CN112918962A - Garbage truck control method, device and equipment and storage medium - Google Patents
Garbage truck control method, device and equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a control method, a device, equipment and a storage medium for a garbage collection and transportation vehicle, wherein the method comprises the following steps: determining overflow basic information and overflow additional information of each candidate garbage can; according to the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can; selecting a target garbage can from each candidate garbage can according to the emergency degree; controlling the garbage collection vehicle to move to the target garbage can for collection treatment; through the technical scheme, the overall efficiency of the garbage clearing and transporting vehicle for clearing and transporting garbage is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of garbage clearing and transportation, in particular to a garbage clearing and transporting vehicle control method, device, equipment and storage medium.
Background
Along with the development of economy in China, the process of urbanization is promoted day by day, garbage generated in the process of urban production and living is increased day by day, and the garbage treatment is difficult day by day.
At present, the garbage can is cleaned one by adopting a mode of presetting fixed cleaning aiming at the garbage can in a fixed area (such as a community) and controlling a garbage cleaning and transporting vehicle to move to the garbage can for garbage cleaning and transporting at a corresponding time point.
However, the above-mentioned garbage collection mode may cause the situation that the garbage collection in a partial area is not timely, and the garbage collection in the partial area is too frequent, which affects the overall garbage collection efficiency in the area.
Disclosure of Invention
The application provides a control method, a device, equipment and a storage medium for a garbage collection and transportation vehicle, so as to improve the overall efficiency of the garbage collection and transportation vehicle in garbage collection and transportation.
In a first aspect, an embodiment of the present application provides a garbage collection and transportation vehicle control method, including:
determining overflow basic information and overflow additional information of each candidate garbage can;
according to the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can;
selecting a target garbage can from each candidate garbage can according to the emergency degree;
and controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
In a second aspect, an embodiment of the present application further provides a garbage collection truck control device, where the device includes:
the information determining module is used for determining the overflow basic information and the overflow additional information of each candidate garbage can;
the emergency degree determining module is used for respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information;
the garbage can selecting module is used for selecting a target garbage can from each candidate garbage can according to the emergency degree;
and the control module is used for controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
In a third aspect, an embodiment of the present application further provides an electronic device, where the device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement any of the refuse collection vehicle control methods as provided in the embodiments of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements any one of the garbage collection and transportation vehicle control methods provided in the embodiments of the first aspect.
When the emergency degree of each candidate garbage can is determined, the overflow basic information of each candidate garbage can directly related to the overflow condition of the garbage can is considered, the overflow additional information indirectly related to the overflow condition of the garbage can or influencing the clearing treatment of the garbage can is considered, the emergency degree of each candidate garbage can determined is more comprehensive and objective, the emergency degree determining method selects the target garbage can needing to be preferentially cleared from the plurality of candidate garbage cans from the overall perspective of garbage clearing, and the overall efficiency of the garbage clearing and transporting vehicle is improved.
Drawings
FIG. 1 is a flow chart of a method for controlling a garbage collection and transportation vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of a garbage collection and transportation vehicle control method according to a second embodiment of the present application;
FIG. 3 is a flow chart of a garbage collection and transportation vehicle control method provided by the third embodiment of the present application;
fig. 4 is a schematic view of a control device of a garbage collection truck according to the fourth embodiment of the present application;
fig. 5 is a schematic view of an electronic device provided in this application embodiment five.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a control method for a garbage collection and transportation vehicle according to an embodiment of the present application. The embodiment of the application is suitable for the condition that the garbage clearing and transporting vehicle clears and transports the garbage in the garbage can. The method can be executed by a garbage collection vehicle control device, which can be implemented by software and/or hardware and is specifically configured in an electronic device, and the electronic device can be a mobile terminal or a fixed terminal. The fixed terminal can be a background server for managing the garbage collection vehicle to collect and transport garbage, and the mobile terminal can be a vehicle-mounted terminal.
Referring to fig. 1, the control method for the garbage collection and transportation vehicle provided by the embodiment of the application comprises the following steps:
and S110, determining the overflow basic information and the overflow additional information of each candidate garbage can.
The candidate garbage can is a garbage can which can be used for loading garbage and is normally put into use. Generally, in a community of a city, a plurality of candidate trash cans are placed, and numbers can be set for the candidate trash cans so as to distinguish different trash cans.
