Waste classification system using air direction control

Abstract

The present invention provides a waste classification system using air direction control, comprising: an image collection unit that collects waste images of waste moving on a conveyor belt; a target object determination unit that determines whether a waste image is a target object to be classified by utilizing an artificial intelligence model; a robot arm that classifies the target object; an air direction conversion device that changes an air direction such that the robot arm can suck in the target object by using air suction force or detach the target object by using air discharge force; and a robot arm designation unit that designates a robot arm to classify the target object.

Description

Waste sorting system using air direction control

[0001] Embodiments of the present invention relate to a waste classification system using air direction control, and more particularly, to a waste classification system using air direction control that controls the direction of air delivered to a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste.

[0002] According to the Waste Management Act, waste other than industrial waste (specific waste), excluding excrement, is defined as general waste. Industrial waste refers to waste generated by industrial activities, while general waste refers to waste, excrement, and other materials generated in connection with daily life (radioactive waste is separately regulated in the Atomic Energy Act).

[0003] Waste can be classified into various categories based on its size, shape, and nature. Large-scale waste includes irregularly disposed household appliances like refrigerators, televisions, and washing machines; discarded furniture like desks and wardrobes; and scrapped cars and bicycles. However, there is also regular waste, such as discarded paper and food waste. Waste can also be categorized as combustible or non-combustible, and further categorized as hazardous waste, such as waste that produces harmful gases when incinerated or pollutes soil and water. Combustible waste is recommended for incineration, while non-combustible waste and waste that produces harmful gases should be landfilled. Hazardous waste containing heavy metals, such as mercury batteries and fluorescent lamps, should be recycled or safely landfilled.

[0004] Generally, waste produces a foul odor and breeds rodents, flies, and other insects, degrading the living environment and posing a public health risk. Furthermore, it takes up valuable living space, causing inconvenience, damaging the aesthetics, and causing discomfort. Because waste damages the environment, it must be disposed of through a series of processes, including containerization, collection, transportation, intermediate treatment, and final disposal.

[0005] The amount of waste plastic generated in Korea is steadily increasing. Since the expansion of the Extended Producer Responsibility (EPR) system in 2003, the issue of recycling this ever-increasing waste plastic has become an urgent issue. The most crucial step in recycling waste plastic is to sort and separate only the necessary waste plastic from the mixed waste. As the scope of recycling expands to include plastic packaging and film, the sorting of these items is becoming a key issue.

[0006] The technical problem to be achieved by the present invention is to provide a waste classification system using air direction control, including a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste, and an air direction change device that can efficiently change the air direction to control the air suction force and discharge force.

[0007] In addition, another technical task to be achieved by the present invention is to provide a waste classification system through air direction control that uses an artificial intelligence model to determine whether a target object to be classified is a target object to be classified based on a multi-class criteria table that is easy to upgrade and allows a user to easily designate the target object to be classified.

[0008] The problems to be solved by the present invention are not limited to the problem(s) mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] A waste classification system using air direction control according to one embodiment of the present invention includes an image collection unit that collects waste images of waste moving on a conveyor belt; a target object determination unit that determines whether the waste image is a target object to be classified using an artificial intelligence model; a robot arm that classifies the target object; an air direction change device that changes the air direction so that the robot arm sucks the target object using air suction force or detaches the target object using air discharge force; and a robot arm designation unit that designates a robot arm that classifies the target object.

[0010] The above target object determination unit can determine whether the above target object is the above target object using an artificial intelligence model based on the waste classification criteria table.

[0011] The above artificial intelligence model can be trained using waste images labeled according to a preset waste classification standard as learning data.

[0012] The above waste classification criteria table is classified into multiple classes, and the first class of the multiple classes is a category based on the material composition of the waste, the second class is a category based on the condition of the waste (whether it is damaged or not), the third class is a category based on the use of the waste, the fourth class is a category based on the color of the waste, and the fifth class may include waste not included in the first class to the fourth class.

[0013] The above target object determination unit can determine whether or not it is the target object based on the class of the waste classification criteria selected by the user.

[0014] The above robot arm may include an intake / exhaust nozzle connected to the air direction conversion device and a gripper that moves the target object by sucking it up using air suction force.

