CN116923924A

CN116923924A - Garbage truck monitoring method and device, electronic equipment and storage medium

Info

Publication number: CN116923924A
Application number: CN202310910884.3A
Authority: CN
Inventors: 张盛鸿; 陶文战; 陈以凤; 马章栋; 张盛港
Original assignee: Zhejiang Qiantanghui Sanitation Technology Co ltd
Current assignee: Zhejiang Qiantanghui Sanitation Technology Co ltd
Priority date: 2023-07-24
Filing date: 2023-07-24
Publication date: 2023-10-24

Abstract

The application relates to a method, a device, electronic equipment and a storage medium for monitoring a garbage truck, and relates to the field of environmental protection garbage trucks. The application has the effect of reducing the overflow of the garbage carried by the garbage truck in the working process of the garbage truck.

Description

Garbage truck monitoring method and device, electronic equipment and storage medium

Technical Field

The application relates to the field of environment-friendly garbage trucks, in particular to a garbage truck monitoring method, a garbage truck monitoring device, electronic equipment and a storage medium.

Background

Along with the continuous improvement of the requirements of residents on living environments, garbage trucks are generally used at urban sanitation places to collect garbage in various living or activity areas in cities, and the collected garbage is transported to a garbage disposal plant for disposal, so that the effect of providing good living environments for the residents in the cities is achieved.

However, when the garbage truck overflows during the process of transporting the garbage collected from each area, the garbage truck will have a great influence on the surrounding environment, so that the garbage truck is not easy to clean, and the peculiar smell after cleaning can remain for a long time, thereby greatly influencing the personnel or vehicles on the road section, and even blocking and rear-end collision and the like can occur, so that the problem of the situation of overflowing garbage carried by the garbage truck in the garbage truck working process is solved.

Disclosure of Invention

In order to reduce the overflow of garbage carried by a garbage truck in the working process of the garbage truck, the application provides a garbage truck monitoring method, a garbage truck monitoring device, electronic equipment and a storage medium.

In a first aspect, the application provides a method for monitoring a garbage truck, which adopts the following technical scheme:

a method of garbage truck monitoring, comprising:

acquiring the running speed of the garbage truck;

determining the current working state of the garbage truck based on the running speed, wherein the working state comprises a loading state and a transporting state, the different corresponding judging standards of the working state are different, the loading state is a garbage loading state of the garbage truck, and the transporting state is a garbage transporting state of the garbage truck;

Judging whether the garbage truck is in an overflow dangerous state or not based on the current working state, wherein the overflow dangerous state represents a state that garbage in the garbage truck has overflow risk;

if yes, outputting prompt information.

Through adopting above-mentioned technical scheme, obtain the travel speed of garbage truck, be convenient for follow-up can confirm current garbage truck's operating condition based on travel speed, the operating condition of garbage truck includes charge state and transport state, wherein charge state is the state that garbage truck was located when loading rubbish, transport state is the state that the garbage truck was in when transporting rubbish, the method of judging whether current garbage truck was in overflow dangerous state is different when the garbage truck was in different states, overflow dangerous state characterization garbage in the garbage truck has the state of overflowing risk, based on current operating condition, judge whether the garbage truck is in overflow dangerous state, in order to reach the effect of accurately determining whether each working stage of garbage truck has overflow dangerous state, when detecting that the garbage truck is in overflow dangerous state, so that sanitation personnel in time knows the condition that current garbage truck was in overflow dangerous state, thereby make sanitation personnel can in time operate the garbage truck, and then reach the effect that reduces the garbage that the garbage truck carried appears overflowing in garbage truck working process.

In another possible implementation manner, the determining, based on the running speed, the current working state of the garbage truck includes:

if the running speed is not the preset speed, determining that the current working state of the garbage truck is a transportation state;

if the running speed is the preset speed, acquiring a first image and a second image of the garbage truck, wherein the first image is an image comprising the tail of the garbage truck, and the second image is an image comprising the cab of the garbage truck;

if the first image comprises an image of a garbage can and no personnel image exists in a first preset area in the second image, determining that the current working state of the garbage truck is a loading state;

and if the first image does not comprise the image of the garbage can and/or the first preset area in the second image comprises the personnel image, determining that the current working state of the garbage truck is a transportation state.

