Recyclable material sorting method and system

Abstract

The invention discloses a recyclable material sorting method and system. The method comprises the steps that recoverable material sorting operation of a target sorting center is responded, recoverable materials to be sorted are conveyed on target conveying equipment, and the recoverable materials to be sorted comprise mixed recoverable materials and single recoverable materials; sorting operation is sequentially executed on the to-be-sorted recoverable objects through multiple target sorting devices, the target sorting devices are used for sorting the to-be-sorted recoverable objects meeting the preset screening conditions corresponding to the target sorting devices on the target conveying devices, and the multiple target sorting devices are arranged at multiple reference positions corresponding to the target conveying devices correspondingly; and after sorting operation on the to-be-sorted recoverable materials is completed through all the target sorting devices, various different types of recoverable materials are obtained. According to the scheme, the to-be-sorted recoverable objects on the target conveying equipment are sorted through the multiple target sorting equipment, and the sorting efficiency and accuracy of the to-be-sorted recoverable objects are improved.

Description

Technical Field

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

[0002] Recyclables come from people's production and life processes. They are discarded but can be reused through recycling. With the development of society and the substantial increase in the level of material consumption, the amount of separated mixed recyclables is increasing.

[0003] At present, the sorting of single recyclables or mixed recyclables is usually completed by sorting centers. However, the sorting center adopts a manual sorting mode for sorting recyclables, which has low sorting efficiency and leads to small production capacity of the sorting center. At the same time, the difficulty in personnel scheduling and the chaotic scene during the sorting operation will make it difficult to effectively control the environment, production, resource allocation, and warehousing. Summary of the invention

[0004] The present invention provides a recyclables sorting method and system to solve the problems of low sorting efficiency and poor production capacity caused by manual participation in the sorting process of recyclables in a sorting center.

[0005] According to one aspect of the present invention, a method for sorting recyclables is provided, the method comprising:

[0006] In response to the recyclables sorting operation of the target sorting center, the recyclables to be sorted are transported on the target transmission equipment, where the recyclables to be sorted include mixed recyclables and single recyclables, where the mixed recyclables are recyclables containing a variety of different attribute information, and the single recyclables are recyclables having the same attribute information, where the attribute information is used to distinguish different types of recyclables;

[0007] The sorting operation is performed on the recyclables to be sorted in sequence by using multiple target sorting devices, the target sorting devices are used to sort the recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting devices, the multiple target sorting devices are respectively arranged at multiple reference positions corresponding to the target transmission device, and the target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information;

[0008] After completing the sorting operation of the recyclables to be sorted through various target sorting equipment, a variety of different types of recyclables are obtained.

[0009] According to another aspect of the present invention, a recyclables sorting system is provided, the system comprising: a target transmission device and a plurality of target sorting devices, wherein:

[0010] The target transmission device is configured to, in response to the recyclables sorting operation of the target sorting center, transport the recyclables to be sorted, wherein the recyclables to be sorted include mixed recyclables and single recyclables, wherein the mixed recyclables are recyclables containing a plurality of different attribute information, and the single recyclables are recyclables having the same attribute information, and the attribute information is used to distinguish different types of recyclables;

[0011] Multiple target sorting devices are configured to perform sorting operations on the recyclables to be sorted in turn. The target sorting devices are used to sort the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting devices on the target transmission device. The multiple target sorting devices are respectively arranged at multiple reference positions corresponding to the target transmission device. The target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information.

[0012] The technical solution of the embodiment of the present invention is to transport recyclables to be sorted on a target transmission device in response to a recyclables sorting operation at a target sorting center, wherein the recyclables to be sorted include mixed recyclables and single recyclables, wherein the mixed recyclables are recyclables containing a variety of different attribute information, and the single recyclables are recyclables having the same attribute information, and the attribute information is used to distinguish different types of recyclables; sorting operations are sequentially performed on the recyclables to be sorted through a plurality of target sorting devices, wherein the target sorting device is used to sort the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting device on the target transmission device, and the plurality of target sorting devices are respectively Multiple reference positions are set corresponding to the target transmission equipment, and the target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information, so that the recyclables to be sorted transported on the target transmission equipment are sorted by the target sorting devices at multiple different reference positions, and the recyclables to be sorted on the target transmission equipment that meet the preset screening conditions corresponding to the target sorting devices are separated, thereby improving the efficiency and accuracy of sorting the recyclables to be sorted, so as to effectively manage various different types of recyclables; after the sorting operation of the recyclables to be sorted is completed by each target sorting device, various different types of recyclables are obtained.

[0013] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 A flow chart of a recyclables sorting method provided in an embodiment of the present invention;

[0016] Figure 2 A flow chart of another recyclables sorting method provided by an embodiment of the present invention;

[0017] Figure 3 A flow chart of another recyclables sorting method provided in an embodiment of the present invention;

[0018] Figure 4 A flow chart for sorting recyclable bottles provided in an embodiment of the present invention;

[0019] Figure 5 A schematic structural diagram of a recyclables sorting system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0023] Figure 1 A flowchart of a recyclables sorting method provided in an embodiment of the present invention. The embodiment of the present invention can be applied to the case where recyclables received by a sorting center are transported so that the recyclables are sequentially passed through different sorting devices for refined classification. The recyclables sorting method can be executed by a target transmission device and multiple target sorting devices in a recyclables sorting system, and the recyclables sorting system can be implemented in the form of hardware and / or software.

