CN110861854B - Intelligent garbage classification device and intelligent garbage classification method - Google Patents
Intelligent garbage classification device and intelligent garbage classification method Download PDFInfo
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- CN110861854B CN110861854B CN201911206114.0A CN201911206114A CN110861854B CN 110861854 B CN110861854 B CN 110861854B CN 201911206114 A CN201911206114 A CN 201911206114A CN 110861854 B CN110861854 B CN 110861854B
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- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F1/0053—Combination of several receptacles
- B65F1/006—Rigid receptacles stored in an enclosure or forming part of it
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/10—Refuse receptacles; Accessories therefor with refuse filling means, e.g. air-locks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
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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
- B65F1/16—Lids or covers
- B65F1/1646—Lids or covers provided with means for mounting on receptacles, e.g. hinges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F2001/008—Means for automatically selecting the receptacle in which refuse should be placed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/176—Sorting means
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- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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Abstract
The invention discloses an intelligent garbage classification device and an intelligent garbage classification method, wherein a camera is used for collecting images of garbage tiled on a classification layer table board, and a neural network model is used for identifying and classifying the garbage according to the images of the garbage; respectively identifying and positioning recyclable matters, harmful garbage, dry garbage, wet garbage and the like in the garbage image; sorting the recyclable materials one by using a manipulator and placing the recyclable materials into a garbage hopper; a garbage hopper for sorting the harmful garbage one by using a mechanical arm and putting the harmful garbage into the garbage hopper; classifying the dry garbage and the wet garbage by using a mechanical arm; and performing garbage quality evaluation on the garbage thrown by citizens. The garbage sorting method and the garbage sorting device have the advantages that sorted garbage is stored in a classified mode and is used for checking and secondary sorting classified garbage thrown by citizens, the user garbage throwing quality is scored according to the checking result, a reward and punishment mechanism is formulated, the garbage sorting precision is improved, and meanwhile the user is encouraged to improve the garbage classified throwing quality.
Description
Technical Field
The invention belongs to the field of garbage classification, and particularly relates to an intelligent garbage classification device and an intelligent garbage classification method.
Background
With the rapid development of economy and the improvement of living standard, the yield of the domestic garbage is also increased sharply. The household garbage is various in types, some garbage can be recycled, some garbage has great influence on the environment, and if the garbage is discarded at will, great pollution can be caused. The garbage classification and recovery work has been carried out for many years in China, and mainly classified garbage cans are used as the main part. But the effect of garbage classification is not ideal, and the awareness of people on garbage classification is weak.
In recent two years, China has begun to establish a strict garbage classification system in some cities. Taking the sea as an example, residents are required to classify garbage into four categories of recyclables, harmful garbage, wet garbage and dry garbage. Due to the fact that the required garbage category is complex, classified garbage thrown by residents is lack of effective monitoring and excitation, and the difficulty of rear-end processing of the garbage is increased.
Disclosure of Invention
The invention has the technical problems that along with the refinement of the work of garbage classification, although a classification garbage can is widely arranged at present, the garbage classification consciousness of citizens is weak, the classification enthusiasm is not high, the garbage classification effect of classifying and throwing garbage depending on the self-perception of the citizens is not good, a garbage classification treatment device for quickly separating recoverable matters, harmful garbage and wet garbage from the garbage thrown in by the citizens is lacking in the market, and a judgment method for judging the garbage classification condition before the citizens throw the garbage is lacking.
The present invention is directed to solve the above problems and provides an intelligent garbage sorting apparatus and an intelligent garbage sorting method, which separately place garbage, recycle garbage, harmful garbage, and wet garbage for recycling or special treatment, reduce environmental pollution, automatically identify and sort the garbage, harmful garbage, and wet garbage, and calculate the average single-piece processing time of the citizens before putting garbage, so as to understand the sorting condition of the citizens before putting garbage.