In another possible implementation manner, the determining, based on the current working state, whether the garbage truck is currently in an overflow dangerous state includes:

if the current working state is a loading state, acquiring the current garbage weight which can be loaded by the garbage truck and the garbage weight to be loaded by the target garbage which is required to be loaded by the garbage truck, and judging whether the garbage truck is in an overflow dangerous state or not based on the garbage weight which can be loaded and the garbage weight to be loaded;

If the current working state is a transportation state, acquiring the total weight of garbage currently borne by the garbage truck, determining a current running speed threshold of the garbage truck based on the total weight of the garbage, and judging whether the garbage truck is in an overflow dangerous state or not based on the running speed threshold and the running speed.

In another possible implementation manner, the garbage truck is configured with a gravity sensor and an angle sensor, and the method for obtaining the weight of the target garbage to be loaded of the garbage truck currently needs to be loaded includes:

determining angle information of a target garbage can bearing the target garbage based on the angle sensor;

acquiring a preset weight calculation formula corresponding to the angle information, wherein the preset weight calculation formula corresponds to the angle information, and the preset weight calculation formula corresponds to the weight sensor;

determining the secondary weight of the target garbage corresponding to the angle information based on the primary weight and the preset weight calculation formula;

when the angle information is detected to reach preset angle information, determining three-level weight of the target garbage based on a plurality of target two-level weights, wherein the target two-level weight is the two-level weight corresponding to the target angle information, the target angle information does not reach the preset angle information, and the three-level weight comprises the weight of the target garbage can;

Acquiring current position information of the garbage truck and a historical charging record of the garbage truck, wherein the historical charging record comprises a plurality of pieces of historical position information, and each piece of historical position information corresponds to a plurality of garbage can weights;

determining a weight of the target trash can based on the current location information and the historical charge record;

and determining the weight of the target garbage to be carried based on the weight of the target garbage and the three-level weight.

In another possible implementation, the determining the weight of the target trash can based on the current location information and the historical charge record includes:

determining a plurality of target garbage weights from the historical charging records based on the current position information, wherein the historical position information corresponding to the target garbage weights is consistent with the current position information;

based on the plurality of target trash can weights, a weight of the target trash can is determined.

In another possible implementation manner, the determining, based on the running speed threshold and the running speed, whether the garbage truck overflows in the preset time period includes:

If the running speed reaches the running speed threshold, acquiring a third image of the garbage truck;

judging whether a vehicle exists in a second preset area of the garbage truck or not based on the third image, and obtaining a judging result;

judging whether the garbage truck is in the overflow dangerous state or not based on the judging result;

and if the running speed does not reach the running speed threshold value, determining that the garbage truck is not in the overflow dangerous state.

In another possible implementation manner, if yes, a prompt message is output, and then any one of the following is included:

if the current working state is a loading state, acquiring a target time length, wherein the target time length is a time length when the angle information of the target garbage can reaches the preset angle information, and if the target time length reaches the preset time length, acquiring identity information of sanitation workers corresponding to the garbage truck, and outputting the identity information, wherein the preset time length is a time length for judging whether garbage in the target garbage can is poured into the garbage truck or not;

if the current working state is a transportation state, judging whether the running speed of the garbage truck is reduced, if not, acquiring the identity information of the sanitation worker corresponding to the garbage truck, and outputting the identity information.

In a second aspect, the application provides a device for monitoring a garbage truck, which adopts the following technical scheme:

an apparatus for garbage truck monitoring, comprising:

the acquisition module is used for acquiring the running speed of the garbage truck;

the determining module is used for determining the current working state of the garbage truck based on the running speed, wherein the working state comprises a loading state and a transporting state, the different corresponding judging standards of the working state are different, the loading state is a garbage loading state of the garbage truck, and the transporting state is a garbage transporting state of the garbage truck;

the judging module is used for judging whether the garbage truck is in an overflow dangerous state or not based on the current working state, and the overflow dangerous state represents a state that the garbage in the garbage truck has overflow risks;

and the first output module is used for outputting prompt information when the prompt information is yes.

