CN106081408A - A kind of intelligent garbage recovery system - Google Patents
A kind of intelligent garbage recovery system Download PDFInfo
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- CN106081408A CN106081408A CN201610654924.2A CN201610654924A CN106081408A CN 106081408 A CN106081408 A CN 106081408A CN 201610654924 A CN201610654924 A CN 201610654924A CN 106081408 A CN106081408 A CN 106081408A
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- garbage container
- control module
- wireless charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F1/0053—Combination of several receptacles
- B65F1/006—Rigid receptacles stored in an enclosure or forming part of it
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1468—Means for facilitating the transport of the receptacle, e.g. wheels, rolls
- B65F1/1473—Receptacles having wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/172—Solar cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/176—Sorting means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The open a kind of intelligent garbage recovery system of the present invention, a female garbage container and at least three the sub-garbage container that can move freely is constituted.Female garbage container includes female refuse receptacle body, solar energy module, signpost, billboard module and the transmitting terminal of wireless charging module, is sequentially provided with solar energy module, signpost, billboard module from top to bottom by support bar above female refuse receptacle body；The transmitting terminal of wireless charging module is arranged in female refuse receptacle body；Solar energy module provides electric energy for whole system, and signpost, billboard module show navigation information and advertisement, plays the effect showing the way and publicizing.Sub-garbage container can be by identifying that the action of people determines destination, independently travel to this place, for people's garbage throwing, and publicize refuse classification knowledge by interactive voice mode, thereby carry forward the theory of energy-saving and emission-reduction, reach the purpose of the subtle middle environmental consciousness improving the common people.
Description
Technical field
The present invention relates to the crossing domain of robot and garbage disposal, be specifically related to a kind of novel garbage can design.
Background technology
First Legislation of Circular Economy of China in 2009---" People's Republic of China's recycling economy promotion law " starts real
Executing, at it in solid waste minimizing service content, Waste sorting recycle is the most important thing.The Chinese government is to refuse classification
Fund input less relative with the environmental consciousness of the public thin, relatively lack in manpower and materials, insufficient funds, equipment fall behind
Under the conditions of, lack the power advancing refuse classification comprehensively to carry out；And in the U.S., garbage disposal is transformed into by family, enterprise, government
A kind of modern management work that tripartite collectively constitutes, and achieve maximum resource utilization, thus effectively promote
Garbage disposal is to the transformation of rubbish economy.
As a example by Guangzhou, the refuse classification barrel of Guangzhou is according to " domestic waste group indication " (GB/
T19095-2003) arrange, but remain to see informal classification garbage can in the public territory in Guangzhou, and resident is to rubbish
Concept obfuscation is reclaimed in rubbish classification, also lacks the consciousness of Waste sorting recycle simultaneously, causes Nonexpendable Item refuse and electronics rubbish
Rubbish pollutes, and not only wastes available resources but also pollute environment.
In Waste sorting recycle, conduct vigorous propaganda the work promoting refuse classification, improve resident's environmental consciousness and rubbish
Classification recovery consciousness is particularly important.The public places such as large-scale recreation ground, park can be the ground well publicizing refuse classification
Point, and the design of the refuse receptacle in amusement park is important step very important in Garden Planning, therefore, it is necessary to for travelling
This kind of place design in garden has gone out a set of intelligent garbage recovery system.
Summary of the invention
It is an object of the invention to the deficiency overcoming prior art to exist, it is provided that a kind of intelligent garbage recovery system, pass through
Intelligent reminding and actively searching crowd receive rubbish and reach the effect that classification is reclaimed, and interesting primary and secondary refuse receptacle design is also
Can be attracted tourists attention, while improving the refuse classification consciousness of visitor, especially Children and teenager, moreover it is possible to become and travel
One name cards in garden, even city, improves city quality.
Present invention employs techniques below scheme.
