CN110921154A - Method and device for controlling garbage collection patrol car and garbage collection patrol car - Google Patents
Method and device for controlling garbage collection patrol car and garbage collection patrol car Download PDFInfo
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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
- B65F3/00—Vehicles particularly adapted for collecting refuse
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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
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/001—Vehicles particularly adapted for collecting refuse for segregated refuse collecting, e.g. vehicles with several compartments
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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
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/24—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle
- B65F3/26—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle by tipping the tank
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Abstract
The embodiment of the invention relates to the technical field of environmental protection and cleaning, in particular to a method and a device for controlling a garbage recovery patrol car and the garbage recovery patrol car, wherein the garbage recovery patrol car is provided with a garbage can and is used for throwing on a corresponding patrol road; controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road; identifying the garbage category thrown by a user; classifying and recycling garbage thrown by a user; identifying the garbage storage amount in the garbage can at regular time; and when the garbage is detected to be full, controlling the garbage collection patrol car to run to a collection site to dump, and then recovering the garbage thrown by the user again. By the aid of the mode, garbage categories can be automatically identified, users can be promoted to classify and put in the garbage bin to protect environmental resources, cleaning personnel are not needed to perform secondary classification, and labor cost is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of environmental protection and cleaning, in particular to a method and a device for controlling a garbage collection patrol car and the garbage collection patrol car.
Background
Garbage recycling is to collect and treat garbage, and garbage classification is to further improve garbage collection and disposal, and is very important to environmental protection and resource recycling. In the current structured environments such as communities, schools or industrial parks, a certain number of classified garbage cans are mainly put in through cleaning personnel, and the garbage in the garbage cans are regularly cleaned to a recycling station through the cleaning personnel. On one hand, garbage is thrown at fixed points, a user often selects a nearest garbage can, the phenomenon of garbage overflow frequently occurs in a user concentrated area, and the living environment is seriously influenced. On the other hand, without monitoring, the user does not necessarily throw garbage classifications.
In the process of implementing the embodiment of the present invention, the inventor of the present invention finds that: at present, a garbage recycling machine is mainly arranged in an area for users to put garbage in, and then the garbage is transported to a recycling station by cleaning personnel. However, the garbage recycling machine is large in size and expensive, the number of garbage recycling machines in one area is limited, and the garbage recycling machine is far away from users, so that the garbage recycling machine is inconvenient to throw in and needs large cleaning labor cost.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing the method and the device for the master control garbage collection patrol car and the garbage collection patrol car, which can facilitate users to put garbage in a classified mode, reduce the labor cost for garbage collection and contribute to building a good urban environment.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
in order to solve the technical problem, in a first aspect, an embodiment of the present invention provides a method for controlling a garbage collection patrol car, including:
acquiring a video frame image of the driving environment of the garbage collection patrol car;
controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road;
identifying the garbage category thrown by a user;
judging whether the garbage type of the garbage thrown by the user is the same as the preset garbage recovery type of the garbage recovery patrol car or not;
if the garbage is the same, opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user;
identifying the garbage storage amount in the garbage can at regular time;
judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not;
if so, controlling the garbage collection patrol car to move to a garbage collection station, and dumping the garbage in the garbage can;
and when the dumping of the garbage in the garbage can is finished, controlling the garbage recovery patrol car to return to the patrol road for continuous patrol.
In some embodiments, the step of controlling the garbage collection patrol car to travel to the patrol road according to the video frame image further includes:
identifying a lane line in the video frame image;
acquiring the color of the road at the position of each lane line;
identifying roads of which the colors correspond to preset garbage collection categories of the garbage collection patrol cars from the colors of the roads at the positions of the lane lines, and taking the roads as patrol roads of the garbage collection patrol cars;
calculating the direction and distance of the patrol road;
and controlling the garbage collection patrol car to run to the patrol road according to the direction and the distance of the patrol road.
In some embodiments, the step of identifying a lane line in the video frame image further comprises:
extracting a target area from the video frame image to obtain a road image;
preprocessing the road image, wherein the preprocessing comprises binarization and inverse perspective transformation;
extracting lane line characteristics according to the preprocessed road image;
and inputting the lane line characteristics into a preset classification model, and identifying the lane lines.
In some embodiments, further comprising:
detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car;
if the pedestrian exists, calculating the distance between the pedestrian and the garbage collection patrol car;
judging whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value or not;
if so, controlling the garbage collection vehicle to stop emergently;
if not, an alarm prompt is sent.
In some embodiments, the step of detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car further includes:
inputting the video frame image into a preset pedestrian integrated detection framework, and identifying whether a pedestrian exists or not by the preset pedestrian integrated detection framework;
the preset integrated pedestrian detection frame is integrated by a head detector, a trunk detector, a left arm detector, a right arm detector and a leg detector.
