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SE544457C2 - Waste sorting robot and method for cleaning a waste sorting robot - Google Patents

Waste sorting robot and method for cleaning a waste sorting robot

Info

Publication number
SE544457C2
SE544457C2 SE2030328A SE2030328A SE544457C2 SE 544457 C2 SE544457 C2 SE 544457C2 SE 2030328 A SE2030328 A SE 2030328A SE 2030328 A SE2030328 A SE 2030328A SE 544457 C2 SE544457 C2 SE 544457C2
Authority
SE
Sweden
Prior art keywords
suction gripper
operations
solvent
suction
waste
Prior art date
Application number
SE2030328A
Other languages
Swedish (sv)
Other versions
SE2030328A1 (en
Inventor
Harri Holopainen
Original Assignee
Zenrobotics Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zenrobotics Oy filed Critical Zenrobotics Oy
Priority to SE2030328A priority Critical patent/SE544457C2/en
Priority to PCT/FI2021/050723 priority patent/WO2022090626A1/en
Publication of SE2030328A1 publication Critical patent/SE2030328A1/en
Publication of SE544457C2 publication Critical patent/SE544457C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
    • B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
    • B08B9/0328—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid by purging the pipe with a gas or a mixture of gas and liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0054—Sorting of waste or refuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39558—Vacuum hand has selective gripper area

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Sorting Of Articles (AREA)
  • Manipulator (AREA)

Abstract

A method of cleaning a waste sorting robot is provided. The waste sorting robot has a manipulator moveable within a working area and a suction gripper connected to the manipulator and arranged to selectively grip a waste object in the working area. The method comprises determining one or more operational parameters of the suction gripper over the plurality of suction gripper operations. The method further comprises detecting a fault in the suction gripper based on the determined one or more operational parameters. The method also comprises suppling a solvent to the suction gripper for cleaning the suction gripper in response to detecting the one or more faults in the suction gripper.

Description

Waste sorting robot and method for Cleaning a waste sorting robot The present disclosure relates to a waste sorting robot for sorting waste objects and a method for detecting faults. ln the waste management industry, industrial and domestic waste is increasingly being sortedin order to recover and recycle useful components. Each type of waste, or “fraction” of wastecan have a different use and value. lf waste is not sorted, then it often ends up in landfill or incineration which may have an undesirable environmental and economic impact. lt is known to sort industrial and domestic waste using a waste sorting robot. The waste sortingrobot may pick objects with a suction gripper which uses negative pressure for sucking andgripping an object to be sorted. A problem with existing suction grippers is that the wastesorting robot is used in an environment with a significant amount of variability. For example,waste sorting environment has a significant amount of dust and debris and many waste objects to be sorted are different shapes and sizes.
This means that the information received from sensors may be used to generate an incorrectassessment in respect of waste sorting robot malfunctions e.g. false positives. This reducesthe efficiency of the waste sorting robot because the waste sorting robot must be taken offline whilst unneeded maintenance and inspections are carried out.
Examples described hereinafter aim to address the aforementioned problems. ln a first aspect, there is provided a method of cleaning a waste sorting robot having amanipulator moveable within a working area and a suction gripper connected to themanipulator and arranged to selectively grip a Waste object in the Working area, the methodcomprising: determining one or more operational parameters of the suction gripper over theplurality of suction gripper operations; and detecting a fault in the suction gripper based on thedetermined one or more operational parameters; and suppling a solvent to the suction gripper for cleaning the suction gripper in response to detecting the one or more faults in the suction gripper.
Optionally, the method comprises determining a gripping rate of the suction gripper operationsover a plurality of suction gripper operations and the detecting the fault in the suction gripperbased on the based on the determined one or more operational parameters and the gripping rate of the suction gripper operations.
Optionally, the determining the gripping rate of the suction gripper operations comprisesdetermining that the gripping rate of the suction gripper operations drops below a predetermined threshold.
Optionally, the gripping rate of the suction gripper operations is determined over a predetermined number of previous suction gripper operations.
Optionally, the average gripping rate of the suction gripper operations is determined over a previous 10, 50 or 100 suction gripper operations.
Optionally, the determining one or more operational parameters of the suction grippercomprises determining one or more pressure parameters of the suction gripper are outside a normal operating range.
Optionally, the determining one or more operational parameters of the suction grippercomprises determining a highest maximum vacuum pressure of the suction gripper over a predetermined number of previous suction gripper operations.
Optionally, the determining one or more operational parameters of the suction grippercomprises determining that the maximum vacuum pressure is outside a maximum vacuum pressure operating range.
Optionally, wherein the determining one or more operational parameters of the suction grippercomprises determining an average minimum air supply pressure supplied to the suction gripper over a predetermined number of previous sorting operations.
Optionally, the determining one or more operational parameters of the suction grippercomprises determining that the minimum air supply pressure is within a minimum air supply pressure operational range.
Optionally, the method comprises generating an alert in dependence of the detecting one or more faults.
Optionally, the method comprises determining the type of the one or more faults independence on the determined gripping rate and the determined parameters and including the type of the one or more faults in the alert.
Optionally, the detecting a fault in the suction gripper comprises determining that the suction gripper comprises a build-up of residue.
Optionally, the method comprises varying the flow rate of the solvent supplied to the suctiongripper in dependence of the determined one or more parameters and the determined gripping rate of suction gripper operations.
Optionally, the varying the flow rate of the solvent comprises increasing the flow rate of thesuction gripper in dependence of the rate of decrease of the highest maximum vacuum pressure and / or the gripping rate of suction gripper operations.
Optionally, the supplying the solvent comprises dosing an airflow in the suction gripper with the solvent.
Optionally, the supplying comprises actuating a valve in fluid connection between a solvent outlet mounted on the suction gripper and a solvent supply. ln a second aspect of the disclosure, there is provided a computer program product comprisinginstructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to the first aspect. ln a third aspect of the disclosure, there is provide a waste sorting robot comprising: amanipulator moveable within a working area; a suction gripper connected to the manipulatorand arranged to selectively grip a waste object in the working area; a solvent outlet mountedon the suction gripper and in fluid communication with a solvent valve arranged to selectivelysupply solvent to the solvent outlet; and a controller configured to: determine one or moreoperational parameters of the suction gripper over a plurality of suction gripper operations;detect one or more faults with the suction gripper based on the determined one or moreoperational parameters; and actuate the valve configured to supply the solvent to the suctiongripper for cleaning the suction gripper in response to detecting the one or more faults in the suction gripper.
Various other aspects and further examples are also described in the following detailed description and in the attached claims with reference to the accompanying drawings, in which: Figure 1 shows a perspective view of a waste sorting robot; Figure 2 shows a schematic front view of a waste sorting robot; Figure 3 shows a perspective view of a suction gripper; Figure 4 shows a cross-sectional view of a suction gripper; Figure 5 shows a schematic view of a waste sorting robot; Figures 6a, 6b, 6c, 7a, 7b, and 7c show graphs of different parameters of the waste sortingrobot in different operational scenarios; and Figures 8 and 9 show flow diagrams for operation of a waste sorting robot.
Figure 1 shows a perspective view of a waste sorting robot 100. ln some examples, the wastesorting robot 100 can be a waste sorting gantry robot 100. ln other examples other types ofwaste sorting robots can be used. For the purposes of brevity, the examples will be describedin reference to waste sorting gantry robots but the examples described below can be usedwith other types of robot such as robot arms or delta robots. ln some other examples, the waste sorting robot 100 is a Selective Compliance Assembly Robot Arm (SCARA).
