CN109573416A - A kind of automatic intelligent garbage retrieving system - Google Patents
A kind of automatic intelligent garbage retrieving system Download PDFInfo
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- CN109573416A CN109573416A CN201910086259.5A CN201910086259A CN109573416A CN 109573416 A CN109573416 A CN 109573416A CN 201910086259 A CN201910086259 A CN 201910086259A CN 109573416 A CN109573416 A CN 109573416A
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- 238000005303 weighing Methods 0.000 claims description 36
- 230000003993 interaction Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 11
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000001914 filtration Methods 0.000 description 10
- 230000000087 stabilizing effect Effects 0.000 description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 6
- 229910052744 lithium Inorganic materials 0.000 description 6
- 230000033228 biological regulation Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 210000000214 mouth Anatomy 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
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- 238000002955 isolation Methods 0.000 description 2
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Classifications
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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
- B65F1/1405—Compressing means incorporated in, or specially adapted for, refuse receptacles
-
- 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
- B65F1/0006—Flexible refuse receptables, e.g. bags, sacks
- B65F1/002—Flexible refuse receptables, e.g. bags, sacks with means for opening or closing of the receptacle
-
- 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
-
- 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
- B65F1/04—Refuse receptacles; Accessories therefor with removable inserts
- B65F1/06—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks
- B65F1/065—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks with means aiding the insertion of the flexible insert
-
- 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
- B65F1/04—Refuse receptacles; Accessories therefor with removable inserts
- B65F1/06—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks
- B65F1/068—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks with means aiding the removal of the flexible insert
-
- 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
-
- 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
- B65F2210/1525—Material detecting means for metal
-
- 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
- B65F2210/162—Pressing 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
- B65F2210/176—Sorting 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
- B65F2210/184—Weighing 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing Of Solid Wastes (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
A kind of automatic intelligent garbage retrieving system, comprising: refuse collector and refuse disposal installation；Refuse collector includes for storing the dustbin of rubbish, lid, the first control module and the first control key, and when the first control key is triggered, the first control module controls Cover opening and closes dustbin；When first control module is also used to detect that dustbin is in fill-status, control refuse collector is moved to refuse disposal installation；Refuse disposal installation includes mechanical arm and the second control module, and the second control module control mechanical arm extracts rubbish in dustbin, rubbish is classified and is packaged；Second control module is also used to control the refuse bag in mechanical arm replacement dustbin, and after the completion of refuse bag replacement, the first control module controls refuse collector and resets.The full-automatic operation for realizing garbage collection, garbage classification, garbage-compressing, refuse bag sealing, rubbish push and refuse bag replacement, realizes the real full-automatic intelligent of dustbin.
Description
Technical field
The present invention relates to garbage reclamation technique fields, and in particular to a kind of automatic intelligent garbage retrieving system.
Background technique
Currently, the dustbin stored in each cell does not have intelligent operation function, when the house refuse of resident is unclassified
It is all put into dustbin, staff daily will clear up the rubbish in dustbin, the processing such as classification, it is also necessary to carry out
The operation such as refuse bag is replaced, that is to say, staff is required to each processing links of rubbish and is handled manually, not only operation fiber crops
It is tired, and staff will directly contact with rubbish, hygienic issues are unavoidable.
Summary of the invention
The application provides a kind of automatic intelligent garbage retrieving system, including refuse collector and refuse disposal installation；
The refuse collector includes for storing the dustbin of rubbish, the lid for being covered on the dustbin, first
Control module and the first control key being set on the lid, first control key and the first control module signal connect
It connects, when first control key is triggered, first control module controls the Cover opening and closes the dustbin；
And first control module controls the refuse collector when being also used to detect that the dustbin is in fill-status
It is moved to the refuse disposal installation；
The refuse disposal installation includes mechanical arm and the second control module, and second control module controls the machinery
Arm extracts rubbish in the dustbin, rubbish is classified and is packaged；Second control module is also used to control machinery
Arm replaces the refuse bag in the dustbin, and after the completion of refuse bag replacement, first control module controls the rubbish and receives
Acquisition means reset.