In some embodiments, the step of identifying the garbage category of the garbage thrown by the user further comprises:
acquiring an image of the garbage thrown by the user;
and inputting the image of the garbage thrown by the user into a preset garbage classification algorithm model, and determining the garbage category thrown by the user.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention further provides a device for controlling a garbage collection patrol car, including:
the first acquisition module is used for acquiring a video frame image of a driving environment of the garbage collection patrol car;
the first control module is used for controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving the patrol on the patrol road;
the first identification module is used for identifying the garbage category thrown by the user;
the first judgment module is used for judging whether the garbage category of the garbage thrown by the user is the same as the preset garbage recovery category of the garbage recovery patrol car or not;
the opening module is used for opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user if the garbage category of the garbage thrown by the user is the same as the preset garbage collection category of the garbage collection patrol car;
the second identification module is used for identifying the garbage storage amount in the garbage can at regular time;
the second judgment module is used for judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not;
the second control module is used for controlling the garbage collection patrol car to operate to a garbage collection station and dumping garbage in the garbage can if the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value;
and the third control module is used for controlling the garbage collection patrol car to return to the patrol road to continuously patrol when the garbage in the garbage can is dumped.
In some embodiments, further comprising:
the pedestrian detection module is used for detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car;
the distance calculation module is used for calculating the distance between the pedestrian and the garbage collection patrol car if the pedestrian exists;
the third judgment module is used for judging whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value or not;
the fourth control module is used for controlling the garbage recovery car to stop emergently if the distance between the pedestrian and the garbage recovery patrol car is smaller than a preset threshold value;
and the alarm module is used for sending out an alarm to remind if the distance between the pedestrian and the garbage collection patrol car is greater than or equal to a preset threshold value.
In order to solve the above technical problem, in a third aspect, an embodiment of the present invention further provides a garbage collection patrol car, including:
a vehicle body;
the garbage can is arranged on the vehicle body;
the image acquisition module is used for acquiring a video frame image of the driving environment of the garbage collection patrol car;
the at least one processor is respectively connected with the vehicle body, the garbage can and the image acquisition module; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect as described above.
In order to solve the technical problem described above, in a fourth aspect, the present invention further provides a computer program product including program code, which is characterized in that when the computer program product runs on an electronic device, the electronic device is caused to execute the method described in the first aspect.
The embodiment of the invention has the following beneficial effects: different from the situation of the prior art, the method and the device for controlling the garbage collection patrol car and the garbage collection patrol car provided by the embodiment of the invention are characterized in that the garbage collection patrol car is provided with a garbage can and is used for throwing the garbage collection patrol car onto a corresponding patrol road, and the method comprises the steps of obtaining a video frame image of a driving environment of the garbage collection patrol car; controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road; identifying the garbage category thrown by a user; judging whether the garbage type of the garbage thrown by the user is the same as the preset garbage recovery type of the garbage recovery patrol car or not; if the garbage is the same, opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user; identifying the garbage storage amount in the garbage can at regular time; judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not; if so, controlling the garbage collection patrol car to move to a garbage collection station, and dumping the garbage in the garbage can; and when the dumping of the garbage in the garbage can is finished, controlling the garbage collection patrol car to return to the patrol road to continue to patrol so as to recover the garbage thrown by the user again. For example, in a cell, a route is planned to the gate of a unit building, a plurality of garbage recovery patrol cars are put on the planned route at intervals, and a user can put garbage when going downstairs; this patrol car is retrieved to rubbish can automatic identification rubbish classification, impels the user classification to put in order to protect the environment resource, need not the cleanup crew and carries out secondary classification, practices thrift the human cost. In addition, the garbage category of the garbage collection patrol car can be planned according to a specific scene, for example, a kitchen area of a hotel, and only the garbage collection patrol car for collecting kitchen garbage can be arranged, so that the configuration of environment-friendly appliances such as a garbage car or a garbage can be reduced.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic diagram of an application environment of an embodiment of a method of controlling a garbage collection patrol car according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling a garbage collection patrol car according to an embodiment of the present invention;
FIG. 3 is a sub-flow diagram of step 20 of the method of FIG. 2;
FIG. 4 is a sub-flowchart of step 21 of the method of FIG. 3;
FIG. 5 is a sub-flow chart of step 30 of the method of FIG. 2;
fig. 6 is a flowchart of a method for controlling a garbage collection patrol car according to another embodiment of the present invention;
FIG. 7 is a sub-flowchart of step 100 of the method of FIG. 6;
fig. 8 is a schematic structural diagram of an apparatus for controlling a garbage collection patrol car according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of the garbage collection patrol car according to the embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Further, the terms "first," "second," "third," and the like, as used herein, do not limit the data and the execution order, but merely distinguish the same items or similar items having substantially the same functions and actions.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a schematic diagram of an application environment of an embodiment of a method for controlling a garbage collection patrol car according to the present invention is shown, where the system includes: a garbage collection patrol car 170, a patrol road 180, and a garbage collection site 190. The garbage collection patrol car 170 may be one of a plurality of garbage collection patrol cars, and the garbage collection site 190 may be one of a plurality of garbage collection sites.