The waste sorting robot 100 comprises a controller 200 (schematically shown in Figure 2) forsending control and movement instructions to a manipulator 104 for interacting with a wasteobject 106 to be sorted. For the purposes of clarity, only one waste object 106 is shown inFigure 1 but there can be any number of waste objects 106 moving past the waste sortingrobot 100. The controller 200 may be implemented on hardware, firmware or softwareoperating on one or more processors or computers. A single processor can operate thedifferent functionalities or separate individual processors, or separate groups of processors can operate each functionality.
The combination of the controller 200 sending control instructions to the manipulator 104 canalso be referred to as a "robot". The controller 200 is located remote from the manipulator104and in some examples is housed in first and second cabinets 112, 116. ln other examples,the controller 200 can be integral with the manipulator 104 and / or a gantry frame 102. lnsome examples, part of the gantry frame 102 is housed in the first and second cabinets 112, 116 for shielding one or more components of the waste sorting robotThe manipulator 104 physically engages and moves the waste object 106 that enters aworking area 108 in order to sort the waste object 106. The working area 108 of a manipulator104 is an area within which the manipulator 104 is able to reach and interact with the wasteobject 106. The working area 108 as shown in Figure 1 is a cross hatched area beneath the manipulatorThe manipulator 104 is configured to move at variable heights above the working area 108. lnthis way, the manipulator 104 is configured to move within a working volume defined by theheight above the working area 108 where the robot can manipulate the waste object 106. Themanipulator 104 comprises one or more components for effecting relative movement with respect to the waste object 106. The manipulator 104 will now be described in further detail.
As shown in Figure 1, the manipulator 104 is configured to move within the workingvolume. The manipulator 104 comprises one or more servos, pneumatic actuators or anyother type of mechanical actuator for moving the manipulator 104 in one or more axes. Forthe purposes of clarity, the servos, pneumatic actuators or mechanical actuators are notshown in Figure 1. Movement of the manipulator104 is known and will not be discussed anyfurther. A suction gripper 120 is coupled to the manipulator 104 and suction gripper 120 is discussed in further detail below.
The servos, pneumatic actuators or mechanical actuators are connectively connected to thecontroller 200 and the controller 200 is configured to issue instructions for actuating one ormore of the servos, pneumatic actuators or mechanical actuators to move the manipulator104within the working area 108. Connections (not shown) between the servos, pneumaticactuators or mechanical actuators and the controller 200 can comprise one or more data and/ or power connections. The control of servos, pneumatic actuators or mechanical actuators to move of the manipulator104 is known and will not be discussed any further.
The waste object 106 is moved into the working area 108 by a conveyor belt 110. The pathof travel of the conveyor belt 110 intersects with the working area 108. The direction of theconveyor belt 110 is shown in Figure 1 by two arrows. This means the waste object 106moving on the conveyor belt 110 will pass through the working area 108. The conveyor belt110 can be a continuous belt, or a conveyor belt formed from overlapping portions. Theconveyor belt 110 can be a single belt or alternatively a plurality of adjacent moving belts (not shown). ln other examples, the waste object 106 can be conveyed into the working area 108 via otherconveying means. The conveyor belt 110 can be any suitable means for moving the wasteobject 106 into the working area 108. For example, the waste object 106 are fed under gravity via a slide (not shown) to the working areaThe waste object 106 can be any type of industrial waste, commercial waste, domestic waste or any other waste which requires sorting and processing. Unsorted waste material comprises a plurality of fractions of different types of Waste. Industrial Waste can comprise fractions, forexample, of metal, wood, plastic, hardcore and one or more other types of waste. ln otherexamples, the waste can comprise any number of different fractions of waste formed from anytype or parameter of waste. The fractions can be further subdivided into more refinedcategories. For example, metal can be separated into steel, iron, aluminium etc. Domesticwaste also comprises different fractions of waste such as plastic, paper, cardboard, metal,glass and / or organic waste. A fraction is a category of waste that the waste can be sortedinto by the waste sorting gantry robot 100. A fraction can be a standard or homogenouscomposition of material, such as aluminium, but alternatively a fraction can be a category of waste defined by a customer or user.
The waste sorting robot 100 is arranged to sort the waste object 106 into fractions accordingto one or more parameters of the waste object 106. The controller 200 receives informationfrom the at least one sensor (not shown) corresponding to the waste object 106 on theconveyor belt 110. The at least one sensor is positioned in front of the manipulator 104 so thatdetected measurements of the waste object 106 are sent to the controller 200 before the wasteobject 106 enters the working area 108. ln some examples, the at least one sensor can beany sensor suitable for determining a parameter of the waste object 106 e.g. one or more ofa RGB camera, an infrared camera, a metal detector, a hall sensor, a temperature sensor,visual and /or infrared spectroscopic detector, 3D imaging sensor, terahertz imaging system,radioactivity sensor and / or a laser e.g. LIDAR. Additionally or alternatively, the at least onesensor is configured to detect the waste object 106 and send signals to the controllerwhen the Waste object 106 enters or is in the Working areaThe controller 200 determines instructions for moving the manipulator 104 based on thereceived information according to one or more criteria. Various information processingtechniques can be adopted by the controller 200 for controlling the manipulator 104. Suchinformation processing techniques are described in WO2012/089928, WO2012/052615,WO2011/161304, WO2008/102052 which are incorporated herein by reference. Techniques for sorting the waste object 106 are known and will not be discussed any further.
Once the manipulator 104 has received instructions from the controller 200, the manipulator104 executes the commands and moves the suction gripper 120 to pick the waste object 106from the conveyor belt 110. The process of selecting and manipulating the waste object 106on the conveyor belt 110 is known as a "pick". Once a pick has been completed, themanipulator 104 drops or throws the waste object 106 into a chute 114 adjacent to the conveyor beltThe mix of waste products means that the environment of the waste sorting robot 100 can beparticularly dirty. For example the conveyor belt 110 can be dusty and be covered with debris.This means that the waste sorting robot 100 operates in a challenging environment andmaintenance must be regularly carried out on parts of the waste sorting robot 100 such as themanipulator 104. Furthermore, often such types of waste objects can comprise organic matter.For example, domestic waste objects can comprise residual waste food. This is often stickyand can adhere to parts of the waste sorting robot 100. Mitigation of the dirt contaminating the waste sorting robot 100 will described in more detail below.
A waste object 106 dropped into the chute 114 is considered to be a successful pick. ln orderto achieve a successful pick, the waste sorting robot 100 must also perform a successfulgripping operation. A successful gripping operation is an operation performed by the suctiongripper 120 whereby by the waste object 106 is gripped and then moved to the intendeddestination e.g. the chute 114. ln some other examples, the intended destination can beanother conveyor belt (not shown), a pile of other waste objects (not shown), a bin or any otherlocation for receiving sorted waste objects 106. The manipulator 104 can move the wasteobject 106 to the intended destination by using any suitable technique e.g. throwing, blowing,moving, or placing etc the waste object 106. A controller 200 determines whether a successfulgripping operation has occurred in dependence of a signal received from a sensor on thesuction gripper 120 e.g. the first and second pressure sensors 408, 410 (as discussed inreference to Figures 4 below.) ln some examples, a successful gripping operation isdetermined when the controller determines that a maximum vacuum pressure in the suction gripper is achieved. lf the suction gripper 120 fails to grip and move the waste object 106 to the intendeddestination then this is an unsuccessful gripping operation. An unsuccessful grippingoperation can include failing to lift the waste object 106 off the conveyor belt 110 or droppingthe waste object 106 before moving the waste object 106 to the chute 114. _ ln this case thecontroller 200 receives a signal that there is no vacuum pressure or vacuum pressure has been lost too soon during a gripping operation.
