Abstract
An automatic sorting robot is designed in this report. The system makes use of height maps and near-infrared (NIR) hyperspectral images to locate the ROI of objects and to do online statistic pixel-based classification in contours. This approach has two advantages: (1) to generate training data for sorting without manual work; (2) to get more stable final result. Two kind of features in hyperspectral image were extracted, a scale-sensitive algorithm was used to identify amplitude feature and a scale-insensitive algorithm was used to identify trend feature. After location and classification, the robot grabs valuable targets based on their position and posture and places them into the corresponding recycling area based on their category. The prototype machine can automatically sort construction and demolition waste (C&DW) with a size range of 0.05–0.5 m. The sorting efficiency can reach 2028 picks/h, and the online recognition accuracy nearly reaches 100%.
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Acknowledgements
This work was supported by the Research and industrialization on Key Technologies of mobile construction waste recycling [Grant Number 2018C001]; the Research and industrialization on key technology of quality inspection of machine-made sand form [Grant Number 2019G003]; the Research on the joint development and industrialization of key technologies of large capacity full hydraulic cone crusher [Grant Number 2018I1006]; and the Subsidized Project for Postgraduates’ Innovative Fund in Scientific Research of Huaqiao University. And we thank Adam Przywecki, B.Eng., from Liwen Bianji, Edanz Editing China (www.liwenbianji.cn/ac) and Berenice (www.enago.cn), for editing the English text of a draft of this manuscript.
Funding
This study was funded by the Research and industrialization on Key Technologies of mobile construction waste recycling (Grant Number 2018C001); the Research and industrialization on key technology of quality inspection of machine-made sand form (Grant Number 2019G003); the Research on the joint development and industrialization of key technologies of large capacity full hydraulic cone crusher (Grant Number 2018I1006) and the Subsidized Project for Postgraduates’ Innovative Fund in Scientific Research of Huaqiao University.
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Xiao, W., Yang, J., Fang, H. et al. Development of an automatic sorting robot for construction and demolition waste. Clean Techn Environ Policy 22, 1829–1841 (2020). https://doi.org/10.1007/s10098-020-01922-y
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DOI: https://doi.org/10.1007/s10098-020-01922-y