CN114013868B - Garbage recycling equipment and garbage recycling method - Google Patents
Garbage recycling equipment and garbage recycling method Download PDFInfo
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- CN114013868B CN114013868B CN202111228009.4A CN202111228009A CN114013868B CN 114013868 B CN114013868 B CN 114013868B CN 202111228009 A CN202111228009 A CN 202111228009A CN 114013868 B CN114013868 B CN 114013868B
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 322
- 238000004064 recycling Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 85
- 238000012545 processing Methods 0.000 claims abstract description 81
- 238000004891 communication Methods 0.000 claims abstract description 61
- 239000002699 waste material Substances 0.000 claims description 19
- 239000007788 liquid Substances 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 9
- 239000002086 nanomaterial Substances 0.000 claims description 8
- 239000002781 deodorant agent Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000010354 integration Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 239000010865 sewage Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000001877 deodorizing effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000855 fermentation Methods 0.000 description 1
- 230000004151 fermentation Effects 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing 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
- B65F2210/182—Volume determining means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/184—Weighing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention relates to garbage recycling equipment and a garbage recycling method, and belongs to the technical field of garbage recycling. Is used for supervising and standardizing the garbage throwing behavior of the user. The garbage recycling device comprises a closed barrel body, and a throwing opening is formed in one side of the barrel body. The door is arranged at the throwing opening in an openable way. The cover plate can be opened and closed and is covered in the barrel body, and the cover plate is positioned below the throwing opening. The volume measurement module is arranged in the barrel body and is positioned at the position above the cover plate. The weight measurement module is arranged in the barrel body and is close to the position of the cover plate. The image recognition module is arranged in the barrel body and located at the position above the cover plate. The bag breaking component is arranged above the cover plate. The communication module is simultaneously in communication connection with the volume measurement module, the weight measurement module and the image recognition module. The processing module is in communication connection with the communication module, obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets the preset volume-weight ratio.
Description
Technical Field
The invention relates to the technical field of garbage recovery, in particular to garbage recovery equipment and a garbage recovery method.
Background
Currently, garbage classification has become a social hotspot. The supervisor improves the consciousness of the garbage classification treatment of the users (or residents) through propaganda on one hand, and on the other hand, places garbage recycling equipment for classified delivery in a garbage delivery area so as to realize garbage classification in the delivery stage.
The garbage recycling equipment provided by the prior art only marks garbage types, such as kitchen garbage, recyclable garbage and the like. And the user puts the garbage into the garbage recycling equipment matched with the garbage recycling equipment according to the judgment of the user. However, before the current garbage is packed and put in, there are often situations that cannot be reasonably classified, such as mixed packing of dry garbage and wet garbage. The existing garbage recycling equipment has no detection capability on garbage packed in a mixed manner. Based on the method, the misplaced information cannot be fed back to the garbage thrower and the supervision department in real time, so that the garbage throwing behavior of the user is not regulated.
Disclosure of Invention
The invention aims to provide garbage recycling equipment and a garbage recycling method, which are used for supervising and standardizing garbage throwing behaviors of users under the condition of monitoring whether garbage classification is reasonable or not in real time.
In a first aspect, the invention provides a waste recycling apparatus for recycling waste. The garbage collection apparatus includes:
the barrel body is a closed barrel body, and a throwing opening is formed in one side of the barrel body.
The door is arranged at the throwing opening in a mode that the door can be opened and closed.
The cover plate is capable of being opened and closed and is covered in the barrel body, and the cover plate is positioned below the throwing opening.
The volume measurement module is arranged in the barrel body and positioned above the cover plate and is used for obtaining the volume information of the garbage bag.
And the weight measurement module is arranged in the barrel body and close to the cover plate and is used for obtaining the weight information of the garbage bag.
The image recognition module is arranged in the barrel body and positioned above the cover plate and used for obtaining classification quality information of garbage in the garbage bag.
The bag breaking assembly is arranged above the cover plate and used for controllably tearing the garbage bag.
And the communication module is simultaneously in communication connection with the volume measurement module, the weight measurement module and the image recognition module and is used for receiving and transmitting the volume information, the weight information and the classification quality information.
The processing module is in communication connection with the communication module, obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets the preset volume-weight ratio. The bag breaking assembly tears the garbage bag under the control of the bag breaking instruction, and the cover plate is opened under the control of the cover opening instruction so as to throw the bag breaking garbage into the bin. The processing module is also used for generating garbage classification integral under the condition of obtaining the classification quality information.
Under the condition of adopting the technical scheme, when a user needs to deliver garbage into the barrel body, the door is opened, and at the moment, the cover plate is in a closed state. And placing the garbage bag on the cover plate, acquiring the volume information of the garbage bag by using a volume measurement module, and acquiring the weight information of the garbage bag by using a weight measurement module. The volume information and the weight information are sent to the processing module through the communication module. The processing module is pre-stored with preset volume-weight ratio of different types of garbage (including dry garbage and/or wet garbage). The processing module is also internally provided with a calculation model for calculating the volume-weight ratio of the garbage bag, and the volume-weight ratio of the garbage bag which is put in at present is calculated by utilizing the calculation model based on the volume information and the weight information. The processing module can be internally provided with a comparison model, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio of the currently placed garbage bag meets the preset volume-weight ratio. The bag breaking command and the cover opening command are respectively sent to the bag breaking assembly and a servo motor for controlling the cover plate to open and close through the communication module. The bag breaking assembly tears the garbage bag under the control of the bag breaking instruction. At this time, the image recognition module is used to obtain the classification quality information of the garbage in the garbage bag. On the basis, for example, the servo motor opens the cover plate under the control of the cover opening instruction so as to throw the garbage after bag breaking into the barrel. The classification quality information of the garbage can also be sent to the processing module through the communication module, and the processing module generates garbage classification integral. The garbage classification score can be processed in various ways, and can be transmitted to a distributor, a supervisor, or the like.
