CN111959995A - Garbage classification voice interaction system based on ROS - Google Patents
Garbage classification voice interaction system based on ROS 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
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- 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
- 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
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Abstract
The invention relates to a garbage classification voice interaction system based on ROS, and belongs to the field of garbage classification robots. The image recognition module comprises an object recognition module and a face recognition module; the voice recognition module is used for recognizing according to the collected voice information, wherein the face recognition module and the voice recognition module can receive the attribute information of the person, such as more intelligent reply according to information of gender, age and the like; the induction identification module is arranged at the top of the dustbin and is provided with a scanning device, and when a user holds the garbage to be placed in the dustbin, the garbage can be scanned, so that the garbage category is identified; when the dustbin is identified, if the dustbin cover is correct, the dustbin cover can be automatically opened, and a user can put rubbish into the dustbin. Otherwise, the lid of the dustbin can not be opened. The invention effectively solves the problems that people do not know how to correctly throw the garbage into the garbage can and whether the throwing is correct or not.
Description
Technical Field
The invention relates to a garbage classification voice interaction system based on ROS, and belongs to the field of garbage classification robots.
Background
The production amount of domestic garbage in cities of China all over 2 hundred million tons at present, the brought environmental problem becomes a big 'pain point' of city development, the popularization of garbage classification becomes particularly important, in recent years, various intelligent garbage boxes with different functions are continuously tested in various districts, for example, an intelligent garbage can in a certain district of Beijing, an LED screen can update the corresponding policy of national garbage classification in real time, the classification steps are demonstrated, weighing can be carried out in real time, points are settled, residents can exchange points for articles for daily use, another more intelligent garbage can is provided, a can body is a display screen consisting of a plurality of LED lamps, a sensor is arranged in the can body, when garbage is thrown in, the thrown garbage can be automatically identified, and the concept of garbage classification can also go deeper into people along with the immersion of the intelligent garbage can in daily life.
However, there are some problems as follows:
first, the price is expensive; secondly, the effect is general, and the correct putting rate is much worse than the expectation; thirdly, resident participation enthusiasm is not high, and the situation that the utilization rate is not high or even unmanned use appears after the equipment has been put in, and original traditional dustbin has mostly been removed, causes the waste of resource, and when putting in rubbish moreover, the owner must sweep the sign indicating number and register, inputs district name, building number, room number and name and phone number, worrys that the privacy is revealed. Some owners are crisp and do not feel comfortable, and can directly throw garbage beside the garbage can.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a garbage classification voice interaction system based on ROS, which can be used for fully utilizing the existing garbage can to modify and install the device, is small in size, convenient, intelligent and fully utilizes resources, effectively solves the problems that people do not know how to correctly throw garbage into the garbage can and whether the throwing is correct and the like, can reply in time, is convenient for urban garbage management and user life, and is an environment-friendly course in each interaction process.
The technical scheme adopted by the invention is as follows: a garbage classification voice interaction system based on ROS comprises an image recognition module 101, a voice recognition module 105, an induction recognition module 107, a raspberry dispatching robot 109, a voice broadcasting module 110, a classification garbage can and a garbage can with a cover;
the image recognition module 101 comprises an object recognition module 102 and a face recognition module 103 which are respectively connected with an image information receiving unit 104 and are used for recognizing image information;
the voice recognition module 105 is configured to recognize voice information of a user;
the face recognition module 103 and the voice recognition module 105 are connected with the personal attribute information receiving unit 106;
the induction identification module 107 is arranged on the dustbin and connected with the induction information receiving unit 108, and comprises a solar power generation device, a human body heat energy induction device and a laser scanning device;
the raspberry sending robot 109 is provided with an image information receiving unit 104, a personal attribute information receiving unit 106, a sensing information receiving unit 108 and a voice broadcasting module 110, and the raspberry sending robot 109 is connected with the garbage can cover and used for controlling the voice broadcasting module 110 to output voice information and controlling whether the garbage can cover is opened or not according to input information of the image information receiving unit 104, the personal attribute information receiving unit 106 and the sensing information receiving unit 108.
Specifically, the raspberry pi robot 109 controls the opening of the trash bin cover when the trash is thrown correctly.
Specifically, the image recognition module adopts a camera, and the raspberry dispatching robot 109 acquires corresponding gender and age information according to the face image information shot by the face recognition module 103 and the voice information acquired by the voice recognition module 105.
Specifically, the raspberry pi robot 109 is further internally provided with a local knowledge base 1091, a voice cloud service module 1092, and a real-time online management module 1093; the local knowledge base 1091 stores conventional questions and answers, the voice cloud service module 1092 is connected with a communication network on line, and the real-time online management module 1093 is used for monitoring the running state of the system in real time, alarming when abnormal and repairing in time.