In a kind of embodiment, the refuse collector and the refuse disposal installation pass through wireless signal progress data friendship
Mutually, when the refuse collector is moved to the refuse disposal installation, the refuse collector and the garbage disposal are filled
It sets after carrying out data interaction success, the refuse collector automatically turns on the lid；The refuse disposal installation will be described
After the completion of refuse bag replacement in refuse collector, the refuse disposal installation is counted again with the refuse collector
After interaction and data interaction success, the lid is automatically closed in the refuse collector, and automatically resets.
In a kind of embodiment, first control module includes:
First control chip；
State detection sensor is set in the dustbin, for detecting whether the dustbin is in fill-status,
The state detection sensor is connect with the first control chip signal, detects the rubbish to the state detection sensor
When rubbish bucket is in fill-status, Xiang Suoshu first controls chip and sends trigger signal；
Path navigation module is connect with the first control chip signal, and the first control chip is according to the path
The navigation information of navigation module controls the refuse collector and is moved to the refuse disposal installation；
First drive module is connect with the first control chip signal, and the first control chip is according to described first
When control key is triggered, controls first drive module and open and close the lid.
In a kind of embodiment, first control module further includes human body induction module, the human body induction module and institute
The connection of the first control chip signal is stated, the first control key described in the first control chip integration is triggered and the human body sensing
First drive module described in the actuated signal control of module feedback opens and closes the lid.
In a kind of embodiment, the refuse disposal installation is in the shell structure with space structure, the shell structure tool
There is window；
When the refuse collector is moved to the refuse disposal installation, second control module controls the machine
Tool arm extracts the rubbish in the dustbin, is placed in the shell structure by the window and is classified and be packaged；
It is additionally provided with the second control key in the shell structure of the refuse disposal installation, is triggered to second control key
When, second control module controls the mechanical arm and pushes to packed rubbish at the window, so as to staff
Extract packed rubbish.
In a kind of embodiment, refuse bag storage position is additionally provided in the shell structure, for storing refuse bag, described second
Control module controls mechanical arm and grabs refuse bag from refuse bag storage position, to replace the refuse bag in the dustbin.
In a kind of embodiment, second control module includes:
Second control chip；
Second drive module is connect with the second control chip signal, the control sent according to the second control chip
Signal controlling machine tool arm processed extracts rubbish in the dustbin, rubbish is classified and is packaged, and the replacement dustbin
Interior refuse bag；
Identification module is connect with the second control chip signal, and the rubbish for extracting one by one to the mechanical arm belongs to
Property identification, according to the result of identification to it is described second control chip feedback signal, second control chip controls based on the feedback signal
Garbage classification is placed in corresponding refuse bag by mechanical arm；
Weighing module, the refuse bag respectively classified have been respectively arranged below the Weighing module, the Weighing module with it is described
Weighing information is fed back to the second control chip in real time by the second control chip signal connection, the Weighing module, and described the
The weighing information that the Weighing module is fed back is reached refuse bag corresponding to preset value by two control chip controls mechanical arms to carry out
Compression is packaged.
In a kind of embodiment, the identification module is metal sensor, for being metal and nonmetallic by garbage classification.
In a kind of embodiment, the first control chip is moved to the garbage disposal according to the refuse collector and fills
When setting, after the refuse collector and refuse disposal installation progress data interaction success, first control signal, institute are generated
It states first control signal and drives the mechanical arm to extract the rubbish in the dustbin for controlling second driving device；
The first control chip generates second control signal, second control according to the feedback signal of the identification module
Signal processed drives the mechanical arm that garbage classification is placed in corresponding refuse bag for controlling second driving device；
The first control chip generates third control when reaching preset value according to the weighing information that the Weighing module is fed back
Signal processed, the third control signal drive the mechanism arm that the Weighing module is anti-for controlling second driving device
The weighing information of feedback reaches refuse bag corresponding to preset value and is compressed, is packaged.
According to the automatic intelligent garbage retrieving system of above-described embodiment, due to passing through refuse collector and garbage disposal
Device realizes the full-automatic of garbage collection, garbage classification, garbage-compressing, refuse bag sealing, rubbish push and refuse bag replacement
It is turned into industry, realizes the real full-automatic intelligent of dustbin, compared with common dustbin, avoids staff and directly connect
Rubbish is touched, relatively sanitary, staff only needs certain interval of time to place refuse bag and withdraws packed rubbish, time saving
It is laborsaving.
