CN109292300B - Active classification recycling device - Google Patents
Active classification recycling device Download PDFInfo
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- CN109292300B CN109292300B CN201811300127.XA CN201811300127A CN109292300B CN 109292300 B CN109292300 B CN 109292300B CN 201811300127 A CN201811300127 A CN 201811300127A CN 109292300 B CN109292300 B CN 109292300B
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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
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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
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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
- B65F2210/152—Material detecting 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
- B65F2210/168—Sensing 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
- B65F2210/176—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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Abstract
The invention discloses an active classification recovery device, which comprises: a first detection device and a second detection device; a first guide device; a first container, a second container, a third container; the first detection device is used for distinguishing metal from nonmetal of a recovery target; when the first detection means determines that the recovery target is non-metal, the first guide means directly guides the recovery target into the first container; otherwise, when the recovery target is judged to be metal, starting the first guiding device to guide the recovery target to the second detection device; the invention can adjust the quantity and the types of the complex sensors based on the accuracy and the recovery type, thereby reducing the classification complexity and the expenditure while ensuring the accuracy of garbage classification; repeated automatic cruising can be carried out along a set route or a learning route, and the device has the functions of voice calling and gesture calling; the high-efficiency automatic obstacle avoidance is realized through complex buffer control and arbitration, the steering times are reduced through steering arbitration, and the steering efficiency is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of environmental sanitation equipment, and particularly relates to an active classification recycling device.
[ background of the invention ]
Is a problem to be solved by those skilled in the art. The invention can carry out primary classification of garbage based on a simple sensor and carry out fine classification of garbage based on a complex sensor; the quantity and the types of the complex sensors can be adjusted based on the accuracy and the recovery type, so that the classification complexity and the expenditure are reduced while the garbage classification accuracy is ensured; the method can be repeated for nearly ten years along a set route or a learning route, and although the country advocates classified putting of the household garbage, most of domestic cities do not comprehensively push classified collection of the garbage until now, and a mixed collection method is adopted, so that the investment of the domestic garbage sanitary landfill site and the garbage incineration power plant are increased continuously for nearly ten years, and the effect of the constructed garbage sanitary landfill site and the constructed garbage incineration power plant is not ideal. In large public places, for example: in office places, convention centers and gymnasiums, bottles and cans are scattered all the time in peak use periods, so that the cleanness and the attractiveness are affected; the manual classification of rubbish needs a large amount of human costs, especially in public places such as stadium, office area, carries out beverage classification and needs a large amount of human costs, and the human cost is increasing day by day at present and is very big to public resource waste. A large amount of metal products are mixed in the garbage, so that the difficulty of later-stage garbage classification is increased, particularly, a large amount of conventional garbage disposal stations of aluminum pop cans cannot utilize magnetic force to carry out screening, and the combustion rate of the garbage is greatly reduced. So that a plurality of garbage stations have to add fuel oil for heating in the garbage incineration process. Otherwise, the combustion process can not reach 400 ℃ and generates a large amount of dioxin in the incineration process, thus polluting the environment. Aluminum is an important industrial raw material, but the recovery difficulty is increased due to the mixed types of the pop cans, and the unmanned batch classification is difficult. The recycling cost is increased, and the economic benefit of recycling is reduced. The classification of rubbish kind just carries out the management and control more easily at the source earliest, and the degree of difficulty is lower. All waste classifications in japan, like the famous one, are classified in individual households, and this product is used for distribution in public areas to classify several common beverage cans. And picking up garbage classification from the source. In practice, however, both the awareness and knowledge of recovery of everyone is relatively inadequate. In the prior art, analysis is mostly carried out by using a plurality of detection points in parallel, but the cost requirement on a recovery device is high. There are also large robotic arm garbage sorting line approaches, however, such sorting machines are quite expensive; the green full-automatic intelligent garbage can also determines the closing of the garbage can only by utilizing infrared induction; the sorting trolley carries out transportation and processing judgment after sensing the weight, and the sorting is not automatic sorting in the true sense; the Xuzhou company 'De lan Shi' pushes out a 120-liter indoor garbage classification collection box, the monitoring functions are complete, the monitoring functions comprise temperature monitoring, positioning functions, full-load warning, ozone sterilization, intelligent ventilation, outdoor water prevention, code scanning delivery, hand clamping prevention, automatic fire extinguishing and the like, but the garbage types are still selected by manual keys, the garbage types are automatically ejected out of corresponding garbage cans for delivery, and the intelligent classification of the garbage cans is not really achieved; therefore, how to effectively classify and recycle the garbage, improve recycling consciousness and improve automatic cruising and obstacle avoidance of recycling efficiency is a problem to be solved at present; the invention has the functions of voice and gesture calling, enhances the man-machine interaction and is suitable for large-scale public occasions; after recovery, the recovery knowledge can be played, and the garbage recovery consciousness is enhanced. The quantity and the types of the complex sensors can be adjusted based on the accuracy and the recovery type, so that the classification complexity and the expenditure are reduced while the garbage classification accuracy is ensured; repeated automatic cruising can be carried out along a set route or a learning route, and the device has the functions of voice calling and gesture calling; the high-efficiency automatic obstacle avoidance is realized through complex buffer control and arbitration, the steering times are reduced through steering arbitration, and the steering efficiency is improved.
