Intelligent recycling system for recycled aggregate of construction waste

Abstract

The invention relates to the technical field of recycled aggregate recovery, in particular to an intelligent recycled aggregate recovery system for building waste, which comprises a data acquisition module for acquiring image information and air injection pressure of a pneumatic nozzle, and a hierarchical control module comprising a target aggregate analysis unit for determining a plurality of parameters of a target aggregate, the path planning unit is used for determining a path planning mode of the target aggregate based on the linear distance between the initial position and the target position so as to plan an ideal motion path, determining a triggering time interval of the ideal motion path according to the classification level, and correcting the triggering time interval; the air injection pressure determining unit is used for determining and correcting the initial air injection pressure, and the sorting precision determining unit is used for determining the grading accuracy rate of the target aggregate according to the image information of the blanking process, determining whether the sorting process is qualified or not, and optimizing the path planning mode according to the grading deviation of the target aggregate. The grading precision of the recycled aggregate is improved.

Description

Technical Field

[0001] This invention relates to the field of recycled aggregate recycling technology, and in particular to an intelligent recycling system for recycled aggregates from construction waste. Background Technology

[0002] With the advancement of the global resource recycling strategy, recycled aggregates, as the core carrier for the high-value utilization of construction solid waste, directly affect the performance and market application scope of recycled building materials. However, the insufficient grading accuracy in the current recycled aggregate recycling system has become a key bottleneck restricting the industry's development: traditional grading methods mainly rely on mechanical screening and manual sorting, but mechanical screening is easily affected by aggregate moisture and irregular shape, leading to frequent mixing of fine particles and missed screening of coarse particles; manual sorting is limited by the differences in operator experience, has low operating efficiency, and is difficult to identify minute impurities or fine particle size classification requirements. More importantly, traditional methods cannot accurately identify internal defects or compositional differences in aggregates, resulting in large performance dispersion of recycled aggregates, making it difficult to meet the stringent requirements of high-performance recycled building materials for aggregate gradation uniformity and cleanliness.

[0003] Chinese Patent Application Publication No. CN117102042A discloses a method for sorting and recycling recycled aggregates, comprising the following steps: S1: Initial metal screening, screening metals in construction waste; S2: Aggregate crushing, crushing construction waste using crushing equipment to form recycled aggregates; S3: Secondary metal screening, screening metals separated from the aggregates during crushing; S4: Sorting and classification, classifying the recycled aggregates according to size using sorting equipment. This application has the effect of improving the quality of recycled aggregates during use through screening.

[0004] The existing technology also has the following problems: the grading accuracy of recycled aggregates in the existing technology is not high enough, resulting in the mixing of recycled aggregates of various performance grades. This means that recycled aggregates can only be used in construction scenarios with low structural strength requirements, thus limiting the scope of application of recycled aggregates. Summary of the Invention

[0005] To address this issue, the present invention provides an intelligent recycling system for recycled aggregates from construction waste, which overcomes the problem in the prior art where the mixing of recycled aggregates of various performance grades leads to inaccurate material differentiation of recycled aggregates, resulting in low grading accuracy of recycled aggregates.

[0006] To achieve the above objectives, the present invention provides an intelligent recycling system for recycled aggregates from construction waste, comprising: The data acquisition module includes several image acquisition devices for acquiring image information of the recycled aggregate transportation and discharge process, and several pressure sensors for acquiring the jet pressure of several pneumatic nozzles. A hierarchical control module, connected to the data acquisition module, includes, The target aggregate analysis unit is used to determine several parameters and the actual movement path of the target aggregate based on the image information. The several parameters include the initial position of the target aggregate, the stress characterization value, the classification level, and the corresponding target position. The path planning unit is used to determine the path planning method of the target aggregate based on the straight-line distance between the initial position and the target position to plan an ideal movement path, and to determine the triggering time interval of several overlapping ideal movement paths according to the classification level, and to correct the triggering time interval according to the offset distance between the actual movement path of the target aggregate and the ideal movement path. The jet pressure determination unit is used to determine the initial jet pressure of the pneumatic nozzle based on the path length of the ideal motion path and the force characterization value, and to correct the initial jet pressure based on the jet distance between two adjacent pneumatic nozzles. The sorting accuracy determination unit is used to determine the grading accuracy of the target aggregate based on the image information of the material feeding process, and to determine whether the sorting process is qualified, so as to optimize the path planning method based on the grading deviation of the target aggregate.