Detailed description of the invention
Fig. 1 is garbage retrieving system schematic diagram；
Fig. 2 is STC15F2K60S2 single-chip minimum system schematic diagram；
Fig. 3 is boost module circuit diagram；
Fig. 4 is filtering voltage regulation module circuit diagram；
Fig. 5 is motor-drive circuit figure in refuse collector；
Fig. 6 is motor-drive circuit Local map in refuse disposal installation；
Fig. 7 is motor-drive circuit another part Local map in refuse disposal installation.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
In embodiments of the present invention, the intelligent full automatic treatment scheme of a kind of pair of garbage reclamation is provided, with this solution,
It is able to achieve automatically being turned into for garbage reclamation, garbage classification, garbage-compressing, refuse bag sealing, rubbish push and refuse bag replacement
Industry, the links of garbage disposal, staff are also not required to people staff and participate in each place without directly contacting with rubbish
It manages in link, staff need to only be spaced one excellent section of time placement refuse bag and withdraw packed rubbish, time saving and energy saving
And it is safe and healthy.
To realize that above scheme, this example provide a kind of automatic intelligent garbage retrieving system, which includes garbage collection
Device 1 and refuse disposal installation 2 realize that rubbish is respectively handled by the fit applications of refuse collector 1 and refuse disposal installation 2
The automatic intelligent garbage retrieving system schematic diagram of the full-automatic operation of link, this example is as shown in Figure 1, wherein garbage collection
The quantity of device 1 be it is multiple, e.g., the different residential buildings in a residence district put into a refuse collector 1, at certain
A refuse disposal installation 2 is launched in one fixed place, that is to say, refuse disposal installation 2 can correspond to multiple refuse collectors 1
Collected rubbish is handled, and therefore, refuse collector 1 is moveable itself, to be filled with rubbish in refuse collector 1
When rubbish, refuse collector 1 is moved at refuse disposal installation 2, and the rubbish of 2 pairs of refuse disposal installation recycling is classified, beaten
The processing such as packet.
Specifically, refuse collector 1 includes for storing the dustbin of rubbish, the lid for being covered on dustbin, first
Control module and the first control key 11 being set on lid, the first control key 11 are connect with the first control module signal, to the
When one control key 11 is triggered, the first control module controls Cover opening and closes dustbin, and, the first control module is also used to
When detecting that dustbin is in fill-status, control refuse collector 1 is moved to refuse disposal installation 2.
Refuse disposal installation 2 includes mechanical arm and the second control module, and the second control module controls mechanical arm and extracts rubbish
Bucket in rubbish, rubbish is classified and is packaged；Second control module is also used to control the rubbish in mechanical arm replacement dustbin
Rubbish bag, after the completion of refuse bag replacement, the first control module controls refuse collector 1 and resets.
For the full-automatic operation for realizing garbage reclamation and processing, needed between refuse collector 1 and refuse disposal installation 2
Data interaction is carried out, therefore, data interaction is carried out by wireless signal between refuse collector 1 and refuse disposal installation 2,
Specifically, being communicated between refuse collector 1 and refuse disposal installation 2 by WIFI signal, when refuse collector 1 moves
When moving to refuse disposal installation 2, refuse collector 1 and refuse disposal installation 2 pass through WIFI signal progress data interaction and friendship
Mutually after success, e.g., after refuse collector 1 and refuse disposal installation 2 carry out WIFI signal communication, refuse collector 1 is to rubbish
Rubbish processing unit 2 sends an answer signal, which indicates that refuse collector 1 close to refuse disposal installation 2, needs
The rubbish of 2 pairs of refuse disposal installation recycling are handled, and refuse disposal installation 2 receives the answer signal and to refuse collector
1 one signal of feedback, this feedback represent refuse collector 1 and 2 data interaction of refuse disposal installation success, at this point, rubbish is received
Acquisition means 1 according to feedback signal automatically turn on lid, extract rubbish in dustbin so that, the second control module controls mechanical arm
Rubbish.In addition, after the completion of refuse disposal installation 2 replaces the refuse bag in refuse collector 1, refuse disposal installation 2 and rubbish
After collection device 1 carries out data interaction and data interaction success again, that is, refuse disposal installation 2 is logical by the secondary data interaction
Know that refuse collector 1, refuse bag have updated completion, at this point, lid is automatically closed in refuse collector 1, and automatically resets.