Specifically, the voice output by the voice broadcast module 110 includes answer information corresponding to the user output question, information about whether the garbage placement is correct, and information about how to correctly place the garbage placement when the garbage placement is wrong.
Specifically, the solar power generation device, the human body heat energy sensing device and the laser scanning device are all arranged above the cover of the dustbin.
Preferably, the voice broadcast module 110 outputs voice information including tone.
The invention has the beneficial effects that: according to the raspberry dispatching robot, the voice recognition module can acquire the voice information of the user, so that the raspberry dispatching robot can answer the question of the user correspondingly, the face recognition module can acquire the characteristic information of the age, the gender and the like of the user, the robot can acquire the attribute characteristic information of the user conveniently, and the raspberry dispatching robot can answer the question of the user reasonably; the induction recognition module 107 increases interactivity, is used for sensing that people are close to the garbage bin and prepare to throw in rubbish, can scan rubbish, and then is convenient for the raspberry group robot to identify rubbish classification and judge whether the rubbish that the user thrown in is correct. The garbage throwing device is simple in integral structure, capable of achieving man-machine interaction, convenient to use and convenient to use, and is used for correctly throwing garbage.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of the operation of the face recognition module of the present invention;
FIG. 3 is a flow chart of the operation of the inductive identification module of the present invention;
fig. 4 is a partial structural view of the raspberry pi robot of the present invention.
The reference numbers in the figures are: the system comprises an image recognition module-101, an object recognition module-102, a face recognition module-103, an image information receiving unit-104, a voice recognition module-105, a personal attribute information receiving unit 106, a sensing recognition module-107, a sensing information receiving unit 108, a raspberry dispatching robot-109, a voice broadcasting module-110, a local knowledge base-1091, a voice cloud service module-1092 and a real-time online management module-1093.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: as shown in fig. 1-4, a ROS-based garbage classification voice interaction system includes an image recognition module 101, a voice recognition module 105, an induction recognition module 107, a raspberry dispatching robot 109, a voice broadcast module 110, a classification garbage can, and a garbage can with a cover;
the image recognition module 101 comprises an object recognition module 102 and a face recognition module 103 which are respectively connected with an image information receiving unit 104 and are used for recognizing image information;
the voice recognition module 105 is configured to recognize voice information of a user; when the voice recognition module 105 collects the voice of the user, the processing such as noise reduction, integration amplification and the like can be carried out, and the processed voice information is sent to the raspberry dispatching robot 109 in real time, so that the communication efficiency of the robot can be effectively improved;
the face recognition module 103 and the voice recognition module 105 are connected with the personal attribute information receiving unit 106;
the induction identification module 107 is arranged on the dustbin and connected with the induction information receiving unit 108, and comprises a solar power generation device, a human body heat energy induction device and a laser scanning device;
the raspberry sending robot 109 is provided with an image information receiving unit 104, a personal attribute information receiving unit 106, a sensing information receiving unit 108 and a voice broadcasting module 110, and the raspberry sending robot 109 is connected with the garbage can cover and used for controlling the voice broadcasting module 110 to output voice information and controlling whether the garbage can cover is opened or not according to input information of the image information receiving unit 104, the personal attribute information receiving unit 106 and the sensing information receiving unit 108.
The background brief introduction of the raspberry pi robot 109 comprises:
raspberry pie: the device has the advantages of small volume, easy maintenance and stable performance. The system supports the sensing units with rich connection, has the advantages of numerous open resources and the like, is equivalent to a small computer, is attractive in price, has rich subsequent resource supply and does not have shortage.
Meanwhile, a hard disk or a network disk can be installed and connected on the raspberry, and a remote monitoring camera can be formed by connecting the raspberry with the network disk and can be used for photographing or video shooting real-time transmission. The intelligent functions can be realized by utilizing the raspberry group, the functions of the intelligent equipment can be realized only by connecting the raspberry group and various sensors to various equipment, controlling the sensors through a programming language and compiling automatic codes to run. In conclusion, the intelligent voice garbage classification on the existing garbage can realized by the raspberry pi is very suitable.
ROS (robot Operating system) is used as an open source flexible Operating system for Operating the robot on a computer, nodes on the system have great randomness and are relatively flexible, and the nodes can be located on different computers and even different networks. Any one of the nodes may communicate with other nodes through publish/subscribe. In addition, ROS is an open source system, maintained by a specialized community. A series of libraries and tools are provided to assist software developers in creating robot applications.
