CN113089553A - Garbage sorting method based on machine vision - Google Patents
Garbage sorting method based on machine vision Download PDFInfo
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- CN113089553A CN113089553A CN202110287351.5A CN202110287351A CN113089553A CN 113089553 A CN113089553 A CN 113089553A CN 202110287351 A CN202110287351 A CN 202110287351A CN 113089553 A CN113089553 A CN 113089553A
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- computer
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- sorting method
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The application discloses a machine vision-based garbage sorting method, which comprises a camera, a computer and a manipulator, wherein the camera is used for acquiring picture information, the manipulator is used for clamping cigarette butts, and the camera and the manipulator are electrically connected with the computer; the computer stores the analysis picture information and the program for driving the manipulator to move. The invention has the following beneficial effects: the picture information on the ground is acquired by the camera, the picture information is analyzed by a program in the computer, and if the picture information contains cigarette butts, the mechanical arm immediately picks up the cigarette butts on the ground.
Description
Technical Field
The invention relates to the field of garbage cleaning, in particular to a garbage sorting method based on machine vision.
Background
Because the quantity of smokers is huge, a large amount of cigarette butts are generated every day, and because the fire is easily caused when the cigarette butts are thrown into the garbage can, many smokers like to throw the cigarette butts on the roadside conveniently, but the environment is not beautiful when the cigarette butts are thrown on the roadside conveniently, and the ground environment is polluted when the cigarette butts are piled up on the ground.
Disclosure of Invention
Aiming at the problems, the invention provides a garbage sorting method based on machine vision.
The technical scheme adopted by the invention is as follows:
a garbage sorting method based on machine vision comprises a camera, a computer and a manipulator, wherein the camera is used for acquiring picture information, the manipulator is used for clamping cigarette butts, and the camera and the manipulator are both electrically connected with the computer; the computer stores the analysis picture information and the program for driving the manipulator to move.
The method has the following functions that the camera acquires picture information on the ground, the picture information is analyzed by a program in the computer, and if the picture information contains cigarette butts, the mechanical arm immediately picks up the cigarette butts on the ground.
Optionally, the manipulator is mounted on the moving vehicle, a plurality of material frames are arranged on the moving vehicle, and water is stored in part of the material frames; the mechanical arm clamps the cigarette butts and then places the cigarette butts in the material frame.
Because some butts are not extinguished and some butts are extinguished, if all the butts are placed in the material frame containing water, the butts need to be dried in the next utilization, which increases energy consumption, and if all the butts are placed in the material frame containing water, the butts may be ignited and burned, which leads to the burning of the moving vehicle. Meanwhile, a plurality of material frames are arranged, and the material frames can also be used for storing articles such as beverage bottles, paper, plastic bags and the like which are clamped by the mechanical hand.
Optionally, the system further comprises a thermometer and an infrared thermometer, wherein the thermometer and the infrared thermometer are electrically connected with the computer; the thermometer is used for measuring the ambient temperature, the infrared thermometer is used for measuring the temperature of the cigarette butt, when the infrared thermometer measures that the temperature of the cigarette butt is higher than the ambient temperature, the cigarette butt is placed in the material frame containing water, and when the infrared thermometer measures that the temperature of the cigarette butt is equal to the ambient temperature, the cigarette butt is placed in the material frame containing no water.
Because only depending on the picture information obtained by the camera and utilizing the computer to analyze, certain probability of misjudgment exists, the infrared thermometer is added, and the temperature of the cigarette butt is measured by the infrared thermometer, so that whether the cigarette butt is in a turning-off state or not is judged, and the method is more stable and reliable.
Optionally, the system further comprises an electric control adjusting nozzle, an electric pump and a water tank, wherein the water tank is arranged on the mobile vehicle, the electric control adjusting nozzle is mounted on the mobile vehicle, and the electric control nozzle is connected with the water tank through the electric pump and a pipeline; when the camera detects that the green belt has a cigarette end, the computer drives the electric pump and the electric control adjusting nozzle to spray the liquid in the water tank to the cigarette end.
