CN113458013A - Construction waste sorting system and method based on CCD detection and belt feeding - Google Patents
Construction waste sorting system and method based on CCD detection and belt feeding Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000002699 waste material Substances 0.000 title claims abstract description 27
- 238000010276 construction Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 239000011449 brick Substances 0.000 claims abstract description 123
- 239000000463 material Substances 0.000 claims abstract description 94
- 239000004568 cement Substances 0.000 claims abstract description 64
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000012216 screening Methods 0.000 claims abstract description 15
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
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Abstract
The invention discloses a construction waste sorting system and method based on CCD detection and belt feeding, which mainly comprises the following steps: primarily screening the mixed materials by a vibration feeding device; the belt conveying device is used for conveying the mixed material output by the vibration feeding device in a flat laying mode; the line scanning camera is used for acquiring images of the mixed materials separated from the belt conveying device; the industrial personal computer is used for reading and operating the acquired images, calculating the coordinate ranges of the red bricks and the cement blocks and calculating the serial numbers and the action delay time of the electromagnetic valves; sorting unit includes a plurality of solenoid valve, and the solenoid valve utilizes high-pressure draught to select separately the cement piece and the red brick piece in the misce bene, can effectually select separately the cement piece and red brick piece, makes its product purity after selecting separately higher, can guarantee to mix in the cement piece red brick piece quantity within 5% to can use the occasion of difference according to the material difference of product with the higher product of purity, improve the recycle value of product.
Description
Technical Field
The invention relates to the technical field of building garbage sorting, in particular to a building garbage sorting system and method based on CCD detection and belt feeding.
Background
The old building in city etc. demolish and have a large amount of cement blocks and red brick piece etc. mix together after having, use artificial mode to select separately massive red brick piece and cement block in the existing market mainly, carry out rough classification to red brick piece and cement block, handle according to red brick piece basically to the massive lump that red brick piece and cement mix, and current device can only carry out rough separation to cement and red brick piece in the building rubbish, and can't further separation processing to the mixing portion of cement and red brick piece, the purity that leads to selecting separately cement and red brick piece is not high, can't effectively classify and retrieve and utilize.
Disclosure of Invention
Objects of the invention
In view of the above problems, the present invention aims to provide a construction waste sorting system and method based on CCD detection and belt feeding, which can effectively sort cement blocks and red brick blocks, the sorted product has high purity, the amount of red brick blocks mixed in the cement blocks is ensured to be within 5%, the product with higher purity can be applied to different occasions according to different material quality of the product, and the recycling value of the product is improved.
(II) technical scheme
As a first aspect of the present invention, the present invention discloses a construction waste sorting system based on CCD detection and belt feeding, comprising:
the vibrating feeding device comprises a feeding hole and a discharging hole, mixed materials enter the vibrating feeding device from the feeding hole, and the vibrating feeding device is used for primarily screening the mixed materials;
the belt conveying device is arranged below the discharge hole of the vibration feeding device and is used for conveying the mixed material output by the vibration feeding device in a tiled mode;
the line scanning camera is arranged at the tail end of the belt conveying device and used for acquiring images of the mixed materials separated from the belt conveying device;
the industrial personal computer is used for reading and operating the acquired images, calculating the coordinate ranges of the red bricks and the cement blocks, calculating the serial numbers and the action delay time of the electromagnetic valves according to the coordinate ranges of the red bricks and the cement blocks, and controlling the subpackaging device to move;
the sorting device is arranged below the belt conveying device and comprises a plurality of electromagnetic valves, and the electromagnetic valves are used for sorting cement blocks and red brick blocks in the mixed material by utilizing high-pressure airflow;
the collecting device comprises two collecting boxes which are respectively used for storing cement blocks and red brick blocks.
In a possible embodiment, the sorting system further comprises a light source disposed above the belt conveyor for providing a light source for the line scanning camera to collect images.
In a possible implementation mode, the sorting system further comprises a crusher and a hoister, the crusher comprises a bin inlet, a bin and a bin outlet, the mixed material to be sorted is crushed in the bin from the bin inlet, the crushed mixed material enters the hoister from the bin outlet, and the mixed material is conveyed to the feeding hole of the vibration feeding device by the hoister.
