Full-automatic garbage classification device based on density identification and classification method thereof

Abstract

The full-automatic garbage classification device comprises a structure main body, a temporary storage device, a storage device and a controller, the temporary storage device and the storage device are sequentially installed in the structure main body from top to bottom, and a throwing opening is formed in the position, located above the temporary storage device, of the structure main body; the temporary storage device comprises a bearing disc, and a distributed sensor is mounted on the bearing disc; the garbage can further comprises a shape recognition device, the shape recognition device is located between the bearing disc and the clamping device, the clamping device is installed on the structure body and located above the bearing disc or a dumping device is installed at the bottom of the bearing disc, and the storage device comprises at least two garbage cans. According to the invention, the garbage is judged through four dimensions of appearance, volume, weight and density, and the recognition precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage density identification and classification, and in particular to a fully automatic garbage classification device based on density identification and a classification method thereof. Background Art

[0002] Chinese patent document CN117533668A, publication (announcement) date: 2024.02.09, is a kind of household waste classification device and classification method disclosed by our team, including a frame, an XY-axis translation mechanism is installed on the upper side of the frame, a mechanical claw is installed on the XY-axis translation mechanism, a Z-axis lifting mechanism is installed on the frame below the XY-axis translation mechanism, a lifting seat is installed on the Z-axis lifting mechanism, a garbage temporary storage table is installed on the lifting seat, the garbage temporary storage table is a frame-type structure, a horizontally movable opening and closing door is provided at the bottom of the garbage temporary storage table, a rotating table is installed at the bottom of the frame, a driving device is installed on the lower side of the rotating table, the driving device is fixedly connected to the frame, and a plurality of collection buckets are installed on the upper side of the rotating table. Its advantages are: the classification device can realize the automatic classification of domestic waste, not only can it process single type of waste and multiple types of waste separately, but also the waste can fall accurately into the collection bucket below, with high classification efficiency, and the bottom of the garbage storage table adopts a horizontally movable opening and closing door. When the door is opened, the garbage on the opening and closing door can be completely scraped off; its disadvantage is: since traditional visual recognition technology is easily affected by the color of objects and ambient light, the recognition accuracy is low, so my team has made further improvements to this problem. Summary of the invention

[0003] The purpose of the present invention is to provide a fully automatic garbage sorting device based on density recognition and a sorting method thereof, wherein the shape of the garbage is identified and scanned by a shape recognition device, and then the weight, coordinates and position direction of the garbage are identified by a distributed gravity sensor on a receiving plate. The controller compares the data obtained by the distributed gravity sensor and the data obtained by the shape recognition device with the internally preset average density and volume of the garbage, thereby determining the category of the garbage. The garbage is judged by four dimensions of shape, volume, weight and density, with higher recognition accuracy. To achieve the above-mentioned purpose, the present invention provides a fully automatic garbage sorting device based on density recognition, including a structural body, a temporary storage device, a storage device and a controller, the temporary storage device and the storage device are installed in the structural body from top to bottom in sequence, and a delivery port is arranged on the structural body above the temporary storage device, the temporary storage device includes a receiving tray, and a distributed sensor is installed on the receiving tray; it also includes an appearance recognition device, and the appearance recognition device is located between the receiving tray and the clamping device; the structural body is provided with a clamping device above the receiving tray and / or a dumping device at the bottom of the receiving tray; the storage device includes at least two garbage cans.

[0004] The shape recognition device includes a plurality of three-dimensional laser scanners, and the plurality of three-dimensional laser scanners surround the receiving tray.

[0005] The clamping device comprises a linear guide rail module and a manipulator module, and the manipulator module is installed on a slide block of the linear guide rail module.

[0006] The manipulator module includes a first servo, a second servo and a clamp, the first servo is installed on a slider, the output shaft of the first servo is fixedly connected to one end of a first connecting rod, the other end of the first connecting rod is hinged to one end of a second connecting rod, the other end of the second connecting rod is hinged to a body of the second servo, the output shaft of the second servo extends downward, and the clamp is installed on the output shaft of the second servo; a guide rod is installed on one side of the second servo, and the guide rod slides upward through a sliding hole on the slider.

[0007] The dumping device includes a first bracket and a third steering gear, the first bracket is installed at the bottom of the receiving plate, the output shaft of the third steering gear is connected to the first bracket, and the third steering gear is connected to the structural body through a cross brace; two trash cans are arranged on the left and the right.

