CN213678297U - Automatic garbage sorting equipment capable of improving garbage recognition rate - Google Patents
Automatic garbage sorting equipment capable of improving garbage recognition rate Download PDFInfo
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- CN213678297U CN213678297U CN202021729848.5U CN202021729848U CN213678297U CN 213678297 U CN213678297 U CN 213678297U CN 202021729848 U CN202021729848 U CN 202021729848U CN 213678297 U CN213678297 U CN 213678297U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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Abstract
The utility model discloses a can improve automatic rubbish letter sorting equipment of rubbish recognition rate, it includes: major structure, belt feeder, visual system, industrial computer, long-range manual operation platform and letter sorting manipulator. The main body structure is provided with a garbage throwing port; one end of the belt conveyor is positioned below the throwing opening, and the household garbage can fall to one end of the belt conveyor after being thrown by breaking the bag; the vision system photographs and processes garbage on the belt conveyor to generate a first signal and a second signal, wherein the first signal is the category and position information of the current garbage, and the second signal is the unknown category and position information of the current garbage; the industrial personal computer can receive the first signal and the second signal; the remote manual operation table calibrates the unknown type of the current garbage and transmits the unknown type of the current garbage to the industrial personal computer, and the industrial personal computer can respectively generate control instructions according to the operation result of the remote manual operation table and the first signal; and the sorting manipulator receives a control instruction output by the industrial personal computer so as to sort the garbage transported on the belt conveyor.
Description
Technical Field
The utility model relates to a waste sorting technical field especially relates to an automatic rubbish letter sorting equipment that can improve rubbish recognition rate.
Background
In densely populated large cities, waste disposal is a headache problem. It is common practice to collect and send the waste to a landfill for landfill treatment or incinerate the waste with an incinerator. Both create environmental protection issues and termination of overconsumption can further mitigate landfill saturation. Disposal of waste in landfill areas not only pollutes ground water and outputs odors, but also the available landfill area in many cities is becoming smaller and smaller. Incineration inevitably produces toxic gases, which harm different independent species. Most cities are researching ways to reduce the production of garbage and encouraging resource reclamation. The garbage classification is a necessary choice for realizing reduction, quality improvement and efficiency improvement, and is an important measure for improving human living environment, promoting fine management of cities and guaranteeing sustainable development. Can not classify garbage and directly reflect the ecological literacy and civilization degree of one person or even one city. However, in the prior art, there are two types of classification and sorting of garbage, the first type is manual sorting, but the manual sorting has the problems of low sorting efficiency, poor working environment, damage to the health of workers, and the like; the second method is to sort with a robot, but because of the variety, color and shape of the garbage, the type of the garbage that can be recognized by the robot is limited, and the garbage of various types cannot be sorted accurately.
SUMMERY OF THE UTILITY MODEL
In order to achieve the technical purpose, the utility model provides an automatic rubbish sorting equipment that can improve rubbish recognition rate.
An automatic garbage sorting apparatus capable of improving garbage recognition rate, comprising:
the household garbage bin comprises a main body structure, a bin cover and a bin cover, wherein the main body structure is provided with a household garbage throwing port;
one end of the belt conveyor is positioned below the household garbage throwing-in opening, the belt conveyor runs at a constant speed, and household garbage can fall on one end of the belt conveyor after being thrown in from the household garbage throwing-in opening through bag breaking;
the visual system is arranged above the belt conveyor and is used for photographing and processing garbage on the belt conveyor to generate a first signal and a second signal, wherein the first signal is the category and the position information of the current garbage, and the second signal is the unknown category and the position information of the current garbage;
the industrial personal computer is in communication connection with the vision system to receive the first signal and the second signal;
the remote manual operation platform is in communication connection with the industrial personal computer and comprises a display and a plurality of manual operation parts, the remote manual operation platform comprises the display and the manual operation parts, workers can calibrate the current unknown type of the garbage by using the manual operation parts according to the images of the garbage displayed on the display and transmit the classification to the industrial personal computer, and the industrial personal computer can respectively generate control instructions according to the operation result of the remote manual operation platform and the first signal; and
the sorting manipulator, with industrial computer communication connection, the setting of sorting manipulator is in on the running direction of belt feeder, the sorting manipulator can receive the control command of industrial computer output is in order to right the rubbish of transporting on the belt feeder is sorted and is lost into the categorised garbage bin that corresponds.
In a preferred embodiment, each manual operating part is provided with a trash type identifier.
In a preferred embodiment, the sorting garbage can is arranged on the same side or two opposite sides of the belt conveyor.
