CN115593817A - Internet of things-based integrated intelligent control system and method for garbage classification collection room - Google Patents
Internet of things-based integrated intelligent control system and method for garbage classification collection room Download PDFInfo
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Abstract
The invention discloses an integrated intelligent control system and method for a garbage classification and collection room based on the Internet of things, wherein the integrated intelligent control system comprises the following steps: the garbage classification subsystem, the garbage collection subsystem, the garbage clearing subsystem, the abnormal processing subsystem and the control center, the garbage classification subsystem is used for identifying and classifying the input garbage, the garbage collection subsystem is used for processing the classified garbage and then storing the processed garbage into garbage bins of corresponding types and monitoring the garbage classification collection room, the garbage clearing subsystem is used for monitoring the sanitation vehicle information in real time and feeding the sanitation vehicle information back to the control center, the sanitation vehicle is regulated and controlled according to the data analysis result of the control center, the garbage in the garbage classification collection room is cleared, the abnormal management subsystem is used for sending an alarm and processing when the garbage classification collection room or the sanitation vehicle is monitored to be abnormal, all the subsystems are integrated and unified on the platform, the management efficiency is improved, the operation cost is reduced, and the resource recovery utilization rate is increased.
Description
Technical Field
The invention relates to the technical field of garbage treatment, in particular to an integrated intelligent control system and method for a garbage classification and collection room based on the Internet of things.
Background
Along with the continuous improvement of living standards of people, garbage produced in daily production and living is also continuously increased, garbage classification becomes more and more concerned in modern society, the garbage classification is a development requirement for constructing an environment-friendly society and is an important component for implementing a sustainable development strategy, in cities, a garbage classification and collection room becomes a common public health facility in each community, the complexity of the garbage classification increases the living burden of people, so that the problems of mixed packaging and discarding of household garbage, mixed collection of garbage trucks and complex garbage composition still exist at present, most of the existing garbage classification and collection rooms need manual work for regularly performing garbage sorting, workers classify the garbage in the garbage can and then put the garbage into different types of garbage cans, further processing and recycling of various types of garbage are performed, the garbage with large volume cannot be compressed in time, the limited garbage can space is occupied, normal garbage processing is affected, manual work cannot replace the garbage cans in time, garbage accumulation is caused, the garbage classification and is affected by temperature, pungent smell can be produced in the garbage classification and collection room, and part of the garbage can react to produce harmful gas, and air pollution to the personnel.
Therefore, an integrated intelligent control system and method for a garbage classification and collection room based on the internet of things are needed to solve the problems.
Disclosure of Invention
The invention aims to provide an integrated intelligent control system and method for a garbage classification and collection room based on the Internet of things, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: garbage classification collects room integrated intelligent control system based on thing networking, the system includes: the system comprises a garbage classification subsystem, a garbage collection subsystem, a garbage cleaning subsystem, an exception handling subsystem and a control center;
the output end of the garbage classification subsystem is connected with the input end of the garbage collection subsystem, the output end of the garbage mobile phone subsystem is connected with the input end of the garbage cleaning subsystem, and the output ends of the garbage mobile phone subsystem, the garbage cleaning subsystem and the abnormal processing subsystem are connected with the input end of the control center;
identifying and classifying the input garbage through the garbage classification subsystem;
the classified garbage is processed by the garbage collection subsystem and then is stored in the corresponding garbage can and the garbage classified collection room is monitored;
the garbage cleaning subsystem monitors the information of the sanitation vehicle in real time and feeds the information back to the control center, the sanitation vehicle is regulated and controlled according to the data analysis result of the control center, and the garbage in the garbage classification collection room is cleaned;
and sending an alarm and processing the alarm when the abnormity of the garbage classification collection room or the sanitation vehicle is monitored through the abnormity management subsystem.
