CN113156976A - Garbage classification trolley - Google Patents
Garbage classification trolley Download PDFInfo
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- CN113156976A CN113156976A CN202110541311.9A CN202110541311A CN113156976A CN 113156976 A CN113156976 A CN 113156976A CN 202110541311 A CN202110541311 A CN 202110541311A CN 113156976 A CN113156976 A CN 113156976A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 147
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 230000000007 visual effect Effects 0.000 claims abstract description 3
- 230000004888 barrier function Effects 0.000 claims description 6
- 239000002699 waste material Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/04—Refuse receptacles; Accessories therefor with removable inserts
- B65F1/06—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/001—Vehicles particularly adapted for collecting refuse for segregated refuse collecting, e.g. vehicles with several compartments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/144—Level detecting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
A garbage classification trolley comprises a circuit control part, wherein the circuit control part comprises a main control module, WiFi modules respectively connected with the main control module, and external equipment for communicating to obtain garbage names; the RGB gray scale tube module is used for enabling the trolley to track and run; the first camera module is used for providing a visual angle for driving and obstacle avoidance, and the second camera module is used for monitoring whether garbage is correctly thrown in; the steering engine module is used for opening a baffle of the garbage can; the motor module is used for driving the trolley to move; and the infrared geminate transistor starting module is used for sending a signal to control the switching state of the trolley. The garbage sorting device has an important effect on keeping the living environment clean and tidy, eliminating pollution caused by garbage disorder, assisting in household garbage sorting and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a garbage classification trolley.
Background
With the continuous development of social economy, the living standard of people is increasingly improved, but the continuous explosion of domestic garbage is brought. How to effectively collect, classify and treat a large amount of generated domestic garbage becomes an important problem to be solved by environmental protection work in recent years in various large and medium-sized cities. At present, to the rubbish in the resident's life, the processing mode of fixed point collection is adopted more, but under this kind of mode, often can appear because rubbish transports untimely rubbish that causes and spills over the phenomenon often, forms local environmental pollution, causes rubbish stink to permeate, has caused very big influence to aspects such as living comfort level. In addition, the current garbage classification consciousness of residents is still weak, the classification of garbage is not particularly clear, various kinds of garbage are mixed and thrown frequently, the burden is increased for the subsequent garbage treatment work, and a large amount of waste of manpower and material resources is caused.
Disclosure of Invention
In order to solve the defects in the background technology, the invention provides a garbage classification trolley, which has the following specific scheme:
the garbage classification trolley comprises a circuit control part, wherein the circuit control part comprises a main control module and a plurality of auxiliary control modules which are respectively connected with the main control module
The WiFi module is communicated with external equipment to acquire the garbage name;
the RGB gray scale tube module is used for enabling the trolley to track and run;
the first camera module is used for providing a visual angle for driving and obstacle avoidance;
the second camera module is used for monitoring whether the garbage is correctly thrown in;
the steering engine module is used for opening a baffle of the garbage can;
the motor module is used for driving the trolley to move;
and the infrared geminate transistor starting module is used for sending a signal to control the switching state of the trolley.
Specifically, the master control module comprises an STM32 chip.
Specifically, the model of the WiFi module main control chip is esp8266, and the model of the steering engine module main control chip is S3010.
Specifically speaking, still include the APP module, the information interaction is realized through WIFI module and host system to the APP module based on the intelligent pronunciation interactive platform in Ali.
Specifically, the circuit control part is arranged at the bottom of the garbage can.
Specifically, the bottom of the garbage can is in a slope shape, a baffle is arranged on one side close to the slope bottom, and the baffle is controlled to overturn through a steering engine module.
Specifically, the circuit control portion further includes a circuit box for stain prevention.