[0024] like Figure 1 As shown, the method specifically includes:

[0025] S101. In response to a recyclables sorting operation at a target sorting center, recyclables to be sorted are transported on a target transmission device. The recyclables to be sorted include mixed recyclables and single recyclables. The mixed recyclables are recyclables containing a variety of different attribute information. The single recyclables are recyclables having the same attribute information. The attribute information is used to distinguish different types of recyclables.

[0026] In an embodiment of the present invention, recyclables to be sorted may refer to recyclables that are ready to be finely classified. Recyclables to be sorted may include mixed recyclables and single recyclables. Mixed recyclables may refer to recyclables containing different attribute information that are ready to be sorted. Single recyclables may refer to recyclables with the same attribute information that are ready to be sorted. Attribute information may refer to information such as color, size, quality, material, function, shape, and recycling rate of the recyclables to be sorted, which is used to distinguish different types of recyclables. Exemplarily, single recyclables may be plastic bottle-type recyclables or waste paper-type recyclables.

[0027] The target sorting center may refer to a place used for classifying, processing, storing and transporting recyclables to be sorted, which can realize refined classification of recyclables and reprocess recyclables according to utilization needs to facilitate transportation and reuse of recyclables.

[0028] The recyclables sorting operation may refer to an operation of starting the sorting of recyclables to be sorted that is pre-set at the target sorting center. Exemplarily, the recyclables sorting operation may be set to start automatically or manually. For example, when there are recyclables to be sorted in the target sorting center or the amount of recyclables to be sorted stored exceeds a preset quantity threshold, the recyclables sorting operation is automatically started. Optionally, after starting the recyclables sorting operation, the bag breaking operation is performed on the recyclables to be sorted first to improve the accuracy of sorting the recyclables to be sorted. The target transmission equipment may refer to equipment for carrying and transporting recyclables to be sorted, so that the sorting of recyclables to be sorted can operate normally. Exemplarily, the target transmission equipment may be configured with a plate chain composed of multiple flat links made of metal material, which has higher strength and stability than ordinary chains to ensure the stable transportation of recyclables to be sorted.

[0029] For example, a mixed material bin may be provided in the target sorting center, so that when the target sorting center receives recyclables to be sorted from communities, transfer stations, etc., the recyclables to be sorted can be stored in the mixed material bin. Furthermore, when the target sorting center starts the recyclable sorting operation, the recyclables to be sorted in the mixed material bin are placed on the target transmission equipment for transportation.

[0030] Specifically, the target sorting center may receive a single recyclable, a mixed recyclable, or a single recyclable and a mixed recyclable as recyclables to be sorted, and initiate a recyclable sorting operation. Furthermore, in response to the recyclable sorting operation, the recyclables to be sorted may be transported on the target transport device.

[0031] S102. Sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting devices. The target sorting devices are used to sort the recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting devices. The multiple target sorting devices are respectively arranged at multiple reference positions corresponding to the target transmission device. The target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information.

[0032] In an embodiment of the present invention, the target sorting device may refer to a device for sorting recyclables to be sorted according to corresponding preset screening conditions. The preset screening conditions may refer to conditions for screening recyclables to be sorted on the target transmission device set according to attribute information. The sorting operation may refer to an operation of separating recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting device.

[0033] The reference position may refer to the position of a preset target sorting device. Exemplarily, the reference position may be set on both sides of the target transmission device; multiple reference positions may be set along the conveying direction of the recyclables to be sorted at preset distance intervals. The target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information on the target transmission device. Exemplarily, the target sorting devices at different reference positions are used to sort recyclables to be sorted of different sizes, different recycling rates, different material types, or the same material type but different color types on the target transmission device.

[0034] Specifically, in the process of transporting the recyclables to be sorted on the target transmission equipment, the target sorting equipment at different reference positions can perform sorting operations on the recyclables to be sorted in turn according to the corresponding preset screening conditions, thereby sorting out the recyclables to be sorted that meet the corresponding preset screening conditions on the target transmission equipment.

[0035] S103. After the sorting operation of the recyclables to be sorted is completed by various target sorting devices, a plurality of different types of recyclables are obtained.

[0036] Specifically, after the recyclables to be sorted are sorted by each target sorting device, a variety of different types of recyclables can be obtained. Then, the various types of recyclables are stored separately to complete the recyclables sorting operation of the recyclables to be sorted in the target sorting center. The various types of recyclables can be stored separately, and the recyclables sorted by the target sorting device can be placed in different preset storage positions by the preset robot arms corresponding to the target sorting devices at each reference position. Among them, the preset storage positions can be stacking areas corresponding to different types of recyclables pre-divided in the target sorting center or cache bins corresponding to different types of recyclables pre-configured.