The % gripping rate R of the gripping operations is calculated as follows: R-íx_ys+yf where gs is the number of successful gripping operations, gf is the number of failed gripping operations and gg + gf is the total number of gripping operations.
Whilst clogging of the suction gripper 120 is likely to decrease the actual picking success rate,the % gripping rate R may not reflect the picking success rate. Since R is a derivative of thefirst pressure sensor 408, the result of a clog could indicate that: 1) the % gripping rate R is 100% because the first pressure sensor 408 detects gripping the clogged object;2) none of the pick attempts are successful and the % gripping rate R is 0%;3) or the % gripping rate R is between 0% to 100%. ln this way the % gripping rate R is not a measure of the true picking success rate, but anindication of the operational performance of the waste sorting robot 100. The % gripping rateR will be a reliable indicator of the picking success rate only when there is no interference such as objects stuck in the suction gripperClogging of the suction gripper 120 is likely to decrease the actual pick success rate of thewaste sorting robot 100. However the % gripping rate R which is derived from the firstpressure sensor 408 of the suction gripper 120 may not show the decrease in actual picksuccess rate. Accordingly, one or more other operational parameters are used to infer operational performance of the waste sorting robot 100 in addition to the % gripping rate R. ln some examples, the controller 200 comprises a statistical module 250 configured tocompute statistical information relating to one or more parameters of the waste sorting robot100, the suction gripper 120 and the operation thereof. Similar to the controller 200, thestatistical module 250 may be implemented on hardware, firmware or software operating onone or more processors or computers. A single processor can operate the differentfunctionalities or separate individual processors, or separate groups of processors can operateeach functionality. The statistical module 250 as shown in Figure 2 is part of the controller200, although in other examples, the statistical module 250 can be a separate remote processor (not shown). ln some examples, the controller 200 determines whether a picking operation comprises asuccessful gripping operation or not. ln some examples, the controller 200 determines thenature of the gripping operation based on received sensor information. This will be discussed in more detail below. ln other examples, the controller 200 receives information relating to the nature of the gripping operation from another source e.g. another controller (not shown) or from an operator.
The controller 200 is connected to a first pressure sensor 408 (as shown in Figure 4) via acommunication line 218. The first pressure sensor 408 is arranged to detect the vacuumpressure in the suction cup 220 and the suction tube 400. Accordingly, if the suction gripper120 fails to successfully grip the waste object 106, the first pressure sensor 408 will sendpressure measurement information to the controller 200 indicating that there is no orinsufficient vacuum pressure in the suction cup 220. This indicates that the suction cup 220has not achieved making a seal against the surface of the waste object 106. This means that the suction gripper120 is not able to grip, lift and move the waste objectThe controller 200 can receive pressure measurement information from the first pressuresensor 408 that there is no or insufficient vacuum pressure in the suction cup 220 whilst themanipulator 104 is moving or about to move. ln this case, the controller 200 can determinethat the waste object 106 was not lifted off the conveyor belt 110 or the waste object 106 felloff the suction gripper120 during a gripping operation. ln some examples, the controller 200sends information relating to the nature of the gripping operation to the statistical module 250.ln some examples, the statistical module 250 determines the % gripping rate R of the gripping operations.
The waste sorting robot 100 will now be described in reference to Figure 2. Figure 2 shows aschematic front view of the waste sorting robot 100. The suction gripper 120 comprises a suction cup 220 for physically engaging with a surface of the waste objectThe pneumatic system 222 comprises at least a first air hose 202 for connecting the suction gripper The suction gripper 120 is in fluid communication with a pneumatic system120 to a compressed air supply. For the purposes of clarity, only the first air hose 202 isshown in Figure 2 connecting the suction gripper 120 to the compressed air supply but therecan be any number of air hoses connected between the suction gripper 120 and thecompressed air supply. For example, there can optionally be at least a second air hoseconnecting the suction gripper 120 to the compressed air supply. ln this way, a second sourceof air is provided to the suction gripper 120 for operating a blow tube 402 (discussed in reference to Figure 4 below). ln some examples, the first air hose 202 can be connected to a plurality of downstream supply air hoses 500, 502 (as shown in Figure 5) for supplying compressed air to a plurality of pneumatic components in the pneumatic system 222. For example, the first air hose 202 is asingle, unitary air hose mounted on the manipulator 104. By providing only the first air hose202 which is mounted on the manipulator 104 to the suction gripper 120, installation andmaintenance of the waste sorting robot 100 can be simplified. The first air hose 202 is flexibleand mounted to the gantry frame 102 and / or the manipulator 104. The first air hose 202 issufficiently flexible to move and flex so as to change shape as the manipulator 104 moves without impeding the movement of the manipulatorThe pneumatic system 222 comprises an air compressor 206 for generating a source ofcompressed air. Optionally, the pneumatic system 222 can also comprise an air storage tank(not shown) for compressed air. Furthermore, the pneumatic system 222 can also compriseone or more pneumatic valves 204 for selectively providing air to the suction gripper 120. lnthis way, the pneumatic system 222 comprises air supply such as air compressor 206 in fluidconnection to the suction gripper 120 configured to generate an airflow along an airflow pathbetween the air supply e.g. the air compressor 206 and the suction gripper 120. ln otherexamples, the air supply can be provided by any suitable source of compressed air or compressed gas.