The patrol road 180 may be planned in a structured environment, such as a residential area, a school, a hotel, an industrial park, etc., as a special driving road for the garbage patrol car 170. The patrol roads may be configured as a plurality of roads, and only 2 roads are illustrated in fig. 1, i.e., a road 181 and a road 182. Each road is provided with a lane line and respective color, the lane line is used for guiding the garbage collection patrol car to run, the color of the road corresponds to the type of the garbage collection patrol car 170, namely the garbage type of the garbage collection patrol car 170 for collecting garbage corresponds to the color of the road one by one, and the road with the color corresponding to the preset garbage collection type of the garbage collection patrol car 170 is used as the patrol road of the garbage collection patrol car and can be preset as required. For example, the road 181 is red, the garbage collection patrol car 170 running on a red patrol road is used only for collecting the unrecoverable garbage, the road 181 is a patrol road of the garbage collection patrol car 170 collecting the unrecoverable garbage, the road 182 is green, the garbage collection patrol car 170 running on a green patrol road is used only for collecting the recoverable garbage, and the road 182 is a patrol road of the garbage collection patrol car 170 collecting the unrecoverable garbage.
The garbage collection site 190 is connected to the patrol road 180, is installed in a structured environment or a certain area, and is a garbage collection centralized place in a structured environment or a certain area, for example, a garbage collection centralized place in a community or a school.
The garbage collection patrol car 170 includes a car body 171, a garbage can 172, a camera 173, and a control module 174. The garbage can 172 is arranged on the vehicle body and used for loading recycled garbage; the camera 173 is arranged in the front upper part of the vehicle body and used for acquiring a video frame image of the driving environment; the control module 174 is in communication with the camera 173 and the vehicle body 171, and controls the vehicle body 171 to run by analyzing the video frame images acquired by the camera 173. Wherein the communication connection may be a wired connection, such as: fiber optic cables, and also wireless communication connections, such as: WIFI connection, bluetooth connection, 4G wireless communication connection, 5G wireless communication connection and so on.
The camera 173 is a device capable of recording video, such as: a mobile phone, a video recorder or a camera with a shooting function.
The control module 174 is a device capable of automatically processing mass data at high speed according to a program, and is generally composed of a hardware system and a software system, for example: computers, smart phones, and the like. The control module may be a local device that is directly connected to the camera; it may also be a cloud device, for example: a cloud server, a cloud host, a cloud service platform, a cloud computing platform, etc., the cloud device is connected with the camera through a network, and the cloud device and the camera are connected through a predetermined communication protocol in a communication way, in some embodiments, the communication protocol may be TCP/IP, NETBEUI, IPX/SPX, etc.
It can be understood that: the control module 174 and camera 173 may also be integrated as an integral unit, or alternatively, the camera 173 and control module 174 may be integrated with the crash recovery patrol car 170 as part of the crash recovery patrol car 170.
Video frame images of the driving environment are captured by the camera 173 and transmitted to the control module 174. Based on the video frame image of the driving environment, the control module 174 controls the garbage collection patrol car 170 to drive and patrol on the patrol road 180, classifies and collects the garbage thrown by the user in the garbage can 172, and can perform overflow and dumping to the collection site 190.
An embodiment of the present invention provides a method for controlling a garbage collection patrol car applied to the application environment, where the method is executed by the control module 174, please refer to fig. 2, and the method includes:
step 10: and acquiring a video frame image of the driving environment of the garbage collection patrol car.
The video frame image of the driving environment of the garbage collection patrol car is a video frame image which is acquired by a camera arranged above the garbage car in real time, and comprises the environment around the garbage collection patrol car and the road surface conditions, specifically comprises roads, pedestrians, landscapes, other obstacles and the like. The camera is equivalent to eyes of the garbage collection patrol car, and can be used for controlling the garbage collection patrol car to automatically run in the next step by acquiring the surrounding environment and the road surface condition.
Step 20: and controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road.
And identifying the surrounding environment and road conditions based on the video frame images so as to control the garbage collection patrol car to drive to a patrol road, and driving the patrol road to collect the garbage thrown by the user according to regulations without deviating from the patrol road. It can be understood that the garbage collection patrol car can be stopped at a fixed point for a preset time according to a planned patrol road, so that a user can conveniently throw garbage.
In order to identify the surrounding environment and road conditions, in some embodiments, referring to fig. 3, the step 20 further includes:
step 21: lane lines in the video frame images are identified.
And each patrol road is provided with a lane line for guiding the garbage recovery patrol car to run, indicating the direction of the garbage recovery patrol car and determining the running position, and distinguishing patrol routes through the lane lines.
In some embodiments, referring to fig. 4, the step 21 further includes:
step 211: extracting a target area from the video frame image to obtain a road image;
the target area is an area including a road in the video frame image, and the road image is obtained by extracting the target area. It will be appreciated that the extraction may be in the form of a range-defining or picture cropping.
Step 212: and preprocessing the road image, wherein the preprocessing comprises binarization and inverse perspective transformation.