Further, the garbage classification subsystem comprises a mixed garbage splitting device, a garbage screening control module and a garbage data acquisition module;
the mixed garbage splitting device is used for dismantling an external garbage bag of mixed garbage packed and discarded by a user;
the mixed garbage splitting device is provided with a vital sign detection unit, whether a vital body exists or not is judged through infrared sensor or radar detection, and if the vital body conforming to a preset volume range exists, an abnormal alarm is sent to a control center to wait for processing; the infrared detection utilizes the infrared thermal effect and the photoelectric effect to convert the incident infrared radiation signal into an electric signal for output, and then the output electric signal is utilized to detect the living body; radar detection using electromagnetic waves
The method of radio finds the life body and determines its space position;
the mixed garbage splitting device breaks the garbage bag by using a hook claw or a cutting knife;
the garbage data acquisition module is used for identifying the split garbage and classifying the garbage;
the garbage is identified by adopting an image identification technology or a multi-sensor machine gripper;
the garbage screening control module is used for screening the recognized different types of garbage and transmitting the screened different types of garbage into the corresponding garbage collection boxes.
Furthermore, the garbage collection subsystem comprises a garbage throwing control module, a garbage treatment module and a garbage collection room monitoring module;
the garbage throwing control module is used for controlling the throwing of the garbage according to the carrying degree in the garbage collection box;
a height sensor is arranged in the garbage collection box and used for detecting the quantity of garbage in the box and preventing the garbage from overflowing;
the garbage treatment module is used for pretreating garbage according to the category of the garbage;
the garbage classification collection room has the advantages that large-volume garbage is compressed or crushed, so that the occupied amount of a garbage can is reduced, and the utilization rate of the garbage classification collection room is improved;
the garbage collection room monitoring module is used for monitoring the real-time condition in the collection room, transmitting monitoring information to the control center and monitoring the capacity of a collection box, indoor temperature, smoke, harmful gas and the like in the garbage classified collection room.
Furthermore, the garbage cleaning subsystem comprises a sanitation vehicle monitoring module and a sanitation vehicle regulating and controlling module;
the sanitation vehicle monitoring module is used for monitoring the position information and the carrying condition of a sanitation vehicle in real time and transmitting the monitored data to the control center for integration;
the sanitation vehicle regulation and control module is used for allocating sanitation vehicles according to the data analysis result of the control center; the phenomenon that the residual capacity of the sanitation truck is not enough to load garbage in the garbage collection room is avoided, so that the resource utilization maximization is realized conveniently;
the abnormity management subsystem comprises an abnormity alarm module and an abnormity processing module;
the abnormal alarm module is used for giving an alarm when monitoring that the garbage classified collection room or the sanitation truck is abnormal, and recording and backing up data related to abnormal conditions; so as to avoid accidents and enable the system to continuously learn and optimize;
the exception handling module is used for correspondingly handling the abnormal situations so as to prevent the abnormal phenomena from damaging equipment or personnel.
An integrated intelligent control method for a garbage classification collection room based on the Internet of things comprises the following steps:
s1: splitting the packaged mixed garbage thrown into the garbage can by a user and identifying the type of the garbage;
s2: the classified garbage is treated and then sent into a corresponding garbage collection box in a garbage classification collection room;
s3: monitoring the garbage classification collection room and the sanitation vehicle in real time, and transmitting the monitored data to a control center;
s4: the control center carries out integration analysis on the received data, judges whether the data are abnormal or not, judges whether the garbage collection box needs to be cleared or not, and judges whether the loading capacity of the sanitation vehicle meets the carrying requirement or not;
s5: and dispatching the sanitation vehicle to clear and transport the garbage collection boxes in the garbage classification collection room.
Further, in S1-S2, the mixed garbage packed by the garbage bag and put into the garbage can by a user is packed and unpacked by the mixed garbage splitting device, the garbage in the garbage bag is poured out to the garbage classification device, the type of the garbage is identified by an image identification technology shot by a camera or a machine gripper with a plurality of sensors, the identified various types of garbage are transmitted to the garbage collection boxes of corresponding types by the garbage screening control module, the garbage to be put into the boxes is preprocessed by the garbage processing module, and the garbage is compressed or crushed and then sent into the garbage collection boxes.
