CN110219271A - A kind of garbage classification intelligent vision system and method applied to Automatic vehicle for cleaning road - Google Patents
A kind of garbage classification intelligent vision system and method applied to Automatic vehicle for cleaning road Download PDFInfo
- Publication number
- CN110219271A CN110219271A CN201910559521.3A CN201910559521A CN110219271A CN 110219271 A CN110219271 A CN 110219271A CN 201910559521 A CN201910559521 A CN 201910559521A CN 110219271 A CN110219271 A CN 110219271A
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- China
- Prior art keywords
- rubbish
- garbage classification
- automatic vehicle
- cleaning
- cleaning road
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
- E01H1/047—Collecting apparatus characterised by the hopper or by means for unloading the hopper
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The invention discloses a kind of garbage classification intelligent vision system and methods applied to Automatic vehicle for cleaning road, the wide-angle visual sensor including central data processing circuit and for obtaining ground image information at Automatic vehicle for cleaning road；The central data processing circuit includes: AI artificial intelligence module, carries out information extraction to the picture obtained from wide-angle visual sensor to identify whether there is rubbish in picture, and carry out Classification and Identification to rubbish；Central control module controls Automatic vehicle for cleaning road and cleans rubbish according to the identification classification information of AI artificial intelligence module, and carries out classification processing to the rubbish obtained is cleaned.The present invention can reasonably road pavement rubbish identify, and carry out classification processing, and the clean-up performance of cleaning can be monitored in real time, so that road cleaning is more convenient, road surface is more cleaned.
Description
Technical field
The invention belongs to intelligent science and technology fields, and in particular to a kind of garbage classification intelligence applied to Automatic vehicle for cleaning road
Vision system and method.
Background technique
In the road in city and street rubbish cleaning works, Automatic vehicle for cleaning road is widely used, however, existing
The Automatic vehicle for cleaning road that urban environment is kept a public place clean is generally existing to be difficult to clean up road surface health and not carry out at classification to rubbish
Reason, the level of this road sweeper are not able to satisfy the development need and economic Green Development theory of modern city.
That is, existing Automatic vehicle for cleaning road mostly can only simply clean rubbish, classification processing cannot be carried out to rubbish, it can not
Monitor the clean-up performance cleaned.Therefore it is existing to meet to need a kind of garbage classification intelligent vision system applied to Automatic vehicle for cleaning road
The clean objective demand of generationization urban pavement.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of garbage classification intelligent vision systems applied to Automatic vehicle for cleaning road
System, can identify rubbish, and carry out classification processing.
The technical solution of the present invention is as follows: a kind of garbage classification intelligent vision system applied to Automatic vehicle for cleaning road, including in
Entreat data processing circuit and the wide-angle visual sensor for obtaining ground image information at Automatic vehicle for cleaning road；The center number
Include: according to processing circuit
AI artificial intelligence module carries out information extraction to the picture obtained from wide-angle visual sensor to identify in picture
Whether there is rubbish, and Classification and Identification is carried out to rubbish；
Central control module controls Automatic vehicle for cleaning road and cleans rubbish according to the identification classification information of AI artificial intelligence module,
And classification processing is carried out to the rubbish obtained is cleaned.
The photo of acquisition is divided to needing clean road surface to take pictures using wide-angle visual sensor in the present invention
Class, such as its label is mainly the sundries such as leaf, soil, weeds, water, bottle, is carried out for different pavement garbages different
Classification processing work guarantees also to can be effectively carried out garbage classification processing while the cleaning of road surface.
Preferably, the central data processing circuit further includes believing for obtaining the current specific location of Automatic vehicle for cleaning road
The GPS module of breath.
Preferably, further including the server for storing garbage classification intelligent vision system related data.
Preferably, the central data processing circuit further includes for by the dependency number of garbage classification intelligent vision system
According to the 4G module for being sent to server.
Preferably, the quantity of the wide-angle visual sensor be two, two wide-angle visual sensors be respectively arranged in
At the headstock and the tailstock of Automatic vehicle for cleaning road.
Preferably, Automatic vehicle for cleaning road includes multiple Classified refuse cans, the cleaning recycling for cleaning recycling ground refuse
Mechanism and rubbish for that will clean recycling carry out the garbage classification processor structure of garbage classification processing, at the garbage classification
Managing mechanism includes:
Multiple garbage classification guide grooves correspond with Classified refuse can respectively and are used to for rubbish being directed respectively into corresponding
In Classified refuse can；
Deflecting guide groove is connected with each garbage classification guide groove with cleaning recovering mechanism and connecting and deflecting can occur with realizing respectively
It is logical；
Driving mechanism, for driving deflecting guide groove and being controlled by central control module.