The pneumatic system 222 is schematically shown as being located within the first cabinet112. However, in other examples the pneumatic system 222 can be partially or wholly locatedremote from the waste sorting robot 100. For example, there may be a plurality of wastesorting robots 100 on a sorting line (not shown) each of which require a source of air. ln thisway, a single air compressor 206 can be connected to a plurality of waste sorting robots 100via a plurality of air hoses. Accordingly, the pneumatic system 222 may be located between waste sorting robotsOperation of the pneumatic system 222 is controlled by the controller 200. The controller 200is connected via pneumatic control lines 208, 210 to the pneumatic system 222, the aircompressor 206 and the pneumatic valve 204. The controller 200 is configured to send controlinstructions to the pneumatic system 222, the air compressor 206, and the pneumatic valve204. This means that the controller 200 can selectively operate e.g. the air compressor 206 or the pneumatic valve 204 to deliver a supply of air to the suction gripperThe waste sorting robot 100 as shown in Figure 2 also comprises a solvent supply such assolvent tank 212 for dissolving organic matter or other dirt dried onto the suction gripper 120or other parts of the pneumatic system 222. ln some other examples, the solvent supply is alternatively or additionally a pipe (not shown) in fluid communication with the solvent outlet 214. For example the pipe can be a pipe for feeding solvent e.g. a mains water pipe. Thismeans that the waste sorting robot 100 always connected to a solvent supply and the solventtank 212 does not have to be replenished. The waste sorting robot 100 can be installed in aremote location and it may not be possible to connect the waste sorting robot 100 to a mains water supply. ln some examples, the solvent is water, but in other examples the solvent can be ethanol,methanol, ammonia, acetone or any other suitable solvent for dissolving organic matter orother dirt dried to the waste sorting robot 100. ln a preferred example, the solvent is waterbecause it is easier for the operator to handle water than other solvents. However, there maybe certain types of waste objects that contaminate the waste sorting robot 100 with dirt that isnot easily removed with water. For example, silicone sealant tubes may contaminate the wastesorting robot 100 with silicone sealant. Silicone sealant may require another solvent other thanwater for successful removal. The term “solvent” will be used to describe the examples andrefer to any suitable fluid for dissolving or removing dirt and debris stuck to the surfaces of the waste sorting robotln some examples, the solvent can optionally comprise one or more additives. ln someexamples one or more of a disinfectant, surfactant, detergent, dispersant is added to the solvent to help removal of dirt from the waste sorting robotThe waste sorting robot 100 comprises a solvent outlet 214 which is in fluid connection withthe solvent tank 212. The solvent outlet 214 is positioned along the airflow path of the suctiongripper 120 and configured to dose the airflow with the solvent. As shown in Figure 2, thesolvent outlet 214 is mounted on the suction gripper 120. ln other examples (not shown), thesolvent outlet 214 can be mounted on one or more of the first air hose 202, or downstreamsupply air hoses 500, 502 and / or the pneumatic valve 204. ln this way, the solvent outletis arranged to dose the airflow remote from the suction gripperSimilar to the pneumatic system 222, the waste sorting robot 100 comprises a solvent hose228 in fluid communication between the solvent outlet 214 and the solvent tank 212. ln someexamples, the solvent hose 228 is mounted on the manipulator 104. The solvent hose 228 isflexible and mounted to the gantry frame 102 and / or the manipulator 104. The solvent hose228 is sufficiently flexible to move and flex so as to change shape as the manipulatormoves without impeding the movement of the manipulatorln some examples, the solvent tank 212 can comprise a pump (not shown) for urging thesolvent from the solvent tank 212 to the solvent outlet 214. ln some examples, the solventtank 212 can be pressurised and no pump is required. For example, a third air hose (notshown) and another pneumatic valve (not shown) can be coupled to the solvent tank 212 forpressurising the solvent in the solvent tank 212. ln this way, the controller 200 can selectivelycontrol pressurising the solvent tank 212 to control the flow of the solvent to the solvent outlet214. Alternatively, the solvent tank 212 is mounted on the gantry frame 102 in a position abovethe suction gripper 120. This means that the solvent will be fed to the solvent outlet 214 via gravity alone. ln some examples, the solvent tank 212 is mounted in the first cabinet 112 or the secondcabinet 116 and easily accessible to an operator. The solvent tank 212 can optionally have atransparent window in a wall of the solvent tank 212 or the wall of the solvent tank 212 can betranslucent. This means that the operator can visually inspect the amount of solvent left in the solvent tankAs shown in Figure 2, there is a solvent valve 216 arranged to selectively control a flow ofsolvent to the solvent outlet 214. Operation of the solvent dosing is controlled by the controller200. The controller 200 is connected via solvent control line 230 to the solvent valve 216. Thecontroller 200 is configured to send control instructions to solvent valve 216. This means thatthe controller 200 can selectively operate the solvent valve 216 to deliver a supply of solvent to the solvent outlet 214 mounted on the suction gripperOptionally, there is no solvent valve 216 and the solvent is selectively fed to the solvent outlet214 by the controller 200 selectively pressurizing the solvent tank 212 or selectively controlling a solvent pump (not shown). ln some examples, the controller 200 can actuate the solvent valve 216 to modify the flow rateof the solvent to the solvent outlet 214. This means that the controller 200 can adjust thesolvent flow rate if the waste sorting robot 100 is particularly dirty. ln some examples, thecontroller 200 can adjust the flow rate of the solvent in dependence on a dirt parameter of thewaste sorting robot 100. ln some examples, the controller 200 can adjust the flow rate of thesolvent in dependence of determining pressure parameters of the suction gripper 120. This is discussed in further detail below.
Optionally, an operator can manually input information relating to the dirt parameter relating to the cleanliness of the waste sorting robot 100. Additionally or alternatively, the controller200 can optionally receive and analyse images of the suction cup 220 to determine whether the suction cup 220 is soiled with dried dirt e.g. dried organic matter.
An example of the suction gripper 120 will now be discussed in reference to Figures 3 and4. Figure 3 shows a perspective view of the suction gripper 120 without the suction cup 220.Figure 4 shows a cross-sectional side view of the suction gripper 120. As mentionedpreviously, the suction gripper 120 comprises a suction cup 220 (as shown in Figure 4). Thesuction cup 220 as shown in Figure 4 has a cup shape e.g. an approximate hemisphericalshape. However, other known suction cups can be used instead e.g. a ribbed cylindrical suction cup 506 as shown in FigureThe suction gripper 120 as shown in Figure 4 comprises an integrated suction tube 400 andblow tube 402 for carrying out grip / pick operations and throwing operations. This is known and will not be discussed in any further detail.
The suction gripper 120 comprises a suction tube air supply inlet 300 which is in fluidcommunication with the first air hose 202 (not shown in Figure 3). The suction tube air supplyinlet 300 introduces a fast, high pressure source of air into the suction tube 400 which createsa vacuum pressure in the suction tube 400 represented by the arrows in Figure 3. The vacuumpressure is also created in the suction cup 220 since the suction cup 220 is in fluid communication with the suction tubeAs shown in Figure 4, the suction gripper 120 also comprises a blow or “sneezing” tube 402connected to the suction tube 400. The blow tube 402 is essentially the same as the suctiontube 400 but reversed in orientation to generate a positive air pressure rather than a negative air pressure (e.g. a vacuum pressure).
Similar to the suction tube 400, the blow tube 402 comprises a blow tube air supply inlet 302which is in fluid communication with the first air hose 202. Accordingly, the blow tube air supply inlet 302 introduces a second air supply into the suction gripperln some examples the first air hose 202 is coupled between the air compressor 206 and apneumatic valve 204. ln some examples the pneumatic valve 204 which is a three-way valve504 (as best shown in Figure 5). The three-way valve 504 is configured for selectively providing an air flow to either the suction tube 400 or the blow tubeln some examples, the suction tube 400 comprises a first opening 404 to receive the firstpressure sensor 408 to measure the vacuum pressure in the suction gripper 120. ln someexamples, the first pressure sensor 408 is configured to detect the maximum vacuum pressure pvmax in the suction gripperLikewise, the blow tube 402 comprises a second opening 406 to receive a second pressuresensor 410 to measure the positive pressure when the suction gripper 120 operates in a blowmode. The first and second pressure sensors 408, 410 are connected to the controller 200and send signals to the controller 200. Only the communication line 218 between the first pressure sensor 408 and the controller 200 is shown for the purposes of clarity in FigureThe first pressure sensor 408 is configured to measure the pressure in the suction tube 400and the suction cup 220. ln some examples, the controller 200 can receive pressuremeasurement information from the first pressure sensor 408. The controller 200 is configured to determine the maximum vacuum pressure pvmax of the suction tubeThe vacuum pressure p., of the suction tube 400 defined as follows: pi; = patm _ pabs Wherein palm is the atmospheric pressure and pabs is the absolute pressure in the suctiongripper 120. Absolute pressure is the pressure in the suction gripper 120 measured with respect to a hard vacuum (e.g. a pressure of 0 bar). ln this way, the maximum vacuum pressure pv max of the suction tube 400 is the greatestdifference between atmospheric pressure and the absolute pressure of the suction tube 400.ln other words, this measures the ability of the pneumatic system 222 to create a partialvacuum in the suction tube 400. The maximum vacuum pressure pvmax of the suction gripper120 is an important parameter of the suction gripper 120 because it relates to the maximumgripping force of the suction gripper 120. For example, maximum vacuum pressure pvmax ofthe suction gripper 120 relates to the maximum weight of the waste object 106 that can belifted by the suction gripper 120. The maximum vacuum pressure pvmax of the suction gripper120 also relates to the combined maximum acceleration and weight of the waste objectthat can be lifted by the suction gripperThe maximum vacuum pressure pvmax is also important because not every gripping operationwill achieve the maximum vacuum pressure pl, max. For example, the waste object 106 can have an irregular shape and surface texture so a good seal may not be possible in everygripping operation. Accordingly, the suction gripper 120 may need to generate a certainmaximum vacuum pressure pvmax to pick the waste object 106 with an imperfect seal between the suction gripper 120 and the waste objectln addition, the second pressure sensor 410 sends pressure information to the controller 200.This means that the controller 200 can determine the positive sneeze pressure psneeze of theblow tubeThe pneumatic system 222 also comprises an air supply pressure sensor 224. The air supplypressure sensor 224 is connected to the controller 200 via a communication line 226. The airsupply pressure sensor 224 is configured to measure the pressure of the compressed airsupply to the suction gripper 120. ln some examples the air supply pressure sensor 224 ismounted in the first cabinet 112. ln some other examples, the air supply pressure sensor 224is mounted on the suction tube 400, for example mounted at the suction tube air supply inlet300 of the suction tube 400. ln some other examples, the air supply pressure sensor 224 ismounted on the first air hose 202, for example a gauge (not shown). ln this way, the air supplypressure sensor 224 sends pressure information to the controller 200. The controller 200 isconfigured to determine the minimum pressure pas min of the air supplied to the suction gripperThe minimum air supply pressure pas min is an important parameter of the suction gripper 120because it relates to whether suction gripper 120 is operational for a specified gripping performance.