[0007] Furthermore, the path planning unit determines the path planning method for the target aggregate as segmented planning based on the comparison result that the straight-line distance is greater than or equal to the first preset distance, and determines the path planning method for the target aggregate as overall planning based on the comparison result that the straight-line distance is less than the first preset distance.

[0008] Furthermore, the path planning unit is also used to determine the classification level of the target aggregate based on the recycling level of the recycled aggregate, and to determine the path planning priority of the target aggregate based on the classification level. Under the condition that several ideal motion paths intersect, the unit determines the triggering order of the ideal motion paths based on the path planning priority, and determines the triggering time interval of several ideal motion paths based on the triggering order.

[0009] Furthermore, the path planning unit is also used to determine that the actual movement path of the target aggregate is unqualified based on the comparison result of the offset angle between the actual movement path and the ideal movement path being greater than a preset angle.

[0010] Furthermore, when the path planning unit determines that the actual motion path is unqualified, it sets several duration correction coefficients corresponding to the comparison results of the offset distance and the second preset distance to increase the trigger time interval.

[0011] Furthermore, the jet pressure determination unit determines the preset jet distance between two adjacent pneumatic nozzles based on the initial jet pressure, and determines that the airflow emitted by the two adjacent pneumatic nozzles interferes based on the comparison result that the jet distance is less than the preset jet distance.

[0012] Furthermore, the jet pressure determination unit, upon determining that there is interference between the airflow emitted by two adjacent pneumatic nozzles, sets several pressure correction coefficients corresponding to the preset jet distance and the distance difference between the jet distances to reduce the initial jet pressure.

[0013] Furthermore, the sorting accuracy determination unit determines that the sorting process of the target aggregate is unqualified based on the comparison result that the grading accuracy rate is less than the preset accuracy rate.

[0014] Furthermore, the sorting accuracy determination unit determines the first sorting accuracy rate of the target aggregate for path planning using a segmented planning method based on the judgment result of the unqualified sorting process, and determines to increase the time correction coefficient by a number of corresponding time optimization coefficients based on the comparison result that the first sorting accuracy rate is less than the preset accuracy rate.

[0015] Furthermore, the sorting accuracy determination unit determines the second sorting accuracy of the target aggregate based on the judgment result of the unqualified sorting process, and reduces the first preset distance with the corresponding distance optimization coefficient based on the comparison result that the second sorting accuracy is less than the preset accuracy.

[0016] Compared with existing technologies, the advantages of this invention are as follows: This invention determines the classification level of recycled aggregate by acquiring image information during transportation, identifies the target silo based on the classification level, and determines whether to use segmented or overall planning to determine the ideal movement path based on the straight-line distance between the initial and target positions of the target aggregate. A longer straight-line distance indicates a greater likelihood of the recycled aggregate being affected and deviating from the ideal movement path during its journey to the target position. Therefore, for cases with large straight-line distances, segmented ideal movement paths are determined to increase the probability of the target aggregate entering the target silo. Given several ideal movement paths for target aggregates, several intersecting ideal movement paths are identified. Priority is determined based on the classification level of the target aggregates, and the triggering order of each path is determined based on the priority, so that the triggering order is followed according to the triggering time. The target aggregate is sequentially categorized at intervals to avoid impacts and prioritize the entry of high-priority target aggregates into the target bin. During the actual movement of the target aggregate, the deviation angle between the actual and ideal movement paths is used to determine whether the actual movement path is acceptable. An excessively large deviation angle indicates a possible collision with other recycled aggregates, causing excessive deviation of the actual movement path. Therefore, the triggering interval is increased to avoid collisions. If the jet spacing of the pneumatic nozzles is too small, simultaneous jetting from two adjacent nozzles will cause the two airflows to interfere with each other. This will result in the target aggregate not being pushed to the ideal state with the initial jet pressure. Therefore, the initial jet pressure is corrected according to the actual jet spacing to increase the probability of the target aggregate moving along the ideal movement path, thereby further improving the categorization accuracy of recycled aggregates.

