CN112246687A

CN112246687A - Garbage classification trolley

Info

Publication number: CN112246687A
Application number: CN202011140978.XA
Authority: CN
Inventors: 高�正明; 李和平; 来文辉; 李旭; 胡志勇; 赵娟
Original assignee: Jingchu University of Technology
Current assignee: Jingchu University of Technology
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2021-01-22

Abstract

The invention discloses a garbage classification trolley which comprises an underframe, wherein a mechanical arm, a crawler belt, a direct current motor, a steering engine control plate and a lithium battery are respectively arranged on the underframe, a line patrol sensor, a gray sensor and an ultrasonic sensor are arranged on the side part of the underframe, a steering engine is arranged on the mechanical arm, and a mechanical claw and an image processor are respectively arranged on the steering engine; the intelligent garbage sorting system comprises a chassis, a lithium battery, a mechanical arm, a steering engine, a direct current motor, a steering engine control panel, a line patrol sensor, a gray sensor, an ultrasonic sensor and an image processor, wherein the controller is arranged in the chassis and is electrically connected with the lithium battery, the mechanical arm, the steering engine, the direct current motor, the steering engine control panel, the line patrol sensor, the gray sensor, the ultrasonic sensor and the image processor. The invention solves the problems that manual garbage classification has high labor intensity and low working efficiency, most people have low garbage classification consciousness, and garbage classification knowledge is deficient, so that garbage classification is difficult to carry out, and the current requirements of China on garbage classification can not be met.

Description

Garbage classification trolley

Technical Field

The invention relates to the field of intelligent garbage classification, in particular to an intelligent garbage classification trolley which performs image algorithm analysis on information such as color, brightness and shape of a target so as to realize target identification, and is suitable for garbage classification.

Background

In recent years, along with the development of economic society and the great improvement of material consumption level, the generation amount of garbage in China is rapidly increased, so that not only is the resource waste caused, but also the environmental hidden danger is increasingly prominent, and the problems become the restriction factors of the continuous and healthy development of the economic society and the prominent problem of strong reflection of people. And 7, 1.2019, official regulations on domestic waste management in Shanghai City. The implementation of garbage classification is advocated by parties and governments for many years, which is related to the living environment of people, is related to the conservation of used resources, and is also an important embodiment of Chinese civilization level. With the development of garbage classification pilot work in Shanghai and the like, a large number of problems occur successively. Recoverable garbage, other garbage, kitchen garbage, harmful garbage and the like are placed in a classified mode and thrown into corresponding garbage cans finally, classified throwing is the source of household garbage classification, and the resident is allowed to form a garbage classified throwing habit in daily life. The design implements garbage classification treatment and follows the principles of reduction, reclamation and harmlessness. Can guide people to form a green development mode and a life mode, effectively improve urban and rural environment, promote resource recycling, and is also beneficial to national quality improvement and social civilization progress. However, the traditional manual garbage classification has high labor intensity and low working efficiency, most people have slight garbage classification consciousness, and the garbage classification knowledge is deficient, so that the garbage classification is difficult to carry out, and the current requirements of China on garbage classification can not be met.

Disclosure of Invention

The invention aims to solve the problems that manual garbage classification is high in labor intensity and low in working efficiency, most people are low in garbage classification consciousness, garbage classification knowledge is insufficient, garbage classification is difficult to carry out, and the current requirements of China on garbage classification cannot be met.

In order to achieve the purpose, the invention adopts the following technical scheme: a garbage classification trolley comprises an underframe, wherein a mechanical arm, a crawler belt, a direct current motor, a steering engine control panel and a lithium battery are respectively arranged on the underframe, a line patrol sensor, a gray sensor and an ultrasonic sensor are arranged on the side part of the underframe, a steering engine is arranged on the mechanical arm, and a mechanical claw and an image processor are respectively arranged on the steering engine;

the utility model discloses a line patrol sensor, including chassis, lithium cell, arm, steering wheel, DC motor, steering wheel control panel, line patrol sensor, gray sensor, ultrasonic sensor, image processor, the chassis is characterized in that the internally mounted of chassis has the controller, the controller is electric connection with lithium cell, arm, steering wheel, DC motor, steering wheel control panel, line patrol sensor, gray sensor, ultrasonic sensor, image processor respectively.

Preferably, the direct current motor is rotatably connected with the crawler belt to drive the trolley to move forwards.

Preferably, the mechanical arm is in transmission connection with the mechanical claw, and the mechanical arm drives the mechanical claw to grab the garbage.

Preferably, control steering wheel and steering wheel control panel are electric connection, control steering wheel and arm are the transmission and connect, can drive the change of manipulator realization angle.

Preferably, the lithium battery supplies electric energy to each power consumption unit through the controller.

Preferably, the line patrol sensor, the gray sensor and the ultrasonic sensor use Arduino which can sense the environment through various sensors and feed back and influence the environment through controlling lights, motors and other devices.

Preferably, the image processor, the line patrol sensor, the gray sensor and the ultrasonic sensor calculate corresponding image point coordinates of the garbage through homogeneous coordinates.

Preferably, the camera in the image processor acquires image information, and the image is analyzed and processed through the machine vision module OpenMV, so that intelligent identification is realized.

Compared with the prior art, the invention has the following beneficial effects: the invention can accurately identify various domestic garbage, and can place the garbage at a specified position, thereby ensuring that the garbage to be sorted is quickly grabbed and is stably grabbed in the grabbing process.