The invention has the technical scheme that the intelligent garbage classification device comprises a garbage classification box body and a control cabinet, wherein a garbage inlet is formed in the top of the garbage classification box body, a garbage classification panel is arranged below the garbage inlet and divides the garbage classification box body into a classification layer and a storage layer, the classification layer is provided with a sorting mechanism, the storage layer is provided with a plurality of garbage hoppers, the sorting mechanism comprises a first X-axis slide rail, a first Y-axis slide rail and a Z-axis slide rail, two ends of the first X-axis slide rail are fixedly connected with the side wall of the garbage classification box body, the first X-axis slide table is in sliding fit with the first X-axis slide rail, and the end part of the first Y-axis slide rail is fixedly connected with the first X-axis slide table; the first Y-axis sliding table is in sliding fit with the first Y-axis sliding rail, the end part of the Z-axis sliding rail is fixedly connected with the first Y-axis sliding table, the garbage sorting head is in sliding fit with the Z-axis sliding rail, and the garbage sorting head comprises the Z-axis sliding table and a manipulator connected with the Z-axis sliding table; a controller is arranged in the control cabinet, and the control end of the sorting mechanism is electrically connected with the controller; the Y-axis sliding table is provided with a vision sensor, the output end of the vision sensor is electrically connected with the controller, and the vision sensor is used for collecting images below the Y-axis sliding table.
Furthermore, one side of the garbage classification box body, which is far away from the control cabinet, is provided with a plurality of garbage recycling openings at the position close to the bottom surface, and the positions of the garbage hopper, which correspond to the garbage recycling openings, are provided with movable doors.
Furthermore, a touch sensor is arranged on the inner side of the claw part of the manipulator, and the output end of the touch sensor is electrically connected with the controller.
Preferably, the garbage throwing-in opening is provided with a garbage inlet control mechanism, the garbage inlet control mechanism comprises a first garbage cover, a second garbage cover and a hydraulic rod, one side of the first garbage cover is hinged with the top of the garbage classification box body, a base of the hydraulic rod is fixedly connected with the top of the garbage classification box body, a rod head of a telescopic rod of the hydraulic rod is fixedly connected with the second garbage cover, and the second garbage cover controls the opening and closing of the garbage throwing-in opening along with the expansion and contraction of the rod head of the hydraulic rod; the control signal input end of the hydraulic rod is connected with the control signal output end of the controller.
Furthermore, a recyclable garbage hopper, a harmful garbage hopper, a wet garbage hopper and a dry garbage hopper are arranged below the garbage classification panel.
Preferably, the intelligent garbage classification device further comprises a conveying mechanism arranged above the garbage classification panel, the conveying mechanism is used for gathering garbage on the garbage classification panel, the conveying mechanism comprises a second X-axis slide rail and a second Y-axis slide rail which are fixedly connected with the garbage classification panel respectively, the second X-axis slide table is in sliding fit with the second X-axis slide rail, the X-axis blocking piece is fixedly connected with the second X-axis slide table, the second Y-axis slide table is in sliding fit with the second Y-axis slide rail, and the Y-axis blocking piece is fixedly connected with the second Y-axis slide table; the control end of the transmission mechanism is electrically connected with the controller.
Further, the height of switch board is greater than the height of rubbish classification box, and the top that the switch board is close to the lateral wall of rubbish input mouth is equipped with the camera, and the output and the controller electricity of camera are connected.
Preferably, the hydraulic rod is an electronic hydraulic rod.
The intelligent garbage classification method adopting the intelligent garbage classification device adopts a neural network model to identify and classify the garbage according to the image and the tactile data of the garbage, and comprises the following steps,
step 1: collecting images of the garbage tiled on the table top of the classification layer by using a camera;
step 2: respectively carrying out target identification and positioning on recyclable matters and harmful garbage in the garbage image;
and step 3: according to the positioning of the recyclable materials in the step 2, sorting the recyclable materials one by using a mechanical arm and placing the recyclable materials into a garbage hopper;
and 4, step 4: according to the positioning of the harmful garbage in the step 2, sorting the harmful garbage one by using a manipulator and putting the sorted harmful garbage into a garbage hopper;
and 5: classifying the dry garbage and the wet garbage by using a mechanical arm, sorting the residual garbage on the classification layer table one by using the mechanical arm, judging whether the residual garbage is wet garbage or not by using a touch sensor of the mechanical arm, and putting the wet garbage into a garbage hopper of the wet garbage if the residual garbage is judged to be wet garbage; if the garbage is not wet garbage, the garbage is put into a garbage hopper of other garbage.