Further, in S3, the condition in the garbage classified collection room is monitored in real time through the garbage collection room monitoring module, when the garbage input amount in the garbage collection box reaches the preset height, all devices in the garbage classified collection room are controlled through the control center, new garbage input is suspended, the position information and the loading condition of all sanitation vehicles are monitored in real time through the sanitation vehicle monitoring module, and the monitored information data are sent to the control center through wireless transmission.
Further, in S4, the control center sorts, counts, and analyzes the data sent by each module, determines the monitored data exceeding the preset threshold as an abnormal condition, handles the abnormal condition according to the specific abnormal condition, reports the monitored garbage classification collecting room needing to be cleared, and receives a request to allocate a sanitation vehicle meeting the required load capacity to the control center.
Further, in S5, the regulation and control of the sanitation vehicle for cleaning the garbage classification collection room specifically comprises the following steps: the garbage classification collection rooms are numbered, the number is 1,2, the loading capacity of the ith garbage classification collection room is g i (i =1,2.., n), all the refuse needs to be cleared and a control center sends out a sanitation truck with a load q for transport, known as g i If so, carrying out garbage clearing on each garbage classified collection room by constructing a sanitation vehicle scheduling model;
the variables are defined as follows:
the basic model is defined as follows:
the constraints are as follows:
wherein, formula (1) represents whether the ith garbage classified collection room is cleared by a sanitation vehicle k, formula (2) represents whether the sanitation vehicle k runs from the ith garbage classified collection room to the jth garbage classified collection room, and formula (3) is modeledObjective function, Z min And (4) the shortest running distance required by the sanitation vehicle to complete all clearing tasks is represented, and the formula (4) is the load capacity constraint of the vehicle.
Compared with the prior art, the invention has the following beneficial effects:
the invention integrates various intelligent subsystems on a platform to form a system with comprehensive functions of information collection, resource sharing, optimized management and the like, increases the integrated information quantity and system functions, realizes interconnection among various devices and subsystems, reduces the operation cost, reduces the number of managers, improves the management efficiency, replaces manual garbage treatment by mechanical devices, improves the garbage treatment efficiency, monitors and dispatches sanitation vehicles in real time for clearing, effectively avoids the adverse effect of garbage accumulation on the air quality in residential areas, reduces the environmental pollution by a complete garbage treatment process, and increases the resource recycling rate.
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 principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an integrated intelligent control system of a garbage classification and collection room based on the Internet of things;
fig. 2 is a schematic flow chart of the integrated intelligent control method of the garbage classification and collection room based on the internet of things.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 2, the present invention provides a technical solution:
the first embodiment is as follows:
as shown in fig. 1, the present embodiment provides an integrated intelligent control system for a garbage classification collecting room based on the internet of things, where the system includes: the system comprises a garbage classification subsystem, a garbage collection subsystem, a garbage cleaning subsystem, an exception handling subsystem and a control center;
the output end of the garbage classification subsystem is connected with the input end of the garbage collection subsystem, the output end of the garbage mobile phone subsystem is connected with the input end of the garbage cleaning subsystem, and the output ends of the garbage mobile phone subsystem, the garbage cleaning subsystem and the abnormal processing subsystem are connected with the input end of the control center;
identifying and classifying the input garbage through a garbage classification subsystem;
the classified garbage is processed by the garbage collection subsystem and then stored in corresponding garbage bins and a garbage classification collection room is monitored;
the garbage cleaning subsystem is used for monitoring the information of the sanitation vehicle in real time and feeding the information back to the control center, regulating and controlling the sanitation vehicle according to the data analysis result of the control center, and cleaning the garbage in the garbage classification and collection room;
and an alarm is sent and processed when the abnormity of the garbage classification collection room or the sanitation vehicle is monitored through the abnormity management subsystem.