[0015] The air direction conversion device may include a driving control unit that controls the gripping operation of the gripper through air suction force or air discharge force by driving the air direction to be converted to intake or exhaust; an intake / exhaust pipe unit that is arranged to be connected between the driving control unit and the intake / exhaust nozzle; and a branch control unit that is arranged to be connected between each pipe of the intake / exhaust pipe unit and supplies or blocks air according to the opening / closing control of each pipe.

[0016] The above driving control unit can control the gripper to grab and move the waste through air suction force or to release the waste through air discharge force.

[0017] The above driving control unit may be driven by either a blower method or an air compression method. When driven by the blower method, it may be configured as a ring blower, and when driven by the air compression method, it may be configured as an air compressor.

[0018] The above driving control unit can adjust the air intake force and air exhaust force according to the target object.

[0019] The above intake and exhaust pipe section may include an intake-only pipe that serves as a passage through which air sucked through the intake port of the gripper flows in through the intake and exhaust nozzles and is then discharged through an exhaust port provided in the driving control section; an exhaust-only pipe that serves as a passage through which air sucked through the exhaust port flows in through the intake and exhaust nozzles and is then discharged through the intake port of the gripper; and an intake and exhaust common pipe that serves as a passage through which air sucked or exhausted flows according to valve opening and closing control of the branch control section.

[0020] The branch control unit may include a first valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive intake pipe; a second valve having one side connected to the exclusive intake pipe and the other side connected to an air filter; a third valve having one side connected to the exclusive exhaust pipe and the other side connected to the air filter; and a fourth valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive exhaust pipe.

[0021] The above branch control unit can control the direction of all valves provided inside the first to fourth valves horizontally when the air direction is switched to intake by the driving control unit, and can control the direction of all valves provided inside the first to fourth valves vertically when the air direction is switched to exhaust by the driving control unit.

[0022] In the case where multiple robots are used, the robot arm designation unit can match the target object and the robot arm with each other by considering the type and number of classes selected by the user and the number of the robot arms.

[0023] The above robot arm designation unit can change the matching between the target object and the robot arm when the target object classification failure rate according to the matching between the target object and the robot arm is below a preset standard.

[0024] Specific details of other embodiments are included in the detailed description and accompanying drawings.

[0025] According to one embodiment of the present invention, in a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste, the direction of the air can be efficiently changed to control the air suction force and discharge force.

[0026] According to one embodiment of the present invention, the target objects that each robot can classify can be designated to have optimal classification efficiency by considering the number of target objects and robots that the user wants to classify.

[0027] FIG. 1 is a schematic diagram of a waste classification system using air direction control according to one embodiment of the present invention.

[0028] Figure 2 is a schematic diagram of a waste classification system using air direction control according to one embodiment of the present invention.

[0029] FIG. 3 is a drawing illustrating a multi-class criteria table according to one embodiment of the present invention.

[0030] FIG. 4 is a diagram for explaining a user selecting a target object using a multi-class criteria table according to one embodiment of the present invention.

[0031] FIG. 5 is a block diagram illustrating an air direction changing device according to one embodiment of the present invention.

[0032] FIG. 6 is a schematic drawing of a robot arm including an intake / exhaust nozzle and a gripper according to one embodiment of the present invention.

[0033] Figures 7 and 8 are usage state diagrams of an air direction change device according to one embodiment of the present invention.

[0034] FIG. 9 is a schematic diagram of a waste classification system using air direction control with a plurality of robot arms applied according to one embodiment of the present invention.

[0035] With respect to the embodiments of the present invention disclosed in the text, specific structural and functional descriptions are merely illustrative for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and should not be construed as being limited to the embodiments described in the text.

[0036] The present invention is susceptible to various modifications and takes various forms. Specific embodiments are illustrated in the drawings and described in detail herein. However, this is not intended to limit the invention to specific disclosed forms, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0037] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms may be used to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component."

[0038] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components in between. Conversely, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions that describe the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

[0039] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "has" indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0040] As used herein, the term "waste" includes plastics, PET bottles, glass bottles, glass, paper, Styrofoam, general waste, and industrial waste.