Specifically, the trolley works as follows:
s1, the trolley is in a garbage receiving state, and the trolley obtains the name of garbage through the APP module while receiving the garbage; the APP module sends a voice command to enable the trolley to distinguish garbage types, and the corresponding command is sent to the WiFi module through the MQTT network protocol;
s2, after the main control module receives the command, if the command identifies that the garbage can be recycled, executing the program 1, driving the garbage can to the position corresponding to the gray-scale pipe module, otherwise, executing the program 2, stopping the garbage can, and meanwhile, conveying the garbage by the first camera module real-time transmission robot;
s3, after the robot reaches the designated position, the steering wheel module is started, garbage is thrown into the corresponding garbage can, meanwhile, the ultrasonic detection module on the garbage can detect whether the garbage is thrown successfully or not in real time, and can detect whether the garbage can is full or not, if the garbage can exceeds a specific position, a sound alarm can be given out, the state of the garbage can of a user is informed through the APP module, and the user is reminded of timely replacing the garbage bag.
Specifically, the execution program 1 specifically includes:
SA21, controlling the trolley to return, then judging whether a first camera module judges whether a barrier exists, if so, bypassing the recyclable garbage can, and if not, continuing to move to the recyclable garbage can;
SA22, detecting whether the garbage bin is full through the ultrasonic module, and if so, sending out an early warning by the circuit control part to remind a user to replace a garbage bag; when the garbage bin is not full, the garbage is put into the garbage bin. And whether the garbage is correctly thrown into the garbage can or not is judged through the second camera module.
Specifically, the execution program 2 specifically includes:
SB21, controlling the trolley to return, then judging whether a barrier exists by the first judgment camera module, if so, continuing to move forwards until the garbage can is touched, judging whether the garbage can is unrecoverable, if so, entering the step SB22, and if not, continuing to move forwards until the next garbage can is touched for continuous judgment until the step SB22 is entered;
SB22, detecting whether the garbage bin is full through the ultrasonic module, if so, sending out an early warning by the circuit control part to remind a user to replace the garbage bag; when the garbage bin is not full, the garbage is put into the garbage bin.
The invention has the beneficial effects that:
(1) the garbage sorting device has an important effect on keeping the living environment clean and tidy, eliminating pollution caused by garbage disorder, assisting in household garbage sorting and the like.
(2) The dolly uses host system as core control module, utilizes RGB grey scale pipe to carry out the tracking and traveles, and the operation of angle and motor is beaten to the program control steering wheel, thereby recycles wiFi module and APP and carries out the observation that communicates realization control and camera image.
Drawings
Fig. 1 is a structural diagram of a garbage classification trolley provided by the invention.
Fig. 2 is an overall flow chart of the operation of the garbage classification trolley.
Fig. 3 is a schematic structural view of the garbage sorting cart.
Fig. 4 is a flowchart of the execution of the program 1.
Fig. 5 is a flowchart of the execution of the program 2.
In the figure:
1. a main control module; 2. a WiFi module; 3. a power supply module; 4. an RGB grayscale tube module; 5. a first camera module; 6. a steering engine module; 7. a motor module; 8. an infrared geminate transistor starting module; 9. an APP module; 10. the bottom of the garbage can; 11. a circuit control section; 12. and a baffle plate.
Detailed Description
As shown in fig. 1, a waste classification dolly includes circuit control part 11, circuit control part 11 includes host system 1, still includes wiFi module 2, power module 3, RGB grey scale pipe module 4, first camera module 5, second camera module, steering wheel module 6, motor module 7, infrared geminate transistor start module 8 that are connected with host system 1 respectively, WIFI module 2 and APP module 9 wireless communication. Still be provided with ultrasonic detection module on the garbage bin, be connected with host system 1 through WIFI module 2 for whether can continue to deposit rubbish in the inspection garbage bin. The first camera module 5 and the second camera module are openmv cameras.
In the scheme, the main control module 1 comprises an STM32 chip, the model of the main control chip of the WiFi module 2 is esp8266, the RGB gray scale tube module 4 is used for tracing and driving, and the model of the main control chip of the steering engine module 6 is S3010 and is used for opening the baffle 12 of the garbage can. The motor is used for driving the trolley to move. As shown in fig. 2, the APP module 9 may implement speech recognition based on a mobile phone and a computer of an ali intelligent speech interaction platform.