Further, the intelligent garbage classification method also comprises the steps of collecting the head images of the citizens who throw the garbage before the step 1 and evaluating the garbage quality of the citizens after the step 5, and the specific steps are as follows,
step 1: collecting images of the garbage tiled on the table top of the classification layer by using a camera;
step 2: respectively carrying out target identification and positioning on recyclable matters and harmful garbage in the garbage image;
and step 3: according to the positioning of the recyclable materials in the step 2, sorting the recyclable materials one by using a mechanical arm and placing the recyclable materials into a garbage hopper;
and 4, step 4: according to the positioning of the harmful garbage in the step 2, sorting the harmful garbage one by using a manipulator and putting the sorted harmful garbage into a garbage hopper;
and 5: classifying the dry garbage and the wet garbage by using a mechanical arm, sorting the residual garbage on the classification layer table one by using the mechanical arm, judging whether the residual garbage is wet garbage or not by using a touch sensor of the mechanical arm, and putting the wet garbage into a garbage hopper of the wet garbage if the residual garbage is judged to be wet garbage; if the garbage is not wet garbage, the garbage is put into a garbage hopper of other garbage;
step 6: recording the sorting times of the manipulator in the garbage sorting process as the quantity of garbage thrown by a citizen at a single time, recording the garbage sorting processing time after the citizen throws the garbage at a single time, dividing the garbage sorting processing time by the quantity of the garbage to obtain the average processing time of single-piece garbage, and evaluating the quality of the garbage thrown by the citizen according to the average processing time of the unit garbage thrown by the citizen.
Preferably, in step 2, the recoverable object and the harmful garbage in the garbage image are respectively subjected to target identification and positioning, and a CNN neural network model is adopted to perform target identification and positioning on the target object.
Compared with the prior art, the invention has the beneficial effects that:
1) the classified garbage thrown by residents is inspected and secondarily classified, so that the quality of primary classification of the garbage is improved, and the time for later-stage garbage treatment is reduced;
2) the garbage bin is provided with a plurality of categories of garbage buckets, so that the garbage buckets can be classified and placed, the garbage can be further conveniently treated, recyclable materials can be conveniently recycled, special treatment of harmful garbage can be conveniently carried out, and the pollution to the environment can be reduced;
3) the garbage classification method utilizes images and touch information of garbage, adopts the neural network model to identify and classify the garbage, and has more accurate classification result and good reliability;
4) the method of the invention carries out quality evaluation on the garbage thrown into residents according to the processing time of secondary classification, and the average single piece processing time for processing the garbage thrown into residents by the device of the invention is calculated to evaluate the quality of the garbage classification before the garbage is thrown into the residents, so that the method is convenient for knowing the garbage classification condition before the garbage is thrown into the residents, can be used for a management department to excite and punish the garbage throwing behavior of the residents, and improves the enthusiasm of the garbage classification of the residents.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of an intelligent garbage classification device.
Fig. 2 is a schematic structural view of a garbage inlet control mechanism.
Fig. 3 is a schematic structural diagram of the sorting mechanism.
Fig. 4 is a schematic structural diagram of the conveying mechanism.
Fig. 5 is a flow chart diagram of the intelligent garbage classification method.
Fig. 6 is a schematic structural diagram of a neural network model according to an embodiment.
Description of reference numerals: the garbage classification box body 1, the control cabinet 2, the sorting mechanism 3, a first X-axis slide rail 301, a first X-axis slide table 302, a first Y-axis slide rail 303, a first Y-axis slide table 304, a Z-axis slide rail 305, a Z-axis slide table 306, a manipulator 307, a vision sensor 308, the conveying mechanism 4, a second X-axis slide rail 401, a second X-axis slide table 402, an X-axis baffle 403, a second Y-axis slide rail 404, a second Y-axis slide table 405, a Y-axis baffle 406, the garbage classification panel 5, the garbage input port 6, a first garbage cover 601, a second garbage cover 602, a hydraulic rod 603 and a camera 7.