[0041] The target object used in this specification refers to an object to be classified among various types of objects such as waste.

[0042] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning within the context of the relevant technology, and shall not be construed in an idealized or overly formal sense unless explicitly defined herein.

[0043] Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. Identical components in the drawings are designated by the same reference numerals, and redundant descriptions of identical components are omitted.

[0044]

[0045] FIG. 1 is a schematic drawing of a waste classification system through air direction control according to one embodiment of the present invention, and FIG. 2 is a schematic diagram of a waste classification system through air direction control according to one embodiment of the present invention.

[0046] Referring to FIGS. 1 and 2, a waste classification system (1000) using air direction control according to an embodiment of the present invention collects objects (10), such as waste, moving on a conveyor belt (600), through an image collection unit (100), selects a target object to be classified through a target object determination unit (200), and then classifies the target object through a robot arm (500). In addition, the waste classification system (1000) using air direction control according to an embodiment of the present invention includes a robot arm designation unit (300) that designates a robot arm (500) to classify a target object, and an air direction change device (400) that changes the air direction so that the robot arm (500) can adsorb and desorb the target object.

[0047] The image collection unit (100) can collect images of an object (10) and then preprocess the image data.

[0048] In addition to a vision camera, various sensors may be used as equipment for collecting waste images used in the image collection unit (100). For example, an optical sensor, an infrared sensor, an ultrasonic sensor, a metal detector, an x-ray sensor, a radar sensor, etc. may be used.

[0049] The image collection unit (100) may be installed in various locations depending on the embodiment. For example, a first vision camera (110) may be installed at the beginning of the movement of waste on a conveyor belt (600), and a second vision camera (120) may be installed coupled to a robot arm (500).

[0050] According to an embodiment, a waste classification system (1000) using air direction control according to an embodiment of the present invention can select a target object through object (10) information collected through a first vision camera (110), and designate a target object to be classified by a robot arm (500) having a second vision camera (120) installed thereon through object (10) information collected through a second vision camera (120).

[0051] The robot (500) according to the embodiment of the present invention is a robot for classifying a target object moving on a conveyor belt, and a suction robotic arm may be used.

[0052] The target object determination unit (200) can determine whether the waste image obtained through the image collection unit (100) is a target object to be classified using an artificial intelligence model.

[0053] The artificial intelligence model used to determine whether the target object is a target object may utilize deep learning or a neural network. Neural network models may include, but are not limited to, various types of models such as CNN (Convolution Neural Network), R-CNN (Region with Convolution Neural Network), RPN (Region Proposal Network), RNN (Recurrent Neural Network), S-DNN (Stacking-based deep Neural Network), S-SDNN (State-Space Dynamic Neural Network), Deconvolution Network, DBN (Deep Belief Network), RBM (Restrcted Boltzman Machine), Fully Convolutional Network, LSTM (Long Short-Term Memory) Network, Classification Network, etc.

[0054]

[0055] The target object determination unit (200) can determine whether the object is the target object based on the waste classification criteria table using an artificial intelligence model.

[0056] The target object determination unit (200) can use an artificial intelligence model that is trained using waste images labeled according to a preset waste classification standard as learning data.

[0057] A waste classification criteria table according to one embodiment of the present invention may include multiple classes, each of which has its own classification criteria.

[0058] FIG. 3 is a drawing illustrating a multi-class criteria table according to one embodiment of the present invention, and FIG. 4 is a drawing illustrating a user selecting a target object using a multi-class criteria table according to one embodiment of the present invention.

[0059] Referring to FIG. 3, the first class (Class 1) of the multi-class may be a category based on the material composition of the waste, the second class (Class 2) may be a category based on the condition (whether damaged) of the waste, the third class (Class 3) may be a category based on the use of the waste, and the fourth class (Class 4) may be a category based on the color of the waste. The fifth class (Class 5) may be a category that includes waste that is not included in any of the first to fourth classes.

[0060] Referring to FIG. 4, the target object determination unit (200) can determine whether or not it is a target object based on the class of the waste classification criteria selected by the user.

[0061] Users can freely select (Class 1, Class 2, Class 3, Class 4).