A kind of intelligent garbage recovery system, is the sub-rubbish that be can move freely by a female garbage container and at least three
Barrel is constituted, and female garbage container includes female refuse receptacle body, solar energy module, signpost, billboard module and wireless charging
The transmitting terminal of electricity module, is sequentially provided with solar energy module, signpost, wide from top to bottom by support bar above female refuse receptacle body
Accuse board module；The transmitting terminal of wireless charging module is arranged in female refuse receptacle body；Solar energy module provides electricity for whole system
Can, signpost, billboard module show navigation information and advertisement, plays the effect showing the way and publicizing.Sub-garbage container bag
Enclosed tool refuse receptacle body and the control module being located on sub-refuse receptacle body, autonomous driving module, voice interaction module, image are known
Other module, wireless charging module receiving terminal, control module is used for receiving and process autonomous driving module, voice interaction module, figure
The data sended over as identification module and wireless charging module, send control signal and data to corresponding module；Independently drive
Sail module for driving sub-garbage container to arrive appointed place smoothly；Voice interaction module is for obtaining the voice letter in environment
Breath, sends information data to control module, receives control signal and data that control module returns, synthesize corresponding voice also
Play, it is achieved sub-garbage container and the voice interface of people, control module can send a signal to voice interaction module, controls it and broadcasts
Put refuse classification knowledge and catch-phrase；Picture recognition module, for obtaining one section of video flowing, sends data to control module,
Being determined whether that action occurs by control module by algorithm, this judged result can act on autonomous driving module；Wireless charging
Electric energy is sent to the receiving terminal of wireless charging module by the transmitting terminal of module by high frequency magnetic field produced by resonance effect, both
Between be the most directly electrically connected.The receiving terminal of wireless charging module is the accumulator charging of sub-garbage container, it is provided that son
Electric energy needed for garbage container work.
Further, female refuse receptacle body is divided into four collecting vessels according to refuse classification, and principle of classification is according to this system
The rubbish type throwing in place determines.
Further, sub-refuse receptacle body is divided into four collecting vessels, mode classification and female refuse receptacle according to refuse classification
Ontology mode is consistent.
Further, autonomous driving module is by driving motor, GPS sensor, human body sensor, magnetometer sensor, surpassing
Sonic sensor forms.GPS sensor, human body sensor, magnetometer sensor, the signal of ultrasonic sensor send to controlling
Module, is generated real-time map by control module by algorithm, determines track route according to optimal route principle, realize sub-rubbish with this
The autonomous driving function of rubbish bucket.GPS sensor receives gps satellite signal, and this signal sends to control module, for sub-refuse receptacle
Location and the division of range of activity；The signal of human body sensor sends to control module, is used for differentiating whether barrier is people
Body；Magnetometer sensor utilizes earth's magnetic field to identify direct north, and its signal sends to control module, is used for judging direction；Ultrasonic
Wave sensor utilizes acoustic reflection principle to measure distance, and its signal sends to control module, for judging the distance with barrier.
Further, voice interaction module publicizes for voice and realizes the speech exchange of sub-garbage container and people, by
Mike, loudspeaker and voice plate composition.Information data, by obtaining the voice messaging in environment, is sent extremely by voice interaction module
Control module, receives control signal and the data of control module, synthesizes corresponding voice and play；Control module can send signal
To voice interaction module, control it and play refuse classification knowledge and catch-phrase.
Further, picture recognition module is used for identification maneuver, is made up of photographic head, and photographic head is arranged on sub-refuse receptacle originally
Body front, is obtained one section of video flowing by photographic head, is transferred to control module, contrasts every frame image content by algorithm, when continuously
When multiframe picture occurs different, then judge have action to occur.
Further, control module is used for receiving and process autonomous driving module, voice interaction module, picture recognition module
The data sended over, send control signal and data to corresponding module.Under the computing of algorithm, the storage of data and instruction
Reach and realized by control module.When control module, to judge to exceed the setting time unidentified to action or when recognizing action, sends
Control signal, to autonomous driving module, switches the driving mode of sub-garbage container.Unidentified to action when exceeding the setting time
Time, control module the driving mode of sub-garbage container is switched to roam mode, control sub-garbage container at certain model
Enclosing and interior move without purpose, control module is sent by the GPS sensor of relatively boundary value set in advance with autonomous driving module
Gps satellite signal carry out judgment means whether in prescribed limit；When recognizing action, control module is by processing and analyzing
The signal of the sensor of autonomous driving module, determines the general orientation that action occurs, and is cut by the driving mode of sub-garbage container
Shift to mission mode, control sub-garbage container and move towards the party's displacement.Control module compares wireless charging module voltage sensor
The data uploaded and preset value, when voltage is less than preset value, then control sub-garbage container and return female garbage container immediately, enter
Row wireless charging；When voltage is higher than preset value, and the most sub-garbage container can continue to run with.