Because some cigarette butts are thrown on the green belt, and inflammable substances such as dead leaves are often accumulated on the green belt, when the camera detects that the cigarette butts are on the green belt and the infrared thermometer detects that the cigarette butts are not extinguished, the electric pump and the electric control spray head are immediately driven to spray liquid in the water tank to the cigarette butts, the cigarette butts are extinguished, and then the cigarette butts are degraded under the action of microorganisms in the green belt, so that the phenomenon that the mobile vehicle topples due to the fact that the green belt is removed to pick up the cigarette butts is avoided.
Optionally, the system further comprises a hygrometer, wherein the hygrometer is mounted on the mobile vehicle and used for detecting the temperature of the environment, and the hygrometer is electrically connected with the computer; when the ambient humidity is greater than 80% RH, the electrically controlled adjusting nozzle and the electric pump are always in a closed state.
When the humidity is more than 80% RH, it represents that the weather is in a rainy state, and at this time, even if the cigarette stub is in a state of being extinguished, fire can not be caused, so when the humidity is more than 80% RH, the cigarette stub on the green belt can be directly ignored.
Optionally, the device further comprises a gas sensor, wherein the gas sensor is mounted on the manipulator and used for sensing ammonia gas, and liquid stored in the water tank has a sterilization effect.
Because the greenbelt may have part of animal excrement (cat or dog), the animal excrement can give off ammonia gas when rotting, so utilize gas sensor response ammonia, so when gas sensor senses ammonia gas, and the picture punishment of the acquirement of camera has separated out the shape of animal excrement and urine, open automatically controlled regulation shower nozzle immediately and
optionally, the system further comprises a GPS locator, wherein the GPS locator is electrically connected with the computer, and the computer is provided with a wireless communication module.
The GPS locator is arranged to enable people in the sanitation center to master the position of the mobile vehicle at any time.
Optionally, the gyroscope is further included, the gyroscope is mounted in a moving vehicle, the moving vehicle is a motor-driven moving trolley, and the gyroscope and a motor of the moving vehicle are both electrically connected with the computer; the gyroscope is used for sensing whether the mobile vehicle is in a balanced state, and the computer adjusts the working state of the motor according to data measured by the gyroscope.
The gyroscope is used for monitoring whether the movable vehicle is in a balanced state or not, and if the movable vehicle is in an unbalanced state, the computer immediately adjusts the working state of the motor, so that the movable vehicle can be quickly restored to be balanced.
Optionally, the system further comprises an air pressure sensor, wherein the air pressure sensor is electrically connected with the computer and used for detecting the atmospheric pressure.
The function of setting up baroceptor is in order to monitor atmospheric pressure, rises suddenly when surveying environment humidity, and atmospheric pressure suddenly drops, then judges that there is thunderstorm rain to come, and the locomotive need take evasion measure immediately.
Optionally, the vehicle further comprises a liquid sensor, the liquid sensor is mounted at a chassis of the mobile vehicle, the liquid sensor is electrically connected with the computer, and the liquid sensor is used for sensing whether water exists below the chassis.
Because the locomotive probably runs into rainy weather at the during operation, in case rain meets ground ponding greatly, if ponding height reaches a take the altitude, need park immediately and ensure that electrical equipment can not damage, in case meet ground ponding and stretch to near the chassis, shut down all electrical equipment immediately, avoid because the power equipment burns out of water short circuit.
The invention has the beneficial effects that: the picture information on the ground is acquired by the camera, the picture information is analyzed by a program in the computer, and if the picture information contains cigarette butts, the mechanical arm immediately picks up the cigarette butts on the ground.
Description of the drawings:
fig. 1 is a schematic diagram of the structure of a mobile vehicle.