Through adopting above-mentioned technical scheme, obtain the speed of traveling of rubbish car by the module of acquireing, the follow-up determination of being convenient for can confirm the operating condition of current rubbish car based on the speed of traveling, the operating condition of rubbish car includes charge state and transport state, charge state is the state that rubbish car was in when loading rubbish, transport state is the state that rubbish car was in when transporting rubbish, judge whether current rubbish car is in the method difference of spilling over dangerous state, spill over dangerous state characterization rubbish in the rubbish car exists the state of spilling over the risk, based on current operating condition, judge whether the rubbish car is in spilling over dangerous state, in order to reach the effect of accurately determining whether each working phase of rubbish car exists spilling over dangerous state, when detecting that the rubbish car is in spilling over the risk state, output prompt message through first output module, so that sanitation personnel in time know the condition that is in spilling over dangerous state of current rubbish car, thereby make sanitation personnel can in time operate the rubbish car, and then reach the effect that reduces the condition that rubbish that the rubbish car carried in the course of working process overflowed.

In another possible implementation manner, the determining module determines a current working state of the garbage truck based on the running speed, and is specifically configured to:

In another possible implementation manner, the judging module is configured to judge whether the garbage truck is currently in an overflow dangerous state based on the current working state, and specifically is configured to:

In another possible implementation manner, when the judging module obtains the weight of the target garbage to be loaded of the garbage truck, the judging module is specifically configured to:

In another possible implementation manner, when the judging module determines the weight of the target garbage can based on the current position information and the historical charging record, the judging module is specifically configured to:

In another possible implementation manner, the determining module is specifically configured to, when determining, based on the running speed threshold and the running speed, whether the garbage truck overflows in the preset time period:

In another possible implementation, the apparatus further includes:

the first output module is used for acquiring a target duration when the current working state is a loading state, wherein the target duration is a duration when the angle information of the target garbage can reaches the preset angle information, acquiring identity information of sanitation workers corresponding to the garbage truck if the target duration reaches the preset duration, and outputting the identity information, and the preset duration is a duration for judging whether garbage in the target garbage can is poured into the garbage truck or not;

and the second output module is used for judging whether the running speed of the garbage truck is reduced or not when the current working state is a transportation state, if not, acquiring the identity information of the sanitation worker corresponding to the garbage truck, and outputting the identity information.

In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:

an electronic device, the electronic device comprising:

at least one processor;

a memory;

at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a method of garbage truck monitoring according to any one of the possible implementations of the first aspect is performed.

In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:

a computer readable storage medium, which when executed in a computer causes the computer to perform the method of garbage truck monitoring of any of the first aspects.

In summary, the present application includes at least one of the following beneficial technical effects:

the method comprises the steps of obtaining the running speed of the garbage truck, determining the working state of the current garbage truck based on the running speed conveniently, wherein the working state of the garbage truck comprises a loading state and a transporting state, the loading state is the state of the garbage truck when the garbage truck loads garbage, the transporting state is the state of the garbage truck when the garbage truck transports garbage, when the garbage truck is in different states, judging whether the current garbage truck is in different overflow dangerous states or not, representing the state that the garbage in the garbage truck has overflow risks, judging whether the garbage truck is in the overflow dangerous states or not based on the current working state, so as to accurately determine whether the effect of the overflow dangerous states exists in each working stage of the garbage truck, and outputting prompt information when the garbage truck is in the overflow dangerous states is detected, so that sanitation personnel can timely operate the garbage truck, and further the effect of reducing the overflow condition of the garbage carried by the garbage truck in the working process is achieved.

Drawings

Fig. 1 is a flow chart of a method for monitoring a garbage truck according to an embodiment of the application.

Fig. 2 is a flow chart of a method for determining the weight of refuse to be carried in an embodiment of the application.