In a preferred embodiment, the main body structure comprises a bottom frame, the bottom frame comprises a bottom part and a top part which are opposite, the bottom part can move relative to the ground, the top part is provided with an electric sliding table, and the sorting mechanical arm is fixed with the electric sliding table.
In a preferred embodiment, the sorting robot is movable in three dimensions.
In a preferred embodiment, the vision system is fixed above the side of the sorting robot.
In a preferred embodiment, a sewage tank is arranged below the belt conveyor.
In a preferred embodiment, a movable door is arranged at the position of the underframe corresponding to each trash can.
In a preferred embodiment, the main structure further comprises an upper cabinet body arranged on the bottom frame, the upper cabinet body is provided with the input port, and the input port is opened through identity recognition.
In a preferred embodiment, a display screen is further arranged on the same side of the upper cabinet body as the throwing opening.
Compared with the prior art, the utility model discloses following beneficial effect has: the utility model provides an automatic rubbish sorting equipment that can improve rubbish recognition rate utilizes vision system to carry out algorithm processing after shooing rubbish, the back generates first signal and second signal, first signal is the classification and the positional information of current rubbish, the second signal is the unknown classification and the positional information of current rubbish, the industrial personal computer can receive first signal and second signal, remote manual operation platform includes display and a plurality of operating handle, the display is used for showing the rubbish picture of unknown classification, operating handle supplies manual operation in order to classify the rubbish that the display shows, that is, utilize the vision of people to classify rubbish, and transmit the classification result to the industrial personal computer, the industrial personal computer generates control command according to the position of rubbish on the belt feeder and the type of this rubbish, send control command to appointed letter sorting manipulator at the uniform velocity, this letter sorting manipulator just can follow the belt feeder of motion this rubbish and throw in corresponding categorised garbage bin, also every letter sorting manipulator only need carry out the letter sorting action according to control command, so, long-range manual operation platform is with the abominable on-the-spot separation of letter sorting of environment, has both combined the judgement degree of accuracy of people's vision to rubbish kind, has combined the environmental advantage that letter sorting manipulator adaptation letter sorting is on-the-spot again to rubbish identification rate efficiency has been improved.
Drawings
Fig. 1 is the utility model provides a can improve the structural sketch map of automatic rubbish letter sorting equipment of rubbish discernment rate.
Fig. 2 is a schematic structural diagram of a chassis included in the automatic trash sorting apparatus capable of improving the trash recognition rate provided in fig. 1.
Fig. 3 is a schematic view of another structure of a chassis included in the automatic trash sorting apparatus provided in fig. 1, which can improve the trash recognition rate.
Description of the main elements
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1-3, fig. 1 shows an automatic garbage sorting apparatus 100 capable of increasing garbage recognition rate according to the present invention, wherein the automatic garbage sorting apparatus 100 capable of increasing garbage recognition rate can be used for sorting garbage in a residential area. It includes: the device comprises a main structure 1, a belt conveyor 2, a vision system 3, an industrial personal computer 4, a remote manual operation table 5 and a sorting manipulator 6.
Referring to fig. 2-3, the main body structure 1 includes a bottom frame 10 and an upper cabinet 12 disposed on the bottom frame 10. The chassis 10 includes opposing bottom 110 and top 112 portions. The base 110 may be provided with rollers for movement relative to the ground. The top 112 is used for fixing the electric sliding table.
In the present embodiment, the chassis 10 forms an accommodating space, and the belt conveyor 2 and the plurality of classification waste bins 103 are located in the chassis 10. The classification garbage can 103 is arranged on the same side or two opposite sides of the belt conveyor 2.
In this embodiment, a movable door 105 is disposed at a position of the bottom frame 10 corresponding to each of the classification trash cans 103, the movable door 105 is used for removing the classification trash can 103 from the bottom frame 10 when opened, and the movable door 105 is used for sealing the bottom frame 10 when opened to prevent leakage of odor.
The upper cabinet body 12 is provided with a household garbage feeding opening 121 and a kitchen garbage feeding opening 123. The input opening can be provided with a movable door 105, and the movable door 105 can be opened through identity recognition, such as two-dimensional codes, fingerprints, face recognition, access card swiping and the like. A display screen 14 is also arranged on the same side of the upper cabinet body 12 as the throwing opening. The display screen 14 is used for displaying advertisement information, or garbage classification, garbage sorting information, and the like. In this embodiment, the upper cabinet 12 is further provided with a plurality of access doors 118 for timely door opening access when the equipment fails.