The overflow basic information refers to index information directly related to the overflow condition of the trash can.
The overflow additional information refers to other index information indirectly related to the overflow condition of the garbage can or influencing the clearing processing of the garbage can.
Optionally, the overflow basic information is determined based on at least one of: the garbage can weight information, the garbage can remaining height information and the garbage can occupation height information.
The garbage weight information refers to the weight information of garbage arranged in the garbage can, and the garbage weight information can be obtained by measuring the weight of the garbage loaded in the garbage can by arranging the pressure sensor in the garbage can.
The height information of the garbage can is the garbage depth in the garbage can, and the height information of the garbage can filled with garbage can be obtained by arranging the infrared sensor in the garbage can, namely the height information of the garbage can.
Optionally, an ultrasonic detection sensor is mounted above the top of the garbage can, the ultrasonic detection sensor actively sends a pulse type ultrasonic signal, and the garbage can occupancy height information is determined by recording and judging the return time of the sound wave.
The garbage can remaining height information is opposite to the garbage can occupying height information, and is height information of the garbage can which is not filled with garbage, namely the garbage can remaining height information, and the garbage can remaining height information can be obtained according to the height information of each candidate garbage can and the garbage can occupying height information.
Optionally, in consideration of the situation that the sizes of the trash cans are inconsistent, the filled degree information and/or the unfilled degree information of each candidate trash can be calculated based on the remaining height information of the trash can, the occupied height information of the trash can and the size information of the trash can, and the filled degree information and/or the unfilled degree information can be used as the overflow basic information. The filled degree information is the ratio of the filled garbage volume to the whole capacity of the garbage can, the unfilled degree information is the ratio of the residual filled volume of the garbage can to the whole capacity of the garbage can, when the garbage of the garbage can is filled more and more, the filled degree information is closer to 1, and the unfilled degree information is closer to 0.
It can be understood that, due to the inconsistent sizes of the trash cans, the trash holding capacity of each candidate trash can is different under the condition that the remaining height information of the trash cans is the same. For example, in the case where the remaining height information of the trash can is the same, the trash can having a small size is more easily filled. Therefore, the full level information and the unfilled level information can be used as the overflow basic information to describe the overflow condition of each candidate trash can.
It can be understood that the overfill condition of each candidate trash can be directly reflected by the trash can weight information, the trash can remaining height information, the trash can occupied height information, the filled degree information and the unfilled degree information, and therefore, at least one of the trash can weight information, the trash can remaining height information, the trash can occupied height information, the filled degree information and the unfilled degree information can be optionally used as basic overfill information to meet objective practice.
Optionally, the overflow basic information is determined in the following manner: determining an overflow level according to at least one of the garbage bin weight information, the garbage bin remaining height information and the garbage bin occupied height information; and taking the overflow level as the overflow basic information.
The overflow level refers to a qualitative description of the overflow condition of each candidate trash can.
Optionally, the overflow level is divided into five levels of 1 (not full), 2 (light full), 3 (medium full), 4 (heavy full) and 5 (heavy full), the higher the level of the trash can, the more likely it is that the trash can is full or already full. The number of the overflow levels may be determined according to an actual precision requirement, which is not specifically limited in the embodiment of the present application, and for example, the overflow levels may be divided into three levels, that is, 1, 2, and 3.
As shown in table 1 in the following table, table 1 is an example of determining the overflow level according to the trash can occupancy height information (i.e., trash depth). Meanwhile, the table 1 considers the situation that the depths of the garbage cans are inconsistent, for example, the depth of the garbage can in the garbage station is 100cm, the depth of the roadside garbage can outside the station is 80cm, and the overflow levels of the garbage cans of different sizes are determined differently.
Table 1:
| indoor/outdoor (cm) of sensor detecting garbage depth | Grade of overfill |
| 0-30/0-25 | Not overflowing (1) |
| 60-80/45-60 | Moderate overflow (3) |
| 90-100/70-80 | Severe overflow (5) |
The overflow rating judgment of the garbage depth in the garbage can in table 1 does not constitute the limitation of the embodiment, and the specific overflow rating judgment can be set according to the actual situation.