[ summary of the invention ]
In order to solve the above problems in the prior art, the present invention provides an active sorting and recycling apparatus, including:
a first detection device and a second detection device; a first guide device; a first container, a second container, a third container;
the first detection device is used for distinguishing metal from nonmetal of a recovery target; when the first detection means determines that the recovery target is non-metal, the first guide means directly guides the recovery target into the first container; otherwise, when the recovery target is judged to be metal, starting the first guiding device to guide the recovery target to the second detection device;
the first guiding device can guide the recovery target between the first container and the second detection device;
the second detection device is used for distinguishing the iron and the aluminum of the recovery target; when the recovery target enters the second detection device, the second detection device is reversed, and when the second detection device judges that the recovery target is aluminum, the second detection device directly guides the recovery target to the second container; otherwise, when it is determined that the recovery target is made of iron, the second detection device guides the recovery target to a third container;
when the recycling target falls into a second detection device, the second detection device starts to turn over and sequentially rotates through a second container and a third container; the iron recovery target is adsorbed by the electromagnet in the second detection device after falling into the second detection device; the aluminum recovery target falls into the second container in the process of inversion, and the iron recovery target is adsorbed by the magnet and falls after reaching the third container;
when the second detecting means is rotated above the third container, a short power-off is generated in response to the arrival at the specific position so that the recovery target falls into the third container; after the position reaches the specific position, the second detection device touches the limiting device, reversely overturns and returns to the original position; wherein the brief power outage ends after leaving the particular location;
the first detailed detection device and/or the second detailed detection device are/is arranged on the first guide device and are accommodated by the first guide device;
after a recycling target enters a first detailed detection device through a first guide device, the first detailed detection device is used for acquiring one or more images of the recycling target, analyzing the images to acquire attribute information of the recycling target, and judging the type of the recycling target based on the attribute information; when the recovery target is judged to be a nonmetal recovery target of a specific type, guiding the recovery target into a fourth container; otherwise, guiding the recovery target into the miscellaneous container;
the main body container is used for accommodating the first detection device and the second detection device; a first guide device; a first container, a second container, a third container;
the recovery device further comprises: a first detailed detection device and/or a second detailed detection device; the first container comprises a miscellaneous container and a fourth container; the fourth container is used for accommodating non-metal recycling targets with specific textures, and the miscellaneous container is used for accommodating non-metal recycling targets with non-specific textures; setting the first detailed detection device and/or the second detailed detection device according to the type of the specific texture needing to be classified; the miscellaneous container is positioned outside the main container of the active classification and recovery device;
after the recovery target enters a second detailed detection device through a first guide device, the recovery target collides with the second detailed detection device to generate sound, the second detailed detection device collects the sound and judges whether the recovery target is a nonmetal recovery target of a specific type or not on the basis of the sound, and if so, the recovery target is guided into a fourth container; otherwise, guiding the recovery target into the miscellaneous container; when the recovery target falls into the first guiding device, the recovery target respectively acquires the image and/or sound of the recovery target through the rapid camera and the audio collector; the first guide device is provided with a gentle slope, so that the recovery target can stay for a short time after falling into the first guide device and then continuously fall; arbitrating a first determination result of the first detailed detection means and a second determination result of the second detailed detection means when the first detailed detection means and the second detailed detection means are simultaneously provided; if the first judgment result is consistent with the second judgment result, guiding the recovery target according to the judgment result of the first detailed detection device; otherwise, arbitration is carried out according to the use condition of the fourth container, the noise degree of the environment and the type of the recovery target contained in the specific type; arbitrating according to the use condition of the fourth container, the noisy degree of the environment and the types of the recycling targets contained in the specific type, specifically comprising: when the environment noise degree is higher than the first noise threshold value and the types of the recycling targets exceed the first quantity, or the environment noise degree is smaller than or equal to the first noise threshold value and the types of the recycling targets are smaller than or equal to the first quantity, arbitration is carried out according to the using condition of the fourth container; when the ambient noise degree is higher than a first noise threshold value and the types of the recycling targets are less than or equal to a first number, taking a first judgment result as a final judgment result; when the ambient noisy degree is less than or equal to a first noisy threshold value and the types of the recycling targets are more than a first number, taking a second judgment result as a final judgment result;