In one possible implementation, the industrial personal computer comprises an image processing module, a computing module, a partition module and a control module;
the partitioning module is used for partitioning the image into a plurality of areas and numbering each area separately;
the image processing module is used for processing the image in each area and converting RGB into three-color calculation standard of HSV;
the calculation module is used for calculating the number of the electromagnetic valve and the time delay of the electromagnetic valve;
and the control module is used for controlling the corresponding electromagnetic valve to be started according to the calculated electromagnetic valve number and the electromagnetic valve delay time.
In a possible embodiment, a plurality of the electromagnetic valves are arranged and combined in a matrix manner, wherein the distance between two adjacent electromagnetic valves is smaller than the particle diameter of the red brick.
As a second aspect of the present invention, the present invention also discloses a construction waste sorting method based on CCD detection and belt feeding, comprising:
primarily screening the mixed materials, and conveying the primarily screened mixed materials to a belt conveying device in a flat spreading manner;
collecting an image of the mixed material separated from the belt conveyor;
reading and calculating the collected image, calculating the coordinate range of the red brick block and the cement block, and calculating the serial number and the action delay time of the electromagnetic valve according to the coordinate range of the red brick block and the cement block;
and controlling the corresponding electromagnetic valve to be opened, and separating the cement blocks and the red brick blocks in the mixed material by utilizing high-pressure airflow.
In a possible embodiment, the reading and the operation of the collected image are performed to calculate a coordinate range of a red brick and a cement block, and a number and an action delay time of the electromagnetic valve are calculated according to the coordinate range of the red brick and the cement block, and specifically includes:
dividing the image into a plurality of areas, and numbering each area separately;
processing the image in each area, and converting RGB into three-color calculation standard of HSV;
calculating the proportion value of the red pixel in each region, and if the proportion of the red pixel is greater than a threshold value, marking the region as a red brick region;
calculating the number of the electromagnetic valve by using the coordinate corresponding to the leftmost side of the red brick block and the coordinate corresponding to the rightmost side of the red brick block in the red brick block area;
and calculating the time delay of the electromagnetic valve by using the falling time of the mixed material and the time for processing the image.
In a possible embodiment, the leftmost corresponding coordinates of the red brick are as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the leftmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
In a possible embodiment, the coordinates corresponding to the rightmost edge of the red brick are as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the rightmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
In one possible embodiment, the solenoid valve delay time is calculated by the following formula:
calculating the time required by the mixed material to reach the CCD shooting position:
in the formula:
the height of a CCD shooting position from a belt is obtained, and g is gravity acceleration;
calculating the time required for the mixed material to reach the position of the solenoid valve:
in the formula:
the height of the electromagnetic valve from the belt is shown, and g is gravity acceleration;
calculating the time delay of the electromagnetic valve:
in the formula:
the actual time the CCD processes the image.
(III) advantageous effects
The invention discloses a construction waste sorting system and method based on CCD detection and belt feeding, which have the following beneficial effects:
1. the vibration feeding device is used for carrying out coarse screening on the mixed materials so as to ensure that the particle diameter of the mixed materials is kept between 15mm and 50mm and prevent the separation difficulty caused by too large or too small particles.
2. Vibration feedway exports the mode that the department was tiled with the misce bene in the export after the vibration to ensure that the misce bene on the belt conveyors can evenly distributed, avoid folding the material condition and take place.
3. The belt conveying device keeps running within the range of 1.5m/s-3m/s, so that the mixed material can be ensured to have high enough speed when flying out of the belt and can be separated from the belt line as soon as possible, and the light source and the camera can obtain clearer images with better effect conveniently.
4. The industrial personal computer reads and calculates the collected image, finds out the coordinate range of the red bricks and the cement blocks in the image by using an image processing method, and calculates the number and the action delay time of the electromagnetic valve required by the blown red bricks.