[0017] Furthermore, this invention determines whether there is interference between the airflows emitted by two adjacent pneumatic nozzles by the jet spacing. The compressed air jet ejected by a single pneumatic nozzle has high speed and turbulent characteristics. After the jet leaves the nozzle, because the surrounding air pressure is lower than the pressure inside the nozzle, an initial expansion section will be formed at the outlet, with a velocity slightly higher than the flow velocity inside the nozzle. Subsequently, due to viscosity and turbulent diffusion, it gradually decelerates and expands, forming a core area and a wake area. When the jet spacing between two adjacent nozzles is less than a preset value, the spatial overlap area of ​​the two jets increases, and their momentum vectors are directly superimposed. When the two airflows are ejected in the same direction toward the aggregate conveying direction, the resultant velocity of the overlap area will be significantly higher than the velocity of a single jet due to the conservation of momentum. Especially when the velocities of the two streams are similar, the force on the target aggregate is greater than the force given to the target aggregate by the initial jet pressure, causing the actual movement path of the target aggregate to deviate from the ideal movement path. Therefore, the initial jet pressure is appropriately reduced according to the jet spacing to further improve the grading accuracy of the target aggregate.

[0018] Furthermore, this invention determines a second sorting accuracy rate based on overall planning and a first sorting accuracy rate based on segmented planning, respectively, when the grading accuracy rate is deemed unqualified. Based on the unqualified first sorting accuracy rate, a duration correction coefficient is increased to increase the trigger time interval. Segmented planning divides the complete path into multiple sub-segments, each of which depends on the trigger time interval. If the first sorting accuracy rate is unqualified, the core reason is usually that the time interval is too short, causing the sub-segment action connection to fail. The actuator may be unable to complete the current sub-segment action on time due to response delays (such as solenoid valve switching time, motor acceleration time), leading to premature triggering of subsequent sub-segments. Therefore, the trigger time interval can be appropriately increased to improve action accuracy. If the second sorting accuracy rate is unqualified, it indicates that the first preset distance is too large, resulting in an excessively long overall planned movement path, causing a greater impact on the target aggregate during movement and thus a lower second sorting accuracy rate. Therefore, the first preset distance is reduced to adjust the path planning method, reducing the single-segment movement distance of the target aggregate to improve sorting accuracy, thereby further improving the sorting precision of the target aggregate. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an intelligent recycling system for recycled aggregates from construction waste, according to an embodiment of the present invention. Figure 2 This is a structural block diagram of an intelligent recycling system for recycled aggregates from construction waste, according to an embodiment of the present invention. Figure 3 A flowchart illustrating the path planning method for determining the target aggregate in an embodiment of the present invention; Figure 4 This is a flowchart illustrating whether the actual movement path of the target aggregate is qualified, as described in an embodiment of the present invention. Figure 5 A flowchart for determining whether the sorting process of the target aggregate is qualified according to an embodiment of the present invention; In the diagram: 1. Image acquisition device, 2. Conveyor belt, 3. Pneumatic nozzle, 4. Third hopper, 5. Second hopper, 6. First hopper, 7. First fixed frame, 8. Second fixed frame. Detailed Implementation

[0020] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0021] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0023] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Please see Figures 1-5 As shown, Figure 1 This is a schematic diagram of the structure of an intelligent recycling system for recycled aggregates from construction waste, according to an embodiment of the present invention. Figure 2 This is a structural block diagram of an intelligent recycling system for recycled aggregates from construction waste, according to an embodiment of the present invention. Figure 3 A flowchart illustrating the path planning method for determining the target aggregate in an embodiment of the present invention; Figure 4 This is a flowchart illustrating whether the actual movement path of the target aggregate is qualified, as described in an embodiment of the present invention. Figure 5 This is a flowchart illustrating whether the sorting process for the target aggregate is qualified, as described in an embodiment of the present invention.