The present invention also provides a kind of garbage classification intelligent vision methods applied to Automatic vehicle for cleaning road, comprising:
S1, wide-angle visual sensor is set on Automatic vehicle for cleaning road, Automatic vehicle for cleaning road is obtained by wide-angle visual sensor
Locate ground image information；
S2, information extraction is carried out to the picture obtained from wide-angle visual sensor to identify by AI artificial intelligence module
Whether there is rubbish in picture, and Classification and Identification is carried out to rubbish；
The identification classification information of S3, central control module according to AI artificial intelligence module, control Automatic vehicle for cleaning road cleaning rubbish
Rubbish, and classification processing is carried out to the rubbish obtained is cleaned.
Wide-angle visual sensor can be arranged in the present invention on Automatic vehicle for cleaning road, such as is divided before and after Automatic vehicle for cleaning road
Not Bu Zhi a wide-angle visual sensor, using wide-angle visual sensor to needing clean road surface to take pictures, then in real time
The picture that transmission wide-angle visual sensor obtains gives central data processing circuit, is the AI in central data processing circuit in next step
Artificial intelligence module carries out the identification and classification of rubbish to the picture of acquisition, and respectively holds for different pavement garbages
The corresponding processing task of row.
Preferably, Automatic vehicle for cleaning road includes multiple Classified refuse cans, the cleaning recycling for cleaning recycling ground refuse
Mechanism and rubbish for that will clean recycling carry out the garbage classification processor structure of garbage classification processing, at the garbage classification
Managing mechanism includes:
Multiple garbage classification guide grooves correspond with Classified refuse can respectively and are used to for rubbish being directed respectively into corresponding
In Classified refuse can；
Deflecting guide groove is connected with each garbage classification guide groove with cleaning recovering mechanism and connecting and deflecting can occur with realizing respectively
It is logical；
Driving mechanism, for driving deflecting guide groove and being controlled by central control module.
If the wide-angle visual sensor of headstock has detected rubbish in the present invention, at this time in central data processing circuit
AI artificial intelligence module identifies the type of rubbish, these information are then transferred to central control module, central control module
It can be with the angular position of the deflecting guide groove of deflecting, if it is leaf, then go to for recycling leaf according to the control of the type of rubbish
Garbage classification guide groove position；If it is soil, then go to the position of the garbage classification guide groove for recycling soil；It is false
Weeds in this way then go to the position of the garbage classification guide groove for recycling weeds；If it is water, then go to for recycle-water
The position of garbage classification guide groove；If it is the sundries such as bottle, then go to the garbage classification guiding for sundries such as recycling bottles
The position of slot.
If the wide-angle visual sensor of the tailstock detects that there are also rubbish, the AI in central data processing circuit is artificial at this time
Intelligent object identifies the type of rubbish and controls GPS module and obtain the current more specific location information of Automatic vehicle for cleaning road, simultaneously
Extract picture in rubbish information, these information by 4G module transfer to center controlling platform server, this
Server distributes to several sanitationman near the specific location at that time of Automatic vehicle for cleaning road according to the number of task amount, allows environmental sanitation
Worker handles rubbish clean-up task.
Preferably, the vision algorithm of AI artificial intelligence module uses YOLOv3.
Compared with prior art, the beneficial effects of the present invention are embodied in:
The present invention can reasonably road pavement rubbish identify, and carry out classification processing, and can be monitored in real time
The clean-up performance of cleaning, so that road cleaning is more convenient, road surface is more cleaned.
Detailed description of the invention
Fig. 1 be Automatic vehicle for cleaning road in the present invention structural schematic diagram (circle represents wide-angle visual sensor, box represent from
The vehicle body of dynamic sweeper).
Fig. 2 is the front schematic view of Automatic vehicle for cleaning road in the present invention.
Fig. 3 is the top view of garbage classification processor structure in the present invention
Fig. 4 is the top view for only having a garbage classification processor structure in the present invention；
Fig. 5 is the front view of garbage classification processor structure in the present invention.
Fig. 6 is the schematic illustration that YOLOv3 algorithm is used in the present invention.
Specific embodiment
The present invention includes central data processing circuit and the wide-angle for obtaining ground image information at Automatic vehicle for cleaning road
Visual sensor；Central data processing circuit includes:
AI artificial intelligence module carries out information extraction to the picture obtained from wide-angle visual sensor to identify in picture
Whether there is rubbish, and Classification and Identification is carried out to rubbish；
Central control module controls Automatic vehicle for cleaning road and cleans rubbish according to the identification classification information of AI artificial intelligence module,
And classification processing is carried out to the rubbish obtained is cleaned.