As shown in Figures 4 and 5, the solvent hose 228 is attached to the solvent outlet 214 in thesame way as described in reference to Figure 2. The position of the solvent outlet 214 withrespect to the blow tube 402 means that the solvent outlet 214 introduces the solvent into thepositive pressure airflow path. Accordingly, the solvent is entrained in the airflow (as indicatedby the arrow in Figure 4) in the blow tube 402 and the solvent is blown out of the suctiongripper 120 and the suction cup 220. Since the solvent is introduced in the blow tube 402 partof the suction gripper 120, the solvent is not sucked into the pneumatic system 222. Even ifthe suction tube 400 is operational, the solvent will be ejected from the blow tube 402 at the open end of the blow tube 402, e.g. the blow tube first air inlet 412.Whilst Figures 4 and 5 shows the solvent outlet 214 is positioned opposite second opening406 to receive a second pressure sensor 410, the solvent outlet 214 can be positioned at any position along the suction gripper120 (aligned along axis A-A). The solvent outlet 214 can be mounted in the suction cup 220, the suction tube 400 or any other component of the pneumatic systemControl of the solvent dosing operation will be discussed in reference to the controller 200 andthe statistical module 250 determining operational parameters of the suction gripper 120 asdiscussed in reference to Figures 6a, 6b, 6c, 7a, 7b, 7c. ln this way, the controller 200 andthe statistical module 250 can analyse the performance of the suction gripper 120 and issuecontrol signals to supply solvent to the suction gripper 120. This means that the controller 200can determine when the suction gripper 120 becomes clogged with sticky residue and automatically clean the suction gripper 120 with a solvent dosing operation.
Turning to Figures 6a, 6b, 6c, operation of the waste sorting robot 100 will be discussed infurther detail. Figures 6a, 6b, 6c show graphs of different parameters ofthe waste sorting robot 100 normal operational scenarios.
Figures 6a, 6b, 6c show normal operation of the waste sorting robot 100. Figure 6a shows agraph of the % gripping rate R of gripping operations over time, Figure 6b shows a graph ofthe maximum vacuum pressure pvmax (mbar) over time, and Figure 6c shows a graph of the minimum air supply pressure pas min (bar) over time.
Figures 6a, 6b, 6c show a series of four picking operations over time. The different series offour picking operations are separated indicating that there is a period of time between the series of picking operations where the waste sorting robot 100 was not in operation.
As shown in Figure 6a, in normal operation the % gripping rate R of the gripping operations isgenerally above a predetermined threshold. The normal R range 600 is shown by a rectanglewhich represents a % gripping rate R of between 75% to 100%. ln some examples, the normalR range 600 of the % gripping rate R can be varied to any other suitable ranges or combinationthereof e.g. between 85% to 100%, 90% to 100%, 95% to 100% etc.
A below normal R range 602 is shown by rectangle which represents a % gripping rate R ofbetween 50% to 75%. ln some examples, if the gripping rate R of the gripping operationsremains in or lower than the below normal R range 602, then the statistical module 250 sendsa signal to the controller 200. This can indicate a fault with the waste sorting robot 100 or thesuction gripper 120 and the controller 200 can generate an alert to the operator. ln some examples, the below normal R range 602 of the % gripping rate R can be varied to any othersuitable ranges or combination thereof e.g. between 60% to 85%, 65% to 90%, 70% to 95% etc.
The % gripping rate R is determined as previously mentioned. As can be seen from Figure6a, there is some variation in the % gripping rate R of the gripping operations. The variationin the % gripping rate R of the gripping operations is because different types of waste objects106 have different % gripping rates R. For example, some types of waste objects 106 areeasier to successfully pick than other types of waste objects 106. ln this way, the % grippingrate R of the gripping operations can be lowered temporarily due to external factors such asthe type of waste being sorted, but nevertheless, the waste sorting robot 100 and the suction gripper 120 are operating normally.
Since there is inherent variability in the % gripping rate R of the gripping operations duringnormal operations, a moving % gripping rate R of the gripping operations (rather than acumulative % gripping rate) is more indicative of whether there is a fault with the waste sortingrobot 100 and / or the suction gripper 120. The moving % gripping rate R of the grippingoperations is calculated as previously discussed. This means that the % gripping rate R ofthe gripping operations is calculated based on a number n of the most recent grippingoperations. ln some examples, the moving % gripping rate R is reset every time the Waste sorting robot 100 is turned on. ln some examples, the statistical module 250 determines the moving % gripping rate R of thegripping operations. The statistical module 250 determines the moving % gripping rate R ofthe gripping operations over a predetermined number n of previous operations. ln someexamples, the statistical module 250 is configured to determine the moving % gripping rate Rof the gripping operations over the previous n 10, 50, 100, 200, 500, or 1000 suction gripperoperations. ln some examples, the statistical module 250 is configured to determine themoving % gripping rate R of the gripping operations over any number of previous gripping operations.
The number n of previous gripping operations can be varied depending on the requiredsensitivity for detecting changes in R. However, the fewer the number n of suction gripperoperations used to calculate R, the more likely R is to be affected by false positives. lncontrast, the greater the number n of suction gripper operations used to calculate R, the moreaccurate R. However, with a greater number n of suction gripper operations used to calculate R, the slower R will change when the waste sorting robot 100 malfunctions. ln someexamples, the controller 200 sends a signal to the statistical module 250 to change the numbern in order to increase the accuracy of R or decrease n to increase the sensitivity of R.
Figure 6b shows the maximum vacuum pressure px max over time. Figure 6b shows themaximum vacuum pressure pxmax as the instantaneous maximum vacuum pressure detected in the suction gripper 120 represented by thick lineAt the same time, for n consecutive suction gripper operations, the statistical module 250records the highest maximum vacuum pressure px, max which is referred to as px hfgmmax. hereinafter.