According to the application process, before the garbage is put into the bin body, the garbage can firstly stays on the cover plate for a certain time, the type of the garbage contained in the garbage bag is pre-judged under the condition of determining the volume-weight ratio, and the operation of putting the garbage bag into the bin is started under the condition that the type of the garbage is identical to the type of the garbage which can be contained in the garbage bin. It can be seen that the pre-judgment can be performed before the garbage bag containing garbage is put into the bin, so that the garbage bag is prevented from being wrongly put into the garbage bin from the source. In addition, the garbage is pre-judged by utilizing the volume-weight ratio, and the method has the advantages of convenience in implementation, low cost and the like. In practical application, the classification quality information of the garbage identified by the image identification module can be fed back to the processing module, and the misplaced information is fed back to the thrower and the supervision department under the condition that the processing module judges that the garbage is misplaced, so that the garbage throwing behavior of a user is supported and standardized. Under the condition that the processing module judges that garbage is correctly thrown, exciting integral information is fed back to the thrower and the supervision department, so that the aim of positively exciting the thrower is fulfilled.
As one implementation, the volume measurement module is at least one of an infrared measurement module, a laser measurement module, or a vision measurement module.
As an implementation, in the case that the volume measurement module is an infrared measurement module, the infrared measurement module includes an infrared detector and a laser detector, both of which are disposed in the tub and above the cover plate. The infrared detector is used for detecting infrared energy on the cover plate carrying the garbage bag so as to obtain infrared energy distribution on the cover plate; the laser detector is used to measure the maximum cross section of the trash bag in the horizontal direction. The infrared detector and the laser detector are both in communication connection with the communication module. The communication module is also used for sending the infrared energy distribution and the maximum section information to the processing module, and the processing module is used for obtaining an effective section of which the corresponding infrared energy variation in the maximum section is larger than a first threshold value based on the infrared energy distribution and the maximum section and obtaining the volume information of the garbage bag based on the effective section and the actual height of the garbage bag.
As one implementation, in the case where the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser rangefinder. The monocular camera and the laser range finder are both arranged in the barrel body and are positioned above the cover plate. The monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view; the laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area, and the monocular camera and the laser range finder are both in communication connection with the communication module. The communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module pre-stores the acquisition visual angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition view angle and the minimum circumscribed rectangle; the processing module is also used for obtaining the volume information of the garbage bag based on the length, the width and the height of the garbage bag.
As one implementation, in the case where the volume measurement module is a laser measurement module, the laser measurement module includes a laser sensor disposed in the tub and above the cover plate. The laser sensor is in communication with the communication module. The trash bag is divided into a plurality of measurement areas. The laser sensor is used for obtaining the vertical distance H between the laser sensor and the cover plate, rotating the laser sensor to enable an included angle alpha to be formed between the laser sensor and the vertical line, and measuring the measuring distance L of the laser sensor at the center point value of the stacking surface of the garbage bag in each measuring area. The processing module is used for determining the stacking height hi=h-l×cos α in each measurement area based on the vertical distance H, the included angle α and the measurement distance L. The processing module is further configured to perform smoothing processing on each stacking height to obtain a smoothed stacking height hix corresponding to each measurement area. The processing module is also used for pre-storing the length and the width corresponding to each measuring area. The processing module is also used for obtaining the volume of each measuring area based on the smooth stacking height, length and width, and obtaining the volume information of the garbage bags based on the volume of each measuring area.
As one implementation, in the case where the volume measurement module is a vision measurement module, the vision measurement module includes a binocular camera disposed in the tub and directly above the cover plate. The binocular camera is in communication connection with the communication module. The binocular camera is used for acquiring an original image of the garbage bag and performing binocular correction. The communication module is used for sending the original image to the processing module, and the processing module obtains a central horizontal stripe disparity map and fills holes based on the original image, and obtains a central vertical stripe disparity map and fills holes based on the original image. And detecting parallax jump areas according to the horizontal stripe parallax map and the vertical stripe parallax map, and obtaining four parallax edge point sets. And 4 linear equations are fitted on the basis of the 4 parallax edge point sets, so that four line segments are obtained. And rotating and adjusting two opposite sides around the center of each line segment so that the opposite sides are parallel. And calculating an average value serving as the average parallax between the garbage bag and the binocular camera based on parallax values existing in the four line segments, and obtaining the distance from the garbage bag to the binocular camera according to a parallax-distance calculation formula, thereby obtaining the height of the garbage bag. And calculating 3D linear equations of the four line segments. And calculating the distance between the two pairs of parallel changes according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
As an implementation manner, the garbage recycling device further comprises a spray head, a pipeline and a liquid storage tank, wherein the spray head is arranged above the cover plate and is used for spraying deodorant to the cover plate; the pipeline penetrates through the side wall of the barrel body, the inlet of the pipeline is communicated with the outlet of the liquid storage tank, and the outlet of the pipeline is communicated with the inlet of the spray head.
As one implementation, the garbage collection device further comprises a pushing component, and the pushing component is arranged on the cover plate; the processing module generates a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing component pushes the garbage bag to a position close to the door under the control of pushing instructions.
As an implementation manner, the garbage recycling device further comprises an alarm, and the processing module generates an alarm signal when the volume-weight ratio does not meet the preset volume-weight ratio. And the alarm gives an alarm after receiving the alarm signal.
As one implementation way, a pump is arranged in the liquid storage tank, and an outlet of the pump is communicated with an inlet of the pipeline; and/or a valve is arranged on the pipeline.
As one implementation mode, the door is any one of an inward push door, an outward pull door, a single door or a double door; or alternatively, the first and second heat exchangers may be,
Under the condition that the door is an inward pushing type door or an outward pulling type door, a first rotating shaft is rotatably arranged on any wall of the barrel body along the length direction of the wall, the inward pushing type door or the outward pulling type door is driven by the first rotating shaft to realize opening and closing, and the first rotating shaft is driven by at least one first motor.