[0008] The dumping device includes a first bracket, a third servo, a second bracket and a fourth servo, the first bracket is installed at the bottom of the receiving plate, the output shaft of the third servo is connected to the first bracket, the third servo is installed on the second bracket, the output shaft of the fourth servo is connected to the second bracket, the output shaft of the third servo and the output shaft of the fourth servo are arranged crosswise, and the fourth servo is connected to the main structure through a cross brace; there are four trash cans arranged in a matrix.

[0009] A plurality of baffles are hingedly installed around the receiving plate, a plurality of fifth servos are installed at the bottom of the receiving plate, and a baffle hook is installed on the output end of the fifth servo. When the baffle hook is retracted, the baffle hook abuts against the baffle, thereby making the baffle stand upright. When the baffle hook is released, the baffle opens under the action of gravity.

[0010] A pricking device is installed in one of the trash cans of the storage device.

[0011] The piercing and pressing device includes a push rod device, a push plate, a nail plate and a reaction force plate. The push plate and the nail plate are respectively located on opposite sides of one of the trash cans. The nail plate is fixedly connected to the trash can. The fixed end of the push rod device is connected and fixed to the structural main body. The telescopic end of the push rod device passes through the side wall of the trash can and is fixedly connected to the push plate. A reaction force plate is slidingly sleeved on one side of the nail plate where the long nail is provided. A hole for the long nail to pass through is provided on the reaction force plate. A spring is installed between the reaction force plate and the nail plate. When the spring is in a unloading state, the reaction force plate is located at the end of the long nail.

[0012] The classification method using the fully automatic garbage classification device based on density recognition comprises the following steps: S1. When the classification device is powered on, solid waste is put into the delivery port in sequence; S2, the garbage falls vertically onto the receiving tray of the temporary storage device, and the distributed sensors on the receiving tray start working to weigh the garbage, sense the coordinate position of the garbage on the receiving tray, and the direction of the garbage on the receiving tray, and send the weight data, coordinate data and direction data to the controller. The controller controls the clamping device to clamp the garbage on the receiving tray according to the coordinate data and direction data, and makes the garbage within the scanning range of the shape recognition device. The shape recognition device starts to scan the garbage in all directions, converts the shape of the garbage into a three-dimensional model, and calculates the volume of the garbage through the three-dimensional model, and sends the volume data to the controller; or, When the garbage falls vertically to the receiving tray of the temporary storage device, the shape recognition device starts to scan the garbage in all directions, and then sends the volume data to the controller. After the garbage falls on the receiving tray, the distributed sensor weighs the garbage, senses the coordinate position of the garbage on the receiving tray, and the direction of the garbage on the receiving tray, and sends the weight data, coordinate data and direction data to the controller; S3, the controller compares the received data with the internally preset average density and volume of garbage to determine the type of garbage; S4. The clamped garbage is put into the garbage bin corresponding to the storage device below through the clamping device; or, the dumping device below the receiving tray is activated to dump the garbage on the receiving tray into the garbage bin corresponding to the storage device below.

[0013] Compared with the prior art, the present invention has the following technical effects: 1. The present invention uses an appearance recognition device to recognize and scan the shape and volume of the garbage, and then uses a distributed gravity sensor on the receiving plate to recognize the weight, coordinates and position direction of the garbage. The controller compares the data obtained by the distributed gravity sensor and the data obtained by the appearance recognition device with the internally preset garbage average density and volume data to determine the type of garbage. The present invention judges garbage based on four dimensions: shape, volume, weight and density, thereby improving recognition accuracy.

[0014] 2. Distributed gravity sensors can identify the weight, coordinates, and location direction of the garbage, weigh it, and facilitate accurate grasping by the clamping device.

[0015] 3. When there is unconsumed water inside the beverage bottle, the shape data and volume data are displayed as a beverage bottle, and the weight data and density data exceed the threshold. Such beverage bottles can be separated and put into a trash can equipped with a piercing and pressing device for drainage and compression. When recycling in the later stage, there is no need to open the lid to pour out the water, which makes recycling more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a structural schematic diagram of the clamping device of the present invention; Figure 3 It is a schematic diagram of the main structure of the clamping device of the present invention; Figure 4 It is a schematic diagram of the structure of the temporary storage device and the storage device of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the temporary storage device of the present invention; Figure 6 It is a schematic diagram of the bottom structure of the temporary storage device of the present invention; Figure 7 It is a schematic structural diagram of the pricking and pressing device of the present invention.