Fig. 3 is a schematic structural diagram of a device for monitoring a garbage truck according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the accompanying drawings.

Modifications of the embodiments which do not creatively contribute to the application may be made by those skilled in the art after reading the present specification, but are protected by patent laws within the scope of the claims of the present application.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the application are described in further detail below with reference to the drawings.

The embodiment of the application provides a garbage truck monitoring method which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, and the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., and the terminal device and the server may be directly or indirectly connected through wired or wireless communication, which is not limited herein, and as shown in fig. 1, the method includes: step S101, step S102, step S103 and step S104,

Step S101, acquiring a traveling speed of the garbage truck.

According to the embodiment of the application, the running speed of the garbage truck can be obtained in real time by connecting with the vehicle-mounted terminal system of the garbage truck.

Step S102, determining the current working state of the garbage truck based on the driving speed.

The working states comprise a loading state and a transporting state, the different corresponding judging standards of the working states are different, the loading state is a garbage loading state of the garbage truck, and the transporting state is a garbage transporting state of the garbage truck.

For the embodiment of the application, the working states of the garbage truck comprise a loading state and a transporting state, wherein the loading state is the state of the garbage truck when loading garbage, the transporting state is the state of the garbage truck when transporting garbage, and when the working states of the garbage truck are different, the method for judging whether the garbage in the garbage truck overflows in a preset time period is different, and the working state of the garbage truck is determined, so that the effect of whether the garbage truck overflows in each working stage can be conveniently determined.

Step S103, judging whether the current garbage truck is in an overflow dangerous state or not based on the current working state.

Wherein, overflow dangerous state represents the state that rubbish in the garbage truck exists the overflow risk.

For the embodiment of the application, the overflow dangerous state represents the state that the garbage in the garbage truck has overflow risk, and based on the current working state of the garbage truck, whether the current garbage truck is in the overflow dangerous state is judged, so that the effect of monitoring whether the garbage in the whole working stage of the garbage truck has the overflow condition is achieved. Specifically, whether the garbage truck is in an overflow dangerous state or not can be judged based on a judgment standard by determining the judgment standard corresponding to the current working state of the garbage truck.

Step S104, if yes, outputting prompt information.

For the embodiment of the application, the prompt information can be output through the voice playing device, can be output through the vehicle-mounted terminal of the garbage truck, and can be output to the terminal equipment of sanitation personnel corresponding to the garbage truck, and the method is not limited herein.

When detecting that the garbage truck is in the overflow risk state, outputting prompt information to make sanitation personnel in time know the condition that is in the overflow risk state of current garbage truck, thereby make sanitation personnel in time operate the garbage truck, and then reach the effect that reduces the garbage that the garbage truck bore appears overflowing the condition in garbage truck working process.

In step S102, determining a current working state of the garbage truck based on the running speed according to a possible implementation manner of the embodiment of the present application specifically includes:

if the running speed is not the preset speed, determining that the current working state of the garbage truck is a transportation state; if the running speed is the preset speed, acquiring a first image and a second image of the garbage truck, wherein the first image is an image of the tail of the garbage truck, and the second image is an image of the cab of the garbage truck; if the first image comprises an image of the garbage can and no personnel image exists in a first preset area in the second image, determining that the current working state of the garbage truck is a loading state; and if the first image does not comprise the image of the garbage can and/or the personnel image exists in the first preset area in the second image, determining that the current working state of the garbage truck is a transportation state.

For the embodiment of the application, the preset speed is a speed threshold value set in advance and is used for determining the current working state of the garbage truck, in the embodiment of the application, the preset speed is 0km/h, and the running speed of the garbage truck is 0km/h when the garbage truck is loaded with garbage, so that when the running speed of the garbage truck is not the preset speed, the garbage truck is in a state of transporting garbage, namely a transportation state.