[0037] The technical solution of the embodiment of the present invention is to transport recyclables to be sorted on a target transmission device in response to a recyclables sorting operation at a target sorting center, wherein the recyclables to be sorted include mixed recyclables and single recyclables, wherein the mixed recyclables are recyclables containing a variety of different attribute information, and the single recyclables are recyclables having the same attribute information, and the attribute information is used to distinguish different types of recyclables; sorting operations are sequentially performed on the recyclables to be sorted through a plurality of target sorting devices, wherein the target sorting device is used to sort the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting device on the target transmission device, and the plurality of target sorting devices are respectively Multiple reference positions are set corresponding to the target transmission equipment, and the target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information, so that the recyclables to be sorted transported on the target transmission equipment are sorted by the target sorting devices at multiple different reference positions, and the recyclables to be sorted on the target transmission equipment that meet the preset screening conditions corresponding to the target sorting devices are separated, thereby improving the efficiency and accuracy of sorting the recyclables to be sorted, so as to effectively manage various different types of recyclables; after the sorting operation of the recyclables to be sorted is completed by each target sorting device, various different types of recyclables are obtained.

[0038] Figure 2 A flow chart of another recyclables sorting method provided in an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of sequentially performing sorting operations on recyclables to be sorted by multiple target sorting devices in the above embodiment on the basis of the technical solution of the above embodiment. The solutions not fully described in this embodiment can be found in the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0039] like Figure 2 As shown, the method specifically includes:

[0040] S201. In response to the recyclables sorting operation of the target sorting center, the recyclables to be sorted are transported on the target transmission equipment. The recyclables to be sorted include mixed recyclables and single recyclables. The mixed recyclables are recyclables containing a variety of different attribute information. The single recyclables are recyclables with the same attribute information. The attribute information is used to distinguish different types of recyclables.

[0041] S202. Perform sorting operations on the recyclables to be sorted in sequence through multiple target sorting devices, the target sorting devices including: a target sorting robot, an OCC screening device, a 3D screening device, a metal recyclable screening device, a negative pressure sorting device and a plurality of optical intelligent sorting devices; the target sorting robot, the OCC screening device, the 3D screening device, the metal recyclable screening device, the negative pressure sorting device and a plurality of optical intelligent sorting devices are sequentially arranged at different reference positions corresponding to the target transmission device along the conveying direction of the recyclables to be sorted.

[0042] In an embodiment of the present invention, the target sorting robot is configured with a visual module and a recyclable material acquisition module. The visual module is used to identify recyclables to be sorted that meet the corresponding preset screening conditions of the target sorting robot. The recyclable material acquisition module is used to acquire recyclables to be sorted that meet the corresponding preset screening conditions of the target sorting robot. The metal recyclable material screening equipment is used to sort the recyclables to be sorted made of metal on the target transmission equipment. The negative pressure sorting equipment is used to separate and screen the recyclables to be sorted based on the principle of negative pressure adsorption. The optical intelligent sorting equipment is used to separate and screen the recyclables to be sorted by combining optical detection technology and intelligent algorithms.

[0043] The target sorting robot may refer to a device that classifies and screens recyclables based on a combination of intelligent recognition algorithms, machine vision, and multimodal sensors. Among them, the multimodal sensor is used to provide perception data of recyclables. OCC (Old Corrugated Containers) screening equipment may refer to a device that separates and screens recyclables through a screen. The size of the recyclables screened out by the OCC screening equipment is related to the aperture size of the screen. 3D screening equipment may refer to a device that classifies and screens recyclables using three-dimensional vision technology or physical screening principles.

[0044] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a target sorting robot; sorting operations are performed on recyclables to be sorted in sequence through multiple target sorting equipment, including: sorting operations are performed on recyclables to be sorted through the target sorting robot, the target sorting robot is used to sort the first type of recyclables on the target transmission equipment, the first type of recyclables are recyclables to be sorted whose recycling utilization rate is greater than a preset utilization rate threshold or recyclables to be sorted that interfere with the recyclable sorting operation.

[0045] In an embodiment of the present invention, the first category of recyclables may refer to recyclables to be sorted whose recycling rate is greater than a preset utilization rate threshold or interferes with the recyclable sorting operation, such as plastic baskets, long films, household appliances, sticks or ropes. The visual module configured by the target sorting robot is used to identify the first category of recyclables on the target transmission device. Among them, the visual module may be configured with a preset recyclables recognition model, which is used to identify the first category of recyclables based on the image information of the recyclables to be sorted. The recyclables acquisition module configured by the target sorting robot is used to separate the first category of recyclables on the target transmission device. Exemplarily, the target sorting robot can be a three-axis + four-axis spider hand robot, wherein the end of the three-axis spider hand is configured with a suction cup for sucking recyclables, and the end of the four-axis spider hand is configured with a clamp for clamping recyclables, so as to be suitable for recyclables of different shapes.

[0046] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes an OCC screening equipment; sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: performing sorting operations on the recyclables to be sorted through the OCC screening equipment, the OCC screening equipment is used to sort the second category of recyclables on the target transmission equipment, the second category of recyclables are recyclables to be sorted whose size values ​​are greater than the first preset size threshold.

[0047] Specifically, the aperture size of the screen in the OCC screening device can be set to a first preset size threshold, and then, when the recyclables to be sorted on the target transmission device pass through the OCC screening device, the recyclables to be sorted with a size value greater than the first preset size threshold will be screened out as the second type of recyclables. Exemplarily, the first preset size threshold can be 250 mm.