[0025] This invention provides an intelligent recycling system for recycled aggregates from construction waste, comprising: Several pneumatic nozzles 3 are mounted on the first fixed frame 7 and the second fixed frame 8 to emit high-speed airflow to propel the recycled aggregate. The data acquisition module includes several image acquisition units 1 installed on the first fixed frame 7 and the second fixed frame 8 to acquire image information of the recycled aggregate transportation process and the material dropping process, and several pressure sensors (not shown in the figure) installed inside the pneumatic nozzle 3 to obtain the jet pressure of the pneumatic nozzle 3. A hierarchical control module (not shown in the figure) is connected to the data acquisition module and includes, The target aggregate analysis unit is used to determine several parameters of the target aggregate based on the image information. The parameters include the initial position of the target aggregate, the stress characterization value, the classification level, the actual movement path, and the corresponding target position. The path planning unit is used to determine the path planning method of the target aggregate based on the straight-line distance between the initial position and the target position to plan an ideal movement path, and to determine the triggering time interval of several overlapping ideal movement paths according to the classification level, and to correct the triggering time interval according to the offset distance between the actual movement path of the target aggregate and the ideal movement path. The jet pressure determination unit is used to determine the initial jet pressure of the pneumatic nozzle 3 based on the path length of the ideal motion path and the force characterization value, and to correct the initial jet pressure based on the jet distance between two adjacent pneumatic nozzles 3. The sorting accuracy determination unit is used to determine the grading accuracy of the target aggregate based on the image information of the material feeding process, and to determine whether the sorting process is qualified, so as to optimize the path planning method based on the grading deviation of the target aggregate.

[0026] Specifically, the image acquisition device 1 is an industrial-grade network camera. The specific model and parameters are not limited, as long as they meet the shooting requirements.

[0027] Specifically, the initial position and the target position are represented using planar coordinates (x, y), with the starting end of the conveyor belt as the ordinate and the straight line where the middle position of the conveyor belt is located as the abscissa. For example, the initial position coordinates are (5m, +10cm) and the target position coordinates are (6m, -5cm).

[0028] It is understood that the recycled aggregate recycling process includes (1) pretreatment and sorting, removing large impurities based on the image information of construction waste collected by image acquisition device 1; (2) multi-stage crushing, using a jaw crusher for initial crushing and an impact crusher for secondary crushing; (3) screening and primary grading, using a magnetic separator to remove metal impurities, using a vibrating screen for particle size grading after magnetic separation, and using an air separator to separate light materials after grading; (4) fine grading, further grading the recycled aggregate separated by the air separator using the system of this embodiment; (5) washing, using a wheel bucket or spiral washing device to wash the graded aggregate. Among them, the pretreatment and sorting process, the multi-stage crushing process, the screening and primary grading process and the washing process are all existing technologies and are not specifically limited. This embodiment of the invention only applies to the fine grading process.

[0029] Understandably, the recycling grade of recycled aggregates can be classified according to different classification requirements. For example, recycled aggregates can be divided into three categories based on their material composition: Category I recycled aggregate: mainly composed of waste concrete (≥90%), with few impurities and properties close to natural aggregate, suitable for concrete with strength grade C30 and above; Class II recycled aggregate: contains 70%-90% concrete and bricks, suitable for C25-C30 concrete and road base courses; Class III recycled aggregate: mainly composed of bricks, tiles, and ceramics (≥80%), containing a large amount of lightweight materials and high water absorption rate, it is only suitable for non-load-bearing structures or roadbed filling of C25 and below.

[0030] It is understood that the grading of recycled aggregates in this embodiment of the invention only refers to the material of the recycled aggregates and does not involve the particle size. The particle size grading is determined by sieving.