When the current running speed of the garbage truck is a preset speed, the garbage truck is in a state of loading garbage, namely a loading state, but when the garbage truck is in a transportation state, but traffic jam and the like exist on a transportation road, the running speed of the garbage truck is also in the preset speed, a first image is an image comprising the tail of the garbage truck, a second image is an image comprising the cab of the garbage truck, and when the garbage truck is loading garbage, the garbage truck usually directs the position of loading garbage to the position of a garbage can for convenience of loading garbage, in the embodiment of the application, the garbage truck is in a post-loading state, and when loading garbage, a secondary driver is required to push the garbage can, so that the garbage can be hung on the garbage truck, thereby achieving the purpose of loading garbage, the first preset area is an area set in advance, the first preset area is a copilot area, when the first image of the garbage truck comprises an image of a garbage can, the garbage truck is possibly in a loading state, and the driving speed of the garbage truck is a preset speed due to the condition of traffic jam on the driving road of the garbage truck, so that when the image comprising the garbage can in the first image and no person image exists in the first preset area in the second image are detected, the garbage truck can be indicated to be in a garbage loading state, namely the loading state, and when the image comprising the garbage can in the first image or the person image exists in the first preset area in the second image or the image comprising the garbage can in the first image and the person image exists in the first preset area in the second image, the current working state of the garbage truck is indicated to be a transportation state, thereby achieving the effect of determining the working state of the garbage truck.

In step S103, when judging whether the current garbage truck is in an overflow dangerous state based on the current working state, the method specifically includes: step S1031, and step S1032, wherein,

step S1031, if the current working state is the loading state, acquiring the current weight of the garbage capable of carrying the garbage and the current weight of the target garbage to be carried of the garbage truck, and judging whether the current garbage truck is in an overflow dangerous state based on the weight of the garbage capable of carrying the garbage and the weight of the garbage to be carried.

For the embodiment of the application, when the working states of the garbage truck are different, the method for judging whether the garbage truck is in an overflow dangerous state is different, and when the working states of the garbage truck are in a loading state, sanitation personnel corresponding to the garbage truck cannot accurately know the situation of garbage in the garbage truck, so that the situation that the garbage in the garbage truck is continuously loaded into the garbage truck when the garbage in the garbage truck is in a state to be saturated can possibly happen, the garbage truck overflows, troubles are brought to subsequent cleaning, and even if the garbage in the garbage truck is loaded into the garbage truck through compression, the garbage carrying capacity in the garbage truck is possibly high, so that the maximum drivable speed is erroneously estimated in the process of transporting the garbage truck, the braking distance is erroneously estimated, the traffic accident of the garbage truck is further caused, and the overflow of the garbage in the garbage truck is further caused, so that other vehicles on a road are influenced. Therefore, when the current working state of the garbage truck is the loading state, the weight of the garbage to be loaded is the weight of the target garbage which is required to be loaded currently by the garbage truck, the weight of the garbage to be loaded can be the weight of the garbage truck which can be loaded continuously by the current garbage truck, the weight of the garbage to be loaded and the weight of the garbage to be loaded are obtained, whether the garbage truck is in an overflow dangerous state or not is conveniently judged based on the weight of the garbage to be loaded and the weight of the garbage to be loaded, and particularly, when the weight of the garbage to be loaded exceeds the weight of the garbage to be loaded, the fact that if the target garbage is loaded into the garbage truck, the weight of the garbage in the garbage truck is heavier is indicated, and therefore the garbage in the garbage truck can overflow in the garbage truck in the process of transporting the garbage, and the current garbage truck can be determined to be in the overflow dangerous state.

Step S1032, if the current working state is a transportation state, the total weight of the garbage currently carried by the garbage truck is obtained, the current running speed threshold of the garbage truck is determined based on the total weight of the garbage, and whether the current garbage truck is in an overflow dangerous state is judged based on the running speed threshold and the running speed.

For the embodiment of the application, when the current working state of the garbage truck is a transportation state, the garbage truck is in the way of transporting garbage to a garbage disposal plant or the next garbage loading area, the total weight of the garbage borne by the current garbage truck is acquired, so that the current maximum running speed threshold value of the garbage truck can be conveniently determined based on the total weight of the garbage, and therefore, whether the current garbage truck runs faster or not can be conveniently determined based on the running speed threshold value and the running speed, namely, whether the current garbage is in an overflow dangerous state or not is conveniently determined.