In the present embodiment, only the domestic garbage is sorted. Therefore, only one belt conveyor 2 corresponding to the household garbage throwing-in opening 121 is arranged. Specifically, one end of the belt conveyor 2 is located below the household garbage throwing-in opening 121, the belt conveyor 2 operates at a constant speed, and household garbage can fall on one end of the belt conveyor 2 after being thrown in from the household garbage throwing-in opening 121 through bag breaking. And a sewage tank 7 is arranged below the belt conveyor 2 and used for containing sewage in the household garbage and the like. Of course, it will be understood that the general household waste is dry, and therefore, the waste liquid tank 7 may be omitted.
The vision system 3 is arranged above the belt conveyor 2 and used for photographing and processing the garbage on the belt conveyor 2 and then generating a first signal and a second signal for each garbage, wherein the first signal is the garbage category information and the position information of the garbage identified by the vision system 3 based on a vision processing algorithm, and the second signal is the position information of the garbage which cannot be identified by the vision system 3 based on the vision processing algorithm but can be obtained.
Because the household garbage is various in types and diversified in shape and color, if a certain type of garbage is not deeply trained by the vision system 3 in advance, the vision system 3 cannot judge the type of the garbage, but the vision system 3 can obtain the position information of the garbage which cannot identify the type at present through algorithm processing. That is, the second signal is the trash that the vision system fails to recognize, and the location information of the trash.
In this embodiment, the vision system 3 includes an image capturing device and an algorithm processing module. The image acquisition device is used for continuously photographing the garbage entering the field of view of the image acquisition device. The image processing module is used for continuously carrying out data processing on each shot picture based on an image processing technology, such as a neural network technology, so as to obtain a first signal and a second signal.
The industrial personal computer 4 is arranged in the main body structure 1, and the industrial personal computer 4 is in communication connection with the vision system 3 to receive the first signal and the second signal.
The remote manual operation console 5 is in communication with the industrial personal computer 4 and includes a display 50 and a plurality of manual operation sections 51. Each manual operation section 51 is provided with a trash type identifier. The worker can calibrate the type of the current garbage according to the image of the garbage displayed on the display 50 by using the manual operation part 51 and transmit the current garbage to the industrial personal computer 4, and the industrial personal computer 4 can respectively generate control instructions according to the running speed of the belt conveyor, the operation result of the remote manual operation table 5 and the first signal. Remote manual operation platform 5 can let the sorting workman keep away from the adverse circumstances on letter sorting scene, and judges the kind of rubbish that visual system 3 can not discern, has improved the rate of accuracy of rubbish discernment.
The sorting manipulator 6 is in communication connection with the industrial personal computer 4. The sorting mechanical arm 6 is arranged in the running direction of the belt conveyor 2. The sorting mechanical arm 6 is used for sorting the garbage on the belt conveyor 2 one by one according to a control instruction sent by the industrial personal computer 4 and throwing the garbage into a corresponding garbage can. The sorting manipulator 6 may be a parallel manipulator, a three-axis manipulator, or a rectangular coordinate manipulator, etc.
In this embodiment, the sorting manipulator 6 is fixed to the three-dimensional electric sliding table 7, and the three-dimensional electric sliding table 7 drives the sorting manipulator 6 to move in a three-dimensional space.
The three-dimensional electric slide table 7 is of a known structure, and includes, for example, a traverse mechanism 71, a vertical movement mechanism 72 in one plane with the traverse mechanism 71, and a vertical movement mechanism 73 perpendicular to the vertical movement mechanism 72. The vision system 3 is fixed on the vertical moving mechanism 73, and the visual angle of the vision system can correspond to the belt conveyor 2. The sorting mechanical arm 6 is also fixed with the vertical moving mechanism 73, and the sorting mechanical arm 6 can receive a control instruction output by the industrial personal computer 4 so as to sort the garbage transported on the belt conveyor 2 and throw the garbage into the corresponding classification garbage can 103. The number of the classified trash cans 103 can be provided according to actual needs, and in the embodiment, only 5 classified trash cans 103 are illustrated and are respectively used for accommodating recyclable trash, harmful trash, other trash, and the like. In other embodiments, a classification garbage can 103 may be further disposed at the end of the belt conveyor 2, and garbage that is not sorted in time by the sorting manipulator 6 may directly fall into the classification garbage can 103 at the end of the belt conveyor 2.
In other embodiments, an infrared sensor may be further disposed on the upper side of the sorting trash can 103, such as the bottom frame 10, and the infrared sensor and the microcontroller cooperate to detect whether the sorting trash can 103 is full, so as to achieve intelligent management of the sorting trash can 103.