[0062] For example, a user can select (PP, damaged, yogurt, white), and the target object determination unit (200) can determine the target object using artificial intelligence based on a multi-class classification criterion selected by the user among images of waste moving on a conveyor belt.

[0063] Users can create multiple multi-class classifiers, as well as various class combinations. For example, a user can create a multi-class classifier {(PP, damaged, yogurt, white), (PET, none, none, black)}. Here, none means that no items in that class are selected, meaning that the classifier for that class is not considered.

[0064] The target object determination unit (200) can add new classification attributes to the waste classification criteria table.

[0065] The target object determination unit (200) can derive new classification attributes from waste images classified into the fifth class using an artificial intelligence model or upgrade the waste classification criteria table using new classification attributes input by the user.

[0066] In the past, in order to upgrade a waste classification standard, there was a difficulty in that the user had to individually specify the types and conditions of waste that were not in the existing waste classification standard. However, in the present invention, by utilizing waste images classified into the fifth class, new classification attributes can be automatically derived and upgraded through an artificial intelligence model.

[0067] The artificial intelligence model used at this time can analyze waste images classified into the fifth class and derive classification attributes corresponding to the new class.

[0068] For example, by extracting features from images of waste classified into the fifth class using a convolutional neural network (CNN), new classification attributes can be derived to classify images based on these features.

[0069] Here, the new classification attribute may be a new item of an existing class, or it may be a criterion for specifying a new class.

[0070] The target object determination unit (200) can automatically label new classification attributes added to waste images classified into the fifth class, and retrain an artificial intelligence model using the labeled waste images as training data to improve the performance of the target object determination unit.

[0071] The air direction conversion device (400) can change the air direction so that the robot arm can suck up the target object using air suction force or detach the target object using air discharge force.

[0072] FIG. 5 is a block diagram illustrating an air direction changing device according to one embodiment of the present invention, FIG. 6 is a schematic drawing of a robot arm including an intake / exhaust nozzle and a gripper according to one embodiment of the present invention, and FIGS. 7 and 8 are use state diagrams of an air direction changing device according to one embodiment of the present invention.

[0073] Referring to FIGS. 5 to 8, an air direction change device (400) according to one embodiment of the present invention can be installed to be connected through a robot arm (500), a gripper (520), and an intake / exhaust nozzle (510).

[0074] The robot arm (500) can grab and move waste (waste plastic, cans, etc.) moving on a conveyor belt. The robot arm (500) grabs waste using air suction power, and can utilize air exhaust power when releasing waste.

[0075] To this end, the air direction change device (400) may be configured to include a driving control unit (410), an intake / exhaust pipe unit (420), and a branch control unit (430).

[0076] The drive control unit (410) can control the gripping action of the gripper (520) through the air suction force or air discharge force by driving the air direction to be switched to intake or exhaust.

[0077] The drive control unit (410) can control the gripper (520) to grab and move the waste through air suction force or to release the waste through air discharge force.

[0078] The driving control unit (410) can be driven by a pneumatic generating device.

[0079] For example, the driving control unit (410) can be driven by either a blower method or an air compression method.

[0080] When driven by a blower method, the driving control unit (410) may be configured as a ring blower. A ring blower is a mechanical device widely used in industrial sites and machines that require pressurized air, and is a fluid machine that can produce a large head at a small flow rate.

[0081] Meanwhile, when driven by air compression, the drive control unit (410) may be configured as an air compressor. An air compressor is a pneumatic device that converts electric power (such as an electric motor, diesel or gasoline engine) into potential energy stored in compressed air.

[0082] For reference, the drive control unit (410) according to one embodiment of the present invention may be implemented as a blow-type ring blower. However, the present invention is not limited thereto, and the drive control unit (410) may of course be implemented as an air compressor of the air compression type.

[0083] Although the above description has described the blower type or air compression type as the pneumatic generator, this is merely an example among many embodiments of the present invention. In other embodiments of the present invention, a flammable gas compressor, a piston type air brush, a gasoline compressor, etc. may be applied.

