CN110076782A - A kind of intelligence control garbage classification machine people of computer vision target identification - Google Patents
A kind of intelligence control garbage classification machine people of computer vision target identification Download PDFInfo
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- CN110076782A CN110076782A CN201910499152.3A CN201910499152A CN110076782A CN 110076782 A CN110076782 A CN 110076782A CN 201910499152 A CN201910499152 A CN 201910499152A CN 110076782 A CN110076782 A CN 110076782A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 151
- 239000002699 waste material Substances 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000035807 sensation Effects 0.000 claims abstract description 7
- 238000011161 development Methods 0.000 claims description 40
- 230000006870 function Effects 0.000 claims description 22
- 238000013135 deep learning Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 238000011897 real-time detection Methods 0.000 claims description 4
- 238000013473 artificial intelligence Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/30—Information retrieval; Database structures therefor; File system structures therefor of unstructured textual data
- G06F16/33—Querying
- G06F16/332—Query formulation
- G06F16/3329—Natural language query formulation or dialogue systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/30—Information retrieval; Database structures therefor; File system structures therefor of unstructured textual data
- G06F16/33—Querying
- G06F16/3331—Query processing
- G06F16/334—Query execution
- G06F16/3343—Query execution using phonetics
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Abstract
The invention discloses a kind of intelligence control garbage classification machine people of computer vision target identification, including robot body, sensation target detects identification module, ultrasonic distance measuring module, speech recognition module and boost module and servo driving, camera is fixedly connected among the top of the robot, correspond at the position of robot among the bottom end of the camera and is fixedly connected with LED display rubbish type screen, the LED shows that the bottom end side of rubbish type screen is fixedly connected with recyclable rubbish door, the LED shows that the bottom end of rubbish type screen is fixedly connected with Harmful Waste far from the side of recyclable rubbish door；The present invention identifies rubbish classification using the algorithm of target detection of artificial intelligence depth learning technology in real time, robot classifies automatically, rubbish type is prompted by voice broadcast form, garbage classification knowledge question realizes voice human-computer interaction, has many advantages, such as real-time, at low cost, voice reminder, human-computer interaction.
Description
Technical field
The invention belongs to sorting machine people's technical fields, and in particular to a kind of intelligence control rubbish of computer vision target identification
Sorting machine people.
Background technique
As China's economic level constantly increases, China, which has become, generates rubbish big country, but rubbish cannot be corresponding
Processing, just can cause environmental pollution, at present handle rubbish mode have landfill, high temperature incineration, landfill waste can occupy greatly
The soil of amount, high temperature incineration investment is too big, therefore we need to launch garbage classification in source, and by clearing and recycling makes
Rubbish becomes resource and utilizes again.
The consciousness of existing people's garbage classification processing, but implementation capacity is not strong, on the one hand the reason is that environmental consciousness is poor, feels
Garbage classification has little significance to oneself, and another kind of is the convenience come to be thrown away not as good as conveniently one, so that rubbish because trouble, time-consuming and laborious
Rubbish classification is not prompt enough and perfect, the classification precision of rubbish with to clear dynamics lower, result in rubbish can not make it is perfect
Classification schemes so that rubbish not only can only not accomplish waste utilization by landfill, high temperature incineration etc., while occupying a large amount of
Soil, burning the problem of also polluted environment, increasing economic cost, thus it is proposed that a kind of computer vision target is known
Other intelligence control garbage classification machine people.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligence control garbage classification machine people of computer vision target identification, to solve
The consciousness of existing people's garbage classification processing mentioned above in the background art, but implementation capacity is not strong, on the one hand the reason is that ring
Border poor consciousness thinks that garbage classification has little significance to oneself, and another kind of is to throw away to come not as good as conveniently one because trouble, time-consuming and laborious
Convenience so that garbage classification is not prompt enough and perfect, the classification precision of rubbish and to clear dynamics lower, result in rubbish without
Method makes perfect classification schemes, so that rubbish not only can only not accomplish waste utilization, together by landfill, high temperature incineration etc.