It can be understood that, in order to reduce the complexity of determining the overflow condition of each candidate trash can, an interval level determination method may be adopted to qualitatively describe the overflow condition of each candidate trash can, and meanwhile, the overflow level obtained based on the qualitative determination method is simpler and more convenient when determining the emergency degree of each subsequent candidate trash can. Therefore, an overflow level associated with the overflow basic information may be determined based on the trash can weight information, the trash can remaining height information, and the trash can occupancy height information, and the overflow level may be used as the overflow basic information.
It should be noted that, when determining the overflow level, not only the above-mentioned garbage can weight information, garbage can remaining height information and garbage can occupied height information, but also other basic overflow information, such as filled level information and unfilled level information, may be referred to, as long as it is related to the basic overflow information, to determine the overflow level.
Optionally, the overfill additional information comprises historical overfill statistics and/or geographic distances.
Wherein the geographic distance may be a distance between each candidate trash can and the trash removal vehicle.
The historical overflow statistical value is a statistical value representing the historical overflow condition of each candidate garbage can. The historical overflow statistical value can be historical overflow average value of each candidate garbage can obtained by carrying out statistics on the overflow condition in a fixed period (such as one day or one week interval) according to the historical overflow data of each candidate garbage can; alternatively, the historical overfill statistic value may be a historical overfill mode value of each candidate trash can obtained by counting overfill conditions in a fixed period (e.g., every day or every week) according to historical overfill data of each candidate trash can. Wherein the fixed period may be determined by a skilled person as desired or empirically, or determined iteratively through a number of experiments.
It will be appreciated that the historical overfill statistic indirectly indicates whether the trash can is susceptible to being filled, with reference to the overfill condition of the trash can in the past. For example, a certain candidate trash can is relatively easy to be filled with domestic garbage because the placed area is close to a residential area. At this time, the historical overflow statistical value of each candidate garbage can is considered as the overflow additional information, which is reasonable and accords with the actual situation. Meanwhile, the position of the garbage collection and transportation vehicle is not fixed, so that the distance between each candidate garbage can and the garbage collection and transportation vehicle is taken into consideration as the overflow additional information, the garbage cans around the garbage collection and transportation vehicle can be flexibly pre-treated, and the garbage collection and transportation efficiency of the garbage collection and transportation vehicle on garbage treatment is also ensured under the condition of ensuring the priority treatment on the garbage cans with high emergency degree.
Optionally, the overflow additional information further includes an overflow prediction value of each trash can; the overflow prediction value refers to the overflow prediction value of each candidate garbage can at the next moment obtained by prediction according to the overflow data of the historical time sequence of each candidate garbage can. For example, the overfill prediction value may be the overfill prediction value ten minutes after each trash can.
It can be understood that when the garbage collection and transportation vehicle travels to the location of each garbage can, a time interval is passed, and the overflow prediction value predicts the overflow condition of each garbage can in a short time in the future, so that the overflow state of each garbage can be well represented. Therefore, the overflow predicted value is used as the overflow additional information of each garbage can, and the method accords with the clearing treatment condition of the actual garbage can.
Optionally, the overfill additional information further includes information of human traffic around each candidate trash can, and information of attention degree to each candidate trash can set in advance manually. For example, trash cans located at the doorway of a cell should be kept in a clean, tidy appearance at all times, and therefore, much attention can be given to such trash cans.
In this embodiment, each candidate trash can is configured with a trash overflow detection device, and the trash overflow detection device has wireless transmission communication and GPS (Global Positioning System) Positioning functions, and can report position information, basic overflow information, and additional overflow information of the candidate trash can once within a preset time interval (e.g., 5 minutes); and the embodiment is also provided with a background management server of the garbage clearing and transporting vehicle, and the background management server receives the position information, the overflow basic information and the overflow additional information of each candidate garbage can.
And S120, respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information.
Wherein, the emergency degree refers to an emergency degree describing that the garbage bin is to be subjected to the clearing treatment. In this embodiment, the emergency degree can be divided into five levels of 1, 2, 3, 4 and 5, and the trash can with the higher level represents that the trash can is the trash can which needs to be cleared preferentially. Wherein, the emergency degree grade 5 represents heavy overflow, the emergency degree grade 3 represents medium overflow, and the emergency degree grade 1 represents light overflow.
It will be appreciated that as the urgency increases from 1 to 5, the overflow condition for each candidate trash can becomes more severe, indicating that the trash can is more likely to be full. Wherein the number of urgency levels can be determined according to actual accuracy requirements.