5. The electromagnetic valve is a high-frequency quick-response high-flow electromagnetic valve, the response speed of the electromagnetic valve switch is guaranteed to be within 5ms, and the flow is over 150L/min, so that sufficient gas can be blown out in a short time, and red brick blocks or cement blocks to be sorted are taken away.
6. In the shot image, the total number of the electromagnetic valves is far greater than the number of the red bricks, the distance between every two adjacent electromagnetic valves is 5-10mm, and the electromagnetic valves are evenly distributed, so that the number of the corresponding electromagnetic valves can be at least 3 when each red brick falls, the electromagnetic valves with enough number can work simultaneously, and enough air flow is provided to blow out the red bricks.
7. And in the image processing module, the misjudged partition is corrected by adopting a water-cooling algorithm, so that the sorting accuracy is ensured.
Drawings
The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.
FIG. 1 is a block diagram of a construction waste sorting system based on CCD detection and belt feeding according to the present invention;
FIG. 2 is a schematic diagram of a construction waste sorting system based on CCD detection and belt feeding according to the present disclosure;
FIG. 3 is a flow chart of the operation of a construction waste sorting system based on CCD detection and belt feeding according to the present invention;
FIG. 4 is a flow chart of a construction waste sorting method based on CCD detection and belt feeding disclosed by the present invention;
fig. 5 is a flowchart for calculating the number and the operation delay time of the solenoid valve according to the present invention.
Reference numerals:
100. a vibratory feeding device; 200. a belt conveyor; 300. a line scanning camera; 400. an industrial personal computer; 410. an image processing module; 420. a calculation module; 430. a partitioning module; 440. a control module; 500. an electromagnetic valve; 600. a cement block collecting box 700 and a red brick block collecting box; 800. a light source.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.
It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
A first embodiment of a construction waste sorting system based on CCD detection and belt feeding according to the present disclosure is described in detail below with reference to fig. 1-3. The embodiment is mainly applied to sorting of construction wastes, the particle diameter of the mixed materials is kept within the range of 15-50 mm, the cement blocks and the red brick blocks can be effectively sorted, the sorted product is high in purity, the quantity of the red brick blocks mixed in the cement blocks is guaranteed to be within 5%, the product with higher purity can be applied to different occasions according to different materials of the product, and the recycling value of the product is improved.
As shown in fig. 1-2, the present embodiment mainly includes a vibration feeding device 100, a belt conveying device 200, a line scanning camera 300, an industrial personal computer 400, a sorting device, and a collecting device.
The vibration feeding device 100 comprises a vibration motor, a bin and a supporting seat, wherein one end of the bin is a feeding hole, the other end of the bin is a discharging hole, the supporting seat is arranged below the bin and used for supporting the bin, the position of the feeding hole of the bin in the vertical direction is higher than that of the discharging hole, so that the bin and the ground have certain inclination, and the inclination range is 5-15 degrees. The mixture that will contain red fragment of brick and cement piece drops into the feed bin from the feed inlet in, under vibrating motor's effect, tentatively screens the misce bene, and in tentatively screening, the misce bene can be slow towards discharge gate direction motion to reach the effect of tentatively screening and tiling.
The vibration feeding device 100 primarily screens the mixed materials, so that the particle diameters of the mixed materials are kept within the range of 15mm-50mm, the excessive or insufficient particle diameters of the mixed materials are avoided, the sorting difficulty is increased, for example, the product with large particle diameter can not be discharged due to insufficient air flow, and the product with small particle diameter can not be discharged due to other reasons such as overlapping.
Two vibrating motors that always operate are installed to the feed bin bottom, vibrating motor is preferably eccentric motor, in vibrating motor action in-process, the motion of perpendicular to feed bin can also be made to the mixed material by vibrating motor's effect, simultaneously can the downstream under the action of gravity, also can lead to direction of motion and orbit to change because of the collision between the mixed material in the motion process, thereby make the mixed material more tend to move the position that the mixed material density is not high, thereby the material overlapping condition of mixed material has been avoided, in addition the mixed material is in the motion process under the action of gravity downstream, the weight of the composition of different mixed materials is different, gravity and frictional force that receive are also inconsistent, thereby make the mixed material further part at the motion in-process, also can avoid the condition emergence of overlapping.