[0017] Reference numerals: Structural body 1, delivery port 11; The clamping device 2, the linear guide rail module 21, the slider 211, the first steering gear 221, the first connecting rod 222, the second connecting rod 223, the second steering gear 224, the guide rod 225, the clamping claw 226, and the manipulator module 22; Shape recognition device 3, three-dimensional laser scanner 31; Temporary storage device 4, receiving plate 41, baffle plate 42, fifth steering gear 43, blocking hook 44, first bracket 45, third steering gear 46, second bracket 47, fourth steering gear 48; Storage device 5, trash can 51; The piercing and pressing device 6, the push rod device 61, the push plate 62, the nail plate 63, and the reaction force plate 64; Controller 7. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0019] Embodiment 1: See also Figure 1 A fully automatic garbage sorting device based on density recognition includes a structural body 1, a temporary storage device 4, a storage device 5 and a controller 7. The temporary storage device 4 and the storage device 5 are sequentially installed in the structural body 1 from top to bottom. The structural body 1 is provided with a delivery port 11 above the temporary storage device 4. The temporary storage device 4 includes a receiving tray 41, and a distributed sensor is installed on the receiving tray 41; it also includes a shape recognition device 3, and the shape recognition device 3 is located between the receiving tray 41 and the clamping device 2; the structural body 1 is provided with a clamping device 2 above the receiving tray 41 and a dumping device at the bottom of the receiving tray 41; the storage device 5 includes four garbage bins 51.

[0020] The shape recognition device 3 is used to identify the garbage, scan its shape and volume, and then the distributed gravity sensor on the receiving plate 41 is used to identify the weight, coordinates and position direction of the garbage. The controller 7 compares the data obtained by the distributed gravity sensor and the data obtained by the shape recognition device 3 with the internal preset garbage average density and volume data, so as to determine the type of garbage. The garbage is judged by the four dimensions of shape, volume, weight and density to improve the recognition accuracy. In this embodiment, the shape recognition device 3 includes a plurality of three-dimensional laser scanners 31 , and the plurality of three-dimensional laser scanners 31 surround the receiving tray 41 .

[0021] See also Figure 2 , 3 The gripping device 2 includes a linear guide module 21 and a manipulator module 22, and the manipulator module 22 is mounted on a slider 211 of the linear guide module 21. The linear guide module 21 loads the manipulator module 22 to move in the XY plane.

[0022] Further, see Figure 2The manipulator module 22 includes a first servo 221, a second servo 224 and a clamp 226. The first servo 221 is installed on the slider 211. The output shaft of the first servo 221 is fixedly connected to one end of the first connecting rod 222. The other end of the first connecting rod 222 is hinged to one end of the second connecting rod 223. The other end of the second connecting rod 223 is hinged to the body of the second servo 224. The output shaft of the second servo 224 extends downward, and a clamp 226 is installed on the output shaft of the second servo 224; a guide rod 225 is installed on one side of the second servo 224, and the guide rod 225 slides upward through the sliding hole located on the slider 211. When the first steering gear 221 rotates, the first connecting rod 222 is driven to swing, thereby driving the second connecting rod 223 to swing. Since the guide rod 225 is connected to the slider 211 in a sliding manner, when the first steering gear 221 rotates back and forth, the second steering gear 224 can be driven to move up and down. The second steering gear 224 is used to drive the clamping claw 226 to rotate so that the clamping claw 226 corresponds to the position direction of the garbage, which is convenient for grabbing. For example, a beverage bottle has a certain height. When it falls onto the receiving plate 41, the poured beverage bottle has a position direction on the distributed gravity sensor. At this time, by rotating the clamping claw 226, the bottle body can be conveniently and stably clamped.

[0023] In one of the schemes, see Figure 4 , 5 6, the dumping device includes a first bracket 45 and a third steering gear 46, the first bracket 45 is installed at the bottom of the receiving tray 41, the output shaft of the third steering gear 46 is connected to the first bracket 45, and the third steering gear 46 is connected to the structural body 1 through a cross brace. There are two garbage cans 51, one on the left and one on the right. Through the above structure, the third steering gear 46 can drive the receiving tray 41 to swing left and right, so as to dump the garbage on the receiving tray 41 into the garbage cans 51 on the left and right sides.