Detailed Description
As shown in fig. 1-4, the intelligent garbage classification device comprises a garbage classification box 1 and a control cabinet 2, a garbage input opening 6 is arranged at the top of the garbage classification box 1, a sorting mechanism 3 and a conveying mechanism 4 are arranged in the garbage classification box 1, a garbage classification panel 5 is arranged below the garbage input opening 6 in the garbage classification box 1, a plurality of garbage recovery openings are arranged at the front part of the garbage classification box 1 close to the bottom surface, a recyclable garbage hopper, a harmful garbage hopper, a wet garbage hopper and a dry garbage hopper are arranged below the garbage classification panel 5, and a movable door is arranged at the position of the recyclable garbage hopper, the harmful garbage hopper, the wet garbage hopper and the dry garbage hopper corresponding to the garbage recovery openings. The height of switch board 2 is greater than the height of waste classification box 1, and switch board 2 is equipped with camera 7 near the top of the lateral wall of rubbish input 6. A controller is arranged in the control cabinet 2, and the control end of the sorting mechanism 3 is electrically connected with the controller.
The movable doors of the recyclable garbage hopper, the harmful garbage hopper, the wet garbage hopper and the dry garbage hopper are respectively provided with an electronic lock, and when the garbage truck is used for cleaning garbage, the corresponding movable door of the garbage hopper is unlocked according to the type of the garbage on the garbage truck, so that the garbage in the garbage hopper is collected on the garbage truck.
As shown in fig. 2, the garbage inlet 6 is provided with a garbage inlet control mechanism, the garbage inlet control mechanism comprises a first garbage cover 601, a second garbage cover 602 and a hydraulic rod 603, one side of the first garbage cover 601 is hinged to the top of the garbage classification box 1, the base of the electronic hydraulic rod 603 is fixedly connected to the top of the garbage classification box 1, the rod head of the telescopic rod of the electronic hydraulic rod 603 is fixedly connected to the second garbage cover 602, and the second garbage cover 602 controls the opening and closing of the garbage inlet 6 along with the extension and retraction of the rod head of the electronic hydraulic rod 603. An electromagnetic valve is arranged in a hydraulic oil pipe of the electronic hydraulic rod 603, and the electronic hydraulic rod 603 is controlled to stretch and retract through the electromagnetic valve. The control end of the electromagnetic valve is electrically connected with the controller.
As shown in fig. 3, the sorting mechanism 3 includes a first X-axis slide rail 301, a first Y-axis slide rail 303, and a Z-axis slide rail 305, two ends of the first X-axis slide rail 301 are fixedly connected to the side wall of the garbage sorting box 1, the first X-axis slide table 302 is in sliding fit with the first X-axis slide rail 301, and an end of the first Y-axis slide rail 303 is fixedly connected to the first X-axis slide table 302; first Y axle slip table 304 and first Y axle slide rail 303 sliding fit, the tip and the first Y axle slip table 304 fixed connection of Z axle slide rail 305, rubbish letter sorting head and Z axle slide rail 305 sliding fit, rubbish letter sorting head include Z axle slip table 306 and rather than the manipulator 307 of being connected, the gripper inboard of manipulator 307 is equipped with touch sensor, sets up grabbing, the release of the digital steering engine control manipulator 307 gripper on the manipulator 307. A screw rod is arranged on the first X-axis slide rail 301, a through hole matched with the screw rod is arranged on the first X-axis sliding table 302, a roller path is arranged on the wall of the through hole, balls are filled in the roller path, the screw rod is fixedly connected with a rotating shaft of a servo motor, and when the servo motor rotates, the first X-axis sliding table 302 linearly moves towards one end or the other end of the slide rail; the first Y-axis slide rail 303 and the first Y-axis sliding table 304 have the same structure as the first X-axis slide rail 301 and the first X-axis sliding table 302, respectively; the first Z-axis slide rail 305 and the first Z-axis slide table 306 have the same structure as the first X-axis slide rail 301 and the first X-axis slide table 302, respectively. In one embodiment, the first X-axis slide rail 301 and the first X-axis slide table 302 are linear modules. And the control end of a servo motor of the sorting mechanism 3 is electrically connected with the controller. And the control end of the digital steering engine on the manipulator 307 is electrically connected with the controller.