Drawings

The invention is described in further detail below with reference to the following figures and detailed description:

FIG. 1 is a schematic overall structure of the present invention;

fig. 2 is a schematic structural view of a part of the present invention.

In the figure: 1-mechanical claw; 2, a mechanical arm; 3, a steering engine; 4, a crawler belt; 5, a bottom frame; 6-a direct current motor; 7-steering engine control panel; 8-a lithium battery; 9-an image processor; 10-line patrol sensor; 11-a grayscale sensor; 12-ultrasonic sensor.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

Please refer to fig. 1-2. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

The invention provides a technical scheme that: a garbage classification trolley comprises an underframe 5, wherein a mechanical arm 2, a crawler belt 4, a direct current motor 6, a steering engine control plate 7 and a lithium battery 8 are respectively arranged on the underframe 5, a line patrol sensor 10, a gray sensor 11 and an ultrasonic sensor 12 are arranged on the side part of the underframe, a steering engine 3 is arranged on the mechanical arm 2, and a mechanical claw 1 and an image processor 9 are respectively arranged on the steering engine 3;

the utility model discloses a line patrol sensor, including chassis 5, arm 2, steering wheel 3, DC motor 6, steering wheel control panel 7, line patrol sensor 10, grayscale sensor 11, ultrasonic sensor 12, image processor 9, the controller is installed to the internally mounted of chassis 5, the controller is electric connection with lithium cell 8, arm respectively.

The direct current motor 6 is rotatably connected with the crawler belt 4 and drives the crawler belt 4 to drive the trolley to move forwards.

The mechanical arm 2 is in transmission connection with the mechanical claw 1, and the mechanical arm 2 drives the mechanical claw 1 to grab garbage.

The control steering engine 3 and the steering engine control panel 7 are electrically connected, the control steering engine 3 and the mechanical arm 2 are in transmission connection, and the mechanical arm can be driven to change angles.

The lithium battery 8 supplies electric energy to each power consumption unit through a controller.

Patrol line sensor 10, gray sensor 11 and ultrasonic sensor 12 have utilized Arduino, Arduino can come the perception environment through various sensors, through control light, motor and other device feedback, influence the environment, the program can be compiled through Arduino's programming language to the controller, compile into binary file, burn into the controller, the programming to Arduino is realized through Arduino programming language (based on wirig) and Arduino development environment (based on Processing), project based on Arduino can only contain Arduino, also can contain Arduino and some other software of operation on the PC, communicate between them and realize, combine Arduino to make the rubbish classification dolly accomplish in certain voltage range and start, stop, basic drive functions such as turn.

The image processor 9, the line patrol sensor 10, the gray sensor 11 and the ultrasonic sensor 12 calculate the corresponding image point coordinates of the garbage through homogeneous coordinates, and under the condition that the internal parameters of the camera are determined, the internal and external parameters of the camera can be solved by using a plurality of known object points and the corresponding image point coordinates, so that the position coordinates of the garbage or the object can be determined.

Image information is gathered to the camera among the image processor 9, carries out analysis processes to the image through machine vision module OpenMV, realizes intelligent recognition, through the bluetooth serial ports, sends the various data parameters that the analysis was come out to Arduino control mainboard. The control mainboard carries out steering wheel rotation angle's adjustment according to parameter information, realizes pressing from both sides and gets and classify rubbish.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a waste classification dolly, is including chassis (5), its characterized in that: the chassis (5) is respectively provided with a mechanical arm (2), a crawler belt (4), a direct current motor (6), a steering engine control panel (7) and a lithium battery (8), the side part of the chassis is provided with a line patrol sensor (10), a gray sensor (11) and an ultrasonic sensor (12), the mechanical arm (2) is provided with a steering engine (3), and the steering engine (3) is respectively provided with a mechanical claw (1) and an image processor (9);

the intelligent line patrol system is characterized in that a controller is arranged inside the underframe (5), and the controller is electrically connected with a lithium battery (8), a mechanical arm (2), a steering engine (3), a direct current motor (6), a steering engine control panel (7), a line patrol sensor (10), a gray sensor (11), an ultrasonic sensor (12) and an image processor (9) respectively.

2. The waste sorting cart of claim 1, further comprising: the direct current motor (6) is rotationally connected with the crawler belt (4) to drive the trolley to move forwards.

3. The waste sorting cart of claim 1, further comprising: the mechanical arm (2) is in transmission connection with the mechanical claw (1), and the mechanical arm (2) drives the mechanical claw (1) to grab garbage.

4. The waste sorting cart of claim 1, further comprising: the control steering engine (3) is electrically connected with the steering engine control panel (7), and the control steering engine (3) is in transmission connection with the mechanical arm (2) and can drive the mechanical arm to realize angle change.

5. The waste sorting cart of claim 1, further comprising: the lithium battery (8) provides electric energy for each power utilization unit through the controller.

6. The waste sorting cart of claim 1, further comprising: patrol line sensor (10), grayscale sensor (11) and ultrasonic sensor (12) and utilized Arduino, Arduino can come the perception environment through various sensors, feeds back, influences the environment through control light, motor and other devices.

7. The waste sorting cart of claim 1, further comprising: the image processor (9), the line patrol sensor (10), the gray sensor (11) and the ultrasonic sensor (12) calculate corresponding image point coordinates of the garbage through homogeneous coordinates.

8. The waste sorting cart of claim 1, further comprising: the camera in the image processor (9) collects image information, and the image is analyzed and processed through the machine vision module OpenMV, so that intelligent identification is realized.