbage block, the average density of the aggregate garbage block, the average density of the sundry garbage block and the proportion of the sundry garbage block in the target garbage block; The display unit is also used to display the theoretical maximum hourly target garbage block processing quality.

8. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the debris picking method as described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the debris picking method according to any one of claims 1 to 4 are executed.

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