一种新型垃圾处理机械手系统及其智能控制方法  

A New Manipulator System for Processing Waste and Intelligent Control Method

作　　者：王慰慰[1] 

机构地区：[1]国家知识产权局专利局专利审查协作广东中心,广东广州510530

出　　处：《机电产品开发与创新》2015年第4期97-98,104,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：针对旅游垃圾中瓶罐分拣及分类的问题,论本提出一种新型的机械手系统,其中设置两套结构相同的四自由度机械手,机械手的末端执行器采用交错布置的三根夹爪。智能控制方法,首先采用摄像机确定目标瓶罐的位姿,然后在机械手靠近目标瓶罐的过程中加入模糊控制,保证对目标瓶罐的准确夹持,最后通过红外传感器来识别夹持瓶罐的种类。采用该智能控制方法控制上述机械手系统,能够将旅游垃圾中的瓶罐高效准确地分拣出来并进行分类。This paper presents a new manipulator system with two manipulators of four DOF concerning sorting containers generated during tourist, and the end effectors of the manipulator adopted three staggered jaws. In the intelligent control method, firstly, the position of the target container was determined using the cameras, and then, fuzzy control was introduced in during the manipulators closing to the target container to implement accurate holding for the target container. Using infrared sensor to identify the type of the gripped container lastly.The manipulator system using the intelligent control method is able to sort and class the containers from tourism waste efficiently.

关 键 词：瓶罐 机械手 分拣 分类 智能控制 旅游垃圾 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]