[0048] Optionally, for the second type of recyclables screened out by the OCC screening equipment, a preset sorting robot can be used to sort recyclables of different material types based on the material type of the recyclables. The preset sorting robot can identify the material type of the recyclables through a configured visual recognition system or sensor. Exemplarily, the preset sorting robot can be a truss robot configured with two sets of manipulators to identify recyclables of plastic material type and recyclables of paperboard material type.

[0049] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a 3D screening equipment; sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: performing sorting operations on the recyclables to be sorted through the 3D screening equipment, the 3D screening equipment is used to sort the third category of recyclables on the target transmission equipment, the third category of recyclables includes 2D recyclables and fourth category recyclables, the 2D recyclables are flat recyclables to be sorted with a two-dimensional structure, and the fourth category of recyclables are recyclables to be sorted whose size value is less than the second preset size threshold and whose recycling difficulty value is higher than the preset recycling difficulty threshold.

[0050] Specifically, for the recyclables to be sorted on the target transmission equipment, they can be sorted into 2D recyclables, 3D recyclables and undersize recyclables by 3D screening equipment. Among them, 2D recyclables may refer to flat recyclables with a two-dimensional structure, such as plastic film, packaging bags or paper. 3D recyclables may refer to three-dimensional recyclables with a three-dimensional structure, such as boxes, cans or wood. Undersize recyclables are recyclables to be sorted whose size value is less than the second preset size threshold and whose recycling difficulty value is higher than the preset recycling difficulty threshold, as the fourth category of recyclables, such as pen cores, bottle caps or debris. Furthermore, 2D recyclables and the fourth category of recyclables can be regarded as the third category of recyclables.

[0051] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a metal recyclable material screening equipment, and the metal recyclable material screening equipment includes a magnetic separation equipment and an eddy current sorting equipment; sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: performing sorting operations on the recyclables to be sorted through the magnetic separation equipment, and the magnetic separation equipment is used to sort the fifth type of recyclables on the target transmission equipment, and the fifth type of recyclables are recyclables to be sorted made of iron metal; performing sorting operations on the recyclables to be sorted after sorting by the magnetic separation equipment through the eddy current sorting equipment, and the eddy current sorting equipment is used to sort the sixth type of recyclables on the target transmission equipment, and the sixth type of recyclables are recyclables to be sorted made of non-ferrous metals.

[0052] In the embodiment of the present invention, the magnetic separation equipment may refer to equipment that utilizes the magnetic field to separate recyclables made of iron metal. The eddy current separation equipment may refer to equipment that utilizes the electromagnetic induction principle to induce eddy currents in conductive metals through a high-frequency alternating magnetic field to separate recyclables made of non-ferrous metals.

[0053] Specifically, for the recyclables to be sorted on the target transmission equipment, the fifth category recyclables made of iron metal on the target transmission equipment can be first separated by a magnetic separation device, and then the sixth category recyclables made of non-ferrous metals on the target transmission equipment can be separated by an eddy current sorting device, so as to avoid the recyclables made of iron metal being adsorbed on the magnetic roller of the eddy current sorting device when sorting is first performed by the eddy current sorting device or only by the eddy current sorting device, and continuously generating Joule heat effect, causing the magnetic roller to burn out.

[0054] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a negative pressure sorting equipment; sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: sorting operations are performed on the recyclables to be sorted through the negative pressure sorting equipment, and the negative pressure sorting equipment is used to sort the seventh category of recyclables on the target transmission equipment, and the seventh category of recyclables are recyclables to be sorted whose mass is less than a preset mass threshold.

[0055] Specifically, for the recyclables to be sorted on the target transmission device, the negative pressure sorting device can suck out the recyclables to be sorted on the target transmission device with a mass less than a preset mass threshold by suction, as the seventh type of recyclables. Exemplarily, the seventh type of recyclables can be light objects such as paper or film.

[0056] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a first optical intelligent sorting equipment; sorting operations are performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: sorting operations are performed on the recyclables to be sorted through the first optical intelligent sorting equipment, the first optical intelligent sorting equipment is used to sort the eighth category of recyclables on the target transmission equipment, and the eighth category of recyclables are recyclables to be sorted in the shape of bottles.

[0057] Specifically, for the recyclables to be sorted on the target transmission device, the eighth category of recyclables in the shape of bottles on the target transmission device can be separated by the first optical intelligent sorting device, and the remaining recyclables are all recyclables that are not in the shape of bottles, as the ninth category of recyclables. Exemplarily, the first optical intelligent sorting device can identify the eighth category of recyclables on the target transmission device based on a preset scanning method, and separate the eighth category of recyclables on the target transmission device by blowing through an air valve. Among them, the preset scanning method can include: at least one of intelligent recognition, near-infrared light scanning, X-ray scanning, and fluorescence scanning.

[0058] Optionally, the recyclables to be sorted can be transported to the first optical intelligent sorting equipment by means of vibration feeding, so as to achieve uniform and continuous transportation of the recyclables to be sorted, thereby improving the accuracy of sorting the recyclables by the first optical intelligent sorting equipment.