And in order to make the lane lines clear and accurate, carrying out binarization and anti-perspective change on the road image. The binarization is to set the gray value of a pixel point on the image to be 0 or 255, and the whole image presents an obvious black and white effect, so that the lane line and the background are distinguished, the edge characteristic of the lane line is highlighted, and preparation is made for the identification of the subsequent lane line.
Due to the viewing angle problem, the lane lines on both sides of the lane are parallel and are displayed as straight lines with intersecting ends in the image. And correcting straight lines intersected at the tail ends in the images through the anti-perspective change, so that the view angle of the lane line images is vertically overlooked.
Step 213: and extracting lane line characteristics according to the preprocessed road image.
And generating lane line characteristics by extracting the edge of the preprocessed road image. The image edge extraction refers to extracting edges of different pixels in an image, and the lane line features refer to edges of lane lines. After the image edge extraction, the lane line edge is also extracted. The image edge extraction can adopt the existing edge detection algorithm, such as the Sobel algorithm, the Canny algorithm or the Kirsch algorithm.
Step 214: and inputting the lane line characteristics into a preset classification model, and identifying the lane lines.
The preset classification model is obtained by inputting the image marked with the lane line label into a classification algorithm for training and learning. The classification algorithm may employ existing classification algorithms such as logistic regression algorithms, decision trees, or convolutional neural networks, among others. And inputting the lane line characteristics into a preset classification model, and identifying the lane lines so as to detect the lane lines in the image.
Step 22: and acquiring the color of the road at the position of each lane line.
Each road is provided with respective color, the color of the road corresponds to the type of the garbage patrol car, namely, the garbage category of the garbage recycled by the garbage recycling patrol car corresponds to the color of the road one by one, and the colors can be preset according to requirements. The corresponding color of each patrol road can be identified by obtaining the color of the road at the position of each lane line, so that the corresponding patrol road can be selected.
Step 23: and identifying roads with colors corresponding to the preset garbage collection categories of the garbage collection patrol cars from the colors of the roads at the positions of the lane lines, and taking the roads as patrol roads of the garbage collection patrol cars.
After the colors of the roads at the positions of the lane lines are identified, the roads with the colors corresponding to the preset garbage collection categories of the garbage collection patrol car are selected from the colors, and the roads are used as the patrol roads of the garbage collection patrol car. Therefore, the garbage collection patrol cars can run on corresponding patrol roads to collect garbage of corresponding garbage categories, so that garbage classification and collection are realized.
Step 24: and calculating the direction and the distance of the patrol road.
The direction and the distance of the patrol road refer to the direction and the distance of the position of the garbage collection patrol car relative to the patrol road corresponding to the position, and the direction and the distance of the patrol road are calculated and used as the basis for adjusting the driving of the garbage collection patrol car.
Step 25: and controlling the garbage collection patrol car to run to the patrol road according to the direction and the distance of the patrol road.
After the direction and the distance of the patrol road are determined, the garbage collection patrol car is controlled to run according to the direction and the distance, and then the garbage collection patrol car can run to the patrol road.
Step 30: identifying a category of garbage thrown by a user.
The garbage categories include recyclable garbage, dry garbage, wet garbage (kitchen garbage) and hazardous garbage. The garbage classification put by the user is identified to ensure the classified recovery of the garbage, so that the garbage treatment amount and treatment equipment can be reduced, and the treatment cost is reduced.
In some embodiments, the garbage category may be identified in conjunction with image recognition, and referring to fig. 5, the step 30 further includes:
step 31: and acquiring an image of the garbage thrown by the user.
The image of the garbage thrown by the user can be acquired by arranging a camera above the garbage can, and the camera shoots the garbage thrown by the user to generate the image.
Step 32: and inputting the image of the garbage thrown by the user into a preset garbage classification algorithm model, and determining the garbage category thrown by the user.
The preset garbage classification algorithm model is obtained by inputting a training set into a classification algorithm for learning, wherein the training set comprises a plurality of images of the garbage categories and corresponding labels, and the classification algorithm model can adopt the existing classification algorithm, such as a decision tree, a random forest, an SVM or a convolutional neural network. And inputting the image of the garbage thrown by the user into a preset garbage classification algorithm model, so as to determine the garbage category thrown by the user.
Step 40: and judging whether the garbage category of the garbage thrown by the user is the same as the preset garbage recycling category of the garbage recycling patrol car or not.
In order to ensure that the garbage thrown into the garbage can is the same as the preset garbage recycling type of the garbage recycling training vehicle, and achieve the effect of classified recycling, after the garbage thrown by the user is identified, it is further required to judge whether the garbage type of the garbage thrown by the user is the same as the preset garbage recycling type of the garbage recycling patrol vehicle.
Step 50: and if the garbage category of the garbage thrown by the user is the same as the preset garbage recycling category of the garbage recycling patrol car, opening a garbage can of the garbage recycling patrol car to recycle the garbage thrown by the user.