Further, sub-refuse receptacle body is four collecting vessels divided according to refuse classification, for collecting four kinds of differences
The rubbish of type, the rubbish type that principle of classification throws in place according to this system determines.
Further, the transmitting terminal of wireless charging module for solving the charging problems of sub-refuse receptacle, by amplifying circuit and
Radiating circuit forms.Radiating circuit is to be become with resonance coil groups by resonant capacitance.Accumulator in solar energy module, amplifying circuit and
Radiating circuit is sequentially connected with, and the voltage of the accumulator of solar energy module is raised by amplifying circuit, produces resonance in radiating circuit,
High frequency magnetic field is produced by resonance coil.When this high frequency magnetic field acts on the receiving terminal of wireless charging module, electric energy just can be from sending out
Penetrate end transmission to receiving terminal.
Further, the receiving terminal of wireless charging module is for solving the charging problems of sub-refuse receptacle, by receiving conversion electricity
Road, charging circuit, accumulator and voltage sensor composition, be electrically sequentially connected with by description.Wireless charging module
When the high frequency magnetic field that transmitting terminal produces acts on the receiving terminal of wireless charging module, the coil of reception change-over circuit produce humorous
Shake, just can receive the electric energy transmitted from transmitting terminal.Through charging circuit after the electric energy converted one-tenth stable DC electricity received
Act on accumulator, charge for accumulator.
Further, solar energy module provides electric energy for whole system.By solar panels, solar converter, accumulator,
The outer power supply source of 220V, AC-DC converter composition.Solar panels, solar converter connect, and constitute power supply circuits；220V
Outer power supply source and AC-DC converter connect, and constitute backup circuit.The electric energy sent when solar panels enough supplies whole system
When system uses, backup circuit does not works；When the electric energy that solar panels send is not enough to supply whole system use, enable
Backup circuit is system power supply jointly.
Further, signpost, billboard module are made up of display screen, solar energy module power, and are used for throwing in advertisement,
Display road information, has the function of signpost and billboard concurrently.
Female refuse receptacle body is four collecting vessels divided according to refuse classification, for collecting four kinds of different types of rubbish
Rubbish, the rubbish type that principle of classification throws in place according to this system determines.
Compared with prior art, the method have the benefit that:
(1) economize the land resource: solar panels, billboard, direction board and the refuse receptacle that the present invention will the most individually arrange, pass through
The modular design of vertical direction, is integrated into female garbage container, neither affects the function of three, save again and set up solar energy
Soil needed for plate, billboard and signpost.Soil economizing type design, a combination can save 0.5-2 square metre；Sub-rubbish
Rubbish barrel is equipped with autonomous driving module and picture recognition module, can be automatically adjusted the sky of sub-garbage container according to people's flow distribution
Between be distributed, be equivalent to expand the covering radius of female garbage container, that can reduce fixed refuse bucket sets up quantity, saves
Set up the soil needed for this part refuse receptacle, it is contemplated that the injected volume of 10% to 20%, compared with prior art, each intelligence can be saved
Garbage retrieving system can save about 1 square metre of soil.
(2) convenient masses: the present invention solves the masses and can not find the problem of refuse receptacle, and people can dispose hands easily
On rubbish, need not deliberately find refuse receptacle set-point.
(3) energy-conserving and environment-protective: the present invention uses solar powered, interactive voice prompting refuse classification, divides improving people
Class is realized, and particularly plays an important role the teen-age environmental consciousness of cultivation.Effective refuse classification, can improve process rubbish
Efficiency, it is achieved the resource of rubbish and recycling, contribute to solving refuse pollution problem.
(4) commercial value: the present invention is because have employed the design of primary and secondary refuse receptacle, easily attractive with its novelty, because of
This, for the billboard of female garbage container, can have good advertisement benefit；The income of advertisement simultaneously may be used for counteracting portion
Divide cost and operation, the expense of maintenance of product design.The billboard price of domestic large-scale recreation ground is in 2000-5000 mostly
Between unit/moon.Take minimum price to calculate, after runing three months, it is contemplated that advertising income is 6000-15000 unit, takes minimum receipts
Entering, what this intelligent garbage recovery system put into effect just can realize profit in three month.