[0059] Optionally, for plastic bottle type recyclables included in the recyclables to be sorted, the plastic bottle type recyclables can be sorted only by the first optical intelligent sorting device to improve the efficiency of sorting the recyclables to be sorted and save resources of other target sorting equipment.

[0060] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a third optical intelligent sorting equipment; after the first optical intelligent sorting equipment performs a sorting operation on the recyclables to be sorted, it includes: performing a sorting operation on the eighth category of recyclables and / or the ninth category of recyclables through the third optical intelligent sorting equipment, and the third optical intelligent sorting is used to separate the eighth category of recyclables and / or the ninth category of recyclables based on the material of the recyclables.

[0061] Specifically, for the eighth category of recyclables and / or the ninth category of recyclables sorted out by the first optical intelligent sorting device, the eighth category of recyclables can be finely divided based on the material of the eighth category of recyclables by the third optical intelligent sorting device, or the ninth category of recyclables can be finely divided based on the material of the ninth category of recyclables. Exemplarily, the eighth category of recyclables can be sorted into plastic bottles made of HDPE (High-Density Polyethylene) and plastic bottles made of PET (Polyethylene Terephthalate). The ninth category of recyclables can be sorted into paper-type recyclables and PP (Polypropylene) plastic-type recyclables.

[0062] As an optional implementation manner of an embodiment of the present invention, the target sorting equipment includes a label removal sorting equipment and a second optical intelligent sorting equipment; after the first optical intelligent sorting equipment performs a sorting operation on the recyclables to be sorted, it includes: performing a label removal processing operation on the eighth category of recyclables by the label removal sorting equipment, and the label removal sorting equipment is used to separate the label paper on the eighth category of recyclables; performing a sorting operation on the eighth category of recyclables after the label removal processing operation by the second optical intelligent sorting equipment, and the second optical intelligent sorting equipment is used to separate the eighth category of recyclables based on the color information of the eighth category of recyclables.

[0063] Specifically, for the eighth category of recyclables sorted by the first optical intelligent sorting device, the eighth category of recyclables can be delabeled by the delabeling sorting device. Then, the label paper on the surface of the eighth category of recyclables can be separated by blowing labels, 3D screening or negative pressure sorting, so as to obtain label paper recyclables, and the remainder is the eighth category of recyclables after delabeling. Furthermore, the eighth category of recyclables after delabeling can be transported to the second optical intelligent sorting device by pneumatic conveying, and the eighth category of recyclables after delabeling can be separated by the second optical intelligent sorting device based on the color of the eighth category of recyclables, so as to obtain a variety of eighth category recyclables of different colors.

[0064] S203. After the sorting operation of the recyclables to be sorted is completed by various target sorting devices, a plurality of different types of recyclables are obtained.

[0065] For example, Figure 3 A flow chart of another recyclable material sorting method provided in an embodiment of the present invention. Figure 3As shown, plastic bottle recyclables, waste paper recyclables and mixed recyclables enter the sorting workshop of the sorting center through unified and / or separate collection and transportation, and the recyclable sorting operation is started. Waste paper recyclables and mixed recyclables are transported to the mixed silo and transported through the plate chain after the bag breaking operation. Then, large plastic baskets, long films, small household appliances, sticks, ropes, glass ceramics and interferences are sorted out by the three-axis + four-axis spider hand robot. Then, the recyclables on the screen and the first recyclables under the screen are separated by the OCC screening equipment, and the recyclables on the screen are separated into plastic recyclables such as small plastic baskets, large films or buckets, and paper recyclables such as yellow paperboard or flower paperboard by the truss robot. The first type of recyclables under the screen are separated into 2D recyclables, 3D recyclables and second recyclables under the screen by the 3D screening equipment, and the 2D recyclables are separated by the three-axis + four-axis spider hand robot. Recyclables made of iron metal in 3D recyclables are separated by magnetic separation equipment, and recyclables made of non-ferrous metals in 3D recyclables are separated by eddy current separation equipment, and 2D recyclables associated with 3D recyclables are separated by negative pressure separation equipment. Then, the remaining 3D recyclables and plastic bottle type recyclables are transported to the optical intelligent separation equipment 1 by vibration feeding. Bottle recyclables and non-bottle recyclables are separated by optical intelligent separation equipment 1. White or transparent white HDPE plastic bottles in bottle recyclables are separated by channel 1 of optical intelligent separation equipment 2, and paper recyclables such as express boxes, paper cups and potato chip barrels in non-bottle recyclables are separated by channel 2 of optical intelligent separation equipment 2. Non-white HDPE plastic bottles in bottle recyclables are separated by channel 1 of optical intelligent separation equipment 3, and plastic recyclables such as lunch boxes and milk tea cups in non-bottle recyclables are separated by channel 2 of optical intelligent separation equipment 3. PET plastic bottles are separated from bottle recyclables through channel 1 of the optical intelligent sorting device 4, and paper-based recyclables such as Tetra Pak packages are separated from non-bottle recyclables through channel 2 of the optical intelligent sorting device 4. The recyclables separated by multiple optical intelligent sorting devices are discharged after quality inspection by the spider hand robot. Finally, the missed items are separated by the three-axis + four-axis spider hand robot, and the remaining items are non-recyclable items that have no recycling value.