By measuring maximum vacuum pressure pxmax and highest maximum vacuum pressure pxhfgfLmax operational parameters of the waste sorting robot 100 can easily be determined fromthe first pressure sensor 408. These operational parameters can easily indicate theperformance of the waste sorting robot 100 without detecting that a pick has been successful i.e. the waste object 106 has been placed or thrown into a chute. ln some examples, the statistical module 250 determines the highest maximum vacuumpressure px mgmmax. ln some examples, the controller 200 sends a signal to the statisticalmodule 250 to change the number n in order to increase the accuracy of pxmgmmax or decrease n to increase the sensitivity of px, mgmmax.
As shown in Figure 6b, in normal operation the instantaneous maximum vacuum pressure pxmax is generally above a predetermined threshold. The predetermined threshold of themaximum vacuum pressure pxmax is an operational specification maximum vacuum pressurepvmax_aaaa of the waste sorting robot 100. That is, the designed maximum vacuum pressure pxmax for the waste sorting robot 100. As shown in Figure 6b, the predetermined threshold isrepresented as a range 604 which reflects an operational tolerance in the variability of themaximum vacuum pressure px max during operation. ln some examples, the predeterminedthreshold can be represented on the graph in Figure 6b as a straight line 614 representing thespecification maximum vacuum pressure pxmax_apaa Without any operational tolerance. Figure6b shows four separate waste sorting operations and each has a highest maximum vacuum pressure pxm-gmmax within a normal range pxmgmmax rangeThe normal px mgmmax range 604 is shown by a rectangle which represents a range between 600 to 800 mbar. A below normal px, mgmmax range 606 of the is shown by rectangle whichrepresents 500 to 600 mbar. During normal operations as shown in scenario 1, the highestmaximum vacuum pressure pv hfgfLmax lies within the normal pv mgfLmaX range 604. ln someexamples, the normal pv hfgfLmax range 604 can be varied to any other suitable ranges orcombination thereof e.g. between 650 to 850 mbar, 700 to 900 mbar, 800 to 950 mbar. lnsome examples, the below normal pv hfgfLmax range 606 can be varied to any other suitableranges or combination thereof e.g. between 550 to 550 mbar, 600 to 700 mbar, 700 tombar etc. ln some examples, if the highest maximum vacuum pressure pv hfgfLmax remains in or lowerthan the below normal pvm-gfLmaX range 606, then the statistical module 250 sends a signal tothe controller 200. This can indicate a fault with the waste sorting robot 100 or the suctiongripper 120 and the controller 200 can generate an alert to the operator. Use of the belownormal pvmgfLmaX range 606 is optional and in other examples, the statistical module 250 sendsa signal to the controller 200 when the highest maximum vacuum pressure pvmgfLmaX falls below and indicates a fault with the suction gripper 120 and / or the waste sorting robotSimilar to % gripping rate R of the gripping operations, there is also some variation in thehighest maximum vacuum pressure pvmgfLmaX. The variation in the highest maximum vacuumpressure pv hfgfLmax is because different types of waste objects 106 have different properties.For example, the suction gripper 120 can make good seals against smooth surfaces but not against rough or crumpled surfaces.
The statistical module 250 is configured to compare the maximum vacuum pressure pv max,highest maximum vacuum pressure pv hfgfLmax, and the specification maximum vacuumpressure pvmaxjpec. lfthe statistical module 250 determines that the highest maximum vacuumpressure pv hfgfLmax is lower than the specification maximum vacuum pressure pv maßpec then,the statistical module 250 may determine that there were no "good" e.g. no suitable grippableobjects. Due to the inherent variability of waste objects, some waste objects are good forgripping and some waste objects are bad for gripping. For example, a good waste object forgripping may be hard, smooth, and / or solid surface against which a high vacuum can begenerated in the suction gripper 120. For example, a bad waste object for gripping may beporous, rough and / or flexible against which a low vacuum can only be generated in the suction gripper 120.By using the highest maximum vacuum pressure pv hfgfLmax to assess the operationalperformance of waste sorting robot 100, it is possible to assess whether there is a fault with the waste sorting robot 100 rather than variability in the type of waste objects 106. Forexample, if the highest maximum vacuum pressure pv hfgmmax remains high e.g. close to thespecification maximum vacuum pressure pVmmLSpeC but a lower % gripping rate R, then thereis a degree of confidence that the is not a problem with the waste sorting robot 100.Nevertheless, a gradual degradation in operational performance will be shown as a downwardslope for the highest maximum vacuum pressure pl, mgmmax. At some point, the highestmaximum vacuum pressure pv hfgmmax will not be high enough for the suction gripper 120 togenerate a high enough vacuum pressure to grip even the ”good” waste objects. ln otherwords, a decreasing highest maximum vacuum pressure pv hfgmmax indicates that there is probably a problem with the waste sorting robotAlternatively, the statistical module 250 may determine that the waste sorting robot 100 e.g.the suction gripper120 is unable to achieve a specified performance. As the statistical module250 analysis the parameters of the suction gripper 120 and the waste sorting robot 100 overa greater number n of operations, the parameters determined by the statistical modulebecome more reliable metrics of performance of the waste sorting robotln some examples, the statistical module 250 is configured to compare the maximum vacuumpressure pv max and the highest maximum vacuum pressure pv hfgmmax. The determineddifference between the maximum vacuum pressure pvmax and the highest maximum vacuumpressure pv hfgmmax can be an indicator of the operational performance of the waste sortingrobot 100. ln particular, if the difference between maximum vacuum pressure pvmax and thehighest maximum vacuum pressure pv hfgmmax is increasing, then this is an indicator that theperformance of the suction gripper100 is worsening. This can be an indication that there is a fault in the suction gripperSimilarly, a falling highest maximum vacuum pressure pVm-gmmax can also be an indication that there is a fault in the suction gripperFigure 6c shows the minimum air supply pressure pas mm over time. ln some examples, theminimum air supply pressure pas mm is the instantaneous air supply pressure detected in thesuction gripper 120, the first air hose 202 or another component in the pneumatic system 222suppling the compressed air to the suction gripper 120. ln other examples, the minimum airsupply pressure pas mm is a minimum air supply pressure moving average 2568 mm. The minimumair supply pressure moving average ñas mm over the previous n gripping operations is calculated as follows: n _ 1 i pas min = z pas mini=ln some examples, the statistical module 250 determines the minimum air supply pressuremoving average 1568 min. ln some examples, the controller 200 sends a signal to the statisticalmodule 250 to change the number n in order to increase the accuracy of 1568 min or decrease n to increase the sensitivity of 1568 min. ln some other examples, instead of determining the minimum air supply pressure movingaverage 1568 min the statistical module 250 determines the lowest minimum air supply pressurep68i6n_min_ The statistical module 250, determines the lowest minimum air supply pressure p68i6n_min_ for n consecutive suction gripper operations. ln some examples, the lowest minimumair supply pressure p68inn_min is used instead of minimum air supply pressure moving average1568 min. This is because the lowest minimum air supply pressure p68inn_min may change morerapidly during operation and changes in the air supply pressure may be easier to detect. Byanalyzing e.g. 10, 100 or 1000 gripping operations, the natural variation in the waste objects can be reliably filtered out.