If the garbage category of the garbage thrown by the user is the same as the preset garbage recycling category of the garbage recycling patrol car, for example, the garbage recycling patrol car is preset for recycling dry garbage, the garbage thrown by the user is identified as dry garbage, the garbage can of the garbage recycling patrol car is opened to recycle the garbage thrown by the user, and if the garbage thrown by the user is identified as wet garbage, the garbage can of the garbage recycling patrol car is not opened, so that the garbage is correctly classified and thrown.
Step 60: and identifying the garbage storage amount in the garbage can at regular time.
The garbage collection patrol car can generate the situation of garbage overflow in the patrol process, if the garbage collection patrol car is not processed in time, the garbage collection patrol car not only influences the garbage throwing of a user, but also wastes the resources of the garbage collection patrol car, and in order to timely clean up the garbage in the garbage can, the garbage storage amount in the garbage can is identified at regular time, and a signal needing to be cleaned is obtained in time. In some embodiments, the amount of garbage stored in the trash can be detected and identified by means of infrared sensing technology or volume detection.
Step 70: and judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not.
The preset first threshold is a critical value of the garbage in the garbage can to be cleaned, and if the preset first threshold is larger than or equal to the preset first threshold, the garbage is overflowed and needs to be cleaned. It should be noted that the preset first threshold is manually set, and can be obtained according to actual situations, such as the size of the trash can, or multiple tests.
Step 80: and if the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value, controlling the garbage collection patrol car to operate to a garbage collection station, and dumping the garbage in the garbage can.
If the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value, namely the garbage is overflowed, the garbage in the garbage can is dumped by controlling the garbage recovery patrol car to run to a garbage recovery site. The position information of the recovery station is stored in the garbage recovery patrol car, and a training road on which the garbage recovery patrol car runs is connected with the garbage recovery station, so that the garbage recovery patrol car runs to the recovery station along the corresponding patrol road according to the position of the garbage recovery station, and garbage dumping is performed. It will be appreciated that dumping of the waste can be performed manually by a worker or by a corresponding automatic dumping device.
Step 90: and when the dumping of the garbage in the garbage can is finished, controlling the garbage recovery patrol car to return to the patrol road for continuous patrol.
After the garbage in the garbage can is dumped, the patrol road is identified through the acquired video frame image of the driving environment, so that the garbage recovery patrol car can return to the patrol road to continue to patrol, and the garbage is recovered again.
In order to prevent the garbage collection patrol car from colliding with a pedestrian who mistakenly enters a patrol road, in some embodiments, referring to fig. 6, the method further includes:
step 100: and detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car, and if so, executing the step 110.
And carrying out image recognition on the video frame image so as to detect whether pedestrians exist on the corresponding patrol road for next judgment. The image recognition can adopt the existing human shape detection algorithm.
In some embodiments, referring to fig. 7, the step 100 further includes:
step 101: inputting the video frame image into a preset pedestrian integrated detection framework, and identifying whether a pedestrian exists or not by the preset pedestrian integrated detection framework;
the preset integrated pedestrian detection frame is integrated by a head detector, a trunk detector, a left arm detector, a right arm detector and a leg detector.
The preset pedestrian integration detection frame is a pedestrian recognition algorithm based on position integration, is used for detecting whether pedestrians exist in video frame images, can recognize pedestrians in multiple postures and partially shielded, and is high in accuracy. The preset integrated pedestrian detection frame is an integration of a head detector, a trunk detector, a left arm detector, a right arm detector and a leg detector. The five part detectors can be obtained by training through classification algorithms such as SVM and the like, and position relations are arranged among all parts. The five parts detectors respectively detect the parts in the video frame image, namely the head, the trunk, the left arm, the right arm and the leg, then combine all the parts according to the position relation, and further judge whether the part is a pedestrian according to the obtained combination mode. Compared with complete human shape recognition, the problem of failure of part detection caused by shielding and the like can be solved.
Step 110: and calculating the distance between the pedestrian and the garbage recovery patrol car.
After the pedestrian is identified, the distance between the pedestrian and the garbage collection patrol car can be calculated according to the position of the pedestrian in the picture, so that measures can be judged and taken.
Step 120: and judging whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value, if so, executing the step 130, and if not, executing the step 140.
The preset threshold is a critical value of the distance between the pedestrian and the garbage collection patrol car, and is smaller than the preset threshold, which indicates that the distance between the pedestrian and the garbage collection patrol car is short and the collision risk exists, step 130 is executed, namely the garbage collection patrol car is controlled to stop emergently to prevent collision; if the time is greater than the preset threshold value, it indicates that the pedestrian has time to avoid, step 140 is executed, i.e., an alarm prompt is issued.
Step 130: and controlling the garbage recycling vehicle to stop emergently.
Step 140: and sending out an alarm prompt.