[0066] For example, Figure 4 The present invention provides a flowchart for sorting recyclable bottles. Figure 4As shown, first, the PET plastic bottles are subjected to a de-labeling operation by means of a de-labeling sorting device. Then, the label paper is separated by blowing, 3D screening or negative pressure sorting. Furthermore, the de-labeled PET plastic bottles are transported to the optical intelligent sorting device 5 by pneumatic conveying, and the de-labeled white PET plastic bottles are separated by channel 1 of the optical intelligent sorting device 5, and the de-labeled blue PET plastic bottles are separated by channel 2 of the optical intelligent sorting device 5. The de-labeled green PET plastic bottles are separated by a three-axis + four-axis spider hand robot, and the remainder is a variegated PET plastic bottle. Finally, PET plastic bottles of various colors are placed in the corresponding buffer warehouse, and after being transferred into the unmanned warehouse for storage through the aggregation conveyor, baler, PET bottle bricks of various colors, bag clamping machine + pallet delivery mechanism and unmanned AGV forklift.

[0067] The technical solution of the embodiment of the present invention, in response to the recyclables sorting operation of the target sorting center, transports the recyclables to be sorted on the target transmission equipment, the recyclables to be sorted include mixed recyclables and single recyclables, the mixed recyclables are recyclables containing a variety of different attribute information, the single recyclables are recyclables with the same attribute information, the attribute information is used to distinguish different types of recyclables; sorting operations are performed on the recyclables to be sorted in turn through multiple target sorting devices, the target sorting devices include: target sorting robots, OCC screening devices, 3D screening devices, metal recyclable screening devices, negative pressure sorting devices and multiple optical intelligent sorting devices; target sorting machines Robots, OCC screening equipment, 3D screening equipment, metal recyclables screening equipment, negative pressure sorting equipment and multiple optical intelligent sorting equipment are sequentially arranged at different reference positions corresponding to the target transmission equipment along the conveying direction of the recyclables to be sorted, so that the recyclables to be sorted transported on the target transmission equipment can be sorted by means of specific target sorting robots, OCC screening equipment, 3D screening equipment, metal recyclables screening equipment, negative pressure sorting equipment and multiple optical intelligent sorting equipment, thereby further improving the efficiency and accuracy of sorting the recyclables to be sorted; after completing the sorting operation of the recyclables to be sorted by each target sorting equipment, a variety of different types of recyclables are obtained.

[0068] Figure 5 The schematic diagram of the structure of a recyclables sorting system provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the situation where recyclables received by the sorting center are transported so that the recyclables are sequentially passed through different sorting equipment to achieve refined classification. The recyclables sorting system can be implemented in the form of hardware and / or software. Figure 5As shown, the recyclables sorting system specifically includes: a target transmission device 301 and a plurality of target sorting devices 302. Among them, the target transmission device 301 is configured to, in response to the recyclables sorting operation of the target sorting center, transport the recyclables to be sorted, and the recyclables to be sorted include mixed recyclables and single recyclables, the mixed recyclables are recyclables containing a variety of different attribute information, and the single recyclables are recyclables with the same attribute information, and the attribute information is used to distinguish different types of recyclables; the plurality of target sorting devices 302 are configured to perform sorting operations on the recyclables to be sorted in turn, the target sorting device is used to sort the recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting device, and the plurality of target sorting devices are respectively arranged at a plurality of reference positions corresponding to the target transmission device, and the target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information.

[0069] The technical solution of the embodiment of the present invention is to transport the recyclables to be sorted in response to the recyclable sorting operation of the target sorting center through the target transmission device 301, and the recyclables to be sorted include mixed recyclables and single recyclables. The mixed recyclables are recyclables containing a variety of different attribute information, and the single recyclables are recyclables with the same attribute information. The attribute information is used to distinguish different types of recyclables; the sorting operation is performed on the recyclables to be sorted in turn through multiple target sorting devices 302, and the target sorting device is used to sort the recyclables that meet the preset requirements of the target sorting device on the target transmission device. For recyclables to be sorted that meet the screening conditions, multiple target sorting devices are respectively arranged at multiple reference positions corresponding to the target transmission device, and the target sorting devices at different reference positions sort the recyclables to be sorted with different attribute information, so that the recyclables to be sorted transported on the target transmission device are sorted by the target sorting devices at multiple different reference positions, and the recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting devices are separated, thereby improving the efficiency and accuracy of sorting the recyclables to be sorted, so as to effectively manage various different types of recyclables.

[0070] On the basis of any of the above optional technical solutions, optionally, the target sorting equipment includes: a target sorting robot, an OCC screening device, a 3D screening device, a metal recyclable screening device, a negative pressure sorting device, and a plurality of optical intelligent sorting devices. Among them, the target sorting robot, the OCC screening device, the 3D screening device, the metal recyclable screening device, the negative pressure sorting device, and the plurality of optical intelligent sorting devices are sequentially arranged at different reference positions corresponding to the target transmission device along the conveying direction of the recyclables to be sorted; the target sorting robot is equipped with a visual module and a recyclable acquisition module, the visual module is used to identify the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting robot, the recyclable acquisition module is used to acquire the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting robot, the metal recyclable screening device is used to sort the recyclables to be sorted made of metal on the target transmission device, the negative pressure sorting device is used to separate and screen the recyclables to be sorted based on the negative pressure adsorption principle, and the optical intelligent sorting device is used to separate and screen the recyclables to be sorted by combining optical detection technology and intelligent algorithms.