the recovery device also comprises an infrared sensor, the infrared sensor keeps all-directional rotation to detect the obstacles, and when the obstacles are detected, the direction and the distance of the obstacles are sent to the central processing unit to change the moving direction;
the method for sending the direction and the distance of the obstacle to the central processing unit to change the moving direction specifically comprises the following steps: the central processing unit receives the direction and the distance of the obstacle, judges whether the direction is on the current moving route, and if not, keeps the current moving direction; if so, judging whether the movement reverse needs to be changed or not based on the distance, and if so, sending a steering instruction to the mobile device based on the distance; otherwise, suspending the steering instruction and waiting for a confirmation instruction, and sending the steering instruction to the mobile device after the confirmation instruction is obtained;
the determining whether the moving direction needs to be changed based on the distance specifically includes: determining that a movement direction does not need to be changed if the distance is greater than a first safe distance; otherwise, determining that the moving direction needs to be changed;
the sending of the steering instruction to the mobile device based on the distance specifically comprises: if the distance is smaller than the second safety distance, an immediate steering instruction is sent to the mobile device, so that the mobile device can steer immediately;
the mobile device suspends the steering instruction, waits for confirmation and sends the steering instruction to the mobile device after the confirmation is obtained; the method specifically comprises the following steps: generating a steering instruction and storing the steering instruction into a list to be confirmed; calculating the confirmation time required by the recovery device to move to the position of the obstacle according to the current moving speed and the moving route; if no steering instruction is received within the confirmation time, deleting all steering instructions in the list to be confirmed; otherwise, if the steering instructions in the list to be confirmed are more than or equal to the second quantity, confirming steering and sending the steering instructions to the mobile device; considering that the obstacle can be continuously waited for confirmation when the first safety distance and the second safety distance are between, if the obstacle leaves, unnecessary steering can be avoided; when the number of the steering commands is enough, the obstacle direction is indicated to be the hot obstacle direction, and the steering can be performed in advance at the moment, so that the situation that the mobile device cannot perform effective movement due to the fact that too many steering commands are sent to the mobile device in an emergency is avoided.
Further, the first detection device is arranged at an inlet of the multi-material beverage bottle recovery device; the first detection device comprises two oppositely arranged aluminum foil plates, the recovered target can be in contact with the aluminum foil plates when entering the recovery device, the oppositely arranged aluminum foil plates are conducted, and the first guide device is started to overturn, so that the recovered target is guided into the second detection device; after the recovery target falls into the second detection device, the oppositely arranged aluminum foil plates are not conducted, and the first guide device returns to the original position under the action of gravity; the second detection device is a tipping bucket structure, and an electromagnet is arranged on the inner surface of the tipping bucket structure; the second detection device has both detection and guidance functions.
Further, the recycling device further comprises: the attribute information is the shape, contour and color of the recycling target.
The active classification recycling device provided by the invention can be used for carrying out primary classification on garbage based on a simple sensor and finely classifying the garbage based on a complex sensor; the quantity and the types of the complex sensors can be adjusted based on the accuracy and the recovery type, so that the classification complexity and the expenditure are reduced while the garbage classification accuracy is ensured; the system can also carry out repeated automatic cruising along a set route or a learning route, has the functions of voice calling and gesture calling, enhances the man-machine interaction, and is suitable for large-scale public occasions; after recovery is finished, the recovered knowledge can be played, and the garbage recovery consciousness is enhanced; the infrared sensor is simply arranged, high-efficiency automatic obstacle avoidance is realized through complex buffer control and arbitration, the steering times are reduced through steering arbitration, and the steering efficiency is improved; the efficient obstacle avoidance mode is suitable for large-scale venues and has low requirements on the processor, and the expenditure of the recovery device is greatly reduced.