The belt conveyor 200 is disposed below the discharge port of the vibratory feeding device 100, and is used for conveying the mixed material output by the vibratory feeding device 100 in a tiled manner. Belt conveyor 200 includes driving motor, belt, drive roll and driven voller, and the drive roll and the driven voller outside are located to the belt cover, and driving motor's output shaft and drive roll fixed connection drive the electronic drive roll rotation to drive the belt motion, the mixed material after the preliminary screening of belt transportation, the mixed material breaks away from the belt end with the orbit of parabola in proper order at the end of belt.
Further, the driving motor can adopt a three-phase asynchronous motor with a speed reducer, and the driving motor drives the belt to run to a set speed and stably run at the speed. The belt will drive the cement and red brick mixture on the belt to quickly reach the running speed of the belt and keep running at a speed which is relatively static with the belt. The running speed of the general belt is kept within the range of 1.5m/s-3m/s, and when the belt runs within the range, the mixed material can be ensured to have high enough speed when flying out of the belt and can be separated from the belt as soon as possible, so that the line scanning camera 300 can obtain clearer and better-effect images conveniently.
The line scanning camera 300 is arranged at the tail end of the belt conveyor device 200, and a camera of the line scanning camera 300 faces the tail end of the belt conveyor device 200 and is used for collecting images of mixed materials separated from the belt conveyor device 200 and sending the collected images to the industrial personal computer 400.
Further, the mixed materials are sequentially separated from the belt at the end of the belt in a parabolic track, and when the mixed materials fall within the photographing range of the line scanning camera 300, the line scanning camera 300 can photograph and generate a picture of the mixed materials in a short time, for example, 10ms to 30ms, and transmit the picture to the industrial personal computer 400.
Further, the line scan camera 300 can adopt a high-speed line color line scan camera, and the pixel size is 3.5um-7um, which can ensure the pixel precision.
Further, the position of the line scanning camera 300 from the mixed material is optimal within the range of 1400mm-1600mm, and when the distance is within the range, the line scanning camera 300 can be ensured to just cover all the dropped mixed material on the belt, and each pixel inside the line scanning camera 300 can be fully utilized to provide high-definition pictures.
Further, the line scanning camera 300 adopts a CCD camera, collects images of the mixed materials separated from the belt conveyor 200 at a high speed, and transmits the images to an industrial personal computer.
Software in the industrial personal computer 400 reads and calculates the acquired image, respectively finds out red bricks and cement blocks in the image by using an image processing method, calculates and records the coordinate ranges of the red bricks and the cement blocks, calculates the number and the action delay time of the electromagnetic valve 500 which needs to act in the process of blowing out the red bricks according to the coordinate ranges of the red bricks and the cement blocks, and sends the number and the action delay time of the electromagnetic valve 500 to the sorting device.
Sorting unit locates belt conveyor 200 below, and sorting unit includes a plurality of solenoid valve 500, and solenoid valve 500 utilizes high-pressure draught to select separately the cement piece and the red brick piece in the misce bene. According to the solenoid valve number and the action delay time sent by the industrial personal computer 400, after the corresponding solenoid valve 500 receives a signal, air blowing is started, and the red brick blocks required to be sorted are blown out.
Further, the electromagnetic valve 500 can adopt a high-speed electromagnetic valve, the high-speed electromagnetic valve adopts a high-frequency quick-response large-flow electromagnetic valve, the response speed of the switch of the electromagnetic valve 500 is ensured within 5ms, and the flow is more than 150L/min, so that enough gas can be blown out in a short time, and red brick blocks or cement blocks needing to be sorted in the mixed material are taken away.
The collecting device is arranged below the belt conveying device 200 and used for collecting the sorted products, and the collecting device comprises two collecting boxes, namely a cement block collecting box 600 for storing cement blocks and a red brick block collecting box 700 for storing red bricks.
Further, after the sorting is completed, two different belt lines can be placed on the lower portions of the cement block collecting box 600 and the red brick block collecting box 700, and cement and red brick blocks are respectively transported to different places, so that the sorting of construction waste materials is completed.