As shown in fig. 3, the circuit control part 11 is arranged at the bottom 10 of the garbage can, the bottom 10 of the garbage can is in a slope shape, a baffle 12 is arranged at one side close to the slope bottom, the baffle 12 is controlled by the steering engine module 6 to turn over, when the garbage needs to be discharged, the baffle 12 is opened, and the garbage rolls to the corresponding garbage can from the slope bottom. The circuit is arranged at the bottom 10 of the garbage can, so that garbage can be prevented from polluting the circuit control part 11, and the gravity center of the trolley is lowered. Preferably, the circuit control section 11 further includes a circuit box for preventing contamination.
As shown in fig. 2, the system works as follows:
s1, the trolley is in a garbage receiving state, and the trolley obtains the name of garbage through the APP module 9 while receiving the garbage; the APP module 9 sends a voice command to enable the trolley to distinguish garbage types, and sends a corresponding command to the WiFi module 2 through an MQTT network protocol;
s2, after the main control module 1 receives the command, if the command identifies that the garbage can be recycled, executing the program 1, driving the garbage can to the position corresponding to the gray-scale tube module, otherwise, executing the program 2, stopping the garbage can, and meanwhile, transmitting the garbage conveying process of the robot in real time by the first camera module 5;
specifically, as shown in fig. 4, the specific flow of executing the program 1 is as follows:
SA21, controlling the trolley to return, then judging whether a barrier exists or not by the first camera module 5, if so, bypassing the recyclable garbage can, and if not, continuing to move to the recyclable garbage can;
SA22, detecting whether the garbage bin is full through the ultrasonic module, and if so, sending out an early warning by the circuit control part to remind a user to replace a garbage bag; when the garbage bin is not full, the garbage is put into the garbage bin.
As shown in fig. 5, the specific flow of executing the program 2 is as follows:
SB21, controlling the trolley to return, then judging whether a barrier exists or not by the first camera module 5, if so, continuing to move forwards until the garbage can is touched, judging whether the garbage can is a non-recyclable garbage can or not, if so, entering the step SB22, and if not, continuing to move forwards until the next garbage can is touched, and continuing to judge until the step SB22 is entered;
SB22, detecting whether the garbage bin is full through the ultrasonic module, if so, sending out an early warning by the circuit control part to remind a user to replace the garbage bag; when the garbage bin is not full, the garbage is put into the garbage bin.
S3, after the robot reaches the appointed position, starting steering wheel module 6, throw rubbish to corresponding garbage bin, ultrasonic detection module on the garbage bin can real-time detection rubbish throw successfully simultaneously, and can detect whether the garbage bin is full, if exceed a specific position, can send audible alarm and inform the state of user' S garbage bin through APP module 9, remind the user in time to change the disposal bag.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The garbage classification trolley is characterized by comprising a circuit control part (11), wherein the circuit control part (11) comprises a main control module (1) and further comprises a circuit control part connected with the main control module (1) respectively
The WiFi module (2) is communicated with external equipment to acquire the garbage name;
the RGB gray scale tube module (4) is used for enabling the trolley to track and run;
the first camera module (5) is used for providing a visual angle for driving and obstacle avoidance;
the second camera module is used for monitoring whether the garbage is correctly thrown in;
the steering engine module (6) is used for opening a baffle (12) of the garbage can;
the motor module (7) is used for driving the trolley to move;
and the infrared geminate transistor starting module (8) is used for sending a signal to control the switching state of the trolley.
2. A refuse sorting cart according to claim 1, characterized in that the main control module (1) comprises an STM32 chip.
3. The waste classification trolley as claimed in claim 1, wherein the WiFi module (2) main control chip is of the type esp8266, and the steering engine module (6) main control chip is of the type S3010.
4. The waste classification trolley as claimed in claim 1, further comprising an APP module (9), wherein the APP module (9) is based on an Ali intelligent voice interaction platform and realizes information interaction with the main control module (1) through a WIFI module.
5. A refuse sorting trolley according to claim 1, characterised in that the circuit control part (11) is arranged in the bottom (10) of the refuse can.