In this embodiment, the garbage collection patrol car is provided with a garbage can, and the garbage collection patrol car is used for being thrown onto a corresponding patrol road and obtaining a video frame image of a driving environment of the garbage collection patrol car; controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road; identifying the garbage category thrown by a user; judging whether the garbage type of the garbage thrown by the user is the same as the preset garbage recovery type of the garbage recovery patrol car or not; if the garbage is the same, opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user; identifying the garbage storage amount in the garbage can at regular time; judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not; if so, controlling the garbage collection patrol car to move to a garbage collection station, and dumping the garbage in the garbage can; and when the dumping of the garbage in the garbage can is finished, controlling the garbage collection patrol car to return to the patrol road to continue to patrol so as to recover the garbage thrown by the user again. By the aid of the mode, garbage is conveniently classified and thrown by users, environment resources are protected, secondary classification is not needed for cleaning personnel, and labor cost is saved. In addition, the garbage category of the garbage collection patrol car can be planned according to a specific scene, for example, a kitchen area of a hotel, and only the garbage collection patrol car for collecting kitchen garbage can be arranged, so that the configuration of environment-friendly appliances such as a garbage car or a garbage can be reduced.
An embodiment of the present invention further provides a device for controlling a garbage collection patrol car, and please refer to fig. 8, which shows a structure of the device for controlling a garbage collection patrol car according to the embodiment of the present invention, where the device 150 includes: the first acquiring module 151, the first controlling module 152, the first identifying module 153, the first judging module 154, the opening module 155, the second identifying module 156, the second judging module 157, the second controlling module 158, and the third controlling module 159.
The first obtaining module 151 is configured to obtain a video frame image of a driving environment of the garbage collection patrol car. And a first control module 152, configured to control the garbage collection patrol car to drive to the patrol road and patrol on the patrol road according to the video frame image. The first identification module 153 is used for identifying the garbage category thrown by the user. A first judging module 154, configured to judge whether the garbage category of the garbage thrown by the user is the same as the preset garbage collection category of the garbage collection patrol car. The opening module 155 is configured to open the trash can of the garbage collection patrol car to collect the garbage thrown by the user if the garbage category of the garbage thrown by the user is the same as the preset garbage collection category of the garbage collection patrol car. A second identification module 156, configured to identify the amount of garbage stored in the garbage bin at regular time. The second judging module 157 is configured to judge whether the amount of stored garbage in the garbage bin is greater than or equal to a preset first threshold. The second control module 158 is configured to control the garbage collection patrol car to operate to a garbage collection station and dump garbage in the garbage can if the garbage storage amount in the garbage can is greater than or equal to a preset first threshold. And the third control module 159 is used for controlling the garbage collection patrol car to return to the patrol road to continue to patrol when the garbage in the garbage can is dumped completely.
In some embodiments, the first control module 152 further includes a first identification unit, a first acquisition unit, a second identification unit, a first calculation unit, and a control unit (not shown). The first identification unit is used for identifying a lane line in the video frame image. And the first acquisition unit is used for acquiring the color of the road at the position of each lane line. And the second identification unit is used for identifying a road with a color corresponding to a preset garbage collection type of the garbage collection patrol car from the colors of the roads at the positions of the lane lines, and taking the road as a patrol road of the garbage collection patrol car. And the first calculation unit is used for calculating the direction and the distance of the patrol road. And the control unit is used for controlling the garbage collection patrol car to run to the patrol road according to the direction and the distance of the patrol road.
In some embodiments, the first identification module 153 is specifically configured to obtain an image of the garbage thrown by the user; and inputting the image of the garbage thrown by the user into a preset garbage classification algorithm model, and determining the garbage category thrown by the user.
In some embodiments, the first identification unit is specifically configured to extract a target region from the video frame image to obtain a road image; preprocessing the road image, wherein the preprocessing comprises binarization and inverse perspective transformation; extracting lane line characteristics according to the preprocessed road image; and inputting the lane line characteristics into a preset classification model, and identifying the lane lines.
In some embodiments, the apparatus 150 further includes a pedestrian detection module 1510, a distance calculation module 1511, a third determination module 1512, a fourth control module 1513, and an alarm module 1514. The pedestrian detection module 1510 is configured to detect whether a pedestrian exists on the corresponding patrol road according to a video frame image of a driving environment of the garbage collection patrol car. And the distance calculating module 1511 is configured to calculate the distance between the pedestrian and the garbage collection patrol car if the pedestrian exists. The third determining module 1512 is configured to determine whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold. And the fourth control module 1513 is configured to control the garbage collection patrol car to stop emergently if the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value. And an alarm module 1514, configured to send an alarm prompt if the distance between the pedestrian and the garbage collection patrol car is greater than or equal to a preset threshold value.
In some embodiments, the pedestrian detection module 1510 is specifically configured to input the video frame image into a preset pedestrian-integration detection framework, and the preset pedestrian-integration detection framework identifies whether there is a pedestrian; the preset integrated pedestrian detection frame is integrated by a head detector, a trunk detector, a left arm detector, a right arm detector and a leg detector.