The figures are numbered: 1. the mobile vehicle comprises a mobile vehicle 2, a manipulator 3, a camera 4, an electric control adjusting nozzle 5 and a gyroscope.
The specific implementation mode is as follows:
the present invention will be described in detail below with reference to the accompanying drawings.
A garbage sorting method based on machine vision comprises a camera 3, a computer and a manipulator 2, wherein the camera 3 is used for acquiring picture information, the manipulator 2 is used for clamping cigarette butts, and the camera 3 and the manipulator 2 are both electrically connected with the computer; the computer stores the analysis screen information and a program for driving the manipulator 2 to move.
The method has the following functions that the camera 3 acquires picture information on the ground, a program in the computer analyzes the picture information, and if the picture information contains cigarette butts, the mechanical arm 2 immediately picks up the cigarette butts on the ground.
The method also comprises a moving vehicle 1 shown in the attached figure 1, wherein the manipulator 2 is arranged on the moving vehicle 1, a plurality of material frames are arranged on the moving vehicle 1, and water is stored in part of the material frames; the mechanical arm 2 clamps the cigarette butts and then places the cigarette butts in the material frame.
Because some butts are not extinguished and some butts are extinguished, if all butts are placed in the material frame containing water, the butts need to be dried in the next utilization, which increases energy consumption, and if all the butts are placed in the material frame containing water, the butts may be burned, which may result in the moving vehicle 1 being incinerated. Meanwhile, a plurality of material frames are arranged, and the material frames can also be used for storing articles such as beverage bottles, paper sheets, plastic bags and the like which are clamped by the manipulator 2.
The method also comprises a thermometer and an infrared thermometer, wherein the thermometer and the infrared thermometer are electrically connected with the computer; the thermometer is used for measuring the ambient temperature, the infrared thermometer is used for measuring the temperature of the cigarette butt, when the infrared thermometer measures that the temperature of the cigarette butt is higher than the ambient temperature, the cigarette butt is placed in the material frame containing water, and when the infrared thermometer measures that the temperature of the cigarette butt is equal to the ambient temperature, the cigarette butt is placed in the material frame containing no water.
Because only depending on the picture information obtained by the camera 3 and utilizing the computer analysis, there is a certain probability of misjudgment, the infrared thermometer is added, and the temperature of the cigarette butt is measured by the infrared thermometer, so that whether the cigarette butt is in a turning-off state is judged, and the method is more stable and reliable.
The method also comprises an electric control adjusting spray head 4, an electric pump and a water tank, wherein the water tank is arranged on the moving vehicle 1, the electric control adjusting spray head 4 is arranged on the moving vehicle 1, and the electric control spray head is connected with the water tank through the electric pump and a pipeline; when the camera 3 detects that the green belt has a cigarette end, the computer drives the electric pump and the electric control adjusting nozzle 4 to spray the liquid in the water tank to the cigarette end.
Because some cigarette butts are thrown on the green belt, and inflammable substances such as dead leaves are often accumulated on the green belt, when the camera 3 detects that the cigarette butts are on the green belt and the infrared thermometer detects that the cigarette butts are not extinguished, the electric pump and the electric control nozzle are immediately driven to spray the liquid in the water tank to the cigarette butts, the cigarette butts are extinguished, and then the cigarette butts are degraded under the action of microorganisms in the green belt, so that the phenomenon that the mobile vehicle 1 topples due to the fact that the green belt is removed to pick up the cigarette butts is avoided.
The method also comprises a hygrometer, wherein the hygrometer is arranged on the moving vehicle 1 and is used for detecting the temperature of the environment, and the hygrometer is electrically connected with the computer; when the environmental humidity is greater than 80% RH, the electrically controlled adjusting nozzle 4 and the electric pump are always in a closed state.
When the humidity is more than 80% RH, it represents that the weather is in a rainy state, and at this time, even if the cigarette stub is in a state of being extinguished, fire can not be caused, so when the humidity is more than 80% RH, the cigarette stub on the green belt can be directly ignored.