Optionally, determining an overflow level according to overflow basic information (such as garbage can weight information, garbage can remaining height information, garbage can occupation height information and the like) of each candidate garbage can, and taking the overflow level as the overflow basic information; determining an additional overflow level according to the overflow additional information (historical overflow statistical value, geographic distance, overflow predicted value and the like) of each candidate garbage can, and taking the additional overflow level as the overflow additional information; and comprehensively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information. Wherein the overflow level is divided into five levels of 1, 2, 3, 4 and 5, and the higher the level of the trash can represents that the trash can is more likely to be full or is already full. The same grading method is adopted to grade the additional overflow into five grades of 1, 2, 3, 4 and 5, and the higher grade garbage can represents that the garbage can is more likely to become a garbage can with the prior clearing treatment. Wherein the number of overflow levels and additional overflow levels may be determined according to the actual accuracy requirements.
And S130, selecting a target garbage can from the candidate garbage cans according to the emergency degree.
The target garbage can is a garbage can to be subjected to clearing treatment.
Specifically, according to the emergency degree of each candidate trash can, the trash can with the higher emergency degree is selected from the multiple candidate trash cans to serve as the target trash can.
Optionally, at the same time, according to the degree of urgency, a plurality of target trash cans are selected from the candidate trash cans. For example, the candidate trash can with the first three highest urgency levels can be used as the target trash can, or when the urgency level of the candidate trash can is higher than a preset urgency level (e.g., the urgency level is greater than 3), the candidate trash can is used as the target trash can.
In this embodiment, after receiving the position information, the overflow basic information, and the overflow additional information of each candidate trash can, the background management server determines the emergency degree of each candidate trash can according to the overflow basic information and the overflow additional information, and then selects a target trash can from the candidate trash cans according to the emergency degree.
As shown in table 2 in the following table, table 2 shows 5 candidate trash cans placed in a community, which are numbered 001-; according to the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can; and selecting a target garbage can from the candidate garbage cans according to the emergency degree.
Table 2:
the overflow basic information and the overflow additional information include, but are not limited to, those shown in table 2, and the overflow basic information and the overflow additional information may be selected according to actual situations; moreover, the urgency level evaluation performed by the table 2 for the overflow basic information and the overflow additional information does not constitute a limitation of the embodiment, and the specific urgency level evaluation may be set according to actual situations.
Referring to table 2, according to the emergency degree of each candidate trash can, the candidate trash can with the emergency degree grade larger than 3 is selected as the target trash can, and the target trash can information is sent to the trash collection vehicle near the community. The target garbage can information comprises the overflow condition of the garbage can, the position information of the garbage can and the like.
In some embodiments, in order to more reasonably count the overflow-around times of each candidate trash can, the overflow-around times are counted considering different time periods in a day. For example, at 7 of the morning: 00-8:00, 8: 00-9: 00 and 17 in the afternoon: 00-18:00, 18: 00-19: 00, during this time period, more house refuse may be delivered. Therefore, the overflow number of each time period in one day can be counted, a larger overflow number can be obtained in the time period when the garbage is delivered frequently, and the more reasonable emergency degree of each candidate garbage can be calculated by timely and accurately representing the overflow number of each time period.
And S140, controlling the garbage collection and transportation vehicle to move to a target garbage can for collection and transportation.
Wherein, the garbage collection vehicle is a vehicle for collecting and transporting garbage cans. Generally, a plurality of garbage collection and transportation vehicles are fixed in a certain urban area. Therefore, the target garbage can needing to be cleared by each garbage clearing and transporting vehicle can be determined according to the overflow basic information, the overflow additional information and the emergency degree of each candidate garbage can in each garbage clearing and transporting vehicle, so as to avoid conflict.
In this embodiment, after determining the target trash can that needs to be cleared preferentially, the background management server sends the position information to the trash clearing vehicle according to the position information of the target trash can, and the trash clearing vehicle goes to the position of the target trash can according to the received position information to clear the target trash can.