When occupy a large amount of soil, the problems such as burning also polluted environment, increase economic cost.
To achieve the above object, the invention provides the following technical scheme: a kind of intelligence control rubbish of computer vision target identification
Rubbish sorting machine people, including robot body, sensation target detect identification module, ultrasonic distance measuring module, speech recognition module
With boost module and servo driving, it is fixedly connected with camera among the top of the robot, in the bottom end of the camera
Between correspond to and be fixedly connected with LED at the position of robot and show that rubbish type screen, the LED show the bottom end of rubbish type screen
Side is fixedly connected with recyclable rubbish door, and the LED shows the bottom end of rubbish type screen far from the side of recyclable rubbish door
Harmful Waste are fixedly connected with, the bottom end of the Harmful Waste is fixedly connected with Other Waste door, the recyclable rubbish door
Bottom end cannot not be fixedly connected with recyclablely chute door, be fixedly connected with loudspeaker among the robot side.
Preferably, the inside of the robot correspond to camera position at be fixedly connected with main control unit development board,
The inside of the robot is fixedly connected with ultrasonic distance measuring module at the position corresponding to LED display rubbish type screen, described
Correspond on the inside of robot among the bottom end of ultrasonic distance measuring module and is fixedly connected with speech recognition module, the robot
Inside is equipped with multiple steering engines and switchs gate control block(GCB).
Preferably, the main control unit development board and camera are fixed by linearly connected, the main control unit development board
Show that rubbish type screen is fixed by linearly connected with LED, the main control unit development board and ultrasonic distance measuring module pass through line
Property is connected and fixed, and the main control unit development board and speech recognition module are fixed by linearly connected.
Preferably, the sensation target detection identification module includes main control unit development board, when there is rubbish close to equipment,
Camera real-time detection rubbish target, by the main control unit development board with deep learning, and main control unit development board is installed
The SSD of trained caffe frame can identify rubbish type, automatically turn on corresponding chute door, while what voice broadcast is
Rubbish type completes rubbish identification and prompting function.
Preferably, described that ultrasonic distance measuring module is mounted at the top of garbage apparatus, it is realized by the distance of setting in bucket
The measurement of rubbish height, when the height of rubbish reaches the parameter of setting, buzzer will be made a sound, and complete to survey full function.
Preferably, the speech recognition module is each sentence by the way that garbage classification particular statement is written with LP_COMM
Return value is set, when someone proposes garbage classification relevant issues to robot, speech recognition module is answered automatically according to problem,
Finishing man-machine interaction function.
Preferably, the boost module and servo driving include steering engine switch gate control block(GCB), the boost module pass through by
Output voltage increases to drive multiple steering engines, then switchs gate control block(GCB) conveying to steering engine by main control unit development board and has instructed
At the function of opening multiple steering engines realization unlatching chute doors.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention identifies rubbish classification, robot using the algorithm of target detection of artificial intelligence depth learning technology in real time
Automatically classify, rubbish type is prompted by voice broadcast form, garbage classification knowledge question realizes voice human-computer interaction, tool
Have the advantages that real-time, speed be fast, at low cost, voice reminder, human-computer interaction.
2. the present invention can identify rubbish object in real time simultaneously, rubbish classification is opened, can be recycled, is not recyclable, harmful, it
He, corresponds to a chute door, while servo driving has the function of that chute door can be automatically switched, using intelligent facilitation, together
When prevent drifting for waste odours, be provided simultaneously with voice prompting identification rubbish object be what type rubbish, voice broadcast function
Can, ultrasonic sensor realizes ranging, and rubbish, which has expired buzzer, on the inside of dustbin to ring, and realizes that automatic garbage surveys full function.
Detailed description of the invention
Fig. 1 is sorting machine people's perspective view of the invention；
Fig. 2 is sorting machine people's main control unit development board figure of the invention；
Fig. 3 is structural system frame diagram of the invention；
Fig. 4 is structural system flow chart of the invention.