The right side of the Y-axis sliding table 304 of the sorting mechanism 3 is provided with a visual sensor 308, the output end of the visual sensor 308 is electrically connected with the controller, and the visual sensor 308 is used for collecting images of the garbage on the garbage classification panel 5. In an embodiment, the vision sensor 308 employs a camera.
When the controller controls the sorting mechanism 3 to sort the garbage on the garbage classification panel 5, the X-axis sliding table, the Y-axis sliding table and the Z-axis sliding table are respectively controlled by the servo motor to move, so that the mechanical arm 307 is close to the garbage on the garbage classification panel 5, the grabbing claw of the mechanical arm 307 is controlled by the digital steering engine on the mechanical arm 307 to grab the garbage, after the garbage is grabbed, the X-axis sliding table, the Y-axis sliding table and the Z-axis sliding table are moved again by the servo motor, the mechanical arm 307 is moved to the position above a garbage hopper corresponding to the garbage, and the grabbing claw of the mechanical arm 307 is controlled by the digital steering engine to release the garbage to the corresponding garbage hopper.
As shown in fig. 4, the conveying mechanism 4 is configured to gather the garbage on the garbage classification panel 5, the conveying mechanism 4 includes a second X-axis slide rail 401 and a second Y-axis slide rail 404 that are respectively fixedly connected to the garbage classification panel 5, the second X-axis slide rail 402 is in sliding fit with the second X-axis slide rail 401, the X-axis blocking piece 403 is fixedly connected to the second X-axis slide rail 402, the second Y-axis slide rail 405 is in sliding fit with the second Y-axis slide rail 404, and the Y-axis blocking piece 406 is fixedly connected to the second Y-axis slide rail 405. The second X-axis slide rail 401 and the second X-axis sliding table 402 have the same structure as the first X-axis slide rail 301 and the first X-axis sliding table 302, respectively; the second Y-axis slide rail 404 and the second Y-axis slide table 405 are the same as the first X-axis slide rail 301 and the first X-axis slide table 302, respectively. The control end of the servo motor of the transmission mechanism 4 is electrically connected with the controller. The X-axis sliding table and the X-axis blocking piece fixedly connected with the X-axis sliding table are moved by controlling the servo motor, garbage on the garbage classification panel 5 is gathered along the second Y-axis sliding rail 404, and then the Y-axis sliding table and the Y-axis blocking piece fixedly connected with the Y-axis sliding table are moved by controlling the servo motor, so that the garbage gathered along the second Y-axis sliding rail 404 is gathered.
As shown in fig. 5, the intelligent garbage classification method collects images of the citizens who throw in garbage by using a camera before garbage classification so as to confirm the identity of the citizens, spreads the garbage thrown in by the citizens on the table-board of a classification layer, collects the images of the spread garbage, identifies and positions the garbage, and sorts the garbage by using a manipulator, the intelligent garbage classification method comprises the following steps,
step 1: collecting images of the garbage tiled on the table top of the classification layer by using a camera;
step 2: respectively carrying out target identification and positioning on recyclable matters and harmful garbage in the garbage image;
and step 3: according to the positioning of the recyclable materials in the step 2, sorting the recyclable materials one by using a mechanical arm and placing the recyclable materials into a garbage hopper;
and 4, step 4: according to the positioning of the harmful garbage in the step 2, sorting the harmful garbage one by using a manipulator and putting the sorted harmful garbage into a garbage hopper;
and 5: classifying the dry garbage and the wet garbage by using a mechanical arm, sorting the residual garbage on the classification layer table one by using the mechanical arm, judging whether the residual garbage is wet garbage or not by using a touch sensor of the mechanical arm, and putting the wet garbage into a garbage hopper of the wet garbage if the residual garbage is judged to be wet garbage; if the garbage is not wet garbage, the garbage is put into a garbage hopper of other garbage;
step 6: recording the sorting times of the manipulator in the garbage sorting process as the quantity of garbage thrown by a citizen at a single time, recording the garbage sorting processing time after the citizen throws the garbage at a single time, dividing the garbage sorting processing time by the quantity of the garbage to obtain the average processing time of single-piece garbage, and evaluating the quality of the garbage thrown by the citizen according to the average processing time of the unit garbage thrown by the citizen.