The method also comprises a gas sensor, wherein the gas sensor is arranged on the manipulator 2 and used for sensing ammonia gas, and liquid stored in the water tank has a sterilization effect.
Because the green belt may have part of animal excrement (cat or dog) which can emit ammonia gas when rotting, the gas sensor is utilized to sense the ammonia gas, when the gas sensor senses the ammonia gas and the shape of the animal excrement is separated out at the acquired picture of the camera 3, the electronic control adjusting spray head 4 is immediately started and the electronic control adjusting spray head is started
The method also comprises a GPS locator which is electrically connected with the computer, and the computer is provided with a wireless communication module.
The GPS positioning device is provided to allow a person in the sanitation center to grasp the position of the vehicle 1 at any time.
The method further comprises a gyroscope 5, wherein the gyroscope 5 is installed in the moving vehicle 1, the moving vehicle 1 is a motor-driven moving trolley, and the gyroscope 5 and a motor of the moving vehicle 1 are electrically connected with a computer; the gyroscope 5 is used for sensing whether the mobile vehicle 1 is in a balanced state, and the computer adjusts the working state of the motor according to data measured by the gyroscope 5.
The gyroscope 5 is used for monitoring whether the moving vehicle 1 is in a balanced state or not, and if the gyroscope 5 detects that the moving vehicle 1 is in an unbalanced state, the computer immediately adjusts the working state of the motor, so that the moving vehicle 1 can quickly restore to be balanced.
The method further comprises an air pressure sensor, wherein the air pressure sensor is electrically connected with the computer and used for detecting the atmospheric pressure.
The function of setting up baroceptor is in order to monitor atmospheric pressure, rises suddenly when surveying environment humidity, and atmospheric pressure suddenly drops, then judges that there is thunderstorm rain to come, and locomotive 1 need take evasive measures immediately.
The method further comprises a liquid sensor, wherein the liquid sensor is arranged at the chassis of the mobile vehicle 1 and electrically connected with the computer, and the liquid sensor is used for sensing whether water exists below the chassis or not.
Because locomotive 1 probably runs into rainy weather at the during operation, in case rain meets ground ponding greatly, if ponding height reaches a take the altitude, need park immediately and ensure that electrical equipment can not damage, in case meet ground ponding and stretch to near the chassis, shut down all electrical equipment immediately, avoid burning out power equipment because of meeting the water short circuit.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields and are included in the scope of the present invention.
Claims (10)
1. The machine vision-based garbage sorting method is characterized by comprising a camera, a computer and a manipulator, wherein the camera is used for acquiring picture information, the manipulator is used for clamping cigarette butts, and the camera and the manipulator are both electrically connected with the computer; the computer stores the analysis picture information and the program for driving the manipulator to move.
2. The machine vision-based trash sorting method of claim 1, further comprising a moving cart on which the robot is mounted, the moving cart having a plurality of material frames, some of the material frames having water stored therein; the mechanical arm clamps the cigarette butts and then places the cigarette butts in the material frame.
3. The machine vision based trash sorting method of claim 2, further comprising a thermometer and an infrared thermometer, both of which are electrically connected to the computer; the thermometer is used for measuring the ambient temperature, the infrared thermometer is used for measuring the temperature of the cigarette butt, when the infrared thermometer measures that the temperature of the cigarette butt is higher than the ambient temperature, the cigarette butt is placed in the material frame containing water, and when the infrared thermometer measures that the temperature of the cigarette butt is equal to the ambient temperature, the cigarette butt is placed in the material frame containing no water.
4. The machine vision-based garbage sorting method according to claim 3, further comprising an electrically controlled adjusting nozzle, an electric pump and a water tank, wherein the water tank is arranged on the moving vehicle, the electrically controlled adjusting nozzle is mounted on the moving vehicle, and the electrically controlled nozzle is connected with the water tank through the electric pump and a pipeline; when the camera detects that the green belt has a cigarette end, the computer drives the electric pump and the electric control adjusting nozzle to spray the liquid in the water tank to the cigarette end.