[0024] In another scenario, see Figure 4 , 5 6. The dumping device includes a first bracket 45, a third steering gear 46, a second bracket 47 and a fourth steering gear 48. The first bracket 45 is installed at the bottom of the receiving plate 41. The output shaft of the third steering gear 46 is connected to the first bracket 45. The third steering gear 46 is installed on the second bracket 47. The output shaft of the fourth steering gear 48 is connected to the second bracket 47. The output shaft of the third steering gear 46 and the output shaft of the fourth steering gear 48 are arranged crosswise. The fourth steering gear 48 is connected to the main structure 1 through a cross brace. There are four trash cans 51 arranged in a matrix. Through the above structure, the receiving plate 41 is swung back and forth and left and right through two staggered steering gears. The swinging directions of the receiving plate 41 correspond to the four trash cans 51, so that the garbage is dumped into the corresponding trash cans. Compared with the solution of two trash cans 51, the classification of the four trash cans is more refined.

[0025] See also Figure 5 , 6 A plurality of baffles 42 are hingedly installed around the receiving tray 41, a plurality of fifth steering gears 43 are installed at the bottom of the receiving tray 41, and a baffle hook 44 is installed on the output end of the fifth steering gear 43. When the baffle hook 44 is retracted, the baffle hook 44 abuts against the baffle 42, so that the baffle 42 stands upright. When the baffle hook 44 is released, the baffle 42 opens under the action of gravity. The baffle 42 can prevent garbage falling from a high place from flying out of the receiving tray 41 due to excessive elastic potential energy. When the receiving tray 41 is tilted, the baffle 42 at the corresponding position opens.

[0026] Further, see Figure 4 , 5 A piercing and pressing device 6 is installed in one of the trash cans 51 of the storage device 5 to facilitate drainage and compression of beverage bottles.

[0027] When discarding some beverage bottles, the bottle caps may be in a tightened state, and there may even be unfinished water inside, which is not convenient for compression. Therefore, a piercing and pressing device 6 is installed in one of the trash cans 51 to facilitate drainage and compression of beverage bottles with bottle caps.

[0028] For details, see Figure 7 The piercing and pressing device 6 includes a push rod device 61, a push plate 62, a nail plate 63 and a reaction force plate 64. The push plate 62 and the nail plate 63 are respectively located on opposite sides of one of the trash cans 51. The nail plate 63 is fixedly connected to the trash can 51. The fixed end of the push rod device 61 is connected and fixed to the structural main body 1. The telescopic end of the push rod device 61 passes through the side wall of the trash can 51 and is fixedly connected to the push plate 62. A reaction force plate 64 is slidably sleeved on one side of the nail plate 63 where a long nail is provided. A hole for the long nail to pass through is provided on the reaction force plate 64. A spring is installed between the reaction force plate 64 and the nail plate 63. When the spring is in the unloading state, the reaction force plate 64 is located at the end of the long nail. When the beverage bottle enters the trash can 51, the push rod device 61 extends, the push plate 62 moves toward the side of the nail plate 63, the reaction force plate 64 moves toward the side of the nail plate 63, the spring contracts, the long nails on the nail plate 63 extend out of the holes on the reaction force plate 64, pierce the beverage bottle and then compress it, then the push rod device 61 retracts, and the reaction force plate 64 pops out under the action of the spring, pushing the beverage bottle out from the long nails on the nail plate 63.

[0029] Embodiment 2: See also Figure 1 , a classification method using a fully automatic garbage classification device based on density recognition, comprising the following steps: S1. When the classification device is powered on, solid waste is put into the input port 11 in sequence; S2, the garbage falls vertically onto the receiving tray 41 of the temporary storage device 4, and the distributed sensor on the receiving tray 41 starts to work, weighs the garbage, and senses the coordinate position of the garbage on the receiving tray 41, as well as the direction of the garbage on the receiving tray 41, and sends the weight data, coordinate data and direction data to the controller 7. The controller 7 controls the clamping device 2 to clamp the garbage on the receiving tray 41 according to the coordinate data and direction data, and makes the garbage within the scanning range of the shape recognition device 3. The shape recognition device 3 starts to scan the garbage in all directions, converts the shape of the garbage into a three-dimensional model, and calculates the volume of the garbage through the three-dimensional model, and sends the volume data to the controller 7; S3, the controller 7 compares the received data with the internally preset average density and volume of garbage to determine the type of garbage; S4. The clamped garbage is put into the garbage bin 51 corresponding to the storage device 5 below through the clamping device 2.