As shown in fig. 2, in step S1031, when obtaining the weight of the target garbage to be loaded of the garbage truck, the method specifically includes: step S10311, step S10312, step S10313, step S10314, step S10315, step S10316, and step S10317, wherein,

Step S10311, determining angle information of the target trash can carrying the target trash based on the angle sensor.

Step S10312, obtaining a primary weight of the target garbage collected by the gravity sensor corresponding to the angle information and a preset weight calculation formula corresponding to the angle information.

For the embodiment of the application, when the garbage truck loads garbage in the garbage can, firstly, sanitation personnel need to move the garbage can to a device for mounting the garbage can on the garbage truck, namely, a can hanging mechanism is arranged on the can hanging mechanism of the garbage truck, and a gravity sensor and an angle sensor are arranged on the can hanging mechanism of the garbage truck.

The primary weight of the target garbage collected by the gravity sensor corresponding to the angle information is obtained, and because the gravity sensor is arranged on the backboard of the garbage hanging mechanism of the garbage truck, the primary weight directly collected by the gravity sensor is not the weight of the target garbage in the garbage can, and when the angle information is different, the primary weight collected by the corresponding gravity sensor is different from the actual weight of the target garbage in the garbage can, so that a preset weight calculation formula corresponding to the angle information can be obtained, and the actual weight of the target garbage can be conveniently determined based on the preset weight calculation formula.

In the embodiment of the application, a preset formula library is set in advance, and the preset formula library comprises a plurality of angle information and preset weight calculation formulas corresponding to the angle information.

Step S10313, determining the secondary weight of the target garbage corresponding to the angle information based on the primary weight and the preset weight calculation formula.

Step S10314, when it is detected that the angle information reaches the preset angle information, determines a tertiary weight of the target garbage based on the plurality of target secondary weights.

The target secondary weight is the secondary weight corresponding to the target angle information, the target angle information does not reach the preset angle information, and the tertiary weight comprises the weight of the target garbage can.

Step S10315, obtaining current position information of the garbage truck and a history charging record of the garbage truck.

The historical charging record comprises a plurality of pieces of historical position information, and each piece of historical position information corresponds to a plurality of garbage can weights.

Step S10316, determining the weight of the target trash can based on the current location information and the historical loading records.

In step S10317, the weight of the target garbage to be loaded is determined based on the weight of the target garbage and the three-level weight.

For the embodiment of the application, the secondary weight is the weight closer to the actual weight of the target garbage than the primary weight, and is the weight not affected by the inclination angle of the garbage can. The preset angle information is preset angle information, whether the garbage in the garbage can is about to be poured into the garbage truck or not is judged, when the angle information is detected to reach the preset angle information, the fact that the garbage in the garbage can is about to be poured into the garbage truck is indicated, because a plurality of angle information exist in the dumping process of the garbage can, a plurality of secondary weights exist, the target angle information is the angle information which does not reach the preset angle information, the target secondary weight is the secondary weight corresponding to the target angle information, the three-level weight of the target garbage is determined based on the plurality of target secondary weights, so that the weight of the target garbage which is determined later is more accurate, the three-level weight comprises the weight of the garbage can bearing the target garbage, and because a fixed collecting point exists when the garbage truck collects the garbage, namely, the current position information of the garbage truck and the history charging record corresponding to the garbage truck can be determined based on the current position information and the history charging record, and the weight of the target garbage can be determined, so that the target garbage to be loaded on the weight and the three-level weight of the target garbage can be determined conveniently.

Further, in the embodiment of the present application, when determining the tertiary weight based on the plurality of secondary weights, the tertiary weight may be determined by means of averaging, and further, in order to avoid a detection error of the sensor, a preset weight interval may be set first, filtering processing may be performed on the secondary weight based on the preset weight interval, to obtain the secondary weight in a normal range, and average processing may be performed on the secondary weight in the normal range, to obtain the tertiary weight.