[0071] Based on any of the above optional technical solutions, optionally, the target sorting device includes a target sorting robot. The target sorting robot is configured to perform a sorting operation on the recyclables to be sorted, and sort the first type of recyclables on the target transmission device, wherein the first type of recyclables are recyclables to be sorted whose recycling rate is greater than a preset utilization rate threshold or recyclables to be sorted that interfere with the recyclable sorting operation.

[0072] Based on any of the above optional technical solutions, optionally, the target sorting device includes an OCC screening device. The OCC screening device is configured to perform a sorting operation on the recyclables to be sorted, and sort the second type of recyclables on the target transmission device, where the second type of recyclables are recyclables to be sorted whose size value is greater than the first preset size threshold.

[0073] On the basis of any of the above optional technical solutions, optionally, the target sorting device includes a 3D screening device. The 3D screening device is configured to perform a sorting operation on the recyclables to be sorted, and sort the third type of recyclables on the target transmission device, the third type of recyclables including 2D type recyclables and fourth type recyclables, the 2D type recyclables are flat recyclables to be sorted with a two-dimensional structure, and the fourth type of recyclables are recyclables to be sorted with a size value less than a second preset size threshold and a recycling difficulty value higher than a preset recycling difficulty threshold.

[0074] On the basis of any of the above optional technical solutions, optionally, the target sorting equipment includes a metal recyclable screening equipment, and the metal recyclable screening equipment includes a magnetic separation equipment and an eddy current separation equipment. Among them, the magnetic separation equipment is configured to perform a sorting operation on the recyclables to be sorted, and sort the fifth type of recyclables on the target transmission equipment, and the fifth type of recyclables are recyclables to be sorted made of iron metal; the eddy current separation equipment is configured to perform a sorting operation on the recyclables to be sorted after being sorted by the magnetic separation equipment, and sort the sixth type of recyclables on the target transmission equipment, and the sixth type of recyclables are recyclables to be sorted made of non-ferrous metals.

[0075] Based on any of the above optional technical solutions, optionally, the target sorting device includes a negative pressure sorting device. The negative pressure sorting device is configured to perform a sorting operation on the recyclables to be sorted, and sort the seventh category of recyclables on the target transmission device, where the seventh category of recyclables are recyclables to be sorted whose mass is less than a preset mass threshold.

[0076] Based on any of the above optional technical solutions, optionally, the target sorting device includes a first optical intelligent sorting device. The first optical intelligent sorting device is configured to perform a sorting operation on the recyclables to be sorted, and sort the eighth type of recyclables on the target transmission device, where the eighth type of recyclables are recyclables to be sorted in the shape of bottles.

[0077] On the basis of any of the above optional technical solutions, optionally, the target sorting equipment includes a label-removing sorting equipment and a second optical intelligent sorting equipment. The label-removing sorting equipment is configured to perform a label-removing operation on the eighth category of recyclables after the first optical intelligent sorting equipment performs a sorting operation on the recyclables to be sorted, and separate the label paper on the eighth category of recyclables; the second optical intelligent sorting equipment is configured to perform a sorting operation on the eighth category of recyclables after the label-removing operation, and separate the eighth category of recyclables based on the color information of the eighth category of recyclables.

[0078] The recyclables sorting system provided in the embodiment of the present invention can execute the recyclables sorting method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0079] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0080] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for sorting recyclables, characterized in that: The method comprises: In response to the recyclables sorting operation of the target sorting center, the recyclables to be sorted are transported on the target transmission equipment, wherein the recyclables to be sorted include mixed recyclables and single recyclables, wherein the mixed recyclables are recyclables containing a plurality of different attribute information, and the single recyclables are recyclables having the same attribute information, wherein the attribute information is used to distinguish different types of recyclables; The recyclables to be sorted are sequentially sorted by a plurality of target sorting devices, wherein the target sorting devices are used to sort the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting devices on the target transmission device, and the plurality of target sorting devices are respectively arranged at a plurality of reference positions corresponding to the target transmission device, and the target sorting devices at different reference positions sort recyclables to be sorted with different attribute information; After the sorting operation of the recyclables to be sorted is completed by each of the target sorting devices, a variety of different types of recyclables are obtained.

2. The method according to claim 1, characterized in that The target sorting equipment includes: a target sorting robot, an OCC screening device, a 3D screening device, a metal recyclable screening device, a negative pressure sorting device and a plurality of optical intelligent sorting devices; the target sorting robot, the OCC screening device, the 3D screening device, the metal recyclable screening device, the negative pressure sorting device and the plurality of optical intelligent sorting devices are sequentially arranged at different reference positions corresponding to the target transmission device along the conveying direction of the recyclables to be sorted; the target sorting robot is equipped with a visual module and a recyclable acquisition module The visual module is used to identify the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting robot. The recyclable acquisition module is used to acquire the recyclables to be sorted that meet the preset screening conditions corresponding to the target sorting robot. The metal recyclable screening equipment is used to sort the recyclables to be sorted made of metal on the target transmission equipment. The negative pressure sorting equipment is used to separate and screen the recyclables to be sorted based on the principle of negative pressure adsorption. The optical intelligent sorting equipment is used to separate and screen the recyclables to be sorted by combining optical detection technology and intelligent algorithms.