[0030] Embodiment three: In another method, a classification method using a fully automatic garbage classification device based on density recognition includes the following steps: S1. When the classification device is powered on, solid waste is put into the input port 11 in sequence; S2, when the garbage falls vertically to the receiving tray 41 of the temporary storage device 4, the shape recognition device 3 starts to scan the garbage in all directions, and then sends the volume data to the controller 7; after the garbage falls on the receiving tray 41, the distributed sensor weighs the garbage, senses the coordinate position of the garbage on the receiving tray 41, and the direction of the garbage on the receiving tray 41, and sends the weight data, coordinate data and direction data to the controller 7; S4, the controller 7 compares the received data with the internally preset data such as the average density and volume of the garbage, so as to determine the type of the garbage; S5, the dumping device below the receiving tray 41 is activated to dump the garbage on the receiving tray 41 into the garbage bin 51 corresponding to the storage device 5 below.

[0031] In the present invention, the shape and volume data of the garbage are obtained by the shape recognition device 3, and the weight data, coordinate position data and direction data of the garbage are obtained by the distributed gravity sensor; the coordinate position data and direction data facilitate the accurate grasping of the gripping device 2. The shape data, volume data and weight data facilitate the calculation of the density of the garbage, so that the shape data, volume data, weight data and density data of the garbage can be obtained, and these four data are compared with the garbage data preset in the controller 7, so as to make the recognition accuracy higher and the classification more accurate.

[0032] Since the shape data, volume data, weight data and density data of the garbage are obtained, some special garbage can be processed separately. For example, when there is unfinished water in the beverage bottle, the shape data and volume data are displayed as beverage bottles, and the weight data and density data exceed the threshold value, such beverage bottles can be separated and put into the garbage can 51 equipped with the piercing and pressing device 6 for drainage and compression. When recycling in the later stage, there is no need to open the cover to pour out the water, which is more convenient for recycling.

Claims

1. A fully automatic garbage sorting device based on density recognition, comprising a structural body (1), a temporary storage device (4), a storage device (5) and a controller (7), wherein the temporary storage device (4) and the storage device (5) are sequentially installed in the structural body (1) from top to bottom, and a delivery port (11) is provided on the structural body (1) above the temporary storage device (4), characterized in that: The temporary storage device (4) comprises a receiving tray (41) on which a distributed sensor is installed; it also comprises an appearance recognition device (3) located between the receiving tray (41) and the clamping device (2); the structural body (1) is provided with a clamping device (2) above the receiving tray (41) and / or a dumping device is provided at the bottom of the receiving tray (41); the storage device (5) comprises at least two trash cans (51).

2. The fully automatic garbage sorting device based on density recognition according to claim 1 is characterized in that: The shape recognition device (3) comprises a plurality of three-dimensional laser scanners (31), and the plurality of three-dimensional laser scanners (31) surround the receiving tray (41).

3. The fully automatic garbage sorting device based on density recognition according to claim 1 is characterized in that: The gripping device (2) comprises a linear guide rail module (21) and a manipulator module (22), wherein the manipulator module (22) is mounted on a slider (211) of the linear guide rail module (21).

4. The fully automatic garbage sorting device based on density recognition according to claim 3 is characterized in that: The manipulator module (22) comprises a first steering gear (221), a second steering gear (224) and a clamping claw (226); the first steering gear (221) is mounted on the slider (211); the output shaft of the first steering gear (221) is fixedly connected to one end of a first connecting rod (222); the other end of the first connecting rod (222) is hinged to one end of a second connecting rod (223); the other end of the second connecting rod (223) is hinged to the body of the second steering gear (224); the output shaft of the second steering gear (224) extends downward; the clamping claw (226) is mounted on the output shaft of the second steering gear (224); a guide rod (225) is mounted on one side of the second steering gear (224); the guide rod (225) slides upward through a sliding hole on the slider (211).