[0084] The intake and exhaust pipe section (420) may be arranged to be connected between the driving control section (410) and the intake and exhaust nozzle (510). The intake and exhaust pipe section (420) may be configured to include an intake-only pipe (421), an exhaust-only pipe (422), and an intake and exhaust common pipe (423).

[0085] That is, the intake and exhaust pipe section (420) can be arranged so that one side of the intake-only pipe (421) is connected to the drive control section (410), and the other side of the intake-only pipe (421) is connected to the intake and exhaust common pipe (423), more specifically, to the first valve (431) and second valve (432) described later.

[0086] In addition, the intake and exhaust pipe section (420) may be arranged so that one side of the exhaust-only pipe (422) is connected to the driving control section (410), and the other side of the exhaust-only pipe (422) is connected to the intake and exhaust common pipe (423), more specifically, to the third valve (433) and fourth valve (434) described later.

[0087] In addition, the intake and exhaust pipe section (420) can be arranged so that one side of the intake and exhaust common pipe (423) is connected to the intake and exhaust nozzle (510), and the other side of the intake and exhaust common pipe (423) is connected to the intake-only pipe (421) and the exhaust-only pipe (422) through the first to fourth valves (431, 432, 433, 434).

[0088] The intake and exhaust pipe section (420) arranged as described above can perform the function of intake air through the intake-only pipe (421).

[0089] That is, the intake-only pipe (421) can serve as a passage through which air sucked in through the intake port of the gripper (520) is introduced via the intake / exhaust nozzle (510) and then discharged through the exhaust port provided in the driving control unit (410).

[0090] In addition, the intake and exhaust pipe section (420) arranged as described above can perform the function of discharging air through the exhaust-only pipe (422).

[0091] That is, the exhaust-only pipe (422) can serve as a passage through which air sucked in through the exhaust port provided in the driving control unit (410) is discharged through the intake port of the gripper (520) via the intake / exhaust nozzle (510).

[0092] In addition, the intake and exhaust pipe section (420) arranged as described above can perform the function of selectively intake or exhaust air through the intake and exhaust common pipe (423).

[0093] That is, the intake and exhaust common pipe (423) can serve as a passage through which intake or exhaust air flows according to the valve opening and closing control of the branch control unit (430).

[0094] The branch control unit (430) is arranged to be connected between each pipe (421, 422, 423) of the intake / exhaust pipe unit (420), and can perform the function of supplying or blocking air according to the opening / closing control of each pipe (421, 422, 423).

[0095] For this purpose, the branch control unit (430) may be configured to include a first valve (431), a second valve (432), a third valve (433), and a fourth valve (434).

[0096] The first valve (431) can be arranged so that one side is connected to the intake and exhaust common pipe (423) and the other side is connected to the intake-only pipe (421).

[0097] The second valve (432) can be arranged so that one side is connected to the intake-only pipe (421) and the other side is connected to the air filter (240).

[0098] The third valve (433) can be arranged so that one side is connected to the exhaust-only pipe (422) and the other side is connected to the air filter (240).

[0099] The fourth valve (434) can be arranged so that one side is connected to the intake and exhaust common pipe (423) and the other side is connected to the exhaust-only pipe (422).

[0100] The branch control unit (430) arranged as described above can horizontally control the direction of all valves provided inside the first to fourth valves (431, 432, 433, 434) when the air direction is switched to intake by the driving control unit (410).

[0101] On the other hand, when the air direction is switched to exhaust by the driving control unit (410), the branch control unit (430) can vertically control the direction of all the valves provided inside the first to fourth valves (431, 432, 433, 434).

[0102] Meanwhile, an air direction change device (400) according to one embodiment of the present invention may be configured to additionally include a ring blower intake air filter (450) in the middle of an intake-only pipe (421) of the intake / exhaust pipe section (420). The ring blower intake air filter (250) is a filter device for filtering out foreign substances, etc., in the air sucked in by the blower.

[0103] Hereinafter, the operation process according to intake and exhaust of the air direction change device according to one embodiment of the present invention will be described with reference to FIGS. 7 and 8.

[0104] Referring to Figure 7, the operation process according to intake is described as follows.

[0105] First, when an intake command is transmitted to the ring blower and branch control unit (430), which is an example of the drive control unit (410), the ring blower rotates the impeller located inside the casing at high speed to intake external air.