5. The machine vision-based trash sorting method of claim 4, further comprising a hygrometer mounted on the moving cart, the hygrometer being for sensing the temperature of the environment, the hygrometer being electrically connected to the computer; when the ambient humidity is greater than 80% RH, the electrically controlled adjusting nozzle and the electric pump are always in a closed state.
6. The machine vision-based garbage sorting method according to claim 4, further comprising a gas sensor mounted on the robot arm, the gas sensor being used for sensing ammonia gas, and the liquid stored in the water tank having a sterilization effect.
7. The machine vision-based trash sorting method of claim 6, further comprising a GPS locator electrically connected to the computer, wherein the computer is provided with a wireless communication module.
8. The machine vision based trash sorting method of claim 7, further comprising a gyroscope mounted in a moving cart, wherein the moving cart is a motor-driven moving cart, and the gyroscope and the motor of the moving cart are electrically connected to the computer; the gyroscope is used for sensing whether the mobile vehicle is in a balanced state, and the computer adjusts the working state of the motor according to data measured by the gyroscope.
9. The machine vision-based trash sorting method of claim 7, further comprising an air pressure sensor electrically connected to the computer, the air pressure sensor for detecting atmospheric pressure.
10. The machine vision-based trash sorting method of claim 7, further comprising a liquid sensor mounted at a chassis of the moving cart, the liquid sensor being electrically connected to the computer, the liquid sensor sensing whether water is present under the chassis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110287351.5A CN113089553A (en) | 2021-03-17 | 2021-03-17 | Garbage sorting method based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110287351.5A CN113089553A (en) | 2021-03-17 | 2021-03-17 | Garbage sorting method based on machine vision |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765085A (en) * | 2012-07-13 | 2012-11-07 | 上海电力学院 | Green automatic cigarette end extinguishing and collecting device |
| CN105291973A (en) * | 2015-11-04 | 2016-02-03 | 长安大学 | Blade electric vehicle water-wading early warning system and method for underpass type interchange |
| CN109429999A (en) * | 2018-10-22 | 2019-03-08 | 张振花 | A kind of intelligent protecting method and its system based on pergola on the city road plantation |
| CN208914092U (en) * | 2018-11-09 | 2019-05-31 | 吉林大学 | A kind of intelligent garbage sorting machine people |
| CN111967330A (en) * | 2020-07-17 | 2020-11-20 | 苏州大晋影视传媒有限公司 | Intelligent city environment purification method and system based on unmanned aerial vehicle |
| CN111977230A (en) * | 2020-09-10 | 2020-11-24 | 武汉咻达环保科技有限公司 | Garbage classification throwing device |
-
2021
- 2021-03-17 CN CN202110287351.5A patent/CN113089553A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765085A (en) * | 2012-07-13 | 2012-11-07 | 上海电力学院 | Green automatic cigarette end extinguishing and collecting device |
| CN105291973A (en) * | 2015-11-04 | 2016-02-03 | 长安大学 | Blade electric vehicle water-wading early warning system and method for underpass type interchange |
| CN109429999A (en) * | 2018-10-22 | 2019-03-08 | 张振花 | A kind of intelligent protecting method and its system based on pergola on the city road plantation |
| CN208914092U (en) * | 2018-11-09 | 2019-05-31 | 吉林大学 | A kind of intelligent garbage sorting machine people |
| CN111967330A (en) * | 2020-07-17 | 2020-11-20 | 苏州大晋影视传媒有限公司 | Intelligent city environment purification method and system based on unmanned aerial vehicle |
| CN111977230A (en) * | 2020-09-10 | 2020-11-24 | 武汉咻达环保科技有限公司 | Garbage classification throwing device |
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Application publication date: 20210709 |
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