In one embodiment, the sorting system further comprises a light source 800, and the light source 800 is disposed above the belt conveyor for providing the light source 800 for the line scanning camera 300 to collect images.
The light source 800 in this embodiment is a light source dedicated to the line scanning camera 300, the light source 800 is installed in a range of 150mm-400mm from the falling position of the mixed material, the color temperature of the light source 800 is 6000K-10000K, the original brightness of the light source 800 is 100 ten thousand Lux, and the color of the light source 800 is white.
As shown in fig. 3, in an embodiment, the sorting system further includes a crusher and an elevator, the crusher includes a bin inlet, a bin and a bin outlet, the mixed material to be sorted enters the bin from the bin inlet to be crushed, the crushed mixed material enters the elevator from the bin outlet, and the elevator is used to convey the mixed material to the feeding port of the vibratory feeding device 100.
In this embodiment, the breaker is earlier with the mixing material breakage to the mixing material after accomplishing the breakage transmits to vibration feedway 100 through the lifting machine, and vibration feedway 100 carries out preliminary screening to the mixing material after the breakage, has advanced preliminary screening back, puts into the breaker again with the mixing material that particle diameter is greater than 50mm in, carries out the breakage once more, puts into the dust collecting box with the mixing material that particle diameter is less than 15mm and accomodates.
In one embodiment, several solenoid valves 500 are arranged and combined in a matrix manner, wherein the distance between two adjacent solenoid valves 500 is smaller than the particle diameter of the red brick.
In this embodiment, the electromagnetic valve 500 matrix is formed by arranging 100-130 high-speed electromagnetic valves 500, the injection holes of the electromagnetic valves 500 are evenly distributed in the horizontal direction, and each injection hole of the electromagnetic valve 500 corresponds to a designated range on the belt and is used for injecting products which fall from the designated range and need to be injected.
During the process of high-speed solenoid valve 500 matrix, the cement piece can not be disturbed by solenoid valve 500, can drop to cement piece collecting box 600 along the original curve whereabouts of parabola, and the red brick piece can be disturbed by solenoid valve 500 air current, changes original parabola curve, drops to red collection box that changes to separately the red brick piece and cement piece in two collection casees.
The distance between every two adjacent electromagnetic valves 500 is 5mm-10mm, so that the number of the corresponding electromagnetic valves 500 is at least 3 when each red brick falls, and the total number of the electromagnetic valves 500 is far larger than the number of the red bricks. Depending on the particle diameter, the number of solenoid valves 500 covered may be up to 10, thereby ensuring that a sufficient number of solenoid valves 500 are operated simultaneously to provide sufficient air flow to blow the red brick blocks out. For example, for small red bricks, the mass of the red bricks is small, the air flow required during discharge is small, the occupied area of the detected red bricks is small, the number of air injection nozzles is small, and the air flow required to be consumed is small; for the bold red brick piece, the area that detects out is big, and self weight is heavier, also needs bigger gas flow to blow out, utilizes the result of calculation and detection, to the red brick piece of different masses and weight, corresponds opens the solenoid valve 500 of different quantity.
In one embodiment, the industrial personal computer 400 includes an image processing module 410, a calculation module 420, a partitioning module 430, and a control module 440, wherein the partitioning module 430 is configured to divide an image into a number of regions and individually number each region.
The image processing module 410 receives the CCD high-speed collected image, processes the collected image in each area, converts RGB into HSV tristimulus calculation standard, and in the image processing process, because the mixed material is greatly different from the black background, the interference item in the image can be eliminated by filtering processing, and each material can be analyzed separately, and because the color line scanning camera 300 is adopted, the RGB color in the image can be converted into HSV tristimulus calculation standard, and further the color proportion condition can be analyzed, and whether the current image is a red brick block or not can be judged.
The calculating module 420 is used for calculating the number of the electromagnetic valve 500 and the delay time of the electromagnetic valve 500, and calculating the number of the electromagnetic valve 500 by using the coordinate corresponding to the leftmost side of the red brick and the coordinate corresponding to the rightmost side of the red brick in the red brick area; the time delay of the solenoid valve 500 is calculated using the time of the falling of the mixed material and the time of processing the image.