Furthermore, in the embodiment of the application, the primary weight collected by the gravity sensor is influenced by factors such as the throttle force for driving the bucket hanging mechanism and the acceleration for tilting the garbage bin, so that the primary weight of the gravity sensor can be processed by using a weighing and amplitude limiting sliding average algorithm so as to obtain more accurate three-level weight.

The weighing limiting sliding average algorithm has the basic principle that:

clipping (Limiting): first, the value of the input signal will be compared with predefined upper and lower limits. If the input value exceeds the limit range, it will be limited to that range, preventing the influence of outliers on the calculation result.

Sliding Average (Sliding Average): then, the limited input signal is smoothed by means of a moving average. A moving average is a weighted average calculation method based on data over a period of time. Each time a new input value arrives, the algorithm updates the average value and takes into account the weight of the previous value.

Further, the step of realizing the weighing amplitude limiting sliding average algorithm is as follows:

defining upper and lower limits: and determining the upper limit and the lower limit of the input signal according to the application requirement.

Input value clipping: the input signal is compared to upper and lower limits and if out of range, it is limited to within range.

Moving average calculation: the average value is calculated using a method of moving average. Different methods of moving average calculation, such as an exponentially weighted average or a moving window average, may be used.

Updating the average value: the average value is updated each time a new input value arrives, and the weight of the previous value is taken into account.

In the embodiment of the application, the weight of the target garbage to be carried can be determined by subtracting the weight of the target garbage from the three-level weight.

In step S10316, when determining the weight of the target garbage can based on the current location information and the historical charging record, the method specifically includes:

Determining a plurality of target garbage weights from the historical charging records based on the current position information, wherein the historical position information corresponding to the target garbage weights is consistent with the current position information; the weight of the target trash can is determined based on the plurality of target trash can weights.

For the embodiment of the application, the historical position information corresponding to the weight of the target garbage can is consistent with the current position information of the garbage truck, and garbage can be stuck on the inner wall of the garbage can when the garbage truck is influenced by weather, such as rainy days, or the like, namely the weights of the target garbage cans corresponding to the same position information at different times can be different, so that the weights of a plurality of target garbage cans can be determined from a historical charging record based on the current position information, and the weights of the target garbage cans can be determined based on the weights of the plurality of target garbage cans in the follow-up process.

In the embodiment of the application, the weight of the target garbage can be obtained by carrying out average processing on the weights of a plurality of target garbage cans.

In step S1032, based on the running speed threshold and the running speed, the method determines whether the garbage truck overflows in a preset time period, which specifically includes:

If the running speed reaches the running speed threshold value, a third image of the garbage truck is obtained; judging whether vehicles exist in a second preset area of the garbage truck or not based on the third image, and obtaining a judging result; judging whether the garbage truck is in an overflow dangerous state or not based on a judging result; and if the running speed does not reach the running speed threshold value, determining that the garbage truck is not in an overflow dangerous state.

For the embodiment of the application, when the running speed reaches the preset running speed, the current running speed of the garbage truck is higher, the situation that garbage overflows exists is indicated, and when the garbage truck runs on a non-truck road section faster, the probability of occurrence of traffic accidents is smaller, namely the probability of occurrence of garbage overflow is smaller, the third image is an image on the running road of the garbage truck, the third image of the garbage truck is acquired, and the second preset area is an area set in advance.

For the embodiment of the application, when the running speed does not reach the running speed threshold value, the running of the garbage truck is stable, and the garbage truck can be determined not to be in an overflow dangerous state.

In one possible implementation manner of the embodiment of the present application, after step S104, any one of the following is further included:

the method comprises the following steps: if the current working state is the loading state, acquiring a target time length, wherein the target time length is the time length when the angle information of the target garbage can reaches the preset angle information; if the target duration reaches the preset duration, acquiring identity information of sanitation workers corresponding to the garbage truck, and outputting the identity information, wherein the preset duration is the duration for judging whether garbage in the target garbage can is poured into the garbage truck or not.