In this embodiment, the apparatus 150 obtains a video frame image of a driving environment of the garbage collection patrol car through the first obtaining module 151, the first control module 152 controls the garbage collection patrol car to drive to the patrol road according to the video frame image, the first identifying module 153 identifies a garbage category put by a user when the patrol road is patrolled, and the first judging module 154 judges whether the garbage category put by the user is the same as a preset garbage collection category of the garbage collection patrol car. If the garbage category of the garbage thrown by the user is the same as the preset garbage recycling category of the garbage recycling patrol car, the opening module 155 opens the garbage can of the garbage recycling patrol car to recycle the garbage thrown by the user. The second identification module 156 periodically identifies the amount of garbage stored in the trash can. The second judging module 157 judges whether the garbage storage amount in the garbage bin is greater than or equal to a preset first threshold. If the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value, the second control module 158 controls the garbage collection patrol car to operate to a garbage collection station, and dumps the garbage in the garbage can. When the dumping of the garbage in the garbage can is completed, the third control module 159 controls the garbage collection patrol car to return to the patrol road for continuous patrol. By the aid of the mode, garbage is conveniently classified and thrown by users, environment resources are protected, secondary classification is not needed for cleaning personnel, and labor cost is saved. In addition, the garbage category of the garbage collection patrol car can be planned according to a specific scene, for example, a kitchen area of a hotel, and only the garbage collection patrol car for collecting kitchen garbage can be arranged, so that the configuration of environment-friendly appliances such as a garbage car or a garbage can be reduced.
An embodiment of the present invention further provides a garbage collection patrol car 160, and referring to fig. 9, the garbage collection patrol car 160 includes: the garbage can comprises a vehicle body 161 and a garbage can 162, wherein the garbage can 162 is arranged on the vehicle body 161; the image acquisition module 163 is used for acquiring a video frame image of the driving environment of the garbage collection patrol car; at least one processor 164 respectively connected to the vehicle body 161, the trash can 162 and the image acquisition module 163; and a memory 165 communicatively coupled to the at least one processor 164, such as the one processor 164 in fig. 9.
The memory 165 stores instructions executable by the at least one processor 164 to enable the at least one processor 164 to perform the method of controlling a garbage collection patrol car described above with reference to fig. 2-7. The processor 164 and the memory 165 may be connected by a bus or other means, such as the bus connection shown in FIG. 9.
The memory 165, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the program instructions/modules of the method of controlling a garbage collection patrol car in the embodiments of the present application, for example, the various modules shown in fig. 8. The processor 164 executes various functional applications of the server and data processing by executing the nonvolatile software programs, instructions and modules stored in the memory 165, so as to implement the method for controlling the garbage collection patrol car according to the above method embodiment.
The memory 165 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a device that controls the garbage collection patrol car, and the like. Further, the memory 165 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 165 may optionally include memory located remotely from the processor 164, and these remote memories may be connected over a network to a device that controls the garbage collection patrol car. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 165 and, when executed by the one or more processors 164, perform the method of controlling a garbage collection patrol car in any of the method embodiments described above, e.g., performing the method steps of fig. 2-7 described above, implementing the functionality of the modules in fig. 8.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application further provide a computer program product including program code, which, when run on an electronic device, causes the electronic device to execute the method for controlling a garbage collection patrol car in any of the above method embodiments, for example, execute the method steps in fig. 2 to 7 described above, and implement the functions of the modules in fig. 8.
The embodiment of the invention has the following beneficial effects: different from the situation of the prior art, the method and the device for controlling the garbage collection patrol car and the garbage collection patrol car provided by the embodiment of the invention are characterized in that the garbage collection patrol car is provided with a garbage can and is used for throwing the garbage collection patrol car onto a corresponding patrol road, and the method comprises the steps of obtaining a video frame image of a driving environment of the garbage collection patrol car; controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road; identifying the garbage category thrown by a user; judging whether the garbage type of the garbage thrown by the user is the same as the preset garbage recovery type of the garbage recovery patrol car or not; if the garbage is the same, opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user; identifying the garbage storage amount in the garbage can at regular time; judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not; if so, controlling the garbage collection patrol car to move to a garbage collection station, and dumping the garbage in the garbage can; and when the dumping of the garbage in the garbage can is finished, controlling the garbage collection patrol car to return to the patrol road to continue to patrol so as to recover the garbage thrown by the user again. For example, in a cell, a route is planned to the gate of a unit building, a plurality of garbage recovery patrol cars are put on the planned route at intervals, and a user can put garbage when going downstairs; this patrol car is retrieved to rubbish can automatic identification rubbish classification, impels the user classification to put in order to protect the environment resource, need not the cleanup crew and carries out secondary classification, practices thrift the human cost. In addition, the garbage category of the garbage collection patrol car can be planned according to a specific scene, for example, a kitchen area of a hotel, and only the garbage collection patrol car for collecting kitchen garbage can be arranged, so that the configuration of environment-friendly appliances such as a garbage car or a garbage can be reduced.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling a waste collection patrol car, the waste collection patrol car being provided with a waste bin, the waste collection patrol car being for release onto a corresponding patrol road, the method comprising:
acquiring a video frame image of the driving environment of the garbage collection patrol car;
controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving to patrol on the patrol road;
identifying the garbage category thrown by a user;
judging whether the garbage type of the garbage thrown by the user is the same as the preset garbage recovery type of the garbage recovery patrol car or not;
if the garbage is the same, opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user;
identifying the garbage storage amount in the garbage can at regular time;
judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not;
if so, controlling the garbage collection patrol car to move to a garbage collection station, and dumping the garbage in the garbage can;
and when the dumping of the garbage in the garbage can is finished, controlling the garbage recovery patrol car to return to the patrol road for continuous patrol.