[ description of the drawings ]
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of an active recycling apparatus according to an embodiment of the present invention;
[ detailed description ] embodiments
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
The core of the present invention is to provide an active classification recycling device, so that those skilled in the art can better understand the scheme of the present invention, and the present invention will be further described in detail with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, an active sorting and recycling apparatus provided in an embodiment of the present invention includes: a first detection device and a second detection device; a first guide device; a first container, a second container, a third container;
the first detection device is used for distinguishing metal from nonmetal of a recovery target; when the first detection means determines that the recovery target is non-metal, the first guide means directly guides the recovery target into the first container; otherwise, when the recovery target is judged to be metal, starting the first guiding device to guide the recovery target to the second detection device;
the first guiding device can guide the recovery target between the first container and the second detection device;
preferably: the first detection device is arranged at an inlet of the multi-material beverage bottle recovery device; the first detection device comprises two oppositely arranged aluminum foil plates, the recovered target can be in contact with the aluminum foil plates when entering the recovery device, the oppositely arranged aluminum foil plates are conducted, and the first guide device is started to overturn, so that the recovered target is guided into the second detection device; after the recovery target falls into the second detection device, the oppositely arranged aluminum foil plates are not conducted, and the first guide device returns to the original position under the action of gravity;
preferably: the distance between the oppositely arranged aluminum foil plates is set to ensure that all beverage bottles thrown into the garbage can be contacted with the aluminum foil plates;
the second detection device is used for distinguishing the iron and the aluminum of the recovery target; when the recovery target enters the second detection device, the second detection device is reversed, and when the second detection device judges that the recovery target is aluminum, the second detection device directly guides the recovery target to the second container; otherwise, when it is determined that the recovery target is made of iron, the second detection device guides the recovery target to a third container;
preferably: the second detection device is a tipping bucket structure, and an electromagnet is arranged on the inner surface of the tipping bucket structure; the second detection device has the functions of detection and guidance; when the recycling target falls into a second detection device, the second detection device starts to turn over and sequentially rotates through a second container and a third container; the iron recovery target is adsorbed by the electromagnet in the second detection device after falling into the second detection device; the aluminum recovery target falls into the second container in the process of inversion, and the iron recovery target is adsorbed by the magnet and falls after reaching the third container;
preferably: when the second detecting means is rotated above the third container, a short power-off is generated in response to the arrival at the specific position so that the recovery target falls into the third container; after the position reaches the specific position, the second detection device touches the limiting device, reversely overturns and returns to the original position; wherein the brief power outage ends after leaving the particular location;
candidate: the recycling target is a beverage bottle;
the recovery device further comprises: the main body container is used for accommodating the first detection device and the second detection device; a first guide device; a first container, a second container, a third container;
the recovery device further comprises: a first detailed detection device and/or a second detailed detection device; the first container comprises a miscellaneous container and a fourth container;
preferably: the fourth container is used for accommodating non-metal recycling targets with specific textures, and the miscellaneous container is used for accommodating non-metal recycling targets with non-specific textures; for example: the special texture is a plastic or glass beverage bottle; the setting of the first detailed detection means and/or the second detailed detection means can be made according to the type of specific texture to be classified;
preferably: the first detailed detection device and the second detailed detection device judge the recovery target in a voice and image mode, so a central processing unit needs to be arranged for identification, a camera, a collection device and the like need to acquire analysis data, the complexity of the recovery device is increased, and the first detailed detection device and the second detailed detection device can be arranged according to the recovery precision and the recovery type for balancing;
preferably: the miscellaneous container is positioned outside the main container of the active classification and recovery device;
the first detailed detection device is used for judging the type of the recovery target based on an image mode; after a recycling target enters a first detailed detection device through a first guide device, the first detailed detection device is used for acquiring one or more images of the recycling target, analyzing the images to acquire attribute information of the recycling target, and judging the type of the recycling target based on the attribute information; when the recovery target is judged to be a nonmetal recovery target of a specific type, guiding the recovery target into a fourth container; otherwise, guiding the recovery target into the miscellaneous container;
preferably; the attribute information is the shape, outline, color and the like of the recycling target;
preferably: the first detailed detection device comprises a light source to effectively acquire a recovery target image;