[0031] Specifically, in this embodiment of the invention, the material of the recycled aggregate is determined based on image information. The material image is acquired in real time using an image acquisition device, and a neural network model such as YOLOv8 is used to identify material characteristics, such as the "cement matrix + natural sand" of concrete, the "clay porous structure" of bricks and tiles, the "natural mineral crystals" of stone, and the "glaze gloss" of ceramics. The recycled aggregate is then graded. The corresponding densities of different aggregate materials are preset, and the aggregate volume can be estimated based on the image information. Then, the aggregate weight is determined based on the aggregate volume and the corresponding density.

[0032] Specifically, the stress characterization value is determined based on the weight of the target aggregate. The stress characterization value = aggregate weight × gravitational acceleration × μ × cosθ, where θ is the inclination angle of the conveyor belt and μ is the coefficient of friction.

[0033] Specifically, determining the initial jet pressure of the nozzle requires prior parametric simulation calculations using fluid dynamics simulation software, covering various aggregate properties and motion conditions. This constructs a mapping database with inputs of force characterization values, the contact area between the target aggregate and the conveyor belt, the preset forward distance of the aggregate, the effective spray area of ​​the nozzle, the jet action duration, and the airflow efficiency, and outputs the corresponding initial jet pressure. This database is pre-stored in the system memory. During real-time sorting, the nozzle pressure determination module, based on the force characterization values, contact area, and preset forward distance obtained in real time by the aggregate analysis unit, combined with the preset effective spray area, jet action duration, and preset airflow efficiency of the nozzle, quickly retrieves and outputs the appropriate initial jet pressure for the current working condition from the pre-established mapping database using a lookup table or interpolation algorithm.

[0034] Specifically, the path planning unit determines the path planning method for the target aggregate as segmented planning based on the comparison result that the straight-line distance is greater than or equal to the first preset distance, and determines the path planning method for the target aggregate as overall planning based on the comparison result that the straight-line distance is less than the first preset distance.

[0035] Understandably, segmented planning involves breaking down the entire path into several continuous sub-segments (such as sub-path 1, sub-path 2, ... sub-path n), with each sub-segment planned and executed independently. The overall movement from the starting point to the destination is completed by connecting the sub-segments. Overall planning, on the other hand, directly plans the shortest or optimal path from the starting point to the destination without splitting it into sub-segments.

[0036] It is understood that the straight-line distance can be determined based on image information. The first preset distance is determined based on the historical grading process and is the average of the first preset distance when the historical sorting accuracy is greater than 98%. The value range is set to [60cm, 80cm], and the preferred value in this embodiment of the invention is 70cm.

[0037] In practice, the present invention uses two sets of pneumatic nozzles 3 to classify recycled aggregates. The path planning method is divided into two segments. It is understood that those skilled in the art can increase or decrease the number of sets of pneumatic nozzles 3 according to specific needs.

[0038] Specifically, the path planning unit is further configured to determine the classification level of the target aggregate based on the recycling level of the recycled aggregate, and to determine the path planning priority of the target aggregate based on the classification level. Under the condition that several ideal motion paths intersect, the unit determines the triggering order of the ideal motion paths based on the path planning priority, and determines the triggering time interval of several ideal motion paths based on the triggering order.

[0039] It is understandable that the priority of target aggregates is determined based on the classification grade of recycled aggregates, and the priority of the path planning of recycled aggregates is consistent with the classification grade. In the event of classification conflicts, priority is given to ensuring that Class I recycled aggregates enter the first silo.