(5) moral: the sub-garbage container of the present invention is configured with voice interaction module so that people can be with refuse receptacle
Carry out certain interaction, sub-garbage container can more effectively be publicized refuse classification, carry forward the theory of energy-saving and emission-reduction, latent
Move the environmental consciousness improving the common people in silentization, there is certain moral.
(6) business promotion: the present invention is modularized design, can transform rapidly as needed and throw in, it is adaptable to
Other places, such as: school, market, office, family etc..Therefore, in terms of production and popularization, there is the biggest advantage.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of intelligent garbage recovery system in example；
Fig. 2 is example neutron garbage container logic control flow process figure；
Fig. 3 is the theory structure schematic diagram of a kind of intelligent garbage recovery system in example；
Fig. 4 is the structural representation of autonomous driving module in example；
Fig. 5 is the structural representation of solar energy module in example；
Fig. 6 is the structural representation of wireless charging module in example.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings, but the enforcement of the present invention and protection are not limited to this.
[embodiment 1]
Such as Fig. 1, Fig. 3, a kind of intelligent garbage recovery system, a female garbage container and at least three can move freely
Sub-garbage container is constituted, and female garbage container includes female refuse receptacle body 3, solar energy module 1, signpost, billboard module 2
With the transmitting terminal of wireless charging module, above female refuse receptacle body by support bar be sequentially provided with from top to bottom solar energy module,
Signpost, billboard module；The transmitting terminal of wireless charging module is arranged in female refuse receptacle body；Solar energy module is whole system
System provides electric energy, signpost, billboard module shows navigation information and advertisement, plays the effect showing the way and publicizing.Sub-rubbish
Barrel includes sub-refuse receptacle body 4 and the control module being located on sub-refuse receptacle body, autonomous driving module, interactive voice mould
Block, picture recognition module 5, wireless charging module receiving terminal, control module is used for receiving and process autonomous driving module, voice is handed over
The data that module, picture recognition module and wireless charging module send over mutually, send control signal and data to corresponding mould
Block, owing to the interface of control module is less, during interface deficiency, autonomous driving module and voice module are by expansion board and control mould
Block connects, and expansion board plays the effect increasing control module interface；Autonomous driving module is used for driving sub-garbage container smooth
Arrive appointed place；Information data, for obtaining the voice messaging in environment, is sent to control module, connects by voice interaction module
Receive control signal and data that control module returns, synthesize corresponding voice and play, it is achieved sub-garbage container and the language of people
Sound is interactive, and control module can send a signal to voice interaction module, controls it and plays refuse classification knowledge and catch-phrase；Image
Identification module, for obtaining one section of video flowing, is sent data to control module, control module is determined whether by algorithm
Action occurs, and this judged result can act on autonomous driving module；The transmitting terminal of wireless charging module is produced by resonance effect
Electric energy is sent to the receiving terminal of wireless charging module by raw high frequency magnetic field, is the most directly electrically connected.Wireless
The receiving terminal of charging module is the accumulator charging of sub-garbage container, it is provided that the electric energy needed for the work of sub-garbage container.
Female refuse receptacle body is divided into four collecting vessels according to refuse classification, and principle of classification throws in place according to this system
Rubbish type determines.
Sub-refuse receptacle body is divided into four collecting vessels, mode classification and female refuse receptacle Ontology side according to refuse classification
Formula is consistent.
Such as Fig. 4, autonomous driving module is by driving motor, GPS sensor, human body sensor, magnetometer sensor, ultrasound wave
Sensor forms.GPS sensor, human body sensor, magnetometer sensor, the signal of ultrasonic sensor send to controlling mould
Block, is generated real-time map by control module by algorithm, determines track route according to optimal route principle, realize sub-rubbish with this
The autonomous driving function of barrel.GPS sensor receives gps satellite signal, and this signal sends to control module, for sub-rubbish
Barrel location and the division of range of activity；The signal of human body sensor sends to control module, is used for differentiating that barrier is
No for human body；Magnetometer sensor utilizes earth's magnetic field to identify direct north, and its signal sends to control module, is used for the side of judgement
To；Ultrasonic sensor utilizes acoustic reflection principle to measure distance, and its signal sends to control module, for judging and barrier
Distance.