As an implementation manner, two opposite ends of the cover plate are respectively connected with a barrel wall of the barrel body through a second rotating shaft, and the second rotating shaft is driven by a second motor.
As one implementation, the cover plate comprises a first cover plate and a second cover plate which can be split; one end of the first cover plate is rotatably connected to the barrel wall of the barrel body, and one end of the second cover plate is rotatably connected to the other barrel wall of the barrel body.
As an implementation way, the upper surface of the cover plate is also provided with a brush; when the cover plate is in a closed state, the brush can move on the cover plate.
As an implementation mode, the hairbrush is borne by the bearing rod, the bearing rod is driven by the driving belt, the driving belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is driven by the third motor.
As an implementation mode, an infrared distance sensor is arranged at the position, close to the throwing opening, of the barrel body and is used for detecting the height of garbage in the barrel body.
As one implementation, the surface of the cover plate is coated with a nano material layer; and/or a lighting lamp is arranged in the barrel body and above the cover plate; and/or the weight measurement module is a weight sensor; and/or the image recognition module is a CCD camera.
In a second aspect, the present invention also provides a garbage recycling method, comprising the steps of:
opening the door, and putting the garbage bag on the cover plate under the condition that the cover plate is determined to be closed;
acquiring volume information of the garbage bag by using a volume measurement module;
acquiring weight information of the garbage bag by using a weight measurement module;
The method comprises the steps that the communication module is used for sending volume information and weight information to the processing module, the processing module stores preset volume-weight ratio, and the volume-weight ratio of the garbage bag is obtained based on the volume information and the weight information; under the condition that the volume-weight ratio meets the preset volume-weight ratio, generating a bag breaking instruction and a cover opening instruction;
The bag breaking assembly tears the garbage bag under the control of the bag breaking instruction; acquiring classification quality information of garbage in the garbage bag by using an image recognition module; the processing module is also used for generating garbage classification integral under the condition of obtaining the classification quality information; the cover plate is opened under the control of the cover opening instruction so as to throw the bag-breaking garbage into the bin.
As an implementation manner, the garbage collection method further includes:
Generating a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing component pushes the garbage bag to a position close to the door under the control of pushing instructions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
Fig. 1 is a schematic structural diagram of a garbage recycling device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of data interaction in a garbage collection method according to an embodiment of the present invention;
Fig. 3 is a flowchart of a garbage collection method according to an embodiment of the present invention.
Reference numerals:
10-barrel body, 11-door, 12-cover plate,
13-A volume measurement module, 14-a weight measurement module 15-an image recognition module,
16-Pushing component, 160-pushing plate, 170-spray head,
171-Pipeline, 172-liquid storage tank, 110-first motor,
120-A second motor, 18-a hairbrush 19-an illuminating lamp.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Aiming at the technical problems of the garbage recycling equipment provided by the prior art, the embodiment of the invention provides the garbage recycling equipment. Fig. 1 shows a schematic structural diagram of a garbage recycling apparatus according to an embodiment of the present invention. As shown in fig. 1, the garbage recycling apparatus is used for recycling garbage. The garbage collection apparatus includes: the barrel body 10, the barrel body 10 is a closed barrel body, and one side of the barrel body 10 is provided with a throwing opening. The door 11, the setting that door 11 can open and shut is put in the mouth. The cover plate 12, the cover plate 12 can be opened and closed and is covered in the barrel body 10, and the cover plate 12 is positioned below the throwing opening. And the volume measurement module 13 is arranged in the barrel body 10 and positioned above the cover plate 12, and is used for obtaining the volume information of the garbage bag. The weight measuring module 14, the weight measuring module 14 is disposed in the barrel body and near the cover plate 12, for obtaining the weight information of the garbage bag. The image recognition module 15, the image recognition module 15 is arranged at the position of the barrel body 10 above the cover plate 12, and is used for obtaining the classification quality information of the garbage in the garbage bag. And a bag breaking assembly arranged above the cover plate 12 for controllably tearing the garbage bag. The communication module is simultaneously in communication connection with the volume measurement module 13, the weight measurement module 14 and the image recognition module 15 and is used for receiving and sending volume information, weight information and classification quality information. The processing module is in communication connection with the communication module and obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information; under the condition that the volume-weight ratio meets the preset volume-weight ratio, generating a bag breaking instruction and a cover opening instruction; the bag breaking assembly tears the garbage bag under the control of a bag breaking instruction, and the cover plate 12 is opened under the control of a cover opening instruction so as to throw the bag breaking garbage into the bin; the processing module is also used for generating garbage classification integral under the condition of obtaining the classification quality information.
Referring to fig. 1, the tub 10 may be any of the structures of the tub 10 provided in the prior art, such as a plastic tub or a metal tub having a surface (it should be understood that the surface herein includes an inner surface and an outer surface) coated with a corrosion preventing material layer, and the like, which is not particularly limited herein.
Referring to fig. 1, the cover 12 is various in material, and is not particularly limited herein. For example, the material of the cover 12 may be the same as or different from that of the tub 10. As an example, the cover plate 12 is a plastic cover plate 12 or a cover plate 12 whose surface is coated with a nano-material layer. At this time, since the nanomaterial layer has superior oleophobic and hydrophobic properties, when sewage or oil flows out from the garbage placed on the cover plate 12, the sewage or oil can be effectively reduced to erode the cover plate 12. Based on this, the service life of the cover plate 12 can be improved. In addition, the nano material layer has high hardness, so that harder substances can be effectively resisted to be pressed into the surface of the nano material layer, and the probability of deformation of the surface of the nano material layer is reduced. Furthermore, the cover plate 12 has the advantages of easy cleaning, adhesion prevention and ice prevention because the nanomaterial layer has excellent abrasion resistance and smoothness.