The control module 440 is used for controlling the corresponding solenoid valve 500 to start according to the calculated number of the solenoid valve 500 and the delay time of the solenoid valve 500, the control module 440 opens the corresponding solenoid valve 500 according to the number of the solenoid valve 500 and the action delay time calculated by the calculation module 420, the solenoid valve 500 starts to blow air, and the red brick blocks to be sorted are blown out.
The following describes in detail with reference to fig. 4 and 5, and based on the same inventive concept, the embodiment of the present invention also provides a first embodiment of a construction waste sorting method based on CCD detection and belt feeding. Because the principle of the problem solved by the method is similar to that of the building waste sorting system based on CCD detection and belt feeding, the implementation of the method can be referred to that of the system, and repeated details are omitted. The embodiment is mainly applied to sorting of construction wastes, the particle diameter of the mixed materials is kept within the range of 15-50 mm, the cement blocks and the red brick blocks can be effectively sorted, the sorted product is high in purity, the quantity of the red brick blocks mixed in the cement blocks is guaranteed to be within 5%, the product with higher purity can be applied to different occasions according to different materials of the product, and the recycling value of the product is improved.
As shown in fig. 4, the present embodiment mainly includes the following steps:
s10, primarily screening the mixed materials, and conveying the primarily screened mixed materials to a belt conveying device in a flat spreading manner;
s20, collecting images of the mixed materials separated from the belt conveying device;
s30, reading and operating the collected images, calculating the coordinate ranges of the red bricks and the cement blocks, and calculating the serial numbers and the action delay time of the electromagnetic valves according to the coordinate ranges of the red bricks and the cement blocks;
and S40, controlling the corresponding solenoid valve to open, and sorting cement blocks and red brick blocks in the mixed material by using high-pressure airflow.
In step S10, carry out preliminary screening to the misce bene to carry the mode of tiling to belt conveyors with the misce bene after preliminary screening on, specifically include:
utilize vibration feedway to carry out preliminary screening to the misce bene, make its misce bene's particle diameter keep 15mm-50mm within ranges, at vibrating motor action in-process, the misce bene also can receive vibrating motor's effect to do the motion of perpendicular to feed bin, receive the downward motion of action of gravity simultaneously, also can lead to direction of motion and orbit to change owing to the collision between the misce bene among the motion process, thereby make the misce bene more tend to move to the position that the misce bene density is not high, thereby the material overlapping condition of misce bene has been avoided.
In step S20, acquiring an image of the mixed material separated from the belt conveyor, specifically including: in the process of conveying the mixed materials by the belt conveying device, the mixed materials are sequentially separated from the tail end of the belt in a parabolic track, and when falling to reach the photographing range of the line scanning camera 300, the line scanning camera 300 can photograph falling mixed material images in a short time and send the images to the industrial personal computer.
As shown in fig. 5, in step S30, the method reads and calculates the collected image, calculates the coordinate ranges of the red bricks and the cement blocks, and calculates the numbers and the operation delay times of the electromagnetic valves according to the coordinate ranges of the red bricks and the cement blocks, and specifically includes the following steps:
s31, dividing the image into a plurality of areas, and numbering each area individually;
s32, processing the image in each area, and converting RGB into three-color calculation standard of HSV;
s33, calculating the proportion value of the red pixel in each area, and if the proportion of the red pixel is larger than a threshold value, marking the area as a red brick area;
s34, calculating the number of the electromagnetic valve by using the coordinate corresponding to the leftmost side of the red brick and the coordinate corresponding to the rightmost side of the red brick in the red brick area;
and S35, calculating the time delay of the electromagnetic valve by using the falling time of the mixed material and the time of processing the image.