the second detailed detection device is used for judging the type of the recovery target based on the sound mode; after the recovery target enters a second detailed detection device through a first guide device, the recovery target collides with the second detailed detection device to generate sound, the second detailed detection device collects the sound and judges whether the recovery target is a nonmetal recovery target of a specific type or not on the basis of the sound, and if so, the recovery target is guided into a fourth container; otherwise, guiding the recovery target into the miscellaneous container;
preferably: the first detailed detection device and/or the second detailed detection device are/is arranged on the first guide device and are accommodated by the first guide device; when the recovery target falls into the first guiding device, the recovery target respectively acquires the image and/or sound of the recovery target through the rapid camera and the audio collector;
preferably: the first guide device is provided with a gentle slope, so that the recovery target can stay for a short time after falling into the first guide device and then continuously fall;
preferably: arbitrating a first determination result of the first detailed detection means and a second determination result of the second detailed detection means when the first detailed detection means and the second detailed detection means are simultaneously provided; if the first judgment result is consistent with the second judgment result, guiding the recovery target according to the judgment result of the first detailed detection device; otherwise, arbitration is carried out according to the use condition of the fourth container, the noise degree of the environment and the type of the recovery target contained in the specific type;
arbitrating according to the use condition of the fourth container, the noisy degree of the environment and the types of the recycling targets contained in the specific type, specifically comprising: when the environment noise degree is higher than the first noise threshold value and the types of the recycling targets exceed the first quantity, or the environment noise degree is smaller than or equal to the first noise threshold value and the types of the recycling targets are smaller than or equal to the first quantity, arbitration is carried out according to the using condition of the fourth container; when the ambient noise degree is higher than a first noise threshold value and the types of the recycling targets are less than or equal to a first number, taking a first judgment result as a final judgment result; when the ambient noisy degree is less than or equal to a first noisy threshold value and the types of the recycling targets are more than a first number, taking a second judgment result as a final judgment result;
preferably: the first noisy threshold value and the first quantity are preset values; the first noisy threshold is a base decibel of the environment;
the arbitration according to the use condition of the fourth container specifically includes: when the used capacity of the fourth container exceeds a first capacity threshold, determining a non-specific type of non-metal recovery target of the recovery target; otherwise, judging that the recovery target is a nonmetal recovery target of a specific type;
preferably: the first capacity threshold value is a preset value;
the recovery device also comprises a voice device, and the voice device is used for carrying out voice broadcast corresponding to the containing type after guiding the recovery target into the corresponding container; for example: guiding the recovery target into a miscellaneous container and then carrying out voice broadcasting, wherein the article is not in the recovery range, and the like; after the recovery target is guided into the second container, the 'aluminum can recoverable, true rod' and the like are broadcasted;
preferably: storing the broadcast content in a type content comparison table corresponding to the container accommodating type; the content type comparison table is stored in a burning storage device of the voice device; the administrator can change the broadcast content by replacing the writable storage device; the voice device is used for acquiring the type of a container into which a recycling target enters according to the detection result of the detection device and the guide direction of the guide device, and reading corresponding broadcast content according to the type of the container;
preferably: infrared sensors are arranged above the openings of the first container, the second container, the third container, the fourth container and the miscellaneous container, and are used for grading the recovery targets in the containers and giving an alarm when the recovery targets contained in the containers reach a preset amount; preferably: the predetermined amount is a first capacity threshold, a full amount, etc.; preferably: alarming through a buzzer or a voice device connected with the infrared sensor;
the recovery device also comprises a central processing unit which is used for acquiring the detection results acquired by the first detailed detection device and the second detailed detection device, performing type judgment based on the detection results and arbitrating the judgment results; the first guiding device is also used for driving the first guiding device when the first container comprises a fourth container and a miscellaneous container; preferably: when the multi-type judgment is carried out by the first detailed detection unit and the second detailed detection unit, a central processing unit is required to be arranged for carrying out complex judgment;
the recovery device also comprises four high-sensitivity sound sensors, a vision sensor and a mobile device; high-sensitivity sound sensors are respectively arranged on the outer sides of the main body container in four directions; judging the direction and the distance of a calling user sending a call according to the numerical difference received by the four sound sensors, so as to respond to the call of the caller; the vision sensor can rotate 360 degrees to acquire image information; the recovery device judges the direction of a calling user through a central processing unit and drives the mobile device to move towards the direction; the moving device is used for driving the recovery device to move;
preferably: the moving device is a wheel;
the central processing unit acquires numerical values received by the four sound sensors, and judges the direction and the distance of a calling user based on the numerical values; driving a vision sensor to acquire image information of the direction, and analyzing the image to confirm the direction and the distance; driving the moving device to move towards the direction under the condition that the direction and the distance are determined to be correct; otherwise, keeping the original moving direction;