The ROS comprises a super manager ROS Master which manages all nodes in the system, and all the nodes are communicated with each other through published messages and subscription messages. Therefore, all modules connected to the raspberry sending robot can work cooperatively, for example, a camera for collecting image information and a microphone array for collecting voice cooperate to complete the collection of personal attribute information, some characteristics of the object are sensed and identified, then the raspberry sending robot 109 performs information processing, and finally corresponding voice broadcasting is given.
Further, the raspberry pi robot 109 controls the opening of the garbage bin cover when garbage is thrown correctly. Because the invention comprises the object recognition module 102 and the induction recognition module 107, the raspberry dispatching robot 109 can judge the type of the garbage according to the pictures of the garbage shot by the object recognition module 102 and the scanning of the garbage by the laser scanning device, and can also know whether the garbage thrown in by a user is correct, if so, the opening of the garbage can cover is controlled, and if not, the user is reminded of incorrect throwing, and meanwhile, the garbage can cover cannot be opened.
Further, the image recognition module adopts a camera, and the raspberry dispatching robot 109 acquires corresponding gender and age information according to the face image information shot by the face recognition module 103 and the voice information acquired by the voice recognition module 105. The sex and age corresponding to the face and the voice output information determined by the voice information of the user together further enable the robot to be more intelligent.
Further, a local knowledge base 1091, a voice cloud service module 1092 and a real-time online management module 1093 are further arranged inside the raspberry pi robot 109; the local knowledge base 1091 stores conventional questions and answers, the voice cloud service module 1092 is connected with a communication network on line, and the real-time online management module 1093 is used for monitoring the running state of the system in real time, alarming when abnormal and repairing in time. Before putting garbage, the raspberry sending robot 109 can ask what kind of garbage to be put in itself belongs to, after receiving the voice information, the raspberry sending robot 109 can search for an answer through the local knowledge base 1091 and inform the user through the voice broadcasting module 110, if no answer is searched in the local knowledge base 1091, the answer is automatically obtained from the network through the voice cloud service module 1092, and then the user is informed, or the answer can be directly obtained from the network through the voice cloud service module 1092 without passing through the local knowledge base 1091, and then the user is informed, but when the network has a problem, the answer must be searched in the local knowledge base 1091.
Further, the voice output by the voice broadcast module 110 includes answer information corresponding to the user output question, information on whether the garbage throwing is correct, and information on how to correctly throw the garbage when the garbage throwing is wrong. The sound size of the voice output device 110 can be intelligently regulated.
Furthermore, the solar power generation device, the human body heat energy sensing device and the laser scanning device are all arranged above the cover of the dustbin.
Further, voice broadcast module 110 output voice information include the tone, the combination of pronunciation and tone can express different tones under the different circumstances, and is more intelligent, more closes to the life.
The present invention will be briefly described below with reference to several specific examples.
Example 1: when the age corresponding to the acquired face is old or the acquired voice information of the user is "what you said", "i did not hear clearly" or "speak again", the voice output device 110 can automatically and appropriately increase the volume.
Example 2: when the user approaches the trash bin, the raspberry serving robot 109 determines the gender and age information of the user according to the photo taken by the face recognition module 103 and the information of the voice recognition module 105 (of course, if the user does not speak, the raspberry serving robot 109 can make these determinations only by the photo taken by the face recognition module 103, and the information of the voice recognition module 105 is more accurate), if it is determined that the gender and age corresponding to the face are male and young; the output voice information is 'mr, happy you, right up', if it is determined as girl, when it is young, the output voice information is 'sister, the peel belongs to organic garbage, the unrecoverable garbage Wo' should be thrown in. Here, only by way of example, there are many kinds of voices that can be output, and they are not listed.
Example 3: when a user prepares to throw garbage and approaches to a garbage can, the human body heat energy sensing device sends sensed human body information to the raspberry dispatching robot 109, when the user approaches the garbage to the upper part of the garbage can cover, the laser scanning device scans the garbage, the raspberry dispatching robot 109 judges whether to throw the garbage according to the scanning result of the laser scanning device and the image shot by the object recognition module 102, if not, the user is reminded of what garbage the garbage belongs to by voice, and where the garbage should be thrown accurately, so that the purpose of voice garbage intelligent classification is achieved; if so, the cover of the dustbin is opened, and the step of 'congratulating you and throwing right' is returned.
According to the garbage bin, the thermal inductance identifies that people are close to the garbage bin, and the garbage can be scanned at the moment of preparing to put the garbage, so that the garbage category is identified; when the dustbin is identified, if the dustbin cover is correct, the dustbin cover can be automatically opened, and a user can put rubbish into the dustbin. Otherwise, the cover of the dustbin can not be opened, so that the dustbin is more intelligent and more convenient. The induction recognition module can also be used for light sensation collection, so that electric energy is provided for the raspberry dispatching robot, and resources are saved.