In step S31, after the industrial personal computer receives the image, the image is segmented, the regions with substances in the image are individually cut, and each region is individually numbered, and in the cutting process, a situation that red bricks and cement blocks are closely adjacent to each other is encountered, at this time, an obvious boundary line exists between the red bricks and the cement blocks, the color difference between the left side and the right side of the boundary line is large, at this time, the image is processed by using a watershed algorithm, and the result that the red bricks and the cement blocks are originally possibly misjudged as one region is corrected into two regions, that is, the red bricks and the cement blocks are two different regions which are adjacent to each other.
In step S32, RGB to HSV conversion is performed on the image in each region, and RGB colors are converted into HSV tristimulus calculation standards, so that it is convenient to determine whether the region is a red brick block or a cement block by using red standard pixels.
In step S33, each region is individually calculated, the number of pixels meeting the red standard in each region is counted, after the calculation is completed, the number of red pixels is divided by the total number of pixels in the region to obtain a proportion value of the red pixels, and if the proportion value is higher than a set threshold value, the region is marked as a red brick, otherwise, the region is marked as a cement block.
In step S34, for all the regions marked as red bricks, the coordinates of the leftmost pixel point are found
With the rightmost pixel point coordinate
Use of
And
divided by the total number of pixels in the horizontal direction
Then, the number of the electromagnetic valve corresponding to the pixel area occupied by the pixel can be calculated, and all the red bricks are repeatedly calculated to obtain the areas of all the red bricks, wherein the calculation formula is as follows:
the coordinates corresponding to the leftmost side of the red brick block are as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the leftmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
The coordinate corresponding to the rightmost edge of the red brick block is as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the rightmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
Then
And
the electromagnetic valves between the two are all the electromagnetic valves corresponding to the red bricks, so that the serial numbers of the electromagnetic valves corresponding to the red bricks can be obtained.
In step S35, the height of the belt conveyor is used as a reference surface, and the CCD imaging position is at a height from the belt
The height of the air blowing valve from the belt is
The time required for CCD image processing is
When the mixed material leaves the belt, the mixed material is in horizontal projectile motion, the horizontal direction is in uniform motion, the vertical direction can be equivalent to free fall motion, and the calculation is disclosed as follows:
calculating the time required by the mixed material to reach the CCD shooting position:
in the formula:
the height of a CCD shooting position from a belt is obtained, and g is gravity acceleration;
calculating the time required for the mixed material to reach the position of the solenoid valve:
in the formula:
the height of the electromagnetic valve from the belt is shown, and g is gravity acceleration;
time required for final solenoid valve delay:
in the formula:
the actual time the CCD processes the image.
After the serial number and the action delay time of the electromagnetic valve are obtained, the electromagnetic valve corresponding to the red brick region is touched to work, the red bricks are blown out, and the mixed material containing the red bricks and the cement blocks is effectively sorted.
Further, the CCD photographing position is the position of the line scanning camera 300.
The specific structures of the components such as the vibration feeding device, the industrial personal computer and the line scanning camera 300 in this embodiment can refer to the structural arrangement described in the first embodiment of the construction waste sorting system based on the CCD detection and the belt feeding, and are not repeated one by one.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a building rubbish system of sorting based on CCD detects and belt feed which characterized in that includes:
the vibrating feeding device comprises a feeding hole and a discharging hole, mixed materials enter the vibrating feeding device from the feeding hole, and the vibrating feeding device is used for primarily screening the mixed materials;
the belt conveying device is arranged below the discharge hole of the vibration feeding device and is used for conveying the mixed material output by the vibration feeding device in a tiled mode;
the line scanning camera is arranged at the tail end of the belt conveying device and used for acquiring images of the mixed materials separated from the belt conveying device;
the industrial personal computer is used for reading and operating the acquired images, calculating the coordinate ranges of the red bricks and the cement blocks, calculating the serial numbers and the action delay time of the electromagnetic valves according to the coordinate ranges of the red bricks and the cement blocks, and controlling the subpackaging device to move;
the sorting device is arranged below the belt conveying device and comprises a plurality of electromagnetic valves, and the electromagnetic valves are used for sorting cement blocks and red brick blocks in the mixed material by utilizing high-pressure airflow;
the collecting device comprises two collecting boxes which are respectively used for storing cement blocks and red brick blocks.