[0106] At the same time, the first to fourth valves (431, 432, 433, 434) of the branch control unit (430) can all change the direction of the valves to the horizontal direction through valve control.

[0107] Accordingly, air sucked in from the outside, that is, air sucked in through the gripper (520) and the intake / exhaust nozzle (510), is introduced through the intake / exhaust pipe (420) as a passage, and in this process, air sucking force is generated, so that waste moving on the conveyor belt can be grabbed and moved through the gripper (520).

[0108] Meanwhile, referring to Fig. 8, the operation process according to exhaust is described as follows.

[0109] First, when an exhaust command is transmitted to the ring blower and branch control unit (430), which is an example of the driving control unit (410), the ring blower generates friction of the fluid as the impeller grooves, which are dug radially along the circumference of the impeller located inside the casing, rotate inside the casing, and the resulting pressure change increases the head to discharge (exhaust) air to the outside.

[0110] At the same time, the first to fourth valves (431, 432, 433, 434) of the branch control unit (430) can all change the direction of the valves to the vertical direction through valve control.

[0111] Accordingly, the air discharged from the ring blower is discharged through the intake / exhaust nozzle (510) and the gripper (520) via the intake / exhaust pipe (420), and in this process, an air discharge force is generated to release the action of the gripper (520), so that the waste held by the gripper (520) can be placed at the target point.

[0112] FIG. 9 is a schematic diagram of a waste classification system using air direction control with a plurality of robot arms applied according to one embodiment of the present invention.

[0113] The robot arm designation unit (300) can designate a robot arm to classify a target object using a multi-class waste classification criteria table.

[0114] In cases where multiple robot arms are used, the robot arm designation unit (300) can match the target object and the robot arm with each other by considering the type and number of classes selected by the user and the number of robot arms.

[0115] For example, a user can create target objects to be classified using multi-class classification criteria, such as {(PP, damaged, yogut, white), (PET, none, none, black)}, (PE, damaged, Drink, black)}, (Glass, original, soju, clear)}, (PET, original, Drink, clear)}, (PS, original, Sauce, white)}.

[0116] Referring to FIG. 9, the robot arm designation unit (300) can match a robot arm to classify each target object by considering the type and number of classes and the number of robots among the target objects selected by the user. For example, based on class 1, {(PET, none, none, black)}, (PET, original, Drink, clear)} can be designated to be classified by the first robot arm (510), and {(PP, damaged, yogurt, white), (PE, damaged, Drink, black)}, (Glass, original, soju, clear)}, (PS, original, Sauce, white)} can be designated to be classified by the second robot arm (520).

[0117] The robot arm designation unit (300) can change the matching between the target object and the robot arm when the target object classification failure rate according to the matching between the target object and the robot arm falls below a preset standard.

[0118] For example, based on the class 1 described above, {(PET, none, none, black)}, (PET, original, Drink, clear)} are matched with the first robot arm (510), and {(PP, damaged, yogurt, white), (PE, damaged, Drink, black)}, (Glass, original, soju, clear)}, (PS, original, Sauce, white)} are matched with the second robot arm (520), and then, if the target object classification failure rate becomes lower than a preset standard, the matching can be changed based on class 2. In another embodiment, if there are 6 target object classifications selected by the user and 2 robots, each robot can divide and match 3 target object classifications.

[0119] In this way, the target object classification system using the multi-class classification criteria according to the present invention can designate the target objects that each robot can classify so as to have optimal classification efficiency by considering the number of target objects and robots that the user wants to classify.

[0120] The systems or devices described above may be implemented as hardware components, or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0121] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may independently or collectively command the processing device. The software and / or data may be embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0122] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., singly or in combination. The medium may continuously store a computer-executable program, or may temporarily store it for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or multiple hardware combinations, and is not limited to a medium directly connected to a computer system, but may also be distributed over a network. Examples of the medium may include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and those configured to store program commands, including ROM, RAM, and flash memory. In addition, examples of other media may include recording media or storage media managed by app stores that distribute applications, sites that supply or distribute various software, servers, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0123] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0124] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. An image collection unit that collects waste images of waste moving on a conveyor belt; A target object determination unit that determines whether the above waste image is a target object to be classified using an artificial intelligence model; A robot arm that classifies the above target object; An air direction changing device that changes the direction of air so that the robot arm can suck up the target object using air suction force or detach the target object using air discharge force; and A waste classification system using air direction control, including a robot arm designation unit that designates a robot arm to classify the above target object.