For the embodiment of the application, when the current working state is the loading state and the garbage truck is detected to be in the dangerous overflow state, the current garbage truck is not capable of continuously collecting garbage in the target garbage can, namely, the operation of dumping the garbage in the target garbage can is stopped, the target time length is the time length of the angle information of the target garbage can reaching the preset angle information, the preset time length is the time length set in advance, and the time length for judging whether the garbage in the target garbage can is dumped into the garbage truck or not is the time length set in advance, when the target time length reaches the preset time length, the garbage in the garbage can is dumped into the garbage truck, so that the identity information of a sanitation worker corresponding to the garbage truck can be acquired, and the identity information is output, so that the condition that the sanitation worker does not operate the garbage truck correctly can be clarified by the sanitation worker can be achieved, the effect of prompting the sanitation worker to operate according to regulations is achieved, and the effect of reducing the garbage overflow is achieved.

The second method is as follows: if the current working state is a transportation state, judging whether the running speed of the garbage truck is reduced, if not, acquiring the identity information of sanitation workers corresponding to the garbage truck, and outputting the identity information.

For the embodiment of the application, when the current working state is the transportation state, the reason that the garbage in the garbage truck is likely to overflow is indicated to be that the running speed is higher, so that whether the garbage truck is subjected to correction operation by the staff corresponding to the garbage truck can be judged by judging whether the running speed of the garbage truck is reduced, when the running speed of the garbage truck is not reduced, the sanitation worker of the garbage truck is indicated to not carry out the correction operation, namely, the identity information of the sanitation worker is acquired, and the identity information is output, so that sanitation companies can determine the condition that the sanitation worker does not operate the garbage truck correctly, the effect of urging the sanitation worker to operate according to the regulations is achieved, and the effect of reducing the overflow of the garbage is further achieved.

Further, in the embodiment of the present application, the method for monitoring the garbage truck may be applicable to a post-loading compressed garbage truck, or may be applicable to a side-loading kitchen garbage truck, which is not limited herein.

The above embodiment describes a method for monitoring a garbage truck from the viewpoint of a method flow, and the following embodiment describes a device 30 for monitoring a garbage truck from the viewpoint of a virtual module or a virtual unit, which is described in detail in the following embodiment.

An embodiment of the present application provides a garbage truck monitoring device 30, as shown in fig. 3, where the garbage truck monitoring device 30 specifically may include:

the judging module is used for judging whether the current garbage truck is in an overflow dangerous state or not based on the current working state, wherein the overflow dangerous state represents a state that the garbage in the garbage truck has overflow risk;

Through adopting the technical scheme, the acquisition module 301 acquires the running speed of the garbage truck, the follow-up determination module 302 of being convenient for can confirm the operating condition of current garbage truck based on the running speed, the operating condition of garbage truck includes charge state and transport state, wherein charge state is the state that the garbage truck was in when loading rubbish, transport state is the state that the garbage truck was in when transporting rubbish, the method of judging whether current garbage truck was in overflow dangerous state is different when the garbage truck was in different states, overflow dangerous state characterization garbage in the garbage truck exists the state of overflowing risk, based on current operating condition, judge whether the garbage truck is in overflow dangerous state, in order to reach the effect of accurately determining whether each operating stage of garbage truck exists overflow dangerous state, when detecting that the garbage truck is in overflow dangerous state, output prompt information through first output module 304, so that sanitation personnel in time know the condition that is in overflow dangerous state of current garbage truck, thereby make sanitation personnel can in time operate the garbage truck, and then reach the effect of reducing the condition that the garbage truck carried by the garbage in the garbage truck in the course of working process.

In one possible implementation manner of the embodiment of the present application, the determining module 302 determines, based on the driving speed, a current working state of the garbage truck, and is specifically configured to:

if the running speed is the preset speed, acquiring a first image and a second image of the garbage truck, wherein the first image is an image of the tail of the garbage truck, and the second image is an image of the cab of the garbage truck;

if the first image comprises an image of the garbage