2. The construction waste sorting system based on CCD detection and belt feeding of claim 1, further comprising a light source disposed above the belt conveyor for providing a light source for the line scan camera to collect images.
3. The construction waste sorting system based on CCD detection and belt feeding as claimed in claim 1, wherein the sorting system further comprises a crusher and a lifter, the crusher comprises a bin inlet, a bin and a bin outlet, the mixed material to be sorted enters the bin from the bin inlet for crushing, the crushed mixed material enters the lifter from the bin outlet, and the mixed material is conveyed to the feeding hole of the vibration feeding device by the lifter.
4. The construction waste sorting system based on CCD detection and belt feeding as claimed in claim 1, wherein a plurality of said solenoid valves are arranged and combined in a matrix manner, wherein the distance between two adjacent solenoid valves is smaller than the particle diameter of red brick.
5. The construction waste sorting system based on CCD detection and belt feeding of claim 1, wherein the industrial personal computer comprises an image processing module, a calculation module, a partition module and a control module;
the partitioning module is used for partitioning the image into a plurality of areas and numbering each area separately;
the image processing module is used for processing the image in each area and converting RGB into three-color calculation standard of HSV;
the calculation module is used for calculating the number of the electromagnetic valve and the time delay of the electromagnetic valve;
and the control module is used for controlling the corresponding electromagnetic valve to be started according to the calculated electromagnetic valve number and the electromagnetic valve delay time.
6. A construction waste sorting method based on CCD detection and belt feeding is characterized by comprising the following steps:
primarily screening the mixed materials, and conveying the primarily screened mixed materials to a belt conveying device in a flat spreading manner;
collecting an image of the mixed material separated from the belt conveyor;
reading and calculating the collected image, calculating the coordinate range of the red brick block and the cement block, and calculating the serial number and the action delay time of the electromagnetic valve according to the coordinate range of the red brick block and the cement block;
and controlling the corresponding electromagnetic valve to be opened, and separating the cement blocks and the red brick blocks in the mixed material by utilizing high-pressure airflow.
7. The construction waste sorting method based on CCD detection and belt feeding as claimed in claim 6, wherein the reading and operation of the collected image are performed to calculate the coordinate range of red bricks and cement blocks, and the number and the action delay time of the electromagnetic valve are calculated according to the coordinate range of red bricks and cement blocks, specifically comprising:
dividing the image into a plurality of areas, and numbering each area separately;
processing the image in each area, and converting RGB into three-color calculation standard of HSV;
calculating the proportion value of the red pixel in each region, and if the proportion of the red pixel is greater than a threshold value, marking the region as a red brick region;
calculating the number of the electromagnetic valve by using the coordinate corresponding to the leftmost side of the red brick block and the coordinate corresponding to the rightmost side of the red brick block in the red brick block area;
and calculating the time delay of the electromagnetic valve by using the falling time of the mixed material and the time for processing the image.
8. The construction waste sorting method based on CCD detection and belt feeding as claimed in claim 7, wherein the leftmost corresponding coordinates of the red bricks are as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the leftmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
9. The construction waste sorting method based on CCD detection and belt feeding as claimed in claim 7, wherein the coordinates corresponding to the rightmost side of the red brick block are as follows:
in the formula:
the coordinates corresponding to the leftmost side of the red brick block,
is the coordinate of the rightmost pixel point in the red brick area,
the total number of the electromagnetic valves corresponding to the whole graph,
the total number of pixels in the horizontal direction of the whole image.
10. The construction waste sorting method based on CCD detection and belt feeding as claimed in claim 7, wherein the time delay of the electromagnetic valve is calculated by the following formula:
calculating the time required by the mixed material to reach the CCD shooting position:
in the formula:
the height of a CCD shooting position from a belt is obtained, and g is gravity acceleration;
calculating the time required for the mixed material to reach the position of the solenoid valve:
in the formula:
the height of the electromagnetic valve from the belt is shown, and g is gravity acceleration;
calculating the time delay of the electromagnetic valve:
in the formula:
the actual time the CCD processes the image.
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