2. The method of claim 1, wherein the step of controlling the garbage collection patrol car to travel to the patrol road according to the video frame image further comprises:
identifying a lane line in the video frame image;
acquiring the color of the road at the position of each lane line;
identifying roads of which the colors correspond to preset garbage collection categories of the garbage collection patrol cars from the colors of the roads at the positions of the lane lines, and taking the roads as patrol roads of the garbage collection patrol cars;
calculating the direction and distance of the patrol road;
and controlling the garbage collection patrol car to run to the patrol road according to the direction and the distance of the patrol road.
3. The method of claim 2, wherein the step of identifying the lane lines in the video frame image further comprises:
extracting a target area from the video frame image to obtain a road image;
preprocessing the road image, wherein the preprocessing comprises binarization and inverse perspective transformation;
extracting lane line characteristics according to the preprocessed road image;
and inputting the lane line characteristics into a preset classification model, and identifying the lane lines.
4. The method of claim 1, further comprising:
detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car;
if the pedestrian exists, calculating the distance between the pedestrian and the garbage collection patrol car;
judging whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value or not;
if so, controlling the garbage collection vehicle to stop emergently;
if not, an alarm prompt is sent.
5. The method according to claim 4, wherein the step of detecting whether pedestrians exist on the corresponding patrol roads according to the video frame images of the driving environment of the garbage collection patrol car further comprises:
inputting the video frame image into a preset pedestrian integrated detection framework, and identifying whether a pedestrian exists or not by the preset pedestrian integrated detection framework;
the preset integrated pedestrian detection frame is integrated by a head detector, a trunk detector, a left arm detector, a right arm detector and a leg detector.
6. The method of claim 1, wherein the step of identifying the garbage category of the garbage deposited by the user further comprises:
acquiring an image of the garbage thrown by the user;
and inputting the image of the garbage thrown by the user into a preset garbage classification algorithm model, and determining the garbage category thrown by the user.
7. The utility model provides a device of control rubbish recovery cruiser which characterized in that includes:
the first acquisition module is used for acquiring a video frame image of a driving environment of the garbage collection patrol car;
the first control module is used for controlling the garbage collection patrol car to drive to the patrol road according to the video frame image, and driving the patrol on the patrol road;
the first identification module is used for identifying the garbage category thrown by the user;
the first judgment module is used for judging whether the garbage category of the garbage thrown by the user is the same as the preset garbage recovery category of the garbage recovery patrol car or not;
the opening module is used for opening a garbage can of the garbage collection patrol car to collect the garbage thrown by the user if the garbage category of the garbage thrown by the user is the same as the preset garbage collection category of the garbage collection patrol car;
the second identification module is used for identifying the garbage storage amount in the garbage can at regular time;
the second judgment module is used for judging whether the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value or not;
the second control module is used for controlling the garbage collection patrol car to operate to a garbage collection station and dumping garbage in the garbage can if the garbage storage amount in the garbage can is larger than or equal to a preset first threshold value;
and the third control module is used for controlling the garbage collection patrol car to return to the patrol road to continuously patrol when the garbage in the garbage can is dumped.
8. The apparatus of claim 7, further comprising:
the pedestrian detection module is used for detecting whether pedestrians exist on the corresponding patrol road according to the video frame image of the driving environment of the garbage collection patrol car;
the distance calculation module is used for calculating the distance between the pedestrian and the garbage collection patrol car if the pedestrian exists;
the third judgment module is used for judging whether the distance between the pedestrian and the garbage collection patrol car is smaller than a preset threshold value or not;
the fourth control module is used for controlling the garbage recovery car to stop emergently if the distance between the pedestrian and the garbage recovery patrol car is smaller than a preset threshold value;
and the alarm module is used for sending out an alarm to remind if the distance between the pedestrian and the garbage collection patrol car is greater than or equal to a preset threshold value.
9. The utility model provides a waste recycling cruiser which characterized in that includes:
a vehicle body;
the garbage can is arranged on the vehicle body;
the image acquisition module is used for acquiring a video frame image of the driving environment of the garbage collection patrol car;
the at least one processor is respectively connected with the vehicle body, the garbage can and the image acquisition module; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
10. A computer program product comprising program code which, when run on an electronic device, causes the electronic device to perform the method of any of claims 1 to 6.
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