The photo of acquisition is divided to needing clean road surface to take pictures using wide-angle visual sensor in the present invention
Class, such as its label is mainly the sundries such as leaf, soil, weeds, water, bottle, is carried out for different pavement garbages different
Classification processing work guarantees also to can be effectively carried out garbage classification processing while the cleaning of road surface.
It further include the server for storing garbage classification intelligent vision system related data in the present invention.Wherein, central
Data processing circuit further includes the GPS module for obtaining the current more specific location information of Automatic vehicle for cleaning road, central data processing
Circuit further includes the 4G module for the related data of garbage classification intelligent vision system to be sent to server.
As depicted in figs. 1 and 2, the quantity of wide-angle visual sensor can be two in the present invention, and two wide-angle visions pass
Sensor is respectively arranged at the headstock and the tailstock of Automatic vehicle for cleaning road.
In the present invention there are many structure types of Automatic vehicle for cleaning road, use existing a variety of Automatic vehicle for cleaning road can also be with such as Fig. 3
Shown in~Fig. 5, Automatic vehicle for cleaning road includes multiple Classified refuse cans, the cleaning recycling for cleaning recycling ground refuse in the present invention
Mechanism and the garbage classification processor structure of the rubbish progress garbage classification processing for recycling will to be cleaned, garbage classification processor
Structure includes:
Multiple garbage classification guide grooves correspond with Classified refuse can respectively and are used to for rubbish being directed respectively into corresponding
In Classified refuse can；
Deflecting guide groove 6, with clean recovering mechanism connect and can occur deflecting with realize respectively with each garbage classification guide groove
Connection；
Driving mechanism, for driving deflecting guide groove and being controlled by central control module.
Deflecting guide groove 6 can be connected to by bindiny mechanism 7 with recovering mechanism is cleaned in the present invention.
Garbage classification intelligent vision method is carried out using above system, comprising:
S1, wide-angle visual sensor is set on Automatic vehicle for cleaning road, Automatic vehicle for cleaning road is obtained by wide-angle visual sensor
Locate ground image information；
S2, information extraction is carried out to the picture obtained from wide-angle visual sensor to identify by AI artificial intelligence module
Whether there is rubbish in picture, and Classification and Identification is carried out to rubbish；
The identification classification information of S3, central control module according to AI artificial intelligence module, control Automatic vehicle for cleaning road cleaning rubbish
Rubbish, and classification processing is carried out to the rubbish obtained is cleaned.
Wide-angle visual sensor can be arranged in the present invention on Automatic vehicle for cleaning road, such as is divided before and after Automatic vehicle for cleaning road
Not Bu Zhi a wide-angle visual sensor, using wide-angle visual sensor to needing clean road surface to take pictures, then in real time
The picture that transmission wide-angle visual sensor obtains gives central data processing circuit, is the AI in central data processing circuit in next step
Artificial intelligence module carries out the identification and classification of rubbish to the picture of acquisition, and respectively holds for different pavement garbages
The corresponding processing task of row.
The vision algorithm of AI artificial intelligence module can use YOLOv3 in the present invention.Fig. 6 indicates that the algorithm of YOLOv3 is former
Reason, wherein Convolutional indicates that convolutional layer, Filter indicate convolution kernel number, and Size indicates convolution kernel size,
Output indicates that output picture size, the such calculating process of 1 × expression in left side have been used once, and Residual indicates residual error network
Layer, Avgpool indicate that pond layer, Connected indicate full connection, and Softmax indicates that softmax returns classifier, Grobal
Indicate the global pond Avgpool layer.
If the wide-angle visual sensor of headstock has detected rubbish in the present invention, at this time in central data processing circuit
AI artificial intelligence module identifies the type of rubbish, these information are then transferred to central control module, central control module
It can be with the angular position of the deflecting guide groove of deflecting, if it is leaf, then go to for recycling leaf according to the control of the type of rubbish
Garbage classification guide groove 1 position；If it is soil, then go to the position of the garbage classification guide groove 2 for recycling soil；
If it is weeds, then go to the position of the garbage classification guide groove 3 for recycling weeds；If it is water, then go to for recycling
The position of the garbage classification guide groove 4 of water；If it is the sundries such as bottle, then go to the garbage classification for sundries such as recycling bottles
The position of guide groove 5.