In some embodiments, an optimal route of the garbage collection vehicle to the target garbage can is calculated according to a plane diagram of the whole garbage collection area simulated in advance and a connection network formed among the marked positions of each garbage can, the garbage station and the garbage collection vehicle, and the shortest distance principle is adopted. In the networking system, a black line track is laid on the ground, and the trolley can process the overflow garbage event according to the track and the optimal route sent by the background management server. Meanwhile, the wireless communication module equipment is arranged on the garbage can and can send the route information returned by the server to the garbage truck, when an overflow garbage event is processed, the next overflow garbage event is processed, and the processed information of the target garbage can is uploaded to the background management server. Wherein, the overflowing garbage event refers to controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
When the emergency degree of each candidate garbage can is determined, the overflow basic information of each candidate garbage can directly related to the overflow condition of the garbage can is considered, the overflow additional information indirectly related to the overflow condition of the garbage can or influencing the clearing treatment of the garbage can is considered, the emergency degree of each candidate garbage can determined is more comprehensive and objective, the emergency degree determining method selects the target garbage can needing to be preferentially cleared from the plurality of candidate garbage cans from the overall perspective of garbage clearing, and the overall efficiency of the garbage clearing and transporting vehicle is improved.
Example two
Fig. 2 is a flowchart of a control method for a garbage collection and transportation vehicle according to a second embodiment of the present application, and the present embodiment is an optimization of the above-mentioned scheme based on the above-mentioned embodiment.
Further, the operation "respectively determining the emergency degree of each candidate trash can according to the overflow basic information and the overflow additional information" is refined into "adopting a preset emergency degree determining function, and respectively determining the emergency degree of each candidate trash can according to the overflow basic information and the overflow additional information". The preset emergency degree determining function is an increasing function of the overflow basic information and the overflow additional information respectively so as to complete the determining process of the emergency degree.
Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 2, the control method for the garbage collection and transportation vehicle provided by the embodiment includes:
s210, determining the overflow basic information and the overflow additional information of each candidate garbage can.
S220, respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information by adopting a preset emergency degree determining function; the preset urgency degree determining function is an increasing function of the overflow basic information and the overflow additional information respectively.
The increasing function means that the emergency degree of each candidate garbage can is increased when the overflow basic information and the overflow additional information are larger.
Specifically, for the garbage can weight information, the garbage can remaining height information and the garbage can occupation height information in the overflow basic information, the garbage can weight information, the inverse number of the garbage can remaining height information and the garbage can occupation height information can be used as the overflow basic information to participate in the determination of the emergency degree of each candidate garbage can; for the historical overflow statistic and the geographic distance in the overflow additional information, the historical overflow statistic and the reciprocal of the geographic distance can be used as the overflow additional information to participate in the determination of the urgency degree of each candidate trash can.
In some embodiments, the overflow basic information and the overflow additional information may be divided into levels, and then the predetermined urgency level determination function may be solved. Specifically, the overflow level is determined according to the overflow basic information (such as the weight information of the trash can, the remaining height information of the trash can, the occupied height information of the trash can and the like) of each candidate trash can, and the overflow level is used as the overflow basic information; determining an additional overflow level according to the overflow additional information (historical overflow statistical value, geographic distance, overflow predicted value and the like) of each candidate garbage can, and taking the additional overflow level as the overflow additional information; and comprehensively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information. Wherein the overflow level is divided into five levels of 1, 2, 3, 4 and 5, and the higher the level of the trash can represents that the trash can is more likely to be full or is already full. The same grading method is adopted to grade the additional overflow into five grades of 1, 2, 3, 4 and 5, and the higher grade garbage can represents that the garbage can is more likely to become a garbage can with the prior clearing treatment.
Optionally, a preset emergency degree determining function is adopted, and the emergency degree of each candidate trash can is respectively determined according to the overflow basic information and the overflow additional information, including: according to the product of the overflow basic information and the overflow additional information, the emergency degree of each candidate garbage can is respectively determined; or respectively determining the emergency degree of each candidate garbage can according to the sum of the overflow basic information and the overflow additional information.
It can be understood that, taking the product of the overflow basic information and the overflow additional information, or the sum of the overflow basic information and the overflow additional information as the determination function of the preset urgency level, it can describe the influence relationship of the overflow basic information and the overflow additional information on the urgency level well, and when the overflow basic information and the overflow additional information of the trash can are higher in level, it indicates that the trash can is more likely to be preferred as the target trash can.
Or alternatively, the overflow basic information and the overflow additional information can be substituted into a pre-fitted multiple regression function to respectively determine the urgency degree of each candidate trash can. The multiple regression function can be determined according to historical overflow basic information, overflow additional information and urgency degree.
It will be appreciated that it is more reasonable to use a multiple regression function as the predetermined urgency determination function than to sum up products, because the multiple regression function is fit to historical data, and the result of the urgency determined thereby is more accurate.