Voice interaction module publicizes for voice and realizes the speech exchange of sub-garbage container and people, by mike, loudspeaker
And voice plate form.Information data, by obtaining the voice messaging in environment, is sent to control module by voice interaction module,
Receive control signal and the data of control module, synthesize corresponding voice and play；Control module can send a signal to voice and hand over
Module mutually, controls it and plays refuse classification knowledge and catch-phrase.
Picture recognition module is used for identification maneuver, is made up of photographic head, and photographic head is arranged on sub-refuse receptacle body front, by
Photographic head obtains one section of video flowing, is transferred to control module, contrasts every frame image content by algorithm, when in continuous multiple frames picture
When occurring different, then judge have action to occur.
Control module is used for receiving and process autonomous driving module, voice interaction module, picture recognition module send over
Data, send control signal and data to corresponding module, Fructus Rubi can be used to send as control module.The computing of algorithm, number
According to storage and instruction assign by control module realize.When control module judge to exceed the setting time unidentified to action or
When recognizing action, transmission control signal, to autonomous driving module, switches the driving mode of sub-garbage container.When exceeding setting
Time unidentified to action time, control module the driving mode of sub-garbage container is switched to roam mode, controls sub-rubbish
Rubbish barrel moves without purpose within the specific limits, and control module is by relatively boundary value set in advance and autonomous driving module
GPS sensor send gps satellite signal carry out judgment means whether in prescribed limit；When recognizing action, control mould
Block, by processing and analyze the signal of the sensor of autonomous driving module, determines the general orientation that action occurs, by sub-refuse receptacle
The driving mode of device switches to mission mode, controls sub-garbage container and moves towards the party's displacement.Control module compares wireless charging
The electricity data uploaded of module voltage sensor and preset value, when voltage is less than preset value, then controls sub-garbage container and return immediately
Return female garbage container, carry out wireless charging；When voltage is higher than preset value, and the most sub-garbage container can continue to run with.
Sub-refuse receptacle body is four collecting vessels divided according to refuse classification, for collecting four kinds of different types of rubbish
Rubbish, the rubbish type that principle of classification throws in place according to this system determines.
The transmitting terminal of wireless charging module is for solving the charging problems of sub-garbage container, by amplifying circuit and transmitting electricity
Road forms.Radiating circuit is to be become with resonance coil groups by resonant capacitance.Accumulator, amplifying circuit and transmitting electricity in solar energy module
Road is sequentially connected with, and the voltage of the accumulator of solar energy module is raised by amplifying circuit, produces resonance, by humorous in radiating circuit
The coil that shakes produces high frequency magnetic field.When this high frequency magnetic field acts on the receiving terminal of wireless charging module, electric energy just can pass from transmitting terminal
Transport to receiving terminal.
The receiving terminal of wireless charging module is for solving the charging problems of sub-garbage container, by receiving change-over circuit, filling
Electricity circuit, accumulator and voltage sensor composition, be electrically sequentially connected with by description.The transmitting terminal of wireless charging module
When the high frequency magnetic field produced acts on the receiving terminal of wireless charging module, receive and the coil of change-over circuit produces resonance, just may be used
Receive the electric energy transmitted from transmitting terminal.Storage is acted on through charging circuit after the electric energy converted one-tenth stable DC electricity received
Battery, charges for accumulator, accumulator be to drive motor and control module to power, first through blood pressure lowering electricity when powering for control module
Voltage is down to 5V by road.
Solar energy module provides electric energy for whole system.Supplied by outside solar panels, solar converter, accumulator, 220V
Power supply, AC-DC converter form.Solar panels, solar converter connect, and constitute power supply circuits；The outer power supply source of 220V
Connect with AC-DC converter, constitute backup circuit.The electric energy sent when solar panels enough supplies whole system use
Time, backup circuit does not works；When the electric energy that solar panels send is not enough to supply whole system use, enables standby and supply
Electricity circuit is system power supply jointly.
Signpost, billboard module are made up of display screen, are used for throwing in advertisement, show road information, have concurrently signpost and
The function of billboard.Being powered by solar energy module, the amplified circuit of accumulator of solar energy module is connected to display screen.
Female refuse receptacle body is four collecting vessels divided according to refuse classification, for collecting four kinds of different types of rubbish
Rubbish, the rubbish type that principle of classification throws in place according to this system determines.