2. In paragraph 1, A waste classification system using air direction control, characterized in that the above target object determination unit determines whether the target object is the above target object using an artificial intelligence model based on a waste classification standard table.

3. In paragraph 2, A waste classification system using air direction control, characterized in that the above artificial intelligence model is learned using waste images labeled according to a preset waste classification standard as learning data.

4. In paragraph 2, A waste classification system using air direction control, characterized in that the above waste classification criteria are classified into multiple classes, the first class of the multiple classes is a category based on the material composition of the waste, the second class is a category based on the condition (whether damaged) of the waste, the third class is a category based on the use of the waste, the fourth class is a category based on the color of the waste, and the fifth class includes waste not included in the first class to the fourth class.

5. In paragraph 4, A waste classification system using air direction control, characterized in that the target object determination unit determines whether the object is the target object based on the class of the waste classification criteria selected by the user.

6. In paragraph 1, The above robot arm is a waste classification system using air direction control, including an intake / exhaust nozzle connected to the air direction conversion device and a gripper that moves the target object by using air suction force.

7. In paragraph 6, The above air direction changing device is, A driving control unit that controls the gripping motion of the gripper through air suction force or air discharge force by driving the air direction to be converted to intake or exhaust; An intake and exhaust pipe portion arranged to be connected between the above driving control portion and the intake and exhaust nozzle; and A branch control unit arranged to be connected between each pipe of the above intake and exhaust pipe section, and supplying or blocking air according to the opening and closing control of each pipe A waste classification system using air direction control, characterized in that it includes.

8. In paragraph 7, The above driving control unit A waste classification system using air direction control, characterized in that the gripper is controlled to grab and move the waste through air suction force or to release the waste through air discharge force.

9. In paragraph 7, The above driving control unit A waste classification system using air direction control, characterized in that it is driven by either a blower method or an air compression method, and is configured with a ring blower when driven by the blower method, and is configured with an air compressor when driven by the air compression method.

10. In paragraph 7, A waste classification system using air direction control, characterized in that the above driving control unit adjusts the air suction force and air discharge force according to the target object.

11. In paragraph 7, The above intake and exhaust pipe section An intake-only pipe that serves as a passage through which air sucked in through the intake port of the gripper is introduced through the intake / exhaust nozzle and then discharged through the exhaust port provided in the drive control unit; An exhaust-only pipe that serves as a passage through which air sucked in through the exhaust port is discharged through the intake port of the gripper via the intake / exhaust nozzle; and A common intake and exhaust pipe that serves as a passage through which intake or exhaust air flows according to the valve opening and closing control of the above branch control unit. A waste classification system using air direction control, characterized in that it includes.

12. In paragraph 11, The above branch control unit A first valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive intake pipe; A second valve having one side connected to the intake-only pipe and the other side connected to the air filter; A third valve having one side connected to the exhaust-only pipe and the other side connected to the air filter; and A fourth valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive exhaust pipe A waste classification system using air direction control, characterized in that it includes.

13. In paragraph 12, The above branch control unit A waste classification system using air direction control, characterized in that when the air direction is switched to intake by the driving control unit, the direction of all valves provided inside the first to fourth valves is controlled horizontally, and when the air direction is switched to exhaust by the driving control unit, the direction of all valves provided inside the first to fourth valves is controlled vertically.

14. In paragraph 1, A waste classification system using air direction control, characterized in that when multiple robots are used, the robot arm designation unit matches the target object and the robot arm with each other by considering the type and number of classes selected by the user and the number of the robot arms.

15. In paragraph 14, A waste classification system using air direction control, characterized in that the robot arm designation unit changes the matching between the target object and the robot arm when the target object classification failure rate according to the matching between the target object and the robot arm falls below a preset standard.

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