Referring to fig. 1, the cover plate 12 is normally in a normally closed state, and when the garbage in the barrel body 10 generates an odor due to fermentation, the normally closed cover plate 12 can effectively reduce the leakage of the odor, thereby improving the environmental friendliness around the garbage throwing device. In addition, in the state that the cover plate 12 is normally closed, the risk that the garbage bag is directly put into the barrel body 10 without being pre-judged can be effectively avoided.
Referring to fig. 1, the door 11 is opened in various ways, and is not particularly limited herein. For example, the door 11 may be opened manually by a person who puts garbage into the container, and the door 11 may be closed again manually after the garbage bag is placed on the cover 12. For example, the door 11 may be automatically opened or closed by using an automatic door opening method, that is, an existing mature technology such as NFC technology, face recognition technology, code scanning authentication, etc.
Referring to fig. 1, the image recognition module 15 and the volume measurement module 13 may be directly fastened to the inner side of the top plate of the tub 10 by any one of bonding, welding, plugging, and the like. Of course, a mounting seat or a mounting arm may be fastened to the side of the top plate opposite to the cover plate 12 by any means such as bonding, welding or plugging. At this time, the image recognition module 15 and the volume measurement module 13 are fastened to the mount or the mount arm. The image recognition module 15 may be a CCD camera, etc., and the volume measurement module 13 may be various, and is not particularly limited herein, as described below. The weight measurement module 14 may be detachably disposed on the tub 10 and near the cover 12 in any of the above manners to facilitate obtaining weight information of the garbage bag placed on the cover 12. The weight measurement module 14 is a weight sensor or the like.
The application process of the garbage collection device and the beneficial effects generated in the application process provided by the embodiment of the invention will be described in detail below by taking a garbage throwing scene as an example.
Referring to fig. 1 and 2, when a user needs to deliver garbage into the tub 10, the door 11 is opened and the cover 12 is closed. The garbage bag is placed on the cover plate 12, the volume information of the garbage bag is acquired by the volume measuring module 13, and the weight information of the garbage bag is acquired by the weight measuring module 14. The volume information and the weight information are sent to the processing module through the communication module. The processing module is pre-stored with preset volume-weight ratios of different types of garbage. Different waste types include dry waste or wet waste. For example, the volume-weight ratio of the wet garbage is 630-780kg/m 3, when the garbage recycling device is a garbage recycling device for recycling the wet garbage, the value range of the specific volume-weight ratio of the wet garbage can be pre-stored in the processing module, and at the moment, the value range is the preset volume-weight ratio.
The processing module is also internally provided with a calculation model for calculating the volume-weight ratio of the garbage bag, and the volume-weight ratio of the garbage bag which is put in at present is calculated by utilizing the calculation model based on the volume information and the weight information. The processing module can be internally provided with a comparison model, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio of the currently placed garbage bag meets the preset volume-weight ratio. For example, when the volume-weight ratio of the garbage bag obtained by the calculation module is 650 kg/m 3, the processing module generates a bag-breaking instruction and a cover-opening instruction. The bag breaking command and the cover opening command are respectively sent to the bag breaking assembly and a servo motor for controlling the opening and closing of the cover plate 12 through the communication module. The bag breaking assembly tears the garbage bag under the control of the bag breaking instruction. At this time, the image recognition module 15 is used to acquire classification quality information of the garbage in the garbage bag. On the basis, for example, the servo motor opens the cover plate 12 under the control of the cover opening command so as to throw the garbage after bag breaking into the barrel. The classification quality information of the garbage can also be sent to the processing module through the communication module, and the processing module generates garbage classification integral. The garbage classification score can be processed in various ways, and can be transmitted to a distributor, a supervisor, or the like.
As can be seen from the above application process, before the garbage is put into the bin body 10, the garbage can stay on the cover plate 12 for a certain time, the type of the garbage contained in the garbage bag is pre-judged under the condition of determining the volume-weight ratio, and the operation of putting the garbage bag into the bin is started under the condition that the type of the garbage is the same as the type of the garbage which can be contained in the garbage bin. For after placing the disposal bag on apron 12, directly carry out the broken bag back, utilize image recognition module 15 to acquire the classification quality information of rubbish, judge in advance before the disposal bag that splendid attire has rubbish is put into the bucket to avoid the disposal bag to put into the garbage bin by mistake from the source, in order to improve the accuracy of rubbish classification. In addition, the garbage is pre-judged by utilizing the volume-weight ratio, and bag breaking treatment is not needed for garbage bags during pre-judging, so that the problems of sewage outflow and odor diffusion caused by bag breaking treatment can be effectively avoided when the garbage recycling equipment is used for recycling wet garbage. Besides, the method has the advantages of convenience in implementation, low cost, high speed and the like. In practical application, the classification quality information of the garbage identified by the image identification module 15 can be fed back to the processing module, and the misplaced information is fed back to the dispenser and the supervision department 11 under the condition that the processing module judges that the garbage is misplaced, so that the garbage throwing behavior of the user is supported and standardized. Under the condition that the processing module judges that garbage is correctly thrown, exciting integral information is fed back to the thrower and the supervision department 11, so that the aim of positively exciting the thrower is fulfilled.
Further explanation is needed: the type information of the garbage identified by the image identification module 15 may be uploaded to a processor in communication with the image identification module 15 in a wired or wireless manner, and if the processor determines that the garbage is put in error, the processor may generate garbage misput information, and the processor sends the garbage misput information to the presenter or the supervisor. It should be appreciated that before the delivery of the trash, the presenter may install the trash delivery module on the handheld terminal and may register with the trash delivery module with personal information to generate the presenter's identification code. When the garbage throwing is carried out by the throwing person, the personal information of the throwing person can be obtained by utilizing the garbage throwing device so as to correlate the person to be thrown, the garbage thrown and the garbage throwing device. At this time, when the garbage classification put in by the presenter is wrong, the presenter can be traced back.
As one possible implementation, the volume measurement module is at least one of an infrared measurement module, a laser measurement module, or a vision measurement module.