The garbage classification subsystem comprises a mixed garbage splitting device, a garbage screening control module and a garbage data acquisition module;
the mixed garbage splitting device is used for dismantling an external garbage bag of mixed garbage packed and discarded by a user;
the mixed garbage splitting device is provided with a vital sign detection unit, whether a vital body exists or not is judged through infrared sensor or radar detection, and if the vital body conforming to a preset volume range exists, an abnormal alarm is sent to a control center to wait for processing; the infrared detection utilizes the infrared thermal effect and the photoelectric effect to convert the incident infrared radiation signal into an electric signal for output, and then the output electric signal is utilized to detect the living body; radar detection utilizes electromagnetic waves to detect, finds a living body by a radio method and determines the spatial position of the living body;
the mixed garbage splitting device breaks the garbage bag by using a hook claw or a cutting knife;
the garbage data acquisition module is used for identifying the split garbage and classifying the garbage;
identifying the garbage by adopting an image identification technology or a multi-sensor machine gripper;
the garbage screening control module is used for screening the recognized different types of garbage and transmitting the screened different types of garbage into the corresponding garbage collection boxes.
The garbage collection subsystem comprises a garbage throwing control module, a garbage treatment module and a garbage collection room monitoring module;
the garbage throwing control module is used for controlling the throwing of the garbage according to the carrying degree in the garbage collection box;
a height sensor is arranged in the garbage collection box and used for detecting the quantity of the garbage in the box and preventing the garbage from overflowing;
the garbage treatment module is used for pretreating the garbage according to the category of the garbage; the large volume of waste is compressed or crushed,
the occupation amount of the garbage can is reduced, and the utilization rate of the garbage classification and collection room is improved;
the garbage collection room monitoring module is used for monitoring the real-time condition in the collection room, transmitting monitoring information to the control center and monitoring the capacity of a collection box, indoor temperature, smoke, harmful gas and the like in the garbage classified collection room.
The garbage cleaning and transporting subsystem comprises a sanitation vehicle monitoring module and a sanitation vehicle regulating and controlling module;
the sanitation vehicle monitoring module is used for monitoring the position information and the carrying condition of a sanitation vehicle in real time and transmitting the monitored data to the control center for integration;
the sanitation vehicle regulation and control module is used for allocating sanitation vehicles according to the data analysis result of the control center; the phenomenon that the residual capacity of the sanitation truck is not enough to load garbage in the garbage collection room is avoided, so that the resource utilization maximization is realized conveniently;
the exception management subsystem comprises an exception alarm module and an exception processing module;
the abnormal alarm module is used for sending an alarm when monitoring that the garbage classification collection room or the sanitation vehicle is abnormal, and recording and backing up data related to abnormal conditions; so as to avoid accidents and enable the system to continuously learn and optimize;
the exception handling module is used for correspondingly handling the abnormal situations so as to prevent the abnormal phenomena from damaging equipment or personnel.
Example two:
as shown in fig. 2, the embodiment provides an integrated intelligent control method for a garbage classification collecting room based on the internet of things, which is implemented based on an integrated intelligent control system for the garbage classification collecting room in the embodiment, and specifically includes the following steps:
s1: splitting the packaged and mixed garbage thrown into the garbage can by a user and identifying the type of the packaged and mixed garbage;
the mixed garbage packed by garbage bags and thrown into the garbage can by a user is packed and dismantled by a hook claw or a cutting tool through the mixed garbage splitting device, the garbage in the garbage bags is poured out to a garbage classification device, the types of the garbage are identified by an image identification technology shot by a camera or a machine gripper with a plurality of sensors, and the identified various types of garbage are transmitted to garbage collection boxes of corresponding types through a garbage screening control module;
s2: the garbage to be thrown into the garbage can is pretreated through a garbage treatment module, and is sent into a corresponding garbage collection box in a garbage classification collection room after being compressed or crushed;
s3: monitoring the garbage classification collection room and the sanitation vehicle in real time, and transmitting the monitored data to a control center;
the method specifically comprises the following steps: the method comprises the steps that the condition in a garbage classified collection room is monitored in real time through a garbage collection room monitoring module, when the garbage input amount in a garbage collection box reaches a preset height, all devices in the garbage classified collection room are controlled through a control center, the input of new garbage is suspended, the position information and the loading condition of all sanitation vehicles are monitored in real time through a sanitation vehicle monitoring module, and the monitored information data are sent to the control center through wireless transmission;
s4: the control center sorts, counts and analyzes the data sent by each module, judges the monitored data exceeding a preset threshold value as abnormal conditions, disposes the abnormal conditions according to the specific abnormal conditions, reports the monitored garbage classified collection room needing to be cleared, and receives a request to distribute sanitation vehicles meeting the required loading capacity for the garbage classified collection room;
if the detector detects that the smoke and carbon monoxide concentration in the garbage classification collection room rises, the fire risk is judged to occur, and the fire fighting device is started to reduce the accident rate;
s5: and dispatching the sanitation vehicle to clear and transport the garbage collection boxes in the garbage classification collection room.