The refuse collector of this example 1 is described in detail below.
Wherein, the first control module includes the first control chip 12, state detection sensor 13,14 and of path navigation module
First drive module 15, specifically, the first control chip 13 is STC15F2K60S2 single-chip minimum system, circuit diagram
As shown in Fig. 2, STC15F2K60S2 single-chip minimum system is mainly by filter capacitor C1, reset circuit and controller chip group
At the first of this example controls chip 12 and the first drive module 15 by lithium battery power supply, and can be by Micro USB to lithium battery
Charging.
Further, lithium battery is powered by boost module 16 to the first control chip 12 and the first drive module 15, specifically
, the circuit diagram of boost module 16 ME2149 chip, inductance and filter capacitor as shown in figure 3, be mainly made of, switching frequency
Reach 1MHz, the voltage range of lithium battery is 1.8V-6V, it is preferred that the lithium battery in this example provides 3.7V voltage, boost module
After 3.7V voltage is converted into 9V voltage by 16, to the first control chip 12 and the power supply of the first drive module 15.
For the WIFI module power supply into refuse collector 1, this example further includes filtering voltage regulation module, filtering voltage regulation mould
Block is mainly made of 7805 voltage stabilizing chips, AMS1117 voltage stabilizing chip and filter capacitor, the circuit diagram of filtering voltage regulation module such as Fig. 4
It is shown, direct current 9V voltage is obtained after the boosted module 16 of the voltage of lithium battery, the S3 in Fig. 4 is power switch, 9V electricity after opening
Pressure supplies the first drive module 15 after filter capacitor C5, C6, and is input to the input terminal of 7805 voltage stabilizing chips, 7805 pressure stabilizings
The output end of chip exports 5V voltage, can be to the first control core after the 5V voltage of output is using filter capacitor C7, C8 filtering
Piece 12 and the power supply of AMS1117 voltage stabilizing chip, AMS1117 voltage stabilizing chip will export 3.3V voltage, the 3.3V voltage of output using
It, can be to the WIFI module power supply in refuse collector 1 after filter capacitor C9, C10 filtering.
The state-detection sensing 13 of this example is set in dustbin, for detecting whether dustbin is in fill-status, shape
State detection sensor 13 is connect with the first control 12 signal of chip, is detected that dustbin is in state detection sensor 13 and is filled with
When state, trigger signal is sent to the first control chip 12；Preferably, state detection sensor 13 is ultrasonic distance measurement sensing
Device judges whether the rubbish in dustbin is filled with based on ultrasonic distance measurement principle, specifically, ultrasonic distance-measuring sensor is by 5V electricity
Pressure power supply, the triggering pin of ultrasonic distance-measuring sensor are connected with the port P05 of the first control chip 12, ultrasonic distance measurement sensing
The pin that receives in oral cavity is connected with the port P36 of the first control chip 12；In other embodiments, other technologies can also be used
Scheme detects the storage state of rubbish in dustbin, and this example is not construed as limiting.
Path navigation module 14 is connect with the first control 12 signal of chip, and the first control chip 12 is according to path navigation module
14 navigation information control refuse collector 1 is moved to refuse disposal installation 2, it is preferred that path navigation module 14 is infrared
Tracking module, when concrete application, the approach between refuse collector 1 and refuse disposal installation 2 is pre-processed, e.g.,
Make the mark line for the identification of infrared tracking module on the route of approach, passes through the transmitting of infrared tracking module and received infrared signal
Carry out path tracking.
First drive module 15 of this example be specially motor driven, motor-driven circuit diagram as shown in figure 5, mainly by
L293D chip is constituted, and two H-bridge circuits of the L293D integrated chip can control two-way motor positive and inverse, wherein VCC1 draws
Foot connects 5V voltage, provides logic voltage to L293D chip, and VCC2 pin connects 9V voltage, is used to driving motor, L293D chip
Pin 1 and pin 9 are enable end, and pin 2 and pin 7 connect P24 mouth of the first control chip 12 and P25 mouthfuls, for controlling motor
M1, pin 10 and pin 15 connect the first control chip 12 P26 mouth and P27 mouthfuls, for controlling motor M2.
