Research On Robot Sorting Technology Of Construction Waste

With the acceleration of urbanization,the output of construction waste is increasing year by year.It is imperative to reduce the amount of construction waste,harmless and recycle resources efficiently.In view of the complexity of construction waste,single identification technology is difficult to achieve,and multiple detection techniques must be combined to improve recognition accuracy.This paper proposes two sorting techniques involving the tactile recognition of manipulators,which is a useful supplement to the existing multi-recognition technology of construction waste,and develops a truss robot sorting system to verify the effectiveness of the proposed identification sorting technology.The main contents are as follows:(1)According to the working condition of construction waste sorting,a scheme of automatic sorting system for truss robots is proposed,including: design,selection and development of image acquisition module,truss motion control module and material conveying module.On this basis,the sorting technology based on material density identification and the sorting technology based on the tactile recognition of robots are proposed.Among them,based on the tactile recognition sorting technology based on manipulator,a data fusion method based on energy model is proposed,which can accurately identify the type of material being grabbed by the tactile acceleration curve signal of the manipulator.(2)On the basis of the limited weight of the current construction garbage robot,the robot structure is innovatively designed,and a manipulator design scheme with few components,simple structure and sufficient grabbing force is proposed.In the multi-body dynamics simulation software ADAMS,the simulation analysis of the manipulator motion synchronization and force flow transmission is carried out,which proves the feasibility of the manipulator design.(3)The commonly used cubic polynomial,fifth-order polynomial,parabolic transition,sinusoidal interpolation and other manipulator joint space trajectory planning methods are studied.Through comparative analysis,in view of the better sinusoidal motion characteristics(ie,no impact,good smoothness),the joint space trajectory planning used in the truss robot sorting system in this paper is adopted.At the same time,two commonly used Cartesian space trajectory planning methods are studied.Considering that the spatial linear interpolation method is simple and practical,it is used in the Cartesian space trajectory control of the truss robot sorting system in this paper.(4)Carry out the truss robot sorting test research,and verify the sorting technology based on material density identification and the sorting technology based on the tactile recognition of the robot.The test results show that the correct rate based on material density sorting is 60%~75%.Based on the tactile sorting scheme of the manipulator,the material acceleration type data fusion method is used to discriminate the material type for materials with large hardness difference.The sorting accuracy rate is 80 %~90%.Therefore,both sorting schemes are feasible and can be a useful complement to existing sorting techniques.