As an example, the volume measurement module is an infrared measurement module, and at this time, an infrared detector and a laser detector of the infrared measurement module are both disposed in the tub and above the cover plate. The infrared detector is used for detecting infrared energy on the cover plate carrying the garbage bag so as to obtain infrared energy distribution on the cover plate. The laser detector is used to measure the maximum cross section of the trash bag in the horizontal direction. The infrared detector and the laser detector are both in communication connection with the communication module. The communication module is also used for sending the infrared energy distribution and the maximum section information to the processing module, and the processing module is used for obtaining an effective section of which the corresponding infrared energy is larger than a first threshold value in the maximum section based on the infrared energy distribution and the maximum section and obtaining the volume information of the garbage bag based on the effective section and the actual height of the garbage bag.
Under the condition of adopting the technical scheme, when the garbage contained in the garbage bag is wet garbage, the heat radiation of the infrared rays generated by the wet garbage to the cover plate is different from the heat radiation of the infrared rays generated by the garbage bag to the cover plate because the materials of the wet garbage and the garbage bag are different, and at the moment, the heat radiation (infrared energy) of the corresponding radiation of the juncture of the wet garbage and the garbage bag on the cover plate can change. Based on this, the accuracy of the effective area determined using the infrared energy variation is higher, so that the correspondence and consistency of the volume information determined based on the effective area and the actual height of the garbage bag with the volume of the actual garbage bag is higher. In this case, the accuracy of the finally determined volumetric weight ratio can be improved.
As a second example, in the case where the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser rangefinder. The monocular camera and the laser range finder are both arranged in the barrel body and are positioned above the cover plate. The monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate, and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view. The laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area, and the monocular camera and the laser range finder are both in communication connection with the communication module. The communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module pre-stores the acquisition visual angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition view angle and the minimum circumscribed rectangle. The processing module is also used for obtaining the volume information of the garbage bag based on the length, the width and the height of the garbage bag.
As a third example, in the case where the volume measurement module is a laser measurement module, the laser measurement module includes a laser sensor disposed in the tub and above the cover plate. The laser sensor is in communication with the communication module. The trash bag is divided into a plurality of measurement areas. The laser sensor is used for obtaining the vertical distance H between the laser sensor and the cover plate, rotating the laser sensor to enable an included angle alpha to be formed between the laser sensor and the vertical line, and measuring the measuring distance L of the laser sensor at the center point value of the stacking surface of the garbage bag in each measuring area. The processing module is used for determining the stacking height hi=h-l×cos α in each measurement area based on the vertical distance H, the included angle α and the measurement distance L. The processing module is further configured to perform smoothing processing on each stacking height to obtain a smoothed stacking height hix corresponding to each measurement area. The processing module is also used for pre-storing the length and the width corresponding to each measuring area. The processing module is also used for obtaining the volume of each measuring area based on the smooth stacking height, length and width, and obtaining the volume information of the garbage bags based on the volume of each measuring area.
As a fourth example, in the case where the volume measurement module is a vision measurement module, the vision measurement module includes a binocular camera disposed within the tub and directly above the cover plate. The binocular camera is in communication connection with the communication module. The binocular camera is used for acquiring an original image of the garbage bag and performing binocular correction. The communication module is used for sending the original image to the processing module, and the processing module obtains a central horizontal stripe disparity map and fills holes based on the original image, and obtains a central vertical stripe disparity map and fills holes based on the original image. And detecting parallax jump areas according to the horizontal stripe parallax map and the vertical stripe parallax map, and obtaining four parallax edge point sets. And 4 linear equations are fitted on the basis of the 4 parallax edge point sets, so that four line segments are obtained. And rotating and adjusting two opposite sides around the center of each line segment so that the opposite sides are parallel. And calculating an average value serving as the average parallax between the garbage bag and the binocular camera based on parallax values existing in the four line segments, and obtaining the distance from the garbage bag to the binocular camera according to a parallax-distance calculation formula, thereby obtaining the height of the garbage bag. And calculating 3D linear equations of the four line segments. And calculating the distance between the two pairs of parallel changes according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
Referring to fig. 1, as a possible implementation, the garbage collection apparatus further includes a pushing assembly 16, where the pushing assembly 16 is disposed on the cover plate 12; and the processing module generates a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio. The pushing assembly 16 pushes the garbage bag to a position close to the door 11 under the control of pushing instructions. By the arrangement, the garbage bags which do not meet the throwing conditions can be pushed to the position convenient for a throwing person to take out.
As an example, the pushing assembly 16 may specifically include a pushing plate 160, and may perform reciprocating rectilinear movement along the cover plate 12, and various manners of performing the reciprocating rectilinear movement may be provided, for example, a hydraulic cylinder or a pneumatic cylinder (not shown) may be disposed at one side of the pushing plate 160, and the reciprocating rectilinear movement of the pushing plate may be performed using the hydraulic cylinder or the pneumatic cylinder.
It should be further explained that, in the case that the volume of the garbage recycling device provided by the embodiment of the invention is not too large, the pushing component is not required. By the arrangement, the garbage bag which does not meet the throwing condition is taken out by a throwing person, and garbage recycling equipment provided by the embodiment of the invention can be simplified.
As a possible implementation manner, the garbage recycling device further comprises an alarm (not shown in the figure), and the processing module generates an alarm signal in case the volume-to-weight ratio does not meet a preset volume-to-weight ratio. And the alarm gives an alarm after receiving the alarm signal.
As one possible implementation, the bag breaking assembly (not shown) may be a serrated mechanism. The device can be driven by a motor, and when the garbage is confirmed to be the garbage meeting the throwing condition, the bag breaking treatment is carried out by utilizing the saw teeth.
Referring to fig. 1, as a possible implementation, the garbage recycling apparatus further includes a spray head 170, a pipe 171, and a liquid storage tank 172, and the spray head 170 is disposed above the cover plate 12, for spraying the deodorant toward the cover plate 12. The pipe 171 penetrates the sidewall of the tub 10, and an inlet of the pipe 171 communicates with an outlet of the tank 172, and an outlet of the pipe 171 communicates with an inlet of the head 170.
