用机器人+智能消化器实现垃圾自动分拣与高效处理。
An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management
- 机器人用YOLOv8和ROS实时识别分拣垃圾，四类准确率98%。
- 传感器监测温、酸、压等参数，优化算法提升消化效率。
- 适合小区或工厂用，可动态调节适应不同环境条件。
快速城市化与人口增长使城市固体废物管理日益困难，亟需更智能的自动化解决方案。本文提出并评估了一种集成式垃圾管理框架，包含机器人分拣模块与优化生物消化器。机器人采用MyCobot 280 Jetson Nano机械臂，结合YOLOv8目标检测与基于ROS的路径规划，实现垃圾实时识别与分类，四类垃圾分拣准确率达98%，大幅减少人工干预。分拣后有机垃圾被送入配备多传感器的生物消化器，实时监测温度、pH值、压力及电机转速。通过粒子群优化（PSO）算法与回归模型联合动态调节系统参数，在复杂环境下保持稳定运行并最大化消化效率。动态测试结果表明系统具备高精度分拣与高效生物转化能力。该框架具备可扩展性、智能化与实用性，适用于住宅与工业场景。
原文摘要 · Abstract (English)
Rapid urbanization and continuous population growth have made municipal solid waste management increasingly challenging. These challenges highlight the need for smarter and automated waste management solutions. This paper presents the design and evaluation of an integrated waste management framework that combines two connected systems, a robotic waste segregation module and an optimized bio-digestor. The robotic waste segregation system uses a MyCobot 280 Jetson Nano robotic arm along with YOLOv8 object detection and robot operating system (ROS)-based path planning to identify and sort waste in real time. It classifies waste into four different categories with high precision, reducing the need for manual intervention. After segregation, the biodegradable waste is transferred to a bio-digestor system equipped with multiple sensors. These sensors continuously monitor key parameters, including temperature, pH, pressure, and motor revolutions per minute. The Particle Swarm Optimization (PSO) algorithm, combined with a regression model, is used to dynamically adjust system parameters. This intelligent optimization approach ensures stable operation and maximizes digestion efficiency under varying environmental conditions. System testing under dynamic conditions demonstrates a sorting accuracy of 98% along with highly efficient biological conversion. The proposed framework offers a scalable, intelligent, and practical solution for modern waste management, making it suitable for both residential and industrial applications.
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