And S230, selecting a target garbage can from the candidate garbage cans according to the emergency degree.
And S240, controlling the garbage collection vehicle to move to a target garbage can for collection and transportation.
On the basis of the embodiment, the emergency degree of each candidate garbage can is respectively determined according to the overflow basic information and the overflow additional information by adopting a preset emergency degree determining function; the preset emergency degree determining function is an increasing function of the overflow basic information and the overflow additional information respectively; according to the technical scheme, the preset emergency degree determining function is set as the increasing function of the overflow basic information and the overflow additional information, the result of the determined emergency degree is objective and practical, the emergency degree of each candidate garbage can is increased along with the increase of the overflow basic information and the overflow additional information, the emergency degree can be determined quantitatively according to the overflow basic information and the overflow additional information based on the preset emergency degree determining function, the emergency degree of each candidate garbage can is determined more accurately, a target garbage can be selected from a plurality of candidate garbage cans more objectively for carrying out clearing treatment, and therefore the overflowing garbage can be subjected to priority treatment in time, and the overall efficiency of garbage clearing and carrying out garbage transport is improved. Meanwhile, the emergency degree is determined in a function operation mode, the data operation amount is small, and the calculation efficiency is improved.
EXAMPLE III
Fig. 3 is a flowchart of a control method for a garbage collection and transportation vehicle according to a third embodiment of the present application, and the present embodiment is an optimization of the above-mentioned scheme based on the above-mentioned embodiment.
Further, the operation of respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information is refined into the operation of updating the overflow basic information by adopting the overflow basic weight; updating the overflow additional information by adopting the overflow additional weight; wherein the sum of the overflow base weight and the overflow additional weight is 1; and respectively determining the emergency degree of each candidate garbage can according to the updated overflow basic information and the updated overflow additional information so as to complete a determination mechanism of the emergency degree.
Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 3, the control method for the garbage collection and transportation vehicle provided by the embodiment includes:
s310, determining the overflow basic information and the overflow additional information of each candidate garbage can.
And S320, updating the overflow basic information by adopting the overflow basic weight.
The overflow basic weight refers to the weight exerted by the overflow basic information when determining the urgency of the trash can. For example, the overflow basic weight may be 0.5 or 0.7, etc., and when the overflow basic weight is 0.5, it means that the overflow basic information and the overflow additional information play the same role in determining the final urgency level; when the overflow basic weight is 0.7, the overflow basic information and the overflow additional information play a larger role than the overflow additional information in determining the final urgency level.
In general, the overflow basic information and the overflow additional information are not weighted by default. For determining the urgency level of each candidate trash can, the weights of the overflow basic information and the overflow additional information are the same, that is, the overflow basic information and the overflow additional information play the same role in determining the final urgency level.
However, in some cases, due to the fact that the candidate trash cans are different, different emphasis is placed on overflow processing. Specifically, by comprehensively analyzing the information in consideration of the information on the actual placement position of each candidate trash can (e.g., whether the placement position is a living area), the information on the human traffic around each candidate trash can, the historical overfill information of each candidate trash can, and the like, different basic overfill weights and additional overfill weights can be assigned to each candidate trash can.
It can be understood that, by updating the overflow basic information with the overflow basic weight, more reasonable overflow basic information can be obtained.
S330, updating the overflow additional information by adopting the overflow additional weight; wherein the sum of the overflow base weight and the overflow additional weight is 1.
The overflow additional weight refers to the weight exerted by the overflow additional information when determining the urgency of the trash can. For example, the overflow margin weighting value may be 0.5 or 0.3, and when the overflow margin weighting value is 0.5, it means that the overflow basic information and the overflow margin information play the same role in determining the final urgency level; when the overflow additional weight is 0.3, the overflow basic information and the overflow additional information play a smaller role than the overflow basic information when determining the final urgency level.
It can be understood that the sum of the overflow basic weight and the overflow additional weight is 1, which ensures the accuracy of the result of determining the urgency level of each candidate trash can through the overflow basic information and the overflow additional information.