Referring to fig. 1, in practical application, when the garbage collection apparatus is applied for a period of time, dirt inevitably exists on the cover plate 12 for temporarily placing garbage, and if the dirt cannot be cleaned in time, gas which affects the quality of air around the garbage collection apparatus is easily generated. In order to solve the above technical problem, a deodorant may be stored in the liquid storage tank 172 in advance. The liquid storage tank 172 may be provided independently of the garbage collection apparatus, or may be hung on the outer wall of the tub 10 included in the garbage collection apparatus. A pump may be placed in the reservoir 172 with an outlet in communication with the inlet of the line 171. When it is desired to deodorize the garbage collection apparatus, the pump may be electrically operated to transfer the deodorizing agent in the liquid storage tank 172 to the spray head 170 through the pipe 171, and then the deodorizing agent is sprayed on the cover plate 12 using the spray head 170. As for the flow rate of the deodorant ejected from the shower head 170, control can be achieved by adjusting parameters of the pump. Of course, the valve 11 may be provided in the pipe 171, and the flow rate of the deodorant injected from the nozzle 170 may be controlled by adjusting the opening of the valve 11.
Referring to fig. 1, under the condition of adopting the above technical scheme, a spray nozzle 170 capable of providing deodorant for the cover plate 12 is arranged above the cover plate 12, so that the cover plate 12 can be deodorized regularly or irregularly according to actual application requirements, and dirt on the cover plate 12 can be reduced to pollute the surrounding environment.
As one possible implementation, the door 11 is any one of an inward push door, an outward pull door, a single door, or a side-by-side door.
As an example, in the case that the door 11 is an inner push type door or an outer pull type door, a first rotation shaft is rotatably provided on any one wall of the tub 10 along a length direction of the wall, and the inner push type door or the outer pull type door is opened and closed by being driven by the first rotation shaft, which is driven by at least one first motor 110.
As a possible implementation, opposite ends of the cover plate 12 are respectively connected to the tub wall of the tub 10 through second rotation shafts, and the second rotation shafts are driven by the second motor 120. Specifically, the cover 12 integrally covers the dispensing opening of the tub 10, and the cover 12 has opposite ends, which may be defined as a first end and a second end. The first mounting hole may be formed from the end face of the first end toward the second end, and the second mounting hole may be formed from the end face of the second end toward the first end. One end of one of the second rotating shafts is in interference fit or clamped in the first mounting hole, and the other end of the second rotating shaft can penetrate through a barrel wall of the barrel body 10 to be in power connection with the second motor 120. Similarly, one end of the other second rotating shaft is in interference fit or clamped in the second mounting hole, and the other end of the second rotating shaft can penetrate through the barrel wall of the barrel body 10 to be in power connection with the other second motor 120. Of course, only one second motor 120 may be provided, and the second rotation shaft at the end opposite to the second motor 120 serves only as a support and a driven.
Under the condition of adopting the above technical scheme, when the cover plate 12 needs to be covered with the throwing port of the barrel body 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, the second rotating shaft drives the cover plate 12 to rotate to a horizontal state, and at the moment, the cover plate 12 covers the throwing port of the barrel body 10. When the cover plate 12 needs to have a garbage throwing channel with the throwing opening of the barrel body 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, and the second rotating shaft drives the cover plate 12 to rotate to a position with a certain included angle with the horizontal plane, at this time, the cover plate 12 is inclined relative to the horizontal plane. A garbage discharge passage may be formed between the inclined cover plate 12 and the wall of the tub 10. When the cover plate 12 has garbage thereon, the garbage can pass through the garbage throwing passage along the inclined cover plate 12 and enter the bin body 10.
As one possible implementation, the cover plate 12 includes a first cover plate and a second cover plate that may be split. One end of the first cover plate is rotatably connected to a wall of the tub 10 by a third shaft driven by a third motor. One end of the second cover plate is rotatably connected to the other wall of the tub 10 by a fourth shaft driven by a fourth motor.
Under the condition of adopting the technical scheme, when the cover plate 12 needs to be covered with the throwing port of the barrel body 10, the third motor is controlled to drive the third rotating shaft to rotate, the third rotating shaft drives the first cover plate to rotate to a horizontal state, the fourth motor is controlled to drive the fourth rotating shaft to rotate, and the fourth rotating shaft drives the second cover plate to rotate to the horizontal state. At this time, the non-rotating ends of the first cover plate and the second cover plate are abutted together. When the cover plate 12 needs to have a garbage throwing channel with the throwing opening of the barrel body 10, the third motor is controlled to drive the third rotating shaft to rotate, the third rotating shaft drives the first cover plate to rotate towards the direction close to the barrel bottom of the barrel body 10, the fourth motor is controlled to drive the fourth rotating shaft to rotate, and the fourth rotating shaft drives the second cover plate to rotate towards the direction close to the barrel bottom of the barrel body 10. At this time, a gap is formed between the first cover plate and the second cover plate to form a garbage throwing channel. When the cover 12 has waste thereon, the waste may enter the tub 10 along the inclined first and second cover plates after passing through the waste discharge passage.
Referring to fig. 1, as one possible implementation, the cover plate 12 is provided with a brush 18 on the side opposite the lid. When the cover plate 12 and the dispensing opening of the tub 10 are closed, the brush 18 can move on the cover plate 12.
With the above-described technical solution, cleaning of the cover plate 12 can be achieved by the brush 18 moving on the upper surface of the cover plate 12. Of course, the brush 18 may be used to clean the cover plate 12 by the brush 18 while spraying the cleaning liquid onto the cover plate 12 in cooperation with the shower head 170, the pipe 171, and the liquid tank 172 provided in the above-described embodiments.