In figure: 1, recyclable rubbish door；2, chute door not can be recycled；3, Other Waste door；4, Harmful Waste；5, LED is aobvious
Show rubbish type screen；6, loudspeaker；7, camera；8, main control unit development board；9, ultrasonic distance measuring module；10, speech recognition mould
Block；11, steering engine switchs gate control block(GCB).
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
The present invention provides a kind of technical solution referring to FIG. 1 to FIG. 4: a kind of intelligence control rubbish of computer vision target identification
Rubbish sorting machine people, including robot body, sensation target detect identification module, ultrasonic distance measuring module 9, speech recognition module
10 and boost module and servo driving, it is fixedly connected with camera 7 among the top of robot, it is right among the bottom end of camera 7
It should be fixedly connected with LED at the position of robot and show that rubbish type screen 5, LED show that the bottom end side of rubbish type screen 5 is solid
Surely it is connected with recyclable rubbish door 1, LED shows that the bottom end of rubbish type screen 5 is fixedly connected far from the side of recyclable rubbish door 1
There are Harmful Waste 4, the bottom end of Harmful Waste 4 is fixedly connected with Other Waste door 3, and the bottom end of recyclable rubbish door 1 is fixedly connected
There cannot not be not recyclablely chute door 2, loudspeaker 6 are fixedly connected among robot side, the present invention utilizes artificial intelligence deep learning skill
The algorithm of target detection of art identifies rubbish classification in real time, and robot classifies automatically, prompts rubbish by voice broadcast form
Type, garbage classification knowledge question realize voice human-computer interaction, have fast real-time, speed, at low cost, voice reminder, man-machine
The advantages that interaction.
In order to increase the practicability of sorting machine people, in the present embodiment, it is preferred that the inside of robot corresponds to camera
Main control unit development board 8 is fixedly connected at 7 position, the inside of robot corresponds to the position that LED shows rubbish type screen 5
Place is fixedly connected with ultrasonic distance measuring module 9, and the fixed company in inside of robot is corresponded among the bottom end of ultrasonic distance measuring module 9
It is connected to speech recognition module 10, the inside of robot is equipped with multiple steering engines and switchs gate control block(GCB) 11, and the present invention simultaneously can be real-time
It identifies rubbish object, opens rubbish classification, can be recycled, is not recyclable, harmful, other, all corresponding to a chute door, while steering engine
Driving has the function of that chute door can be automatically switched, using intelligent facilitation, while preventing drifting for waste odours, have simultaneously
Standby voice prompting identification rubbish object is any type rubbish, voice broadcast function, and ultrasonic sensor realizes ranging, works as rubbish
Rubbish, which has expired buzzer, on the inside of case to ring, and realize that automatic garbage surveys full function.
In order to increase the practicability of main control unit development board 8, in the present embodiment, it is preferred that main control unit development board 8 with take the photograph
It is fixed by linearly connected as first 7, main control unit development board 8 and LED shows that rubbish type screen 5 is fixed by linearly connected, main
Control unit development board 8 is fixed with ultrasonic distance measuring module 9 by linearly connected, main control unit development board 8 and speech recognition module
10 are fixed by linearly connected.
In order to enable sorting machine people operation is more intelligent, in the present embodiment, it is preferred that sensation target detection identification mould
Block includes main control unit development board 8, when there is rubbish close to equipment, 7 real-time detection rubbish target of camera, by with depth
The main control unit development board 8 of study, and main control unit development board 8 installs the SSD of trained caffe frame, can identify rubbish
Rubbish type automatically turns on corresponding chute door, while what rubbish type voice broadcast is, completes rubbish identification and prompting function.
In order to remind staff to clear up rubbish on the inside of sorting machine people, in the present embodiment, it is preferred that by ultrasonic distance measurement
Module 9 realizes the measurement to rubbish height in bucket at the top of garbage apparatus, through the distance of setting, when the height of rubbish reaches
When the parameter of setting, buzzer will be made a sound, and complete to survey full function.