preferably: the sound emitted by a summoning user is received by a sound sensor, analyzed to determine if the sound includes a summoning instruction, such as "coming! After the calling instruction is confirmed, judging the direction and the distance of a calling user based on the numerical value;
the analyzing the image to confirm the direction and the distance specifically comprises: when the image analysis confirms that the user exists or the user is summoned, confirming the direction and the distance;
the confirming of the existence of the user specifically comprises: image analysis confirms that the figure outline exists in the image;
the confirming of the existence of the calling user specifically comprises the following steps: the image analysis confirms that the figure outline exists in the image, and the figure in the image makes a specific gesture and/or posture; the particular gesture and/or posture is a summons posture and/or posture;
alternatively: analyzing the image to confirm that a calling user exists, taking the direction of the acquired image as the direction, analyzing the image to acquire the distance of the calling user, and driving a mobile device to move towards the direction to reach the calling user;
preferably: returning to the moving route and continuing moving after the user is called and the recovery of the recovery target is finished; that is to say the recovery device is always walking around a given route; returning to the established route after the call is obtained and the recovery task is completed; the route planning strategy is suitable for large public places such as large stadiums, shopping malls and the like, and because the obstacle avoidance strategy has higher efficiency, the required support hardware is relatively simple, and the price of the recovery device is greatly reduced;
preferably: the recovery device also comprises an infrared sensor, the infrared sensor keeps all-directional rotation to detect the obstacles, and when the obstacles are detected, the direction and the distance of the obstacles are sent to the central processing unit to change the moving direction;
the omnibearing rotation is 360-degree rotation along the horizontal plane;
preferably: the infrared sensor is arranged at the bottom of the recovery device;
the method for sending the direction and the distance of the obstacle to the central processing unit to change the moving direction specifically comprises the following steps: the central processing unit receives the direction and the distance of the obstacle, judges whether the direction is on the current moving route, and if not, keeps the current moving direction; if so, judging whether the movement reverse needs to be changed or not based on the distance, and if so, sending a steering instruction to the mobile device based on the distance; otherwise, suspending the steering instruction and waiting for a confirmation instruction, and sending the steering instruction to the mobile device after the confirmation instruction is obtained;
the determining whether the moving direction needs to be changed based on the distance specifically includes: determining that a movement direction does not need to be changed if the distance is greater than a first safe distance; otherwise, determining that the moving direction needs to be changed; the steering can be carried out leisurely outside the first safe distance and the moving characteristic of the barrier is considered, so the steering is not needed at the moment;
the sending of the steering instruction to the mobile device based on the distance specifically comprises: if the distance is smaller than the second safety distance, an immediate steering instruction is sent to the mobile device, so that the mobile device can steer immediately;
preferably: the first safety distance and the second safety distance are preset values; the preset value is changed according to the walking speed of the recovery device; when the walking speed is higher, the preset value is higher, and vice versa;
the mobile device suspends the steering instruction, waits for confirmation and sends the steering instruction to the mobile device after the confirmation is obtained; the method specifically comprises the following steps: generating a steering instruction and storing the steering instruction into a list to be confirmed; calculating the confirmation time required by the recovery device to move to the position of the obstacle according to the current moving speed and the moving route; if no steering instruction is received within the confirmation time, deleting all steering instructions in the queue to be confirmed; otherwise, if the steering instructions in the confirmation queue are larger than or equal to the first quantity, the steering is confirmed, and the steering instructions are sent to the mobile device; considering that the obstacle can be continuously waited for confirmation when the first safety distance and the second safety distance are between, if the obstacle leaves, unnecessary steering can be avoided; when the number of the steering commands is enough, the obstacle direction is indicated to be the hot obstacle direction, and the steering can be performed in advance at the moment so as to avoid that the mobile device cannot perform effective movement due to the fact that excessive steering commands are sent to the mobile device in an emergency;
preferably: the confirmation queue is used for storing a steering instruction; the number of the confirmation queues is one or more; each acknowledgement queue is associated with an obstacle direction and distance; each obstacle direction and distance corresponds to a confirmation queue; when an obstacle direction and distance do not have an associated validation queue, the processor creates a validation queue for the obstacle direction and distance; otherwise, directly adding the steering instruction into the associated confirmation queue; after the confirmation is obtained, deleting the confirmation queue to delete all steering instructions; attention is paid to: because the recovery device keeps moving continuously, after receiving the steering command, the direction and distance need to be judged so that the steering command is related to the direction and distance of the same obstacle;
preferably: the first safety distance is greater than the second safety distance;
preferably: the steering command comprises the direction and the distance of the obstacle;