In the garbage classification process, before the garbage on the garbage classification panel 5 is sorted, the garbage input opening 6 is closed, and after the garbage on the garbage classification panel 5 is sorted, the garbage input opening 6 is opened.
In step 2, the recyclable object and the harmful garbage in the garbage image are respectively subjected to target identification and positioning, and a CNN neural network model is adopted to perform target identification and positioning on the target object. As shown in fig. 6, the CNN neural network model includes convolutional layers, fully-connected layers, and classifiers, and uses 4 convolutional layers, each convolutional layer is linked to a pooling layer, the activation function uses a ReLU function, and finally connected is a softmax layer. The size of the input image is 160 x 160 pixels. In the examples, the convolution kernels of the convolutional layers were all 4 × 4, and the learning rate was set to 0.01.
Claims (8)
1. The intelligent garbage classification device is characterized by comprising a garbage classification box body and a control cabinet, wherein a garbage input port is formed in the top of the garbage classification box body, a garbage classification panel is arranged below the garbage input port and divides the garbage classification box body into a classification layer and a storage layer, the classification layer is provided with a sorting mechanism, the storage layer is provided with a plurality of garbage hoppers, the sorting mechanism comprises a first X-axis slide rail, a first Y-axis slide rail and a Z-axis slide rail, two ends of the first X-axis slide rail are fixedly connected with the side wall of the garbage classification box body, the first X-axis slide rail is in sliding fit with the first X-axis slide rail, and the end part of the first Y-axis slide rail is fixedly connected with the first X-axis slide rail; the first Y-axis sliding table is in sliding fit with the first Y-axis sliding rail, the end part of the Z-axis sliding rail is fixedly connected with the first Y-axis sliding table, the garbage sorting head is in sliding fit with the Z-axis sliding rail, and the garbage sorting head comprises the Z-axis sliding table and a manipulator connected with the Z-axis sliding table; a controller is arranged in the control cabinet, and the control end of the sorting mechanism is electrically connected with the controller; the Y-axis sliding table is provided with a vision sensor, the output end of the vision sensor is electrically connected with the controller, and the vision sensor is used for acquiring images below the Y-axis sliding table;
a touch sensor is arranged on the inner side of the gripper of the manipulator, and the output end of the touch sensor is electrically connected with the controller;
the intelligent garbage classification device further comprises a conveying mechanism arranged above the garbage classification panel, the conveying mechanism is used for gathering garbage on the garbage classification panel, the conveying mechanism comprises a second X-axis sliding rail and a second Y-axis sliding rail which are fixedly connected with the garbage classification panel respectively, the second X-axis sliding table is in sliding fit with the second X-axis sliding rail, the X-axis blocking piece is fixedly connected with the second X-axis sliding table, the second Y-axis sliding table is in sliding fit with the second Y-axis sliding rail, and the Y-axis blocking piece is fixedly connected with the second Y-axis sliding table; the control end of the transmission mechanism is electrically connected with the controller;
the intelligent garbage classification device collects images of garbage tiled on a classification layer table board by using a camera, respectively identifies and positions targets of recyclable matters and harmful garbage in the garbage images, sorts the recyclable matters one by using a manipulator according to the positioning of the recyclable matters and puts the recyclable matters into a garbage hopper; according to the positioning of the harmful garbage, the mechanical arm is used for sorting the harmful garbage one by one and placing the harmful garbage into a garbage hopper; judging whether the garbage is wet garbage or not by using a touch sensor of the manipulator, and if the garbage is wet garbage, putting the garbage into a garbage hopper of the wet garbage;
recording the sorting times of the manipulator in the garbage sorting process as the quantity of garbage thrown by a single citizen, recording the garbage sorting time after the single citizen throws the garbage, and dividing the garbage sorting time by the quantity of the garbage to obtain the average processing time of single garbage for evaluating the quality of garbage sorting before the garbage throwing so as to facilitate understanding of the garbage sorting condition before the citizen throws the garbage.
2. The intelligent garbage classification device according to claim 1, wherein a plurality of garbage recycling openings are formed in a portion, close to the bottom surface, of one side of the garbage classification box body, which is far away from the control cabinet, and a movable door is arranged at a portion, corresponding to the garbage recycling openings, of the garbage hopper.