The method specifically comprises the following steps: the garbage classification collection rooms are numbered, the number is 1,2, the loading capacity of the ith garbage classification collection room is g i (i =1,2.., n), all the refuse needs to be cleared and a control center sends out a sanitation truck with a load q for transport, known as g i If so, carrying out garbage clearing on each garbage classified collection room by constructing a sanitation vehicle scheduling model;
when the garbage placing amount of a collecting box in the garbage classified collection room with the number 4 is monitored to reach a preset threshold value, the control center analyzes that a sanitation vehicle K in the vicinity meets the optimal clearing requirement, sends an instruction to the sanitation vehicle, carries out clearing operation on the garbage classified collection room No. four, plans a route of the sanitation vehicle driving to a garbage transfer station or a garbage treatment plant, and achieves the maximization of resource utilization.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. Garbage classification collects integrated intelligent control system in room based on thing networking, its characterized in that: the system comprises: the system comprises a garbage classification subsystem, a garbage collection subsystem, a garbage cleaning subsystem, an exception handling subsystem and a control center;
the output end of the garbage classification subsystem is connected with the input end of the garbage collection subsystem, the output end of the garbage mobile phone subsystem is connected with the input end of the garbage cleaning subsystem, and the output ends of the garbage mobile phone subsystem, the garbage cleaning subsystem and the abnormal processing subsystem are connected with the input end of the control center;
identifying and classifying the input garbage through the garbage classification subsystem;
the classified garbage is processed by the garbage collection subsystem and then is stored in the corresponding garbage can and the garbage classified collection room is monitored;
the garbage cleaning subsystem monitors the information of the sanitation vehicle in real time and feeds the information back to the control center, the sanitation vehicle is regulated and controlled according to the data analysis result of the control center, and the garbage in the garbage classification collection room is cleaned;
and sending an alarm and processing the alarm when the abnormity of the garbage classification collection room or the sanitation vehicle is monitored through the abnormity management subsystem.
2. The internet-of-things-based garbage classification and collection room integrated intelligent control system according to claim 1, characterized in that: the garbage classification subsystem comprises a mixed garbage splitting device, a garbage screening control module and a garbage data acquisition module;
the mixed garbage splitting device is used for dismantling an external garbage bag of mixed garbage packed and discarded by a user;
the mixed garbage splitting device breaks the garbage bag by using a hook claw or a cutting knife;
the garbage data acquisition module is used for identifying the split garbage and classifying the split garbage;
the garbage is identified by adopting an image identification technology or a multi-sensor machine gripper;
the garbage screening control module is used for screening the recognized different types of garbage and transmitting the screened different types of garbage into the corresponding garbage collection boxes.
3. The internet-of-things-based garbage classification and collection room integrated intelligent control system according to claim 1, characterized in that: the garbage collection subsystem comprises a garbage throwing control module, a garbage treatment module and a garbage collection room monitoring module;
the garbage throwing control module is used for controlling the throwing of the garbage according to the carrying degree in the garbage collection box;
the garbage treatment module is used for pretreating garbage according to the category of the garbage;
the garbage collection room monitoring module is used for monitoring the real-time condition in the collection room and transmitting monitoring information to the control center.