preferably: the central processing unit arbitrates to send effective steering before sending a steering command; specifically, the method comprises the following steps: if the steering command is immediate steering, directly sending the steering command to the mobile device; otherwise, the steering instruction is sent to an arbitration queue, and the steering instruction in the arbitration queue is arbitrated periodically and then sent out;
preferably: periodically performing arbitration so that the issued steering commands are separated by effective time intervals; because the mobile device is in physical movement, if the steering command is continuously sent to the mobile device, the mobile device does not start steering yet and performs second steering, so that the previous steering is basically ineffective;
the method comprises the following steps of periodically arbitrating steering instructions in an arbitration queue, specifically: arbitrating the steering instructions in the arbitration queue to obtain an arbitration steering instruction, so that the recovery device can avoid obstacles corresponding to all the steering instructions in the arbitration queue according to the current obstacle avoidance scheme by executing the arbitration steering instruction; if the arbitration turning instruction capable of avoiding all obstacles does not exist, sending a pause instruction to the mobile device and emptying an arbitration queue;
preferably: after receiving a steering command, the mobile device changes the direction and/or speed according to the current obstacle avoidance scheme so as to avoid an obstacle related to the steering command; after receiving the pause instruction, the mobile device stops moving for a first time length and then continues moving along the moving route;
preferably: the mobile device moves in a large area according to a preset route; in the process of movement, playing the recovered knowledge;
preferably: the recovery device is a human-shaped or cartoon image;
the active sorting and recycling device provided by the invention is described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present invention are included in the scope of the present invention.
Claims (3)
1. An active sorting recycling apparatus, the apparatus comprising:
a first detection device and a second detection device; a first guide device; a first container, a second container, a third container;
the first detection device is used for distinguishing metal from nonmetal of a recovery target; when the first detection means determines that the recovery target is non-metal, the first guide means directly guides the recovery target into the first container; otherwise, when the recovery target is judged to be metal, starting the first guiding device to guide the recovery target to the second detection device;
the first guiding device can guide the recovery target between the first container and the second detection device;
the second detection device is used for distinguishing the iron and the aluminum of the recovery target; when the recovery target enters the second detection device, the second detection device is reversed, and when the second detection device judges that the recovery target is aluminum, the second detection device directly guides the recovery target to the second container; otherwise, when it is determined that the recovery target is made of iron, the second detection device guides the recovery target to a third container;
when the recycling target falls into a second detection device, the second detection device starts to turn over and sequentially rotates through a second container and a third container; the iron recovery target is adsorbed by the electromagnet in the second detection device after falling into the second detection device; the aluminum recovery target falls into the second container in the process of inversion, and the iron recovery target is adsorbed by the magnet and falls after reaching the third container;
when the second detecting means is rotated above the third container, a short power-off is generated in response to the arrival at the specific position so that the recovery target falls into the third container; after the position reaches the specific position, the second detection device touches the limiting device, reversely overturns and returns to the original position; wherein the brief power outage ends after leaving the particular location;
the first detailed detection device and/or the second detailed detection device are/is arranged on the first guide device and are accommodated by the first guide device;
after a recycling target enters a first detailed detection device through a first guide device, the first detailed detection device is used for acquiring one or more images of the recycling target, analyzing the images to acquire attribute information of the recycling target, and judging the type of the recycling target based on the attribute information; when the recovery target is judged to be a nonmetal recovery target of a specific type, guiding the recovery target into a fourth container; otherwise, guiding the recovery target into the miscellaneous container;
the main body container is used for accommodating the first detection device and the second detection device; a first guide device; a first container, a second container, a third container;
the recovery device further comprises: a first detailed detection device and/or a second detailed detection device; the first container comprises a miscellaneous container and a fourth container; the fourth container is used for accommodating non-metal recycling targets with specific textures, and the miscellaneous container is used for accommodating non-metal recycling targets with non-specific textures; setting the first detailed detection device and/or the second detailed detection device according to the type of the specific texture needing to be classified; the miscellaneous container is positioned outside the main container of the active classification and recovery device;