The lid in refuse collector 1 is accidentally opened in order to prevent, and further, the first control module further includes human body sense
Module 17 is answered, human body induction module 17 is connect with the first control 12 signal of chip, the first comprehensive first control key of control chip 12
11 be triggered and human body induction module 17 feed back the first drive module of actuated signal control 15 open and close lid；It is preferred that
, human body induction module 17 controls chip 12 by 5V power voltage supply, the digital output pin of human body induction module 17 and first
The port P37 is connected.By the way that human body induction module 17 is arranged, so that only in the case where the first control key 11 is triggered and human body
In the case that induction module 17 senses people, the lid in refuse collector 1 could be opened, and be otherwise not turned on.
Further, the refuse collector 1 of this example further includes status indicator lamp and alarm module, wherein status indicator lamp
Be made of LED and current-limiting resistance, current-limiting resistance protect LED, allow LED to work normally, alarm module by buzzer, current-limiting resistance and
One PNP type triode is constituted, and transistor base is connected to the port P34 of the first control chip 12 through current-limiting resistance, and first
Control key 11 is connected with the port P32 of the first control chip 12；In order to cancel the alarm that refuse collector 1 is abnormal, into
The refuse collector 1 of one step, this example further includes key of removing controls, the port P33 of remove controls key and the first control chip 12
It is connected.
Further, the refuse collector 1 of this example is additionally provided with OLED display screen, OLED display screen in the outer surface of dustbin
Operating voltage be 5V, the OLED display screen use SPI interface mode, correspondingly, the refuse collector 1 of this example is also configured with
The interface circuit to connect with OLED display screen, the interface circuit are made of a 7 needle bases, specially CS pin, DC pin,
RTS pin, DI pin, CK pin, VCC pin and GND pin, wherein CS pin is chip-select pin, DC pin is data and life
Order control pin, RTS pin are reset terminal, DI pin is data pins, CK pin is clock pins, successively control core with first
The port P00-P04 of piece is connected.
The refuse disposal installation of this example 2 is described in detail below.
The refuse disposal installation 2 of this example is in the shell structure with space structure, which has window, to rubbish
When collection device 1 is moved to refuse disposal installation 2, the second control module controls the rubbish in mechanical arm extraction dustbin, passes through
Window, which is placed in shell structure, to be classified and is packaged；The second control key is additionally provided in the shell structure of refuse disposal installation 2
21, when the second control key 21 is triggered, the second control module control mechanical arm pushes to packed rubbish at window, with
Just staff extracts packed rubbish.The other structures of refuse disposal installation 2, this example can be designed in other embodiments
It is not construed as limiting.
Further, the refuse bag in dustbin is replaced for convenience, is gone back in the shell structure of the refuse disposal installation 2 of this example
Position is stored equipped with refuse bag, for storing refuse bag, the second control module controls mechanical arm and grabs rubbish from refuse bag storage position
Rubbish bag, to replace the refuse bag in dustbin, therefore, staff only needs to store in interval time into refuse bag storage position
Refuse bag.
Second control module of this example includes the second control chip 22, the second drive module 23, identification module 24 and weighing
Module 25；Specifically, the second control chip 22 also uses STC15F2K60S2 single-chip minimum system, STC15F2K60S2 monolithic
The circuit diagram of machine minimum system is not as shown in Fig. 2, repeat herein.
In refuse disposal installation 2,12V voltage is provided by external 12V power supply adaptor, the 12V voltage is steady by filtering
Voltage is provided to the second drive module 23 after die block filtering, 5V voltage is obtained after pressure stabilizing, 5V voltage again passes by filtering
Backward second control chip 22 provides voltage, obtains 3.3V voltage after again passing by pressure stabilizing, the 3.3V voltage is backward by filtering
WIFI module power supply in refuse disposal installation 2.
Likewise, the refuse disposal installation 2 of this example also includes status indicator lamp and alarm module and refuse disposal installation 2
OLED display screen is also equipped in the outer surface of shell structure, wherein the structure and OLED of status indicator lamp and alarm module are aobvious
The interface circuit of display screen please refers to the description in above-mentioned refuse collector 1, does not repeat herein.