Referring to fig. 1, as a possible implementation, the brush 18 is carried by a carrying bar driven by a belt that is looped over a driving wheel and a driven wheel, the driving wheel being driven by a fifth motor. Specifically, a fifth motor can be installed outside one side wall of the barrel cover through a motor installation seat, an output shaft of the fifth motor penetrates through the side wall and is in power connection with the driving wheel, meanwhile, a bearing is arranged at one end, opposite to the motor installation seat, of the side wall, the bearing can be located in an installation hole formed in the side wall, the inner ring of the bearing is fixedly connected with a rotating shaft, and the rotating shaft is assembled with the driven wheel. The driving belt is sleeved on the driving wheel and the driven wheel, a bearing rod can be fastened on the driving belt, and a plurality of hairbrushes 18 are arranged on the bearing rod at intervals. Of course, in order to ensure that the brush 18 moves only in the receiving space, a limit stop may be provided on the driving belt, and the fifth motor stops rotating or reversely rotates when the limit stop touches the driving wheel or the driven wheel.
As a possible implementation, an infrared distance sensor is disposed at a position of the tub 10 near the input port, for detecting the height of the garbage in the tub 10. Specifically, the infrared distance sensor may be disposed on the inner wall of the tub 10.
Under the condition of adopting the technical scheme, the garbage height in the barrel body 10 can be acquired in real time by utilizing the infrared distance sensor, and the acquired garbage height information is sent to the processor. The garbage height threshold that can be contained by the can body 10 can be prestored in the processor, and under the condition that the garbage height information received by the processor is greater than or equal to the garbage height threshold, a cover opening control signal can be generated, and the garbage disposal device can not open the can cover under the control of the cover opening control signal and simultaneously feeds back the can full information to the dispenser and the garbage recoverer.
Referring to fig. 3, in a second aspect, an embodiment of the present invention further provides a garbage recycling method, including the following steps:
s10, opening a door, and putting the garbage bag on the cover plate under the condition that the cover plate is determined to be closed;
s11, acquiring volume information of the garbage bag by using a volume measurement module;
s12, acquiring weight information of the garbage bag by using a weight measurement module;
s13, transmitting the volume information and the weight information to a processing module by utilizing a communication module, wherein the processing module stores a preset volume-weight ratio, and acquiring the volume-weight ratio of the garbage bag based on the volume information and the weight information; under the condition that the volume-weight ratio meets the preset volume-weight ratio, generating a bag breaking instruction and a cover opening instruction;
S14, the bag breaking assembly tears the garbage bag under the control of a bag breaking instruction; acquiring classification quality information of garbage in the garbage bag by using an image recognition module; the processing module is also used for generating garbage classification integral under the condition of obtaining the classification quality information; the cover plate is opened under the control of the cover opening instruction so as to throw the bag-breaking garbage into the bin.
As a possible implementation manner, the garbage recycling method further includes:
Generating a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing component pushes the garbage bag to a position close to the door under the control of pushing instructions.
In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A waste recycling apparatus, characterized in that the waste recycling apparatus is for recycling waste; the garbage collection apparatus includes:
The barrel body is a closed barrel body, and one side of the barrel body is provided with a throwing port;
The door is arranged at the throwing opening in an openable and closable manner;
The cover plate can be opened and closed and is covered in the barrel body, and the cover plate is positioned below the putting opening;
The volume measurement module is arranged in the barrel body and positioned above the cover plate and is used for obtaining the volume information of the garbage bag;
the weight measurement module is arranged in the barrel body and close to the cover plate and used for obtaining weight information of the garbage bag;
the image recognition module is arranged in the barrel body and positioned above the cover plate and is used for obtaining classification quality information of garbage in the garbage bag;
the bag breaking assembly is arranged above the cover plate and used for controllably tearing the garbage bag;
the communication module is simultaneously in communication connection with the volume measurement module, the weight measurement module and the image recognition module and is used for receiving and sending the volume information, the weight information and the classification quality information;
The processing module is in communication connection with the communication module, and obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information; under the condition that the volume-weight ratio meets the preset volume-weight ratio, generating a bag breaking instruction and an uncovering instruction; the bag breaking assembly tears the garbage bag under the control of the bag breaking instruction, and the cover plate is opened under the control of the cover opening instruction so as to throw the bag breaking garbage into the barrel body; the processing module is also used for generating garbage classification integral under the condition that the classification quality information is obtained
The garbage recycling device further comprises a spray head, a pipeline and a liquid storage tank, wherein the spray head is arranged above the cover plate and is used for spraying deodorant to the cover plate; the pipeline penetrates through the side wall of the barrel body, the inlet of the pipeline is communicated with the outlet of the liquid storage tank, and the outlet of the pipeline is communicated with the inlet of the spray head; and/or the number of the groups of groups,
The garbage recycling device further comprises a pushing component, and the pushing component is arranged on the cover plate;
the processing module generates a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing component pushes the garbage bag to a position close to the door under the control of the pushing command; or alternatively, the first and second heat exchangers may be,
The processing module generates an alarm signal when the volume-weight ratio does not meet the preset volume-weight ratio, and the garbage recycling device further comprises an alarm; the alarm gives an alarm after receiving the alarm signal;
The door is any one of an inward pushing type door, an outward pulling type door, a single door or a double door; or alternatively, the first and second heat exchangers may be,
Under the condition that the door is an inward pushing door or an outward pulling door, a first rotating shaft is rotatably arranged on any wall of the barrel body along the length direction of the wall, the inward pushing door or the outward pulling door is driven by the first rotating shaft to realize opening and closing, and the first rotating shaft is driven by at least one first motor.
2. The waste reclamation apparatus of claim 1, wherein the volume measurement module is at least one of an infrared measurement module, a laser measurement module, or a vision measurement module.