In order to enable sorting machine people may be notified that personnel's rubbish belongs to and classify, in the present embodiment, it is preferred that voice is known
Other module 10 is each setting return value by the way that garbage classification particular statement is written with LP_COMM, when someone is to machine
When people proposes garbage classification relevant issues, speech recognition module 10 is answered automatically according to problem, finishing man-machine interaction function.
In order to enable sorting machine people can automatically open corresponding chute door, in the present embodiment, it is preferred that boost module and rudder
Machine driving includes that steering engine switchs gate control block(GCB) 11, and boost module drives multiple steering engines by increasing output voltage, then leads to
It crosses main control unit development board 8 the steering engine switch conveying instruction of gate control block(GCB) 11 is completed to open multiple steering engines and realize and open chute doors
Function.
Embodiment 2
The present invention is in identification division, using the SSD algorithm of target detection realization pair based on deep learning in artificial intelligence
The accurate identification of rubbish object is classified, while available yolo3 algorithm substitutes SSD algorithm, can also be substituted with faster RCNN
SSD algorithm.
Embodiment 3
Development board of the present invention uses newest tall and handsome up to (operation containing GPU) Jetson nano containing depth learning technology
Development board realizes edge calculations, it is ensured that real-time.
Embodiment 4
Speech recognition module 10 of the present invention, using the CNN+RNN algorithm training based on deep learning, it is ensured that speech recognition mould
The semantic accuracy of block.
Steering engine module available step motor replaces in the present invention.
The working principle of the invention and process for using: main control unit development board 8 is fixed on Intelligent refuse classification machine first
On the inside of device people, then main control unit development board 8 and camera 7 are fixed by linearly connected, main control unit development board 8 and LED
Display rubbish type screen 5 is fixed by linearly connected, and main control unit development board 8 and ultrasonic distance measuring module 9 pass through linearly connected
Fixed, main control unit development board 8 is fixed with speech recognition module 10 by linearly connected, when there is rubbish close to equipment, camera shooting
First 7 can real-time detection rubbish target, by the main control unit development board 8 with deep learning, and main control unit development board 8 is installed
The SSD of trained caffe frame can identify rubbish type, automatically turn on corresponding chute door, while what voice broadcast is
Rubbish type completes rubbish identification and prompting function, while ultrasonic distance measuring module 9 passes through setting at the top of garbage apparatus
Distance realize measurement to rubbish height in bucket, when the height of rubbish reaches the parameter of setting, buzzer will be made a sound,
It completes to survey full function, speech recognition module 10 then is written into garbage classification particular statement with LP_COMM, for each setting
Return value, when someone proposes garbage classification relevant issues to robot, speech recognition module 10 is answered automatically according to problem, complete
At human-computer interaction function, boost module and servo driving include steering engine switch gate control block(GCB) 11, and the boost module passes through will be defeated
Voltage increases to drive multiple steering engines out, then switchs the conveying instruction of gate control block(GCB) 11 to steering engine by main control unit development board 8
It completes to open the function that multiple steering engines realize unlatching chute door, when personnel's garbage throwing, garbage classification machine people can be to rubbish
Detected: when detecting rubbish is recyclable rubbish, recyclable rubbish LED light is lighted, and corresponding steering engine rotation will can be recycled
Chute door automatically opens, after rubbish is put into, chute door closure；When detecting rubbish is not recyclable rubbish, not can be recycled
Rubbish LED light lights, and corresponding steering engine rotation will not can be recycled chute door and automatically open, after rubbish is put into, chute door closure；When
When detecting that rubbish is Harmful Waste, Harmful Waste LED light is lighted, and corresponding steering engine rotation automatically opens Harmful Waste door, when
After rubbish is put into, chute door closure；Ultrasonic distance measuring module 9 can detect that whether rubbish inside garbage classification machine people simultaneously
Full, after rubbish is filled on the inside of garbage classification machine people, buzzer can send out place's sound, and staff is reminded to clear up rubbish.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of intelligence control garbage classification machine people of computer vision target identification, including robot body, sensation target detection
Identification module, ultrasonic distance measuring module (9), speech recognition module (10) and boost module and servo driving, it is characterised in that: institute
It states and is fixedly connected among the top of robot camera (7), the position of robot is corresponded among the bottom end of the camera (7)
The place of setting is fixedly connected with LED and shows rubbish type screen (5), and the LED shows that the bottom end side of rubbish type screen (5) is fixedly connected
Have recyclable rubbish door (1), the LED shows that the bottom end of rubbish type screen (5) is fixed far from the side of recyclable rubbish door (1)
It is connected with Harmful Waste (4), the bottom end of the Harmful Waste (4) is fixedly connected with Other Waste door (3), the recyclable rubbish
The bottom end of door (1) cannot be fixedly connected with recyclablely chute door (2), and loudspeaker (6) are fixedly connected among the robot side.
2. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
In: main control unit development board (8), the machine are fixedly connected at the position that the inside of the robot corresponds to camera (7)
The inside of device people is fixedly connected with ultrasonic distance measuring module (9) at the position corresponding to LED display rubbish type screen (5), described
Correspond on the inside of robot among the bottom end of ultrasonic distance measuring module (9) and is fixedly connected with speech recognition module (10), it is described
The inside of robot is equipped with multiple steering engines switch gate control block(GCB) (11).
3. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
In: the main control unit development board (8) is fixed with camera (7) by linearly connected, the main control unit development board (8) with
LED shows that rubbish type screen (5) are fixed by linearly connected, the main control unit development board (8) and ultrasonic distance measuring module (9)
It is fixed by linearly connected, the main control unit development board (8) is fixed with speech recognition module (10) by linearly connected.
4. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
In: the sensation target detection identification module includes main control unit development board (8), when there is rubbish close to equipment, camera (7)
Real-time detection rubbish target, by the main control unit development board (8) with deep learning, and main control unit development board (8) is installed
The SSD of trained caffe frame can identify rubbish type, automatically turn on corresponding chute door, while what voice broadcast is
Rubbish type completes rubbish identification and prompting function.
5. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
In: it is described that ultrasonic distance measuring module (9) are mounted at the top of garbage apparatus, it is realized by the distance of setting to rubbish height in bucket
Measurement, when the height of rubbish reaches the parameter of setting, buzzer will be made a sound, and complete to survey full function.
6. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
In: the speech recognition module (10) is that each setting returns by the way that garbage classification particular statement is written with LP_COMM
Value, when someone proposes garbage classification relevant issues to robot, speech recognition module (10) is answered automatically according to problem, is completed
Human-computer interaction function.
7. a kind of intelligence control garbage classification machine people of computer vision target identification according to claim 1, feature exist
It include steering engine switch gate control block(GCB) (11) in: the boost module and servo driving, the boost module is by by output voltage
It increases to drive multiple steering engines, then steering engine switch gate control block(GCB) (11) conveying has been instructed by main control unit development board (8)
At the function of opening multiple steering engines realization unlatching chute doors.
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| CN110436082A (en) * | 2019-08-08 | 2019-11-12 | 上海萃钛智能科技有限公司 | A kind of Intelligent refuse classification identification suggestion device, system and method |
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| CN111767804A (en) * | 2020-06-08 | 2020-10-13 | 上海交通大学 | Recyclable garbage image classification method and system based on artificial intelligence |
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| CN113156976A (en) * | 2021-05-18 | 2021-07-23 | 安徽新华学院 | Garbage classification trolley |
| CN114313683A (en) * | 2022-01-07 | 2022-04-12 | 合肥工业大学 | Intelligent household garbage classification method |
| CN114973822A (en) * | 2022-04-21 | 2022-08-30 | 华南师范大学 | Intelligent teaching aid for garbage classification and control method and medium thereof |
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