It should be noted that, when determining the overflow basic weight and the overflow additional weight of each candidate trash can, since the overflow basic information and the overflow additional information may be composed of a plurality of index information, when updating the overflow basic information and the overflow additional information, the overflow basic weight and the overflow additional weight need to be correspondingly shared according to the actual number of index information. For example, the overflow base weight is 0.7, the overflow additional weight is 0.3, and the overflow additional information includes two index information, i.e., the geographical distance and the historical overflow statistical value, so that the weights of the geographical distance and the historical overflow statistical value (assuming that the weights of the two index information, i.e., the geographical distance and the historical overflow statistical value, in the overflow additional information are the same) are actually 0.15.
And S340, respectively determining the emergency degree of each candidate garbage can according to the updated overflow basic information and the updated overflow additional information.
It can be understood that each candidate trash can determines a more objective and comprehensive emergency degree according to the actual situation and the historical overflow situation of each candidate trash can, and therefore the emergency degree of each candidate trash can determined respectively is more accurate based on the updated basic overflow information and the updated additional overflow information.
And S350, selecting a target garbage can from the candidate garbage cans according to the emergency degree.
And S360, controlling the garbage collection and transportation vehicle to move to a target garbage can for collection and transportation.
On the basis of the embodiment, the overflow basic information and the overflow additional information are updated, and the more objective and comprehensive overflow basic weight and the more comprehensive overflow additional weight are determined by each candidate garbage can according to the actual situation and the historical overflow situation of the candidate garbage can, so that the emergency degree of each candidate garbage can is determined respectively according to the updated overflow basic information and the updated overflow additional information, the determination result of the emergency degree is more accurate, and the target garbage can be selected from the candidate garbage cans more objectively for clearing treatment based on the accurate emergency degree of each candidate garbage can, so that the overflow garbage can be treated preferentially in time, and the overall efficiency of clearing the garbage truck for the garbage is improved.
Example four
Fig. 4 is a schematic structural diagram of a garbage collection truck control device according to a fourth embodiment of the present application. Referring to fig. 4, a garbage collection truck control device provided in an embodiment of the present application includes: an information determination module 410, an urgency determination module 420, a trash can selection module 430, and a control module 440.
An information determining module 410, configured to determine overflow basic information and overflow additional information of each candidate trash can;
an urgency level determination module 420, configured to determine an urgency level of each candidate trash can according to the basic overflow information and the additional overflow information;
a trash can selecting module 430, configured to select a target trash can from each of the candidate trash cans according to the emergency degree;
and the control module 440 is used for controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
When the emergency degree of each candidate garbage can is determined, the overflow basic information of each candidate garbage can directly related to the overflow condition of the garbage can is considered, the overflow additional information indirectly related to the overflow condition of the garbage can or influencing the clearing treatment of the garbage can is considered, the emergency degree of each candidate garbage can determined is more comprehensive and objective, the emergency degree determining method selects the target garbage can needing to be preferentially cleared from the plurality of candidate garbage cans from the overall perspective of garbage clearing, and the overall efficiency of the garbage clearing and transporting vehicle is improved.
Further, the overflow basic information is determined based on at least one of the following information: the garbage can weight information, the garbage can remaining height information and the garbage can occupation height information.
Further, the overflow basic information is determined in the following manner: determining an overflow level according to at least one of the garbage bin weight information, the garbage bin remaining height information and the garbage bin occupied height information; and taking the overflow level as the overflow basic information.
Further, the overflow additional information comprises historical overflow statistics and/or geographical distance; and the geographic distance is the distance between each candidate garbage bin and the garbage collection and transportation vehicle.
Further, the urgency level determination module 420 includes:
the first emergency degree determining unit is used for determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information by adopting a preset emergency degree determining function; wherein the preset urgency level determination function is an increasing function of the overflow basic information and the overflow additional information, respectively.
Further, the first urgency level determination unit includes:
the emergency degree determining subunit is used for determining the emergency degree of each candidate garbage can according to the product of the overflow basic information and the overflow additional information; alternatively, the first and second electrodes may be,
and respectively determining the emergency degree of each candidate garbage can according to the sum of the overflow basic information and the overflow additional information.
Further, the urgency level determination module 420 further includes:
the first updating unit is used for updating the overflow basic information by adopting the overflow basic weight;
a second updating unit, configured to update the overflow additional information with an overflow additional weight; wherein the sum of the overflow base weight and the overflow additional weight is 1;
and the second urgency degree determining unit is used for respectively determining the urgency degree of each candidate trash can according to the updated overflow basic information and the updated overflow additional information.