[0040] Specifically, the calculation process for the trigger time interval includes: Simulation software such as MATLAB / Simulink or ROS navigation stack is used to simulate all ideal motion paths, mark the intersection areas, and combine the actual motion speed differences of different classification grades of recycled aggregates. Among them, Class I heavy aggregates move slowly, while Class II and Class III light aggregates move quickly. The motion speed parameters corresponding to each grade of aggregates are recorded. Ideal motion paths are sorted in descending order of path planning priority to generate a trigger order list, such as path A > path B > path C. The path priority is consistent with the recycling aggregate classification level, and priority is given to ensuring the execution of motion paths corresponding to Class I recycled aggregate. First, calculate the actual time for aggregates along each path to pass through the intersection area: Actual time = Intersection area length ÷ Aggregate movement speed of the corresponding grade; then calculate the minimum safe time interval: ΔT AB =max(t) 离开，A +t 进入，B, t 响应，B , t 执行，A () + (Actual time for aggregate corresponding to path B to pass through the intersection area - Actual time for aggregate corresponding to path A to pass through the intersection area). Among them, t 离开，A t is the time it takes for path A to completely exit the intersection region. 进入，B t represents the time when path B begins to enter the intersection region. 响应，B Let t be the response delay time of the actuator in path B. 执行，A The total execution time of path A is the difference between the actual time taken for aggregate corresponding to path B to pass through the intersection area and the actual time taken for aggregate corresponding to path A to pass through the intersection area. This difference is used to compensate for the risk of cross-collision caused by the difference in movement speed between different grades of aggregate.

[0041] Understandably, if two paths intersect in space, it is necessary to ensure that the first path completely leaves the overlapping area before the second path enters it, i.e., ΔT ≥ t. 离开 +t 进入 , where t 离开 Let t be the time from the starting point of the intersection area to the complete exit of the previous path. 进入 The time for the next path to enter the intersection area from the starting point is determined by the path planning priority. At the same time, there is an inherent delay in the execution mechanism from "triggering the instruction" to "completing the action". Therefore, the minimum safe time interval can be determined according to the above method.

[0042] Specifically, the triggering time interval in this embodiment of the invention is the minimum safe duration interval determined in the manner described above.

[0043] Specifically, the path planning unit is also used to determine that the actual movement path of the target aggregate is unqualified based on the comparison result of the offset angle between the actual movement path and the ideal movement path being greater than a preset angle, and to determine that the actual movement path of the target aggregate is qualified based on the comparison result of the offset angle being less than or equal to the preset angle.

[0044] Specifically, the preset angle is determined based on the simulation experiment results, and the value range can be set to [10°, 20°]. In this embodiment of the invention, 15° is preferred.

[0045] Specifically, when the path planning unit determines that the actual motion path is unqualified, it sets several duration correction coefficients corresponding to the comparison results of the offset distance and the second preset distance to increase the trigger time interval.

[0046] Specifically, the path planning unit is also used to determine the offset distance, wherein, The path planning unit calculates the actual straight-line distance between the target aggregate and the initial position when the target aggregate stops, based on the actual motion path, and calculates the ideal straight-line distance between the target aggregate and the initial position when the target aggregate stops, based on the ideal motion path. The Euclidean distance between the ideal straight-line distance and the actual straight-line distance is determined as the offset distance.

[0047] It is understandable that the greater the offset distance, the greater the impact encountered by the target aggregate during its movement.

[0048] Specifically, the path planning unit determines to increase the triggering time interval by a first duration correction coefficient based on the comparison result that the offset distance is greater than the second preset distance; The path planning unit determines to increase the trigger time interval by a second duration correction coefficient based on the comparison result that the offset distance is less than or equal to the second preset distance.

[0049] Specifically, the second preset distance is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [5cm, 8cm], with 7cm being preferred in this embodiment of the invention; the values ​​of the first time correction coefficient and the second time correction coefficient are determined based on the historical recycled aggregate recycling process, and the value range of the first time correction coefficient is set to [1.5, 2.0], with 1.8 being preferred in this embodiment of the invention; the value range of the second time correction coefficient is set to [1.1, 1.4], with 1.3 being preferred in this embodiment of the invention.

[0050] Specifically, the jet pressure determination unit determines the preset jet distance between two adjacent pneumatic nozzles 3 based on the initial jet pressure, and determines that the airflow emitted by the two adjacent pneumatic nozzles 3 interferes based on the comparison result that the jet distance is less than the preset jet distance, and determines that the airflow emitted by the two adjacent pneumatic nozzles 3 does not interfere based on the comparison result that the jet distance is greater than or equal to the preset jet distance.