The logic control flow process figure of sub-garbage container is as in figure 2 it is shown, include: step 1, sub-garbage container start, from
Main driving module starts, and the most sub-garbage container does not moves.Step 2, picture recognition module start, and control module judges whether
Recognize action.Step 3, recognize action when judging, then place action occurred simply positions, and mobile to mesh
Ground.Step 4, arrive at after, stop mobile, voice interaction module starts, and plays voice, publicizes refuse classification knowledge,
After waiting 20 seconds, the release of people's garbage throwing, voice module is play and is thanked to voice, returns step 2.If step 5 step 2
Recognition time was more than 5 minutes, then the sub-garbage container of control module control moves freely, and returned step 2 after mobile 20 minutes.
The structural representation of solar energy module is as shown in Figure 5.Solar panels are connected with accumulator through device for converting solar energy,
Solar panels convert solar energy into electrical energy, and after device for converting solar energy, obtain stable 24V unidirectional current, are stored in electric power storage
Chi Zhong.The outer power supply source of 220V and AC-DC converter connect, and constitute backup circuit.The electric energy sent when solar panels is enough
When supply whole system uses, backup circuit does not works；The electric energy sent when solar panels is not enough to supply whole system
During use, enable backup circuit jointly for system power supply.
The structural representation of wireless charging module is as shown in Figure 6.The transmitting terminal of wireless charging module is by solar energy module
Storage battery power supply, the accumulator of solar energy module, amplifying circuit and radiating circuit be sequentially connected with, and amplifying circuit is by solar energy module
The voltage of middle accumulator raises, and produces resonance, produce high frequency magnetic field by resonance coil in radiating circuit.This high frequency magnetic field is made
When the receiving terminal of wireless charging module, electric energy just can transmit to receiving terminal by transmitting terminal.The transmitting terminal of wireless charging module produces
When raw high frequency magnetic field acts on the receiving terminal of wireless charging module, receive and the coil of change-over circuit produces resonance, just can connect
Receive the electric energy transmitted from transmitting terminal.Electric power storage is acted on through charging circuit after the electric energy converted one-tenth stable DC electricity received
Pond, charges for accumulator.Obtained the magnitude of voltage of the accumulator of wireless charging module by voltage sensor, send to control module.
Claims (9)
1. an intelligent garbage recovery system, it is characterised in that include that a female garbage container and at least three can move freely
Sub-garbage container；Female garbage container includes female refuse receptacle body, solar energy module, signpost, billboard module and nothing
The transmitting terminal of line charging module, is sequentially provided with solar energy module from top to bottom by support bar, is shown the way above female refuse receptacle body
Board, billboard module；The transmitting terminal of wireless charging module is arranged in female refuse receptacle body；Solar energy module is that whole system carries
For electric energy, signpost, billboard module are used for showing navigation information and advertising message；Sub-garbage container includes that sub-refuse receptacle is originally
Body and the control module being located on sub-refuse receptacle body, autonomous driving module, voice interaction module, picture recognition module, wireless
Charging module receiving terminal, control module be used for receiving and process autonomous driving module, voice interaction module, picture recognition module and
The data that wireless charging module sends over, send control signal and data to corresponding module；Autonomous driving module is used for driving
Mover garbage container arrives appointed place smoothly；Voice interaction module is for obtaining the voice messaging in environment, by Information Number
According to sending to control module, receive control signal and data that control module returns, synthesize corresponding voice and play, it is achieved son
Garbage container and the voice interface of people, control module can send a signal to voice interaction module, controls sound interactive module and plays
Refuse classification knowledge and catch-phrase；Picture recognition module is used for obtaining video flowing, sends video stream data to control module,
Being determined whether that action occurs by control module, this judged result can act on autonomous driving module；Sending out of wireless charging module
Penetrate end and by high frequency magnetic field produced by resonance effect, electric energy is sent to the receiving terminal of wireless charging module；Wireless charging module
The accumulator that receiving terminal is sub-garbage container charging, it is provided that sub-garbage container work needed for electric energy；
Female refuse receptacle body is divided into corresponding multiple collecting vessel according to refuse classification；Sub-refuse receptacle body is drawn according to refuse classification
It is divided into corresponding multiple collecting vessel.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: autonomous driving module by drive motor,
GPS sensor, human body sensor, magnetometer sensor, ultrasonic sensor form；GPS sensor, human body sensor, magnetic force
Flowmeter sensor, the signal of ultrasonic sensor send to control module, control module generate real-time map, according to optimal route