3. The method according to claim 1, characterized in that The target sorting device includes a target sorting robot; the sorting operation is performed on the recyclables to be sorted in sequence by a plurality of target sorting devices, including: The target sorting robot is used to perform sorting operations on the recyclables to be sorted. The target sorting robot is used to sort the first type of recyclables on the target transmission device. The first type of recyclables are recyclables to be sorted whose recycling rate is greater than a preset utilization rate threshold or recyclables to be sorted that interfere with the recyclable sorting operation.

4. The method according to claim 1, characterized in that: The target sorting equipment includes an OCC screening equipment; the sorting operation is performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: The recyclables to be sorted are sorted by the OCC screening device, and the OCC screening device is used to sort the second type of recyclables on the target transmission device, where the second type of recyclables are recyclables to be sorted whose size value is greater than a first preset size threshold.

5. The method according to claim 1, characterized in that The target sorting equipment includes a 3D screening equipment; the sorting operation is performed on the recyclables to be sorted in sequence through multiple target sorting equipment, including: The 3D screening device is used to perform a sorting operation on the recyclables to be sorted. The 3D screening device is used to sort the third type of recyclables on the target transmission device. The third type of recyclables include 2D type recyclables and fourth type recyclables. The 2D type recyclables are flat recyclables to be sorted with a two-dimensional structure, and the fourth type of recyclables are recyclables to be sorted whose size value is less than a second preset size threshold and whose recycling difficulty value is higher than a preset recycling difficulty threshold.

6. The method according to claim 1, characterized in that The target sorting equipment includes a metal recyclable material screening equipment, and the metal recyclable material screening equipment includes a magnetic separation equipment and an eddy current separation equipment; the recyclable material to be sorted is sequentially sorted by a plurality of target sorting equipment, including: Performing a sorting operation on the recyclables to be sorted by the magnetic separation device, wherein the magnetic separation device is used to sort the fifth type of recyclables on the target transmission device, wherein the fifth type of recyclables are recyclables to be sorted made of iron metal; The eddy current sorting device is used to perform sorting operations on the recyclables to be sorted after being sorted by the magnetic separation device. The eddy current sorting device is used to sort the sixth type of recyclables on the target transmission device. The sixth type of recyclables are recyclables to be sorted made of non-ferrous metals.

7. The method according to claim 1, characterized in that The target sorting equipment includes a negative pressure sorting equipment; the sorting operation is performed on the recyclables to be sorted in sequence by using a plurality of target sorting equipment, including: The negative pressure sorting device is used to perform a sorting operation on the recyclables to be sorted, and the negative pressure sorting device is used to sort the seventh type of recyclables on the target transmission device. The seventh type of recyclables are recyclables to be sorted whose mass is less than a preset mass threshold.

8. The method according to claim 1, characterized in that The target sorting device includes a first optical intelligent sorting device; the sorting operation is performed on the recyclables to be sorted in sequence through multiple target sorting devices, including: The recyclables to be sorted are sorted by the first optical intelligent sorting device, and the first optical intelligent sorting device is used to sort the eighth category of recyclables on the target transmission device, and the eighth category of recyclables are the recyclables to be sorted in the shape of bottles.

9. The method according to claim 8, characterized in that The target sorting equipment includes a label-removing sorting equipment and a second optical intelligent sorting equipment; after the first optical intelligent sorting equipment performs a sorting operation on the recyclables to be sorted, the following steps are included: Performing a label removal operation on the eighth category of recyclables by means of the label removal and sorting device, wherein the label removal and sorting device is used to separate the label paper on the eighth category of recyclables; The second optical intelligent sorting device is used to perform a sorting operation on the eighth category of recyclables after the de-labeling operation. The second optical intelligent sorting device is used to separate the eighth category of recyclables based on their color information.

10. A recyclables sorting system, characterized in that: The system comprises: a target transmission device and a plurality of target sorting devices, wherein: The target transmission device is configured to, in response to the recyclables sorting operation of the target sorting center, transport recyclables to be sorted, wherein the recyclables to be sorted include mixed recyclables and single recyclables, wherein the mixed recyclables are recyclables containing a plurality of different attribute information, and the single recyclables are recyclables having the same attribute information, wherein the attribute information is used to distinguish different types of recyclables; The multiple target sorting devices are configured to perform sorting operations on the recyclables to be sorted in turn, the target sorting devices are used to sort the recyclables to be sorted on the target transmission device that meet the preset screening conditions corresponding to the target sorting devices, and the multiple target sorting devices are respectively arranged at multiple reference positions corresponding to the target transmission device, and the target sorting devices at different reference positions sort recyclables to be sorted with different attribute information.

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