To sum up, the utility model discloses following beneficial effect has: the utility model provides an automatic rubbish sorting equipment that can improve rubbish recognition rate utilizes vision system 3 to carry out algorithm processing after taking a picture to rubbish, can cut apart every single picture of rubbish and calculate every single rubbish position on belt feeder 2 from whole photo, long-range manual operation platform 5 includes display 50 and a plurality of manual operation portion 51, display 50 is used for showing single rubbish picture of undetermined classification, manual operation portion 51 supplies manual operation in order to classify the rubbish that display 50 shows, that is to say, utilize human vision to classify the rubbish that vision system 3 can be discerned, and transmit the classification result to industrial computer 4, industrial computer 4 generates control command according to the position of this rubbish on belt feeder 2 and the classification of this rubbish, send control command to sorting manipulator 6 at the uniform velocity, this sorting manipulator 6 can follow the belt feeder 2 of motion this rubbish and throw into corresponding categorised garbage bin 103, also, the sorting manipulator 6 only needs to execute sorting action according to the control instruction, so that the remote manual operation table 5 is separated from the harsh environment sorting field, the judgment accuracy of human vision on garbage types is combined, and the environmental advantage that the sorting manipulator 6 is suitable for the sorting field is combined, so that the garbage sorting efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. An automatic garbage sorting apparatus capable of improving garbage recognition rate, comprising:
the household garbage bin comprises a main body structure, a bin cover and a bin cover, wherein the main body structure is provided with a household garbage throwing port;
one end of the belt conveyor is positioned below the household garbage throwing-in opening, the belt conveyor runs at a constant speed, and household garbage can fall on one end of the belt conveyor after being thrown in from the household garbage throwing-in opening through bag breaking;
the visual system is arranged above the belt conveyor and is used for photographing and processing garbage on the belt conveyor to generate a first signal and a second signal, wherein the first signal is the category and the position information of the current garbage, and the second signal is the unknown category and the position information of the current garbage;
the industrial personal computer is in communication connection with the vision system to receive the first signal and the second signal; characterized in that, automatic rubbish letter sorting equipment still includes:
the remote manual operation platform is in communication connection with the industrial personal computer and comprises a display and a plurality of manual operation parts, a worker can calibrate the type of the current unknown type of the garbage by using the manual operation parts according to the image of the garbage displayed on the display and transmit the unknown type of the current garbage to the industrial personal computer, and the industrial personal computer can respectively generate control instructions according to the operation result of the remote manual operation platform and the first signal; and
the sorting manipulator, with industrial computer communication connection, the setting of sorting manipulator is in on the running direction of belt feeder, the sorting manipulator can receive the control command of industrial computer output is in order to right the rubbish of transporting on the belt feeder is sorted and is lost into the categorised garbage bin that corresponds.
2. The automated trash sorting apparatus capable of improving the trash recognition rate of claim 1, wherein each manual operation portion is provided with a trash type identifier.
3. The automated waste sorting apparatus of claim 1, wherein the sorting bins are disposed on the same side or opposite sides of the belt conveyor.
4. The automatic garbage sorting equipment capable of improving the garbage recognition rate as claimed in claim 3, wherein the main structure comprises a bottom frame, the bottom frame comprises a bottom portion and a top portion, the bottom portion is movable relative to the ground, the top portion is provided with an electric sliding table, and the sorting manipulator is fixed with the electric sliding table.
5. The automated waste sorting apparatus of claim 4, wherein the electric slide is movable in three dimensions.
6. The automated waste sorting apparatus of claim 3, wherein the vision system is fixed to the side of the sorting robot above the sorting robot.
7. The automatic garbage sorting equipment capable of improving the garbage recognition rate as claimed in claim 3, wherein a sewage tank is arranged below the belt conveyor.
8. The automatic garbage sorting equipment capable of improving the garbage recognition rate as claimed in claim 5, wherein a movable door is arranged at the position of the bottom frame corresponding to each garbage bin.
9. The automatic garbage sorting equipment capable of improving the garbage recognition rate as claimed in claim 5, wherein the main structure further comprises an upper cabinet body arranged on the bottom frame, the upper cabinet body is provided with the household garbage throwing port, and the throwing port is opened through identity recognition.
10. The automatic garbage sorting equipment capable of improving the garbage recognition rate as claimed in claim 9, wherein a display screen is further arranged on the same side of the upper cabinet body as the input port.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021729848.5U CN213678297U (en) | 2020-08-19 | 2020-08-19 | Automatic garbage sorting equipment capable of improving garbage recognition rate |
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| CN202021729848.5U CN213678297U (en) | 2020-08-19 | 2020-08-19 | Automatic garbage sorting equipment capable of improving garbage recognition rate |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115400968A (en) * | 2022-09-30 | 2022-11-29 | 苏州嘉诺智能制造有限公司 | Household garbage sorting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115400968A (en) * | 2022-09-30 | 2022-11-29 | 苏州嘉诺智能制造有限公司 | Household garbage sorting system |
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