Principle determines track route, realizes the autonomous driving function of sub-garbage container with this；GPS sensor receives gps satellite signal,
This signal sends to control module, for sub-garbage container location and the division of range of activity；The signal of human body sensor
Send to control module, be used for differentiating whether barrier is human body；Magnetometer sensor utilizes earth's magnetic field to identify direct north, and
Send the signal to control module, be used for judging direction；Ultrasonic sensor utilizes acoustic reflection principle to measure distance, and will letter
Number send to control module, for judging the distance with barrier.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: voice interaction module publicizes for voice
With realize the speech exchange of sub-garbage container and people, be made up of mike, loudspeaker and voice plate；Voice interaction module is by obtaining
Take the voice messaging in environment, information data is sent to control module, receive control signal and the data of control module, synthesis
Corresponding voice is also play；Control module can send a signal to voice interaction module, controls to broadcast voice interaction module and puts rubbish and divide
Class knowledge and catch-phrase.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: picture recognition module is used for identifying dynamic
Making, be made up of photographic head, photographic head is arranged on sub-refuse receptacle body front, photographic head obtain one section of video flowing, is transferred to control
Molding block, by contrasting every frame image content, when occurring different in continuous multiple frames picture, then judges have action to occur.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: control module is for receiving and processing certainly
The data that main driving module, voice interaction module, picture recognition module and wireless charging module send over, send control signal
With data to corresponding module；When control module, to judge to exceed the setting time unidentified to action or when recognizing action, sends
Control signal, to autonomous driving module, switches the driving mode of sub-garbage container；Unidentified to action when exceeding the setting time
Time, control module the driving mode of sub-garbage container is switched to roam mode, control sub-garbage container and setting model
Enclosing and interior move without purpose, control module is sent by the GPS sensor of relatively boundary value set in advance with autonomous driving module
Gps satellite signal carry out judgment means whether in prescribed limit；When recognizing action, control module is by processing and analyzing
The signal of the sensor of autonomous driving module, determines the general orientation that action occurs, and is cut by the driving mode of sub-garbage container
Shift to mission mode, control sub-garbage container and move towards the party's displacement；Control module compares wireless charging module voltage sensor
The data uploaded and preset value, when voltage is less than preset value, then control sub-garbage container and return female garbage container immediately, enter
Row wireless charging；When voltage is higher than preset value, and the most sub-garbage container can continue to run with.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: the transmitting terminal of wireless charging module is by putting
Big circuit and radiating circuit composition；Radiating circuit is to be become with resonance coil groups by resonant capacitance；Accumulator in solar energy module, put
Big circuit and radiating circuit are sequentially connected with, and the voltage of the accumulator of solar energy module is raised by amplifying circuit, in radiating circuit
Produce resonance, produce high frequency magnetic field, when this high frequency magnetic field acts on the receiving terminal of wireless charging module, electric energy by resonance coil
Just can transmit to receiving terminal from transmitting terminal.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: the receiving terminal of wireless charging module is by connecing
Receive change-over circuit, charging circuit, accumulator and voltage sensor composition, be electrically sequentially connected with by description；Wireless charging
When the high frequency magnetic field that the transmitting terminal of electricity module produces acts on the receiving terminal of wireless charging module, receive in the coil of change-over circuit
Produce resonance, just can receive the electric energy transmitted from transmitting terminal；Through filling after the electric energy converted one-tenth stable DC electricity received
Electricity circuit function, in accumulator, charges for accumulator.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: solar energy module is by solar panels, too
Sun can transducer, accumulator, the outer power supply source of 220V, AC-DC converter composition；Solar panels, solar converter connect, and constitute
Article one, power supply circuits；The outer power supply source of 220V and AC-DC converter connect, and constitute backup circuit；When solar panels send
When electric energy enough supplies whole system use, backup circuit does not works；The electric energy sent when solar panels is not enough to supply
When whole system uses, enable backup circuit jointly for system power supply.
Intelligent garbage recovery system the most according to claim 1, it is characterised in that: signpost, billboard module are by showing
Screen composition, is powered by solar energy module, is used for throwing in advertisement, shows road information, has the function of signpost and billboard concurrently.
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| CN201610654924.2A CN106081408A (en) | 2016-08-10 | 2016-08-10 | A kind of intelligent garbage recovery system |
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