6. The garbage classification trolley as claimed in claim 1, wherein the bottom (10) of the garbage can is slope-shaped, a baffle (12) is arranged on one side close to the slope bottom, and the turning of the baffle (12) is controlled by the steering engine module (6).
7. A refuse sorting trolley according to any one of claims 1-3, characterized in that the circuit control part (11) further comprises a circuit box for anti-soiling.
8. A refuse sorting trolley according to any one of claims 1-3, characterized in that the trolley operates as follows:
s1, the trolley is in a garbage receiving state, and the trolley receives garbage and obtains the name of the garbage through the APP module (9); the APP module (9) sends a voice command to enable the trolley to distinguish garbage types, and sends a corresponding command to the WiFi module (2) through an MQTT network protocol;
s2, after the main control module (1) receives the command, if the command identifies that the garbage can be recycled, executing the program 1, driving the garbage can to the position corresponding to the gray-scale tube module, otherwise, executing the program 2, stopping the garbage can, and meanwhile, transmitting the garbage conveying process of the robot in real time by the second camera module;
s3, after the robot reaches the designated position, starting a steering engine module (6), throwing rubbish into a corresponding garbage can, simultaneously, detecting whether rubbish is thrown successfully or not in real time by an ultrasonic detection module on the garbage can, detecting whether the garbage can is full or not, if exceeding a specific position, giving out sound alarm and informing the state of a user garbage can through an APP module (9), and reminding a user of timely replacing a garbage bag.
9. The waste sorting cart according to claim 8, wherein the execution program 1 is specifically:
SA21, controlling the trolley to return, then judging whether a first camera module judges whether a barrier exists, if so, bypassing the recyclable garbage can, and if not, continuing to move to the recyclable garbage can;
SA22, detecting whether the garbage bin is full through the ultrasonic module, and if so, sending an early warning by the circuit control part (11) to remind a user to replace a garbage bag; when the garbage bin is not full, the garbage is put into the garbage bin.
10. The waste sorting cart according to claim 8, wherein the execution program 2 is specifically:
SB21, controlling the trolley to return, then judging whether a barrier exists or not by the first camera module, if so, continuing to move forwards until the first camera module meets the garbage can, judging whether the first camera module is a non-recyclable garbage can or not, if so, entering the step SB22, and if not, continuing to move forwards until the first camera module meets the next garbage can, continuing to judge until the next garbage can is met, and entering the step SB 22;
SB22, detecting whether the garbage bin is full through the ultrasonic module, if so, sending out an early warning by the circuit control part (11) to remind a user to replace the garbage bag; when the garbage bin is not full, the garbage is placed into the garbage bin, and whether the garbage is correctly placed into the garbage bin or not is judged through the second camera module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110541311.9A CN113156976A (en) | 2021-05-18 | 2021-05-18 | Garbage classification trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110541311.9A CN113156976A (en) | 2021-05-18 | 2021-05-18 | Garbage classification trolley |
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| CN113156976A true CN113156976A (en) | 2021-07-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114185284A (en) * | 2021-10-20 | 2022-03-15 | 福建江夏学院 | Internet of things reconnaissance system based on STM32 and control method thereof |
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| CN208172605U (en) * | 2018-06-07 | 2018-11-30 | 安徽新华学院 | A kind of barrier sensing device of wheeled robot |
| CN109460028A (en) * | 2018-11-23 | 2019-03-12 | 珠海格力电器股份有限公司 | The control device and its method and intelligent garbage bin of a kind of intelligent garbage bin |
| CN110076782A (en) * | 2019-06-11 | 2019-08-02 | 长春财经学院 | A kind of intelligence control garbage classification machine people of computer vision target identification |
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2021
- 2021-05-18 CN CN202110541311.9A patent/CN113156976A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472752A (en) * | 2017-09-21 | 2017-12-15 | 左勤 | A kind of categorized consumer waste is collected and the method and system of intelligence direct |
| CN208172605U (en) * | 2018-06-07 | 2018-11-30 | 安徽新华学院 | A kind of barrier sensing device of wheeled robot |
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Application publication date: 20210723 |