CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
ROBOTIC COMPLEX FOR SORTING OF MUNICIPAL SOLID WASTE
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Read | Gemuev Shamil Sh., Vorotnikov Sergey A. ROBOTIC COMPLEX FOR SORTING OF MUNICIPAL SOLID WASTE // Caspian journal : management and high technologies. — 2019. — №2. — pp. 194-207. |
Gemuev Shamil Sh. - student, Bauman Moscow State Technical University, shamilgemuev@mail.ru
Vorotnikov Sergey A. - Cand. Sci. (Engineering), Bauman Moscow State Technical University, vorotn@bmstu.ru
The article is devoted to the development of a robotic complex that detects and withdraws municipal solid waste fractions within a waste recycling plant built by a conveyor type. The complex allows replacing a person from dangerous and monotonous work, improving the quality of garbage sorting, and ensuring the continuity of the sorting process. The scheme of the robotic complex and the structure of its control system are described. The implementation of the vision system using a convolutional neural network in the MATLAB Neural Network Toolbox environment is shown, the network architecture is selected. A model of a robotic complex in the MATLAB Simulink environment has been developed and its research has been conducted. The parameters of the manipulator service area, which meet the requirements of the technological process, are determined; the dependences of the loss factor of objects on the density of their location on the conveyor belt and its speed, as well as the maximum speed and acceleration of the manipulator are obtained. An algorithm for the collection of recognized objects is presented and its study has been conducted.
Key words: мусороперерабатывающий завод, роботизированный комплекс, система технического зрения, искусственная нейронная сеть, манипулятор, управление, математическое моделирование, waste processing plant, robotic complex, vision system, artificial neural network, m