The invention can help people to classify garbage by using the raspberry dispatching robot through a voice interaction system. Since some users do not know what the recyclable garbage is, the recyclable garbage can be classified. The raspberry is small and convenient to serve, and can be directly installed in an original garbage can, so that resources are saved; the system can give out a corresponding response according to the voice input of the user and the local knowledge base and the connection cloud service to help correctly classify the garbage, and can give out a prompt according to the fact that whether the sensor senses that the user is mistaken or not to tell the user in which garbage can the corresponding garbage should be delivered.
The garbage classification voice interaction system based on the ROS can acquire the voice information of the user through the user voice information acquisition device, so that the robot can conveniently answer the questions of the user correspondingly, and the image information acquisition device can acquire the attribute characteristic information of the user, such as gender, age and the like, so that the robot can make corresponding answers more intelligently.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A garbage classification voice interaction system based on ROS is characterized by comprising an image recognition module (101), a voice recognition module (105), an induction recognition module (107), a raspberry dispatching robot (109), a voice broadcasting module (110), a classification garbage can and a garbage can with a cover;
the image recognition module (101) comprises an object recognition module (102) and a face recognition module (103) which are respectively connected with the image information receiving module (104) and are used for recognizing the image information;
the voice recognition module (105) is used for recognizing the voice information of the user;
the face recognition module (103) and the voice recognition module (105) are connected with the personal attribute information receiving unit (106);
the induction identification module (107) is arranged on the dustbin, is connected with the induction information receiving unit (108), and comprises a solar power generation device, a human body heat energy induction device and a laser scanning device;
the raspberry dispatching robot (109) is provided with an image information receiving unit (104), a personal attribute information receiving unit (106), an induction information receiving unit (108) and a voice broadcasting module (110); the raspberry sending robot (109) is connected with the garbage can cover and used for controlling the voice broadcasting module (110) to output voice information and controlling whether the garbage can cover is opened or not according to input information of the image information receiving unit (104), the personal attribute information receiving unit (106) and the induction information receiving unit (108).
2. The ROS-based garbage classification speech interaction system of claim 1, wherein: the raspberry pi robot (109) controls the opening of the garbage bin cover when garbage is thrown correctly.
3. The ROS-based garbage classification speech interaction system of claim 1, wherein: the image recognition module adopts a camera, and the raspberry dispatching robot (109) acquires corresponding gender and age information according to the face image information shot by the face recognition module (103) and the voice information acquired by the voice recognition module (105).
4. The ROS-based garbage classification speech interaction system of claim 1, wherein: the raspberry dispatching robot (109) is internally provided with a local knowledge base (1091), a voice cloud service module (1092) and a real-time online management module (1093); the local knowledge base (1091) stores conventional questions and answers, the voice cloud service module (1092) is connected with a communication network on line, and the real-time online management module (1093) is used for monitoring the running condition of the system in real time, giving an alarm when abnormal conditions occur, and repairing the abnormal conditions in time.
5. The ROS-based garbage classification voice interaction system of claim 4, characterized in that: the voice output by the voice broadcast module (110) comprises answer information corresponding to the user output question, information about whether the garbage throwing is correct or not and information about how to correctly throw the garbage throwing when the garbage throwing is wrong.
6. The ROS-based garbage classification speech interaction system of claim 1, wherein: the solar power generation device, the human body heat energy sensing device and the laser scanning device are all arranged above the cover of the dustbin.
7. The ROS-based garbage classification speech interaction system of claim 1, wherein: the voice broadcast module (110) outputs voice information including tone.
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Cited By (6)
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| CN112407660A (en) * | 2020-12-10 | 2021-02-26 | 东北大学 | Intelligent household garbage can based on multi-mode fusion machine perception |
| CN112678373A (en) * | 2020-12-30 | 2021-04-20 | 北京声智科技有限公司 | Garbage classification method, system, device, control equipment and storage medium |
| WO2021179596A1 (en) * | 2020-03-13 | 2021-09-16 | 美智纵横科技有限责任公司 | Garbage classification method and smart household appliance |
| CN113415546A (en) * | 2021-06-07 | 2021-09-21 | 江苏万萃环保科技有限公司 | Intelligence garbage collection box with voice broadcast classification function |
| CN113625646A (en) * | 2021-08-20 | 2021-11-09 | 北京云迹科技有限公司 | Scheduling system of intelligent garbage robot |
| CN115610868A (en) * | 2022-11-09 | 2023-01-17 | 江苏华旭环卫科技有限公司 | Wisdom classification system based on thing networking |
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