3. The intelligent garbage classification device according to claim 1, wherein the garbage input port is provided with a garbage input port control mechanism, the garbage input port control mechanism comprises a first garbage cover, a second garbage cover and a hydraulic rod, one side of the first garbage cover is hinged with the top of the garbage classification box, a base of the hydraulic rod is fixedly connected with the top of the garbage classification box, a rod head of a telescopic rod of the hydraulic rod is fixedly connected with the second garbage cover, and the second garbage cover controls the opening and closing of the garbage input port along with the expansion and contraction of the rod head of the hydraulic rod; the control signal input end of the hydraulic rod is connected with the control signal output end of the controller.
4. The intelligent garbage classification device according to claim 1, wherein a recyclable garbage hopper, a harmful garbage hopper, a wet garbage hopper and a dry garbage hopper are arranged below the garbage classification panel.
5. The intelligent garbage classification device according to claim 1, wherein the height of the control cabinet is greater than that of the garbage classification box body, a camera is arranged at the top of the side wall of the control cabinet close to the garbage input opening, and the output end of the camera is electrically connected with the controller.
6. The intelligent garbage classification method using the intelligent garbage classification device according to claim 4, wherein the controller uses a neural network model to identify and classify garbage according to images and tactile data of the garbage, the intelligent garbage classification method comprising the steps of,
step 1: collecting images of the garbage tiled on the table top of the classification layer by using a camera;
step 2: respectively carrying out target identification and positioning on recyclable matters and harmful garbage in the garbage image;
and step 3: according to the positioning of the recyclable materials in the step 2, sorting the recyclable materials one by using a mechanical arm and placing the recyclable materials into a garbage hopper;
and 4, step 4: according to the positioning of the harmful garbage in the step 2, sorting the harmful garbage one by using a manipulator and putting the sorted harmful garbage into a garbage hopper;
and 5: classifying the dry garbage and the wet garbage by using a mechanical arm, sorting the residual garbage on the classification layer table one by using the mechanical arm, judging whether the residual garbage is wet garbage or not by using a touch sensor of the mechanical arm, and putting the wet garbage into a garbage hopper of the wet garbage if the residual garbage is wet garbage; if the garbage is not wet garbage, the garbage is put into a garbage hopper of other garbage.
7. The intelligent garbage classification method according to claim 6, further comprising the steps of collecting the images of the heads of the citizens who throw the garbage before step 1 and evaluating the garbage quality of the citizens who throw the garbage after step 5, wherein the steps are as follows,
step 1: collecting images of the garbage tiled on the table top of the classification layer by using a camera;
step 2: respectively carrying out target identification and positioning on recyclable matters and harmful garbage in the garbage image;
and step 3: according to the positioning of the recyclable materials in the step 2, sorting the recyclable materials one by using a mechanical arm and placing the recyclable materials into a garbage hopper;
and 4, step 4: according to the positioning of the harmful garbage in the step 2, sorting the harmful garbage one by using a manipulator and putting the sorted harmful garbage into a garbage hopper;
and 5: classifying the dry garbage and the wet garbage by using a mechanical arm, sorting the residual garbage on the table surface of a classification layer one by using the mechanical arm, and putting the residual garbage into a garbage hopper of the dry garbage if the residual garbage is judged to be the dry garbage; if the garbage is not dry garbage, putting the dry garbage into a garbage hopper of wet garbage;
step 6: recording the sorting times of the manipulator in the garbage sorting process as the quantity of garbage thrown by a citizen at a single time, recording the garbage sorting processing time after the citizen throws the garbage at a single time, dividing the garbage sorting processing time by the quantity of the garbage to obtain the average processing time of single-piece garbage, and evaluating the quality of the garbage thrown by the citizen according to the average processing time of the unit garbage thrown by the citizen.
8. The intelligent garbage classification method according to claim 6 or 7, wherein in step 2, the recyclable garbage and the harmful garbage in the garbage image are respectively subjected to target identification and positioning, and a CNN neural network model is adopted to perform target identification and positioning on the target.
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