5. The fully automatic garbage sorting device based on density recognition according to claim 1 is characterized in that: The dumping device comprises a first bracket (45) and a third steering gear (46), the first bracket (45) being mounted on the bottom of the receiving plate (41), the output shaft of the third steering gear (46) being connected to the first bracket (45), and the third steering gear (46) being connected to the structural body (1) via a cross brace; two trash cans (51) are provided, one on the left and one on the right.

6. The fully automatic garbage sorting device based on density recognition according to claim 1 is characterized in that: The dumping device comprises a first bracket (45), a third steering gear (46), a second bracket (47) and a fourth steering gear (48); the first bracket (45) is mounted on the bottom of the receiving plate (41); the output shaft of the third steering gear (46) is connected to the first bracket (45); the third steering gear (46) is mounted on the second bracket (47); the output shaft of the fourth steering gear (48) is connected to the second bracket (47); the output shaft of the third steering gear (46) and the output shaft of the fourth steering gear (48) are arranged crosswise; the fourth steering gear (48) is connected to the structural body (1) via a cross brace; and four of the trash cans (51) are arranged in a matrix.

7. The fully automatic garbage sorting device based on density recognition according to claim 1, 5 or 6, characterized in that: A plurality of baffles (42) are hingedly mounted around the receiving plate (41), a plurality of fifth steering gears (43) are mounted on the bottom of the receiving plate (41), and a baffle hook (44) is mounted on the output end of the fifth steering gear (43). When the baffle hook (44) is retracted, the baffle hook (44) abuts against the baffle (42), thereby making the baffle (42) stand upright; when the baffle hook (44) is released, the baffle (42) opens under the action of gravity.

8. The fully automatic garbage sorting device based on density recognition according to claim 1 is characterized in that: A pricking device (6) is installed in one of the trash cans (51) of the storage device (5).

9. The fully automatic garbage sorting device based on density recognition according to claim 8 is characterized in that: The piercing device (6) comprises a push rod device (61), a push plate (62), a nail plate (63) and a reaction plate (64), wherein the push plate (62) and the nail plate (63) are respectively located on opposite sides of one of the trash cans (51), the nail plate (63) is fixedly connected to the trash can (51), the fixed end of the push rod device (61) is connected and fixed to the structural body (1), the telescopic end of the push rod device (61) passes through the side wall of the trash can (51) and is fixedly connected to the push plate (62), a reaction plate (64) is slidably sleeved on one side of the nail plate (63) on which a long nail is provided, the reaction plate (64) is provided with a hole for the long nail to pass through, a spring is installed between the reaction plate (64) and the nail plate (63), and when the spring is in a force-unloading state, the reaction plate (64) is located at the end of the long nail.

10. A classification method using the fully automatic garbage classification device based on density recognition according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. When the classification device is powered on, solid waste is put into the input port (11) in sequence; S2, the garbage falls vertically onto the receiving tray (41) of the temporary storage device (4), and the distributed sensors on the receiving tray (41) start to work, weigh the garbage, and sense the coordinate position of the garbage on the receiving tray (41) and the direction of the garbage on the receiving tray (41), and send the weight data, coordinate data and direction data to the controller (7). The controller (7) controls the gripping device (2) to grip the garbage on the receiving tray (41) according to the coordinate data and direction data, and makes the garbage within the scanning range of the shape recognition device (3). The shape recognition device (3) starts to scan the garbage in all directions, converts the shape of the garbage into a three-dimensional model, and calculates the volume of the garbage through the three-dimensional model, and sends the volume data to the controller (7); or: When the garbage falls vertically to the receiving tray (41) of the temporary storage device (4), the shape recognition device (3) starts to scan the garbage in all directions, and then sends the volume data to the controller (7). After the garbage falls onto the receiving tray (41), the distributed sensor weighs the garbage, senses the coordinate position of the garbage on the receiving tray (41), and the direction of the garbage on the receiving tray (41), and sends the weight data, coordinate data, and direction data to the controller (7); S3, the controller (7) compares the received data with the internally preset average density and volume of the garbage, thereby determining the type of the garbage; S4, using the gripping device (2) to place the gripped garbage into a corresponding garbage bin (51) of the storage device (5) below; Alternatively, the dumping device below the receiving tray (41) is activated to dump the garbage on the receiving tray (41) into a corresponding garbage bin (51) of the storage device (5) below.

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