3. The waste recycling apparatus according to claim 2, wherein in case the volume measuring module is an infrared measuring module, the infrared measuring module comprises an infrared detector and a laser detector, both of which are provided in the tub and above the cover plate;
The infrared detector is used for detecting infrared energy on the cover plate carrying the garbage bag so as to obtain infrared energy distribution on the cover plate; the laser detection module is used for measuring the maximum cross section of the garbage bag in the horizontal direction;
The infrared detector and the laser detector are both in communication connection with the communication module;
the communication module is further used for sending the infrared energy distribution and the maximum section information to the processing module, and the processing module is used for obtaining an effective section of which the corresponding infrared energy variation in the maximum section is larger than a first threshold value based on the infrared energy distribution and the maximum section, and obtaining the volume information of the garbage bag based on the effective section and the actual height of the garbage bag.
4. The waste reclamation apparatus of claim 2, wherein in the case where the volume measurement module is a laser measurement module, the laser measurement module comprises a monocular camera and a laser rangefinder; the monocular camera and the laser range finder are both arranged in the barrel body and are positioned above the cover plate;
the monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view; the laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area;
The monocular camera and the laser range finder are both in communication connection with the communication module;
The communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module pre-stores an acquisition view angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition view angle and the minimum circumscribed rectangle; the processing module is further configured to obtain the volume information of the garbage bag based on a length, a width, and a height of the garbage bag.
5. The waste recycling apparatus according to claim 2, wherein in case the volume measuring module is a laser measuring module, the laser measuring module comprises a laser sensor, which is arranged in the tub and above the cover plate; the laser sensor is in communication connection with the communication module;
Dividing the garbage bag into a plurality of measurement areas;
the laser sensor is used for acquiring the vertical distance H between the laser sensor and the cover plate, rotating the laser sensor to form an included angle alpha between the laser sensor and the vertical line, and measuring the measurement distance L of the laser sensor at the central point value of the stacking surface of the garbage bag in each measurement area;
The processing module is used for determining a stacking height H i = H-L x cos a in each measuring area based on the vertical distance H, the included angle alpha and the measuring distance L; the processing module is further configured to perform smoothing processing on each stacking height, so as to obtain a smoothed stacking height h ix corresponding to each measurement area;
the processing module is also used for pre-storing the length and the width corresponding to each measuring area;
The processing module is also used for obtaining the volume of each measuring area based on the smooth stacking height, the length and the width, and obtaining the volume information of the garbage bags based on the volume of each measuring area.
6. The waste reclamation apparatus of claim 2, wherein, in the case where the volume measurement module is a vision measurement module, the vision measurement module comprises a binocular camera disposed within the tub and directly above the cover plate; the binocular camera is in communication connection with the communication module;
The binocular camera is used for acquiring an original image of the garbage bag and performing binocular correction;
The communication module is used for sending the original image to the processing module, and the processing module obtains a central horizontal stripe disparity map and fills holes based on the original image, and obtains a central vertical stripe disparity map and fills holes based on the original image; detecting parallax jump areas according to the horizontal stripe parallax map and the vertical stripe parallax map to obtain four parallax edge point sets; fitting 4 linear equations based on the 4 parallax edge point sets to obtain four line segments; rotating and adjusting two opposite sides around the center of each line segment to enable the opposite sides to be parallel; calculating an average value as the average parallax between the garbage bag and the binocular camera based on parallax values existing in the four line segments, and obtaining the distance from the garbage bag to the binocular camera according to a parallax-distance calculation formula, thereby obtaining the height of the garbage bag; calculating 3D linear equations of the four line segments; and calculating the distance between the two pairs of parallel changes according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
7. The waste reclamation apparatus as recited in claim 1, wherein a pump is disposed within the reservoir, the pump having an outlet in communication with the inlet of the conduit; and/or a valve is arranged on the pipeline.
8. The garbage collection apparatus according to claim 1, wherein opposite ends of the cover plate are connected to a wall of the tub body through second rotating shafts, respectively, the second rotating shafts being driven by a second motor; and/or the number of the groups of groups,
The cover plate comprises a first cover plate and a second cover plate which can be split; one end of the first cover plate is rotatably connected to a barrel wall of the barrel body, and one end of the second cover plate is rotatably connected to the other barrel wall of the barrel body; and/or the number of the groups of groups,
The upper surface of the cover plate is also provided with a brush; when the cover plate is in a closed state, the hairbrush can move on the cover plate; the hairbrush is borne by a bearing rod, the bearing rod is driven by a transmission belt, the transmission belt is sleeved on a driving wheel and a driven wheel, and the driving wheel is driven by a third motor; and/or the number of the groups of groups,
An infrared distance sensor is arranged at the position of the barrel body close to the putting opening and used for detecting the height of garbage in the barrel body; and/or the number of the groups of groups,
The surface of the cover plate is coated with a nano material layer; and/or the number of the groups of groups,
A lighting lamp is arranged in the barrel body and above the cover plate; and/or the number of the groups of groups,
The weight measuring module is a weight sensor; and/or the number of the groups of groups,
The image recognition module is a CCD camera.
9. A waste recycling method using the waste recycling apparatus of any one of claims 1 to 8, comprising the steps of:
Opening a door, and putting the garbage bag on the cover plate under the condition that the cover plate is determined to be closed;
Acquiring volume information of the garbage bag by using a volume measurement module;
Acquiring weight information of the garbage bag by using a weight measurement module;
The volume information and the weight information are sent to a processing module by utilizing a communication module, the processing module stores a preset volume-weight ratio, and the volume-weight ratio of the garbage bag is obtained based on the volume information and the weight information; under the condition that the volume-weight ratio meets the preset volume-weight ratio, generating a bag breaking instruction and an uncovering instruction;
The bag breaking assembly tears the garbage bag under the control of the bag breaking instruction; acquiring classification quality information of garbage in the garbage bag by using the image recognition module; the processing module is further used for generating garbage classification integration under the condition that the classification quality information is obtained; the cover plate is opened under the control of the cover opening instruction so as to throw the bag-breaking garbage into the barrel body.
10. The garbage collection method according to claim 9, characterized in that the garbage collection method further comprises:
Generating a pushing instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing component pushes the garbage bag to a position close to the door under the control of the pushing command.
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