Second drive module 23 of this example is also motor driven, is made of photoelectric coupled circuit and power amplification circuit, circuit
As shown in Figure 6 and Figure 7, the second drive module 23 is connect figure with the second control 22 signal of chip, is sent out according to the second control chip 22
The control signal controlling machine tool arm that send extracts rubbish in dustbin, rubbish is classified and is packaged, and in replacement dustbin
Refuse bag, second control chip 22 the port P1 output motor control signal pass through by optocoupler by after signal isolation
Input power amplifying circuit after 74LS240 is reversely buffered, last driving motor, JP2, JP3 in Fig. 7 are motor interface.
The identification module 24 of this example with second control 22 signal of chip connect, the rubbish for being extracted one by one to mechanical arm into
Row Attribute Recognition, according to the result of identification to the second control 22 feedback signal of chip, the second control chip 22 is based on the feedback signal
Garbage classification is placed in corresponding refuse bag by control mechanical arm；Specifically, identification module is metal sensor, by rubbish
Be classified as metal and nonmetallic, metal sensor by 12V power voltage supply, digital output pin by optocoupler carry out signal isolation with
The port P32 of second control chip 22 is connected.In other embodiments, multistage point can be carried out to rubbish by other means
Class.
The Weighing module 25 of this example is by 5V power voltage supply, the data output pins of Weighing module 25 and the second control chip 22
The port P26 be connected, the clock pins of Weighing module 25 with second control chip 22 the port P27 be connected, Weighing module 25 by
HX711 high-precision AD chip and bridge pressure sensor are constituted.Specifically, the refuse bag respectively classified has been respectively arranged below weighing
Weighing information is fed back to the second control chip 22 in real time by module 25, Weighing module 25, and the second control chip 22 controls mechanical arm
The weighing information that Weighing module 25 is fed back is reached refuse bag corresponding to preset value to be compressed, be packaged.
In specific application, the first control chip 12 and the second control 22 cooperating of chip, complete each place of rubbish
Link is managed, wherein the course of work of the second control chip 22 is when handling in refuse disposal installation 2 rubbish:
Second control chip 22 is when being moved to refuse disposal installation 2 according to refuse collector 1, refuse collector 1 with
After refuse disposal installation 2 carries out data interaction success, first control signal is generated, first control signal is for controlling the second driving
Device 23 drives mechanical arm to extract the rubbish in dustbin；
Second control chip 22 generates second control signal according to the feedback signal of identification module 24, and second control signal is used
Garbage classification is placed in corresponding refuse bag in controlling the second driving device 23 driving mechanical arm；
Second control chip 22 generates third control letter when reaching preset value according to the weighing information that Weighing module 25 is fed back
Number, third control signal reaches the weighing information that Weighing module 25 is fed back for controlling 23 driving mechanism arm of the second driving device
Refuse bag corresponding to preset value is compressed, is packaged.
Therefore, the refuse disposal installation 2 of this example is intelligent entire roboticized work during handling rubbish, without work
Personnel participate in.
This example is realized during garbage collection and processing by design refuse collector 1 and refuse disposal installation 2
Intelligent entire roboticized work avoids staff and directly contacts rubbish compared with common dustbin, relatively sanitary, and work people
Member need to only be spaced one excellent section of time placement refuse bag and withdraw packed rubbish, time saving and energy saving.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (9)
1. a kind of automatic intelligent garbage retrieving system characterized by comprising refuse collector and refuse disposal installation；
The refuse collector includes for storing the dustbin of rubbish, the lid for being covered on the dustbin, the first control
Module and the first control key being set on the lid, first control key are connect with the first control module signal,
When first control key is triggered, first control module controls the Cover opening and closes the dustbin；And
When first control module is also used to detect that the dustbin is in fill-status, it is mobile to control the refuse collector
To the refuse disposal installation；
The refuse disposal installation includes mechanical arm and the second control module, and second control module controls the mechanical arm and mentions
The rubbish in the dustbin is taken, rubbish is classified and is packaged；Second control module is also used to control mechanical arm more
The refuse bag in the dustbin is changed, after the completion of refuse bag replacement, first control module controls the garbage collection dress
Set reset.
2. automatic intelligent garbage retrieving system as described in claim 1, which is characterized in that the refuse collector and institute
It states refuse disposal installation and data interaction is carried out by wireless signal, the refuse collector is moved to the refuse disposal installation
When, after the refuse collector carries out data interaction success with the refuse disposal installation, the refuse collector is automatic
Open the lid；After the completion of the refuse disposal installation replaces the refuse bag in the refuse collector, the rubbish
After processing unit and the refuse collector carry out data interaction and data interaction success again, the refuse collector is certainly
It is dynamic to close the lid, and automatically reset.