If the wide-angle visual sensor of the tailstock detects that there are also rubbish, the AI in central data processing circuit is artificial at this time
Intelligent object identifies the type of rubbish and controls GPS module and obtain the current more specific location information of Automatic vehicle for cleaning road, simultaneously
Extract picture in rubbish information, these information by 4G module transfer to center controlling platform server, this
Server distributes to several sanitationman near the specific location at that time of Automatic vehicle for cleaning road according to the number of task amount, allows environmental sanitation
Worker handles rubbish clean-up task.
Claims (10)
1. a kind of garbage classification intelligent vision system applied to Automatic vehicle for cleaning road, which is characterized in that including central data processing
Circuit and wide-angle visual sensor for obtaining ground image information at Automatic vehicle for cleaning road；The central data processing circuit
Include:
AI artificial intelligence module, information extraction is carried out to the picture that obtains from wide-angle visual sensor with identify in picture whether
There is rubbish, and Classification and Identification is carried out to rubbish；
Central control module controls Automatic vehicle for cleaning road and cleans rubbish according to the identification classification information of AI artificial intelligence module, and right
It cleans the rubbish obtained and carries out classification processing.
2. being applied to the garbage classification intelligent vision system of Automatic vehicle for cleaning road as described in claim 1, which is characterized in that described
Central data processing circuit further includes the GPS module for obtaining the current more specific location information of Automatic vehicle for cleaning road.
3. being applied to the garbage classification intelligent vision system of Automatic vehicle for cleaning road as described in claim 1, which is characterized in that also wrap
Include the server for storing garbage classification intelligent vision system related data.
4. being applied to the garbage classification intelligent vision system of Automatic vehicle for cleaning road as claimed in claim 3, which is characterized in that described
Central data processing circuit further includes the 4G mould for the related data of garbage classification intelligent vision system to be sent to server
Block.
5. being applied to the garbage classification intelligent vision system of Automatic vehicle for cleaning road as described in claim 1, which is characterized in that described
The quantity of wide-angle visual sensor is two, and two wide-angle visual sensors are respectively arranged headstock and the tailstock in Automatic vehicle for cleaning road
Place.
6. being applied to the garbage classification intelligent vision system of Automatic vehicle for cleaning road as described in claim 1, which is characterized in that automatic
Sweeper includes multiple Classified refuse cans, the cleaning recovering mechanism for cleaning recycling ground refuse and is used to that recycling will to be cleaned
Rubbish carry out the garbage classification processor structure of garbage classification processing, the garbage classification processor structure includes:
Multiple garbage classification guide grooves correspond with Classified refuse can respectively and are used to rubbish being directed respectively into corresponding rubbish
In utility box；
Deflecting guide groove connect with recovering mechanism is cleaned and deflecting can occur and be connected to respectively with each garbage classification guide groove with realizing；
Driving mechanism, for driving deflecting guide groove and being controlled by central control module.
7. a kind of garbage classification intelligent vision method applied to Automatic vehicle for cleaning road characterized by comprising
S1, wide-angle visual sensor is set on Automatic vehicle for cleaning road, by wide-angle visual sensor acquisition Automatic vehicle for cleaning road
Face image information；
S2, information extraction is carried out to the picture obtained from wide-angle visual sensor to identify picture by AI artificial intelligence module
In whether have rubbish, and Classification and Identification is carried out to rubbish；
The identification classification information of S3, central control module according to AI artificial intelligence module, control Automatic vehicle for cleaning road cleaning rubbish, and
Classification processing is carried out to the rubbish obtained is cleaned.
8. the use as claimed in claim 7 in the garbage classification intelligent vision method of Automatic vehicle for cleaning road, which is characterized in that automatic
Sweeper includes multiple Classified refuse cans, the cleaning recovering mechanism for cleaning recycling ground refuse and is used to that recycling will to be cleaned
Rubbish carry out the garbage classification processor structure of garbage classification processing, the garbage classification processor structure includes:
Multiple garbage classification guide grooves correspond with Classified refuse can respectively and are used to rubbish being directed respectively into corresponding rubbish
In utility box；
Deflecting guide groove connect with recovering mechanism is cleaned and deflecting can occur and be connected to respectively with each garbage classification guide groove with realizing；
Driving mechanism, for driving deflecting guide groove and being controlled by central control module.
9. the use as claimed in claim 7 in the garbage classification intelligent vision method of Automatic vehicle for cleaning road, which is characterized in that pass through
Server store garbage classification intelligent vision system related data, server according to task amount number distribute to Automatic vehicle for cleaning road
Specific location at that time nearby several sanitationman, allow sanitationman handle rubbish clean-up task.
10. the use as claimed in claim 7 in the garbage classification intelligent vision method of Automatic vehicle for cleaning road, which is characterized in that AI
The vision algorithm of artificial intelligence module uses YOLOv3.
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