[0051] Specifically, the value of the preset jet spacing is determined based on the nozzle diameter of the starting nozzle, and is 10-15 times the nozzle diameter. Those skilled in the art can select the value according to actual needs.

[0052] Specifically, the jet pressure determination unit, upon determining that there is interference between the airflow emitted by two adjacent pneumatic nozzles 3, sets several pressure correction coefficients corresponding to the difference between the preset jet distance and the jet distance to reduce the initial jet pressure.

[0053] Specifically, the jet pressure determination unit determines to reduce the initial jet pressure by a first pressure correction coefficient based on a comparison result where the distance difference is greater than or equal to a preset difference. The jet pressure determination unit determines to reduce the initial jet pressure by a second pressure correction coefficient based on the comparison result that the distance difference is less than the preset difference.

[0054] Specifically, the preset difference is determined based on the historical recycled aggregate recycling process, and the value range is set to [5mm, 10mm], with 7mm being preferred in this embodiment of the invention; the first pressure correction coefficient is determined based on the historical recycled aggregate recycling process, and the value range is set to [0.8, 0.9], with 0.85 being preferred in this embodiment of the invention; the second pressure correction coefficient is determined based on the historical recycled aggregate recycling process, and the value range is set to [0.91, 0.97], with 0.95 being preferred in this embodiment of the invention.

[0055] Specifically, the sorting accuracy determination unit determines that the sorting process of the target aggregate is unqualified based on the comparison result that the grading accuracy rate is less than the preset accuracy rate; The sorting accuracy determination unit determines that the sorting process of the target aggregate is qualified based on the comparison result that the grading accuracy rate is greater than or equal to the preset accuracy rate.

[0056] Specifically, the preset accuracy rate is determined according to the sorting requirements, and in this embodiment of the invention, it is set to 98%.

[0057] Specifically, the sorting accuracy determination unit determines the first sorting accuracy rate of the target aggregate for path planning using a segmented planning method based on the judgment result of the unqualified sorting process, and determines to increase the time correction coefficient by a number of corresponding time optimization coefficients based on the comparison result that the first sorting accuracy rate is less than the preset accuracy rate.

[0058] Specifically, the sorting accuracy determination unit determines to increase the time correction coefficient by a first time optimization coefficient based on the comparison result that the first accuracy difference between the preset accuracy rate and the first sorting accuracy rate is less than or equal to the preset accuracy difference. Based on the comparison result that the first accuracy difference is greater than the preset accuracy, the duration correction coefficient is increased by the second duration optimization coefficient.

[0059] Specifically, the value of the preset accuracy difference is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [5%, 10%], with 8% being preferred in this embodiment of the invention; the value of the first time optimization coefficient is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [1.05, 1.09], with 1.07 being preferred in this embodiment of the invention; the value of the second time optimization coefficient is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [1.1, 1.15], with 1.12 being preferred in this embodiment of the invention.

[0060] Specifically, the sorting accuracy determination unit determines the second sorting accuracy of the target aggregate based on the judgment result of the unqualified sorting process, and reduces the first preset distance by the corresponding distance optimization coefficient based on the comparison result that the second sorting accuracy is less than the preset accuracy.

[0061] Specifically, the sorting accuracy determination unit determines to reduce the first preset distance by a first distance optimization coefficient based on a comparison result that the difference between the preset accuracy rate and the second sorting accuracy rate is greater than the preset accuracy rate difference. Based on the comparison result that the second accuracy difference is less than or equal to the preset accuracy difference, the first preset distance is reduced by the second distance optimization coefficient.

[0062] Specifically, the value of the first distance optimization coefficient is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [0.85, 0.9], with 0.88 being preferred in this embodiment of the invention; the value of the second distance optimization coefficient is determined based on the historical recycled aggregate recycling process, and the specific value range is set to [0.91, 0.97], with 0.93 being preferred in this embodiment of the invention.