3. automatic intelligent garbage retrieving system as described in claim 1, which is characterized in that the first control module packet
It includes:
First control chip；
State detection sensor is set in the dustbin, described for detecting whether the dustbin is in fill-status
State detection sensor is connect with the first control chip signal, detects the dustbin to the state detection sensor
When in fill-status, Xiang Suoshu first controls chip and sends trigger signal；
Path navigation module is connect with the first control chip signal, and the first control chip is according to the path navigation
The navigation information of module controls the refuse collector and is moved to the refuse disposal installation；
First drive module is connect with the first control chip signal, and the first control chip is according to first control
When key is triggered, controls first drive module and open and close the lid.
4. automatic intelligent garbage retrieving system as claimed in claim 3, which is characterized in that first control module is also wrapped
Human body induction module is included, the human body induction module is connect with the first control chip signal, and the first control chip is comprehensive
The first drive module described in the actuated signal control that first control key is triggered and the human body induction module is fed back is closed to open
Open and close the lid.
5. automatic intelligent garbage retrieving system as claimed in claim 2, which is characterized in that the refuse disposal installation is in tool
There is the shell structure of space structure, the shell structure has window；
When the refuse collector is moved to the refuse disposal installation, second control module controls the mechanical arm
The rubbish in the dustbin is extracted, is placed in the shell structure by the window and is classified and be packaged；
The second control key is additionally provided in the shell structure of the refuse disposal installation, when second control key is triggered, institute
It states the second control module and controls the mechanical arm and push to packed rubbish at the window, beaten so that staff extracts
The rubbish wrapped.
6. automatic intelligent garbage retrieving system as claimed in claim 5, which is characterized in that be additionally provided in the shell structure
Refuse bag stores position, and for storing refuse bag, second control module controls mechanical arm and grabs from refuse bag storage position
Refuse bag is taken, to replace the refuse bag in the dustbin.
7. the automatic intelligent garbage retrieving system as described in claim 2 or 5, which is characterized in that second control module
Include:
Second control chip；
Second drive module is connect with the second control chip signal, is believed according to the control that the second control chip is sent
Number control mechanical arm extracts rubbish in the dustbin, rubbish is classified and is packaged, and in the replacement dustbin
Refuse bag；
Identification module is connect with the second control chip signal, and the rubbish for extracting one by one to the mechanical arm carries out attribute knowledge
Not, according to the result of identification to the second control chip feedback signal, the second control chip controls machinery based on the feedback signal
Garbage classification is placed in corresponding refuse bag by arm；
Weighing module, the refuse bag respectively classified have been respectively arranged below the Weighing module, the Weighing module and described second
Chip signal connection is controlled, weighing information is fed back to the second control chip, second control in real time by the Weighing module
Chip controls mechanical arm processed by the weighing information that the Weighing module is fed back reach refuse bag corresponding to preset value compressed,
It is packaged.
8. automatic intelligent garbage retrieving system as claimed in claim 7, which is characterized in that the identification module is metal biography
Sensor, for being metal and nonmetallic by garbage classification.
9. automatic intelligent garbage retrieving system as claimed in claim 7, which is characterized in that
When the second control chip is moved to the refuse disposal installation according to the refuse collector, the garbage collection
After device and the refuse disposal installation carry out data interaction success, first control signal is generated, the first control signal is used
The mechanical arm is driven to extract the rubbish in the dustbin in controlling second driving device；
The second control chip generates second control signal, the second control letter according to the feedback signal of the identification module
Number drive the mechanical arm that garbage classification is placed in corresponding refuse bag for controlling second driving device；
The second control chip generates third control letter when reaching preset value according to the weighing information that the Weighing module is fed back
Number, the third control signal drives the mechanism arm to feed back the Weighing module for controlling second driving device
Weighing information reaches refuse bag corresponding to preset value and is compressed, is packaged.
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| CN201910086259.5A CN109573416A (en) | 2019-01-29 | 2019-01-29 | A kind of automatic intelligent garbage retrieving system |
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