The garbage collection and transportation vehicle control device provided by the embodiment of the application can execute the garbage collection and transportation vehicle control method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present disclosure, and as shown in fig. 5, the electronic device includes a processor 510, a memory 520, an input device 530, and an output device 540.
The number of the processors 510 in the device may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, the memory 520, the input device 530 and the output device 540 of the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
Wherein, the input device 530 is configured to receive the overflow basic information and the overflow additional information of each candidate trash can.
And an output device 540, configured to output the target trash can information.
The processor 510 may determine the urgency level of each candidate trash can according to the overflow basic information and the overflow additional information of each candidate trash can input by the input device 530; a target garbage can be selected from the candidate garbage cans according to the emergency degree; target garbage can information can be transmitted to the output device 540, and the garbage collection vehicle is controlled to move to the target garbage can for collection treatment.
The memory 520 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the garbage collection truck control method in the embodiment of the present application (for example, the target address acquisition module 410, the conversion module 420, and the target area determination module 430 in the garbage collection truck control device). The processor 510 implements the garbage collection truck control method described above by executing software programs, instructions, and modules stored in the memory 520 to execute various functional applications of the device and data processing.
The memory 520 may mainly 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 the use of the terminal, etc. (overflow basic information, overflow additional information, urgency of each candidate trash can, etc. as in the above-described embodiments). Further, the memory 520 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 examples, memory 520 may further include memory located remotely from processor 510, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 540 may include a display device such as a display screen.
EXAMPLE six
There is also provided in accordance with a sixth embodiment of the present application a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of garbage collection vehicle control, the method comprising:
determining overflow basic information and overflow additional information of each candidate garbage can;
according to the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can;
selecting a target garbage can from each candidate garbage can according to the emergency degree;
and controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that, in the embodiment of the garbage collection truck control device, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A control method for a garbage collection and transportation vehicle is characterized by comprising the following steps:
determining overflow basic information and overflow additional information of each candidate garbage can;
according to the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can;
selecting a target garbage can from each candidate garbage can according to the emergency degree;
and controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
2. The method according to claim 1, wherein the determining the urgency of each of the candidate trashcans according to the basic overflow information and the additional overflow information comprises:
respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information by adopting a preset emergency degree determining function;
wherein the preset urgency level determination function is an increasing function of the overflow basic information and the overflow additional information, respectively.
3. The method according to claim 2, wherein the determining the urgency level of each of the candidate trash cans according to the basic overflow information and the additional overflow information by using a preset urgency level determination function comprises:
according to the product of the overflow basic information and the overflow additional information, respectively determining the emergency degree of each candidate garbage can; alternatively, the first and second electrodes may be,
and respectively determining the emergency degree of each candidate garbage can according to the sum of the overflow basic information and the overflow additional information.
4. The method according to claim 1, wherein the determining the urgency of each of the candidate trashcans according to the basic overflow information and the additional overflow information comprises:
updating the overflow basic information by adopting the overflow basic weight;
updating the overflow additional information by adopting the overflow additional weight; wherein the sum of the overflow base weight and the overflow additional weight is 1;
and respectively determining the emergency degree of each candidate garbage can according to the updated overflow basic information and the updated overflow additional information.
5. The method of claim 1, wherein the overflow basic information is determined based on at least one of: the garbage can weight information, the garbage can remaining height information and the garbage can occupation height information.
6. The method of claim 5, wherein the overflow basic information is determined by:
determining an overflow level according to at least one of the garbage bin weight information, the garbage bin remaining height information and the garbage bin occupied height information;
and taking the overflow level as the overflow basic information.
7. The method of any of claims 1-6, wherein the overflow additional information comprises historical overflow statistics and/or geographic distances;
and the geographic distance is the distance between each candidate garbage bin and the garbage collection and transportation vehicle.
8. A refuse collection vehicle control device, comprising:
the information determining module is used for determining the overflow basic information and the overflow additional information of each candidate garbage can;
the emergency degree determining module is used for respectively determining the emergency degree of each candidate garbage can according to the overflow basic information and the overflow additional information;
the garbage can selecting module is used for selecting a target garbage can from each candidate garbage can according to the emergency degree;
and the control module is used for controlling the garbage collection vehicle to move to the target garbage can for collection and transportation.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of garbage collection vehicle control as claimed in any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of controlling a refuse collection vehicle according to any one of claims 1-7.
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