after the recovery target enters a second detailed detection device through a first guide device, the recovery target collides with the second detailed detection device to generate sound, the second detailed detection device collects the sound and judges whether the recovery target is a nonmetal recovery target of a specific type or not on the basis of the sound, and if so, the recovery target is guided into a fourth container; otherwise, guiding the recovery target into the miscellaneous container; when the recovery target falls into the first guiding device, the recovery target respectively acquires the image and/or sound of the recovery target through the rapid camera and the audio collector; the first guide device is provided with a gentle slope, so that the recovery target can stay for a short time after falling into the first guide device and then continuously fall; arbitrating a first determination result of the first detailed detection means and a second determination result of the second detailed detection means when the first detailed detection means and the second detailed detection means are simultaneously provided; if the first judgment result is consistent with the second judgment result, guiding the recovery target according to the judgment result of the first detailed detection device; otherwise, arbitration is carried out according to the use condition of the fourth container, the noise degree of the environment and the type of the recovery target contained in the specific type; arbitrating according to the use condition of the fourth container, the noisy degree of the environment and the types of the recycling targets contained in the specific type, specifically comprising: when the environment noise degree is higher than the first noise threshold value and the types of the recycling targets exceed the first quantity, or the environment noise degree is smaller than or equal to the first noise threshold value and the types of the recycling targets are smaller than or equal to the first quantity, arbitration is carried out according to the using condition of the fourth container; when the ambient noise degree is higher than a first noise threshold value and the types of the recycling targets are less than or equal to a first number, taking a first judgment result as a final judgment result; when the ambient noisy degree is less than or equal to a first noisy threshold value and the types of the recycling targets are more than a first number, taking a second judgment result as a final judgment result; the recovery device also comprises an infrared sensor, the infrared sensor keeps all-directional rotation to detect the obstacles, and when the obstacles are detected, the direction and the distance of the obstacles are sent to the central processing unit to change the moving direction;
the method for sending the direction and the distance of the obstacle to the central processing unit to change the moving direction specifically comprises the following steps: the central processing unit receives the direction and the distance of the obstacle, judges whether the direction is on the current moving route, and if not, keeps the current moving direction; if so, judging whether the movement reverse needs to be changed or not based on the distance, and if so, sending a steering instruction to the mobile device based on the distance; otherwise, suspending the steering instruction and waiting for a confirmation instruction, and sending the steering instruction to the mobile device after the confirmation instruction is obtained;
the determining whether the moving direction needs to be changed based on the distance specifically includes: determining that a movement direction does not need to be changed if the distance is greater than a first safe distance; otherwise, determining that the moving direction needs to be changed;
the sending of the steering instruction to the mobile device based on the distance specifically comprises: if the distance is smaller than the second safety distance, an immediate steering instruction is sent to the mobile device, so that the mobile device can steer immediately;
the mobile device suspends the steering instruction, waits for confirmation and sends the steering instruction to the mobile device after the confirmation is obtained; the method specifically comprises the following steps: generating a steering instruction and storing the steering instruction into a list to be confirmed; calculating the confirmation time required by the recovery device to move to the position of the obstacle according to the current moving speed and the moving route; if no steering instruction is received within the confirmation time, deleting all steering instructions in the list to be confirmed; otherwise, if the steering instructions in the list to be confirmed are more than or equal to the second quantity, confirming steering and sending the steering instructions to the mobile device; considering that the obstacle can be continuously waited for confirmation when the first safety distance and the second safety distance are between, if the obstacle leaves, unnecessary steering can be avoided; when the number of the steering commands is enough, the obstacle direction is indicated to be the hot obstacle direction, and the steering can be performed in advance at the moment, so that the situation that the mobile device cannot perform effective movement due to the fact that too many steering commands are sent to the mobile device in an emergency is avoided.
2. The active sorting recycling device according to claim 1, wherein the first detecting device is disposed at an inlet of a multi-material beverage bottle recycling device; the first detection device comprises two oppositely arranged aluminum foil plates, the recovered target can be in contact with the aluminum foil plates when entering the recovery device, the oppositely arranged aluminum foil plates are conducted, and the first guide device is started to overturn, so that the recovered target is guided into the second detection device; after the recovery target falls into the second detection device, the oppositely arranged aluminum foil plates are not conducted, and the first guide device returns to the original position under the action of gravity; the second detection device is a tipping bucket structure, and an electromagnet is arranged on the inner surface of the tipping bucket structure; the second detection device has both detection and guidance functions.
3. The active sorting retrieval device of claim 2, wherein the retrieval device further comprises: the attribute information is the shape, contour and color of the recycling target.
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| CN110466913A (en) * | 2019-07-29 | 2019-11-19 | 东莞弓叶互联科技有限公司 | Rubbish collection methods and device |
| CN110937280B (en) * | 2019-12-24 | 2021-11-16 | 浙江大学 | Audio-visual combination based intelligent garbage classification and recovery method and terminal |
| CN111348345A (en) * | 2020-03-10 | 2020-06-30 | 上海炽力新能源科技有限公司 | Intelligent garbage bin of recycling is retrieved to lithium cell |
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