4. The internet-of-things-based garbage classification and collection room integrated intelligent control system according to claim 1, characterized in that: the garbage cleaning and transporting subsystem comprises a sanitation vehicle monitoring module and a sanitation vehicle regulating and controlling module;
the sanitation vehicle monitoring module is used for monitoring the position information and the carrying condition of a sanitation vehicle in real time and transmitting the monitored data to the control center for integration;
the sanitation vehicle regulation and control module is used for allocating sanitation vehicles according to the data analysis result of the control center;
the abnormity management subsystem comprises an abnormity alarm module and an abnormity processing module;
the abnormal alarm module is used for sending an alarm when the garbage classification collection room or the sanitation vehicle is monitored to be abnormal, and recording and backing up data related to abnormal conditions;
and the exception handling module is used for correspondingly handling the abnormal situations.
5. An integrated intelligent control method for a garbage classification collection room based on the Internet of things is characterized by comprising the following steps: the method comprises the following steps:
s1: splitting the packaged mixed garbage thrown into the garbage can by a user and identifying the type of the garbage;
s2: the classified garbage is treated and then sent into a corresponding garbage collection box in a garbage classification collection room;
s3: monitoring the garbage classification collection room and the sanitation vehicle in real time, and transmitting the monitored data to a control center;
s4: the control center carries out integration analysis on the received data, judges whether the data are abnormal or not, judges whether the garbage collection box needs to be cleared or not, and judges whether the loading capacity of the sanitation vehicle meets the carrying requirement or not;
s5: and dispatching the sanitation vehicle to clear and transport the garbage collection boxes in the garbage classification collection room.
6. The integrated intelligent control method for the garbage classification and collection room based on the Internet of things according to claim 5, characterized in that: in S1-S2, the mixed garbage packed by the garbage bag and put into the garbage can by a user is packaged and dismantled by the mixed garbage splitting device, the garbage in the garbage bag is poured out to the garbage classification device, the type of the garbage is identified by an image identification technology shot by a camera or a machine gripper with a plurality of sensors, the identified various types of garbage are transmitted to the garbage collection box of the corresponding type by the garbage screening control module, the garbage to be put into the box is preprocessed by the garbage processing module, and the garbage is compressed or crushed and then sent into the garbage collection box.
7. The integrated intelligent control method for the garbage classification and collection room based on the Internet of things according to claim 5, characterized in that: in S3, the condition in the garbage classified collection room is monitored in real time through the garbage collection room monitoring module, when the garbage input amount in the garbage collection box reaches a preset height, the control center controls equipment in the garbage classified collection room, new garbage input is suspended, the sanitation vehicle monitoring module monitors the position information and the object carrying condition of each sanitation vehicle in real time, and the monitored information data are transmitted to the control center through wireless transmission.
8. The integrated intelligent control method for the garbage classification and collection room based on the Internet of things according to claim 5, characterized in that: in S4, the control center sorts, counts and analyzes the data sent by each module, judges the monitored data exceeding a preset threshold value as abnormal conditions, disposes the abnormal conditions according to the specific abnormal conditions, reports the monitored garbage classification collection rooms needing to be cleared, and receives a request to distribute sanitation vehicles meeting the required loading capacity for the control center.
9. The integrated intelligent control method for the garbage classified collection room based on the Internet of things as claimed in claim 5, wherein the method comprises the following steps: in S5, the regulation and control of the sanitation vehicle for clearing the garbage classification collection room specifically comprises the following steps: the garbage classification collection rooms are numbered, the number is 1,2, the loading capacity of the ith garbage classification collection room is g i (i =1,2.., n), all the refuse needs to be cleared and a control center sends out a sanitation truck with a load q for transport, known as g i If so, carrying out garbage clearing on each garbage classified collection room by constructing a sanitation vehicle scheduling model;
the variables are defined as follows:
the basic model is defined as follows:
the constraints are as follows:
wherein, formula (1) represents whether the ith garbage classified collection room is cleared by the sanitation vehicle k, formula (2) represents whether the sanitation vehicle k runs from the ith garbage classified collection room to the jth garbage classified collection room, formula (3) is an objective function of the model, Z min And (4) represents the shortest running distance required by the sanitation vehicle to complete all clearing tasks, and the formula (4) is the load capacity constraint of the vehicle.
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| CN116229239A (en) * | 2023-04-04 | 2023-06-06 | 深圳市昆仑环境事业发展有限公司 | Intelligent solid garbage treatment control system and method based on Internet of things |
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