As can be seen from Figure 6c, in normal operation there is limited variation in theinstantaneous minimum air supply pressure p68 min. For the purposes of clarity, the minimum air supply pressure moving average 1568 min has not been plotted on Figure 6c. ln normal operation the instantaneous minimum air supply pressure p68 min is generally abovea predetermined threshold. ln normal operation the minimum air supply pressure movingaverage 1568 minis above a predetermined threshold. The normal 1568 min range 608 is shown byrectangle which represents a range bet\Neen 5 to 7 bar. A below normal 1568 min range 610 isshown by rectangle which represents 4 to 5 bar. ln some examples, if the minimum air supplypressure moving average 1568 min remains in or lower than the below normal 1568 min range 610,then then the statistical module 250 sends a signal to the controller 200. This can indicate afault with the waste sorting robot 100 or the suction gripper 120 and the controller 200 cangenerate an alert to the operator. ln some examples, the normal 1568 min range 608 can be variedto any other suitable ranges or combination thereof e.g. between 6 to 8 bar, 7 to 9 bar, 8 to10 bar. suitable ranges or combination thereof e.g. between 5 to 6 bar, 5 to 7 bar, 6 to 8 bar etc. ln some examples, the below normal 1568 min range 610 can be varied to any otherUse of the below normal ñas min range 510 is optional and in other examples, the statisticalmodule 250 sends a signal to the controller 200 when the minimum air supply pressure movingaverage ñas min falls below and indicates a fault with the suction gripper 120 and / or the wastesorting robotTurning to Figures 7a, 7b, 7c another scenario will now be discussed. Figures 7a, 7b, 79cshow graphs of different parameters of the waste sorting robot 100 in according to a fault scenano.
Another problem that may occur during sorting waste objects 106 is that the suction gripper120 and other components of the pneumatic system 222 acquire a buildup of dirt and stickyresidue on their internal surfaces. This can be due to organic matter present on the wasteobject 106. Excessive build-up of dirt and sticky residue will reduce the airflow and ultimately block the airflow.
Here the highest maximum vacuum pressure pvhigfLmaX will decrease into and then lower thanthe below normal pv higfLmaX range 606 as shown by curve 702 and at the same and the %gripping rate R of the gripping operations will decrease as shown by curve 700 into or lowerthan the below normal R range 602. The decrease may be gradual and not detectable over ashort time period. Therefore, a long-term moving average for one or more parameters of thewaste sorting robot 100 and the suction gripper120 may be required for determining that there is fault.
Operation of the controller 200 and the statistical module 250 will now be discussed inreference to Figure 8 when the highest maximum vacuum pressure pv higfLmax and the %gripping rate R are determined to be outside normal operating parameters. Figure 8 shows a flow diagram of operation of the waste sorting robot 100 and fault detection.
The waste sorting robot 100 starts at letter ”A” and proceed to function in a normal mode ofoperation as shown in step 1000. Periodically, the statistical module 250 determines the %gripping rate R of the gripping operations as shown in step 1002. Step 1002 may be carriedout after every gripping operation so that the % gripping rate R is kept current. ln some otherexamples the statistical module 250 determines the % gripping rate R of the grippingoperations by sampling a number of gripping operations and extrapolating the % gripping rate R from the sample.The statistical module 250 determines in step 1004 whether the % gripping rate R of thegripping operations is within the normal R range 600. lf the statistical module 250 determinesthat the % gripping rate R is normal, then the controller 200 determines that the waste sortingrobot 100 is operating normally and returns to step 1000. However, as discussed above, whenthe % gripping rate R is normal, there still may be a fault in the suction gripper 120. Thismeans the statistical module 250 may perform steps 1006, 1008, 1010 and 1012 as discussedbelow. The dotted arrow 1018 indicates that the statistical module 250 performs other stepsbefore returning to step 1000. ln some examples, step 1004 is always performed before steps1006,1008, 1010 andlf the statistical module 250 determines that the % gripping rate R of the gripping operationsis below the normal R range 600 or lower than the below normal R range 602, then thestatistical module 250 determines the current instantaneous maximum vacuum pressure pvmaxin step 1006 and the current instantaneous minimum air supply pressure pan ,n,-n in step 1008.ln some examples, step 1004 is carried out before step 1006 and step 1008. lt may bepreferable for the statistical module 250 to perform step 1004 first because if the % grippingrate R is within the normal range 500, then it is likely that there are no faults with the wastesorting robot 100. However, in other examples, step 1004 can be carried out in parallel with steps 1006 andln a less preferred examples, the statistical module 250 can omit step 1004. This is becausea poor highest maximum vacuum pressure pv nIQnJnnX or the minimum air supply pressuremoving average ñns nn-n will cause a drop in the % gripping rate R of the gripping operations.However, not determining the % gripping rate R of the gripping operations, the detection of faults in the suction gripper 120 will be less successful.
The statistical module 250 then determines whether the highest maximum vacuum pressurepvnfgnJnnx is within or lower than the below normal pvnfgngnnx range 606 as shown in step 1010.As the same time the statistical module 250 then determines whether the minimum air supplypressure moving average gíns ,n,-n is within or lower than the below normal gíns nnn range 610 as shown in stepThe controller 200 then determines in step 1014 that there is a fault in the suction gripper120if the % gripping rate R of the gripping operations and the highest maximum vacuum pressurepv hlgfunnx or the minimum air supply pressure moving average ñas min are outside operational parameters.ln some examples the statistical module 250 may only perform step 1010 or step 1012. lnother words, the statistical module 250 only analyses the highest maximum vacuum pressurepvnigmmnx or the minimum air supply pressure moving average ñns min. This may be desirable if only a single type of fault is needed to be detected. ln some examples, the statistical module 250 optionally classifies the fault determined in step1014 and the statistical module 250 optionally sends information of the probable fault to thecontroller 200. For example, the statistical module 250 uses stored information to determinewhat type of fault is experienced by the waste sorting robot 100. ln this way, the statisticalmodule 250 uses the characteristics of the % gripping rate R of the gripping operations, thehighest maximum vacuum pressure pvnigmmnx, and the minimum air supply pressure movingaverage ñns min to identify the type of fault. ln some examples, the controller 200 is configured to determine the type of fault instead of the statistical moduleln some examples, the statistical module 250 determines that the % gripping rate R of thegripping operations and the highest maximum vacuum pressure pi, nign_mnx, have graduallydropped whilst the minimum air supply pressure moving average ñns min has remainedconstant. The statistical module 250 determines that the rate of change of the % gripping rateR of the gripping operations and the highest maximum vacuum pressure pv nign_mnx, and theconstant air supply pressure moving average ñns min corresponds to a fault caused by stickyresidue building up in the suction gripperAccordingly, the statistical module 250 sends a signal to the controller 200 indicating that thestatistical module 250 has determined that there is a fault. The controller 200 then optionallyissues an alert or alarm to the operator as shown in step 1016. ln some examples, thecontroller 200 includes the probable fault in the alert that the suction gripper 120 has becomepartially clogged with the sticky residue. ln some examples, the alert can be a message issued on a control panel (not shown). ln some other examples, the statistical module 250 determines that highest maximum vacuumpressure pvnigmmnxis below the operational specification maximum vacuum pressure pvmnmsnec.This means that the waste sorting robot 100 and the suction gripper 120 are not operatingwithin the required specification. As mentioned previously, if the suction gripper120 generatesa highest maximum vacuum pressure pvnigmmnx which is too low, this can affect the operationalperformance of the waste sorting robot 100. Similarly, the statistical module 250 sends asignal to the controller 200 indicating that the statistical module 250 has determined that thereis a fault because the highest maximum vacuum pressure pvnigmmnx is too low. The controller 200 then optionally issues an alert or alarm to the operator as shown in stepAdditionally or alternatively, the controller 200 carries out the steps as described in Figure 9with starts at Figure 9 shows a flow diagram view of a method used by the waste sortingrobot 100 to clean the suction gripper 120 following a determination that the suction gripper 120 is clogged with sticky residue.
