基于并联机器人可回收垃圾分拣系统的设计

Design of Recyclable Garbage Sorting System Based on Parallel Robot

针对人工分拣可回收垃圾工作量大、效率低且工作环境恶劣等问题,以DELTA并联机器人和工业相机为基础,搭建一套基于并联机器人可回收垃圾分拣系统。该系统结合了机器人运动控制技术,复合检测技术及人工智能技术,对废旧饮料瓶等可回收垃圾进行识别和高速分拣。基于并联机器人,对该系统的硬件系统、软件控制流程做了详细介绍并进行了样机实验。实验结果表明:该系统可实现24小时无间断分拣,大大提高工作效率,不仅解决了在恶劣环境下企业用工难的问题,而且针对可回收垃圾中废旧饮料瓶能做到超过98%的检出率。

Aiming at the problems of heavy workload,low efficiency and harsh working environment of manual sorting of recyclable garbage,a set of recyclable garbage sorting system based on Delta parallel robot and industrial camera was built.The system combines robot motion control technology,compound detection technology and artificial intelligence technology to identify and sort high-speed recyclable waste such as waste beverage bottles.Based on parallel robot,the hardware system and software control flow of the system are introduced in detail and prototype experiments are carried out.The experimental results show that the system can achieve 24-hour uninterrupted sorting,which greatly improve the work efficiency.It not only solve the problem of difficult labor in the harsh environment,but also for the recyclable waste beverage bottles can achieve more than 98%detection rate.