[0063] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A smart recycling system for recycled aggregates from construction waste, characterized in that, include: The data acquisition module includes several image acquisition devices for acquiring image information of the recycled aggregate transportation and discharge process, and several pressure sensors for acquiring the jet pressure of several pneumatic nozzles. A hierarchical control module, connected to the data acquisition module, includes, The target aggregate analysis unit is used to determine several parameters and the actual movement path of the target aggregate based on the image information. The several parameters include the initial position of the target aggregate, the stress characterization value, the classification level, and the corresponding target position. The path planning unit is used to determine the path planning method of the target aggregate based on the straight-line distance between the initial position and the target position to plan an ideal movement path, and to determine the triggering time interval of several overlapping ideal movement paths according to the classification level, and to correct the triggering time interval according to the offset distance between the actual movement path of the target aggregate and the ideal movement path. The jet pressure determination unit is used to determine the initial jet pressure of the pneumatic nozzle based on the path length of the ideal motion path and the force characterization value, and to correct the initial jet pressure based on the jet distance between two adjacent pneumatic nozzles. The sorting accuracy determination unit is used to determine the grading accuracy of the target aggregate based on the image information of the material feeding process, and to determine whether the sorting process is qualified, so as to optimize the path planning method based on the grading deviation of the target aggregate.

2. The intelligent recycling system for recycled aggregates from construction waste according to claim 1, characterized in that, The path planning unit determines the path planning method for the target aggregate as segmented planning based on the comparison result that the straight-line distance is greater than or equal to the first preset distance, and determines the path planning method for the target aggregate as overall planning based on the comparison result that the straight-line distance is less than the first preset distance.

3. The intelligent recycling system for recycled aggregates from construction waste according to claim 2, characterized in that, The path planning unit is also used to determine the classification level of the target aggregate based on the recycling level of the recycled aggregate, and to determine the path planning priority of the target aggregate based on the classification level. Under the condition that several ideal motion paths intersect, the unit determines the triggering order of the ideal motion paths based on the path planning priority, and determines the triggering time interval of several ideal motion paths based on the triggering order.

4. The intelligent recycling system for recycled aggregates from construction waste according to claim 3, characterized in that, The path planning unit is also used to determine that the actual movement path of the target aggregate is unqualified based on the comparison result of the offset angle between the actual movement path and the ideal movement path being greater than a preset angle.

5. The intelligent recycling system for recycled aggregates from construction waste according to claim 4, characterized in that, When the path planning unit determines that the actual motion path is unqualified, it sets several duration correction coefficients corresponding to the comparison results of the offset distance and the second preset distance to increase the trigger time interval.

6. The intelligent recycling system for recycled aggregates from construction waste according to claim 5, characterized in that, The jet pressure determination unit determines the preset jet distance between two adjacent pneumatic nozzles based on the initial jet pressure, and determines that the airflow emitted by the two adjacent pneumatic nozzles interferes based on the comparison result that the jet distance is less than the preset jet distance.

7. The intelligent recycling system for recycled aggregates from construction waste according to claim 6, characterized in that, The jet pressure determination unit, upon determining that there is interference between the airflow emitted by two adjacent pneumatic nozzles, sets several pressure correction coefficients corresponding to the difference between the preset jet distance and the jet distance to reduce the initial jet pressure.

8. The intelligent recycling system for recycled aggregates from construction waste according to claim 7, characterized in that, The sorting accuracy determination unit determines that the sorting process of the target aggregate is unqualified based on the comparison result that the grading accuracy rate is less than the preset accuracy rate.

9. The intelligent recycling system for recycled aggregates from construction waste according to claim 8, characterized in that, The sorting accuracy determination unit determines the first sorting accuracy rate of the target aggregate based on the judgment result of the unqualified sorting process, and determines to increase the time correction coefficient by a number of corresponding time optimization coefficients based on the comparison result that the first sorting accuracy rate is less than the preset accuracy rate.

10. The intelligent recycling system for recycled aggregates from construction waste according to claim 8, characterized in that, The sorting accuracy determination unit determines the second sorting accuracy rate of the target aggregate based on the judgment result of the unqualified sorting process, and reduces the first preset distance by the corresponding distance optimization coefficient based on the comparison result that the second sorting accuracy rate is less than the preset accuracy rate.

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