As mentioned above, the statistical module 250 sends a signal to the controller 200 and thistriggers the solvent dosing operation for cleaning the suction gripper 120 as shown in stepWhen the controller 200 initiates the solvent dosing operation, the controller 200 sends acontrol instruction to actuate the solvent valve 216 according to step 1020. The solvent outlet214 then does the airflow in the suction gripper 120 with the solvent according to step 1022as discussed in reference to the previous examples. The waste sorting robot 100 then returns to "A" and proceeds to function in the normal operation stepWhilst the controller 200 initiates the solvent dosing operation, the controller 200 can modifythe flow rate of the solvent at the solvent outlet 214 and modify the duration of the solventdosing operation. The controller 200 can modify the solvent dosing operation in dependenceof one of more parameters of the waste sorting robot 100. For example, the statistical module250 can send a signal to the controller 200 that the rate of change of the % gripping rate R ofthe gripping operations, the highest maximum vacuum pressure pvmgfLmaX is decreasing rapidlyor slowly. Accordingly, the controller 200 can change the amount of solvent used in the solventdosing operation in dependence on the rate of change of the % gripping rate R of the grippingoperations and / or the maximum highest maximum vacuum pressure pv fil-grym e.g. an indication of how fast the sticky residue is building up on the suction gripperFor example, if the waste objects 106 are particularly dirty, the controller 200 can perform thesolvent dosing operation in response to the level of contamination that the suction gripperis experiencing.
By periodically introducing solvent into the airflow of the suction gripper 120, the build-up ofdirt and debris can be reduced. This means that the waste sorting robot 100 requires lessmaintenance and is more efficient. By determining the more parameters of the suction gripper120 over the plurality of suction gripper operations. The controller 200 can detect a fault in the suction gripper 120 and automatically clean the suction gripper 120 with the solvent. ln this way partial information on how picks are actually succeeding can be used to measurethe performance of the Waste sorting robot 100. A signal (e.g. % gripping rate R of the grippingoperations) which correlates strongly with successful picks is used to determine theperformance of the Waste sorting robot 100. However the signal relating to the performanceof the Waste sorting robot 100 is prone to faults. The inventors have realized that by applyingtheir experience and external knowledge, the signal can be effectively used through statisticalanalysis for determining the performance of the waste sorting robot 100. The inventors haverealized that the suction gripper 120 will achieve a good grip on at least some of the some ofthe objects and over time, it's virtually guaranteed that such objects will be sorted by the suction gripperln another example two or more examples are combined. Features of one example can be combined with features of other examples.
Examples of the present disclosure have been discussed with particular reference to the examples illustrated. However it will be appreciated that variations and modifications may be made to the examples described within the scope of the disclosure. 26

Claims (19)

Claims
1. A method of Cleaning a waste sorting robot (100) having a manipulator (104)moveable within a working area (108) and a suction gripper (120) connected to themanipulator (104) and arranged to selectively grip a waste object (106) in the working area(108), the method comprising: determining one or more operational parameters of the suction gripper (120) over theplurality of suction gripper (120) operations; and detecting a fault in the suction gripper (120) based on the determined one or moreoperational parameters; and suppling a solvent to the suction gripper (120) for cleaning the suction gripper (120) in response to detecting the one or more faults in the suction gripper (120).
2. A method according to claim 1 Wherein the method comprises determining a grippingrate of the suction gripper (120) operations over a plurality of suction gripper (120)operations and the detecting the fault in the suction gripper (120) on thedetermined one or more operational parameters and the gripping rate of the suction gripper (120) operations.
3. A method according to claim 2 Wherein the determining the gripping rate of thesuction gripper (120) operations comprises determining that the gripping rate of the suction gripper (120) operations drops below a predetermined threshold.
4. A method according to claims 2 or 3 Wherein the gripping rate of the suction gripper(120) operations is determined over a predetermined number of previous suction gripper (120) operations.
5. A method according to claim 4 Wherein the average gripping rate of the suctiongripper (120) operations is determined over a previous 10, 50 or 100 suction gripper (120) operations.
6. A method according to any of the preceding claims Wherein the determining one or more operational parameters of the suction gripper (120) comprises determining one or more pressure parameters of the suction gripper (120) are outside a normal operating range.
7. A method according to claim 6 wherein the determining one or more operationalparameters of the suction gripper comprises determining an highest maximum vacuumpressure of the suction gripper (120) over a predetermined number of previous suction gripper (120) operations.
8. A method according to claim 7 wherein the determining one or more operationalparameters of the suction gripper (120) comprises determining that the maximum vacuum pressure is outside a maximum vacuum pressure operating range.
9. A method according to any of claims 6 to 8 wherein the determining one or moreoperational parameters of the suction gripper (120) comprises determining an averageminimum air supply pressure supplied to the suction gripper (120) over a predetermined number of previous sorting operations.
10. A method according to claim 9 wherein the determining one or more operationalparameters of the suction gripper (120) comprises determining that the minimum air supply pressure is within a minimum air supply pressure operational range.
11. A method according to any of the preceding claims wherein the method comprises generating an alert in dependence of the detecting one or more faults.
12. A method according to claim 11 wherein the method comprises determining the typeof the one or more faults in dependence on the determined gripping rate and the determined parameters and including the type of the one or more faults in the alert.
13. A method according to any of the preceding claims wherein the detecting a fault inthe suction gripper (120) comprises determining that the suction gripper (120) comprises a build-up of residue.
14. A method according to any of the preceding claims wherein the method comprisesvarying the flow rate of the solvent supplied to the suction gripper (120) in dependence of thedetermined one or more parameters and the determined gripping rate of suction gripper (120) operations.
15. A method according to claim 14 wherein the varying the flow rate of the solvent comprises increasing the flow rate of the suction gripper (120) in dependence of the rate ofdecrease of the highest maximum vacuum pressure and / or the gripping rate of suction gripper (120) operations.
16. A method according to any of the preceding claims wherein the supplying the solvent comprises dosing an airflow in the suction gripper (120) with the solvent.
17. A method according to any of the preceding claims wherein the supplying comprisesactuating a valve in fluid connection between a solvent outlet (214) mounted on the suction gripper (120) and a solvent supply.
18. A computer program product comprising instructions which, when the program isexecuted by a computer, cause the computer to carry out the steps of the method according to any of claims 1 to
19. A waste sorting robot (100) comprising:a manipulator (104) moveable within a working area (108); a suction gripper (120) connected to the manipulator (104) and arranged toselectively grip a waste object (106) in the working area (108); a solvent outlet (214) mounted on the suction gripper (120) and in fluidcommunication with a solvent valve (216) arranged to selectively supply solvent to thesolvent outlet (214); and a controller (200) configured to: determine one or more operational parameters of the suction gripper (120)over a plurality of suction gripper (120) operations; detect one or more faults with the suction gripper (120) based on thedetermined one or more operational parameters; and actuate the valve configured to supply the solvent to the suction gripper (120) for cleaningthe suction gripper (120) in response to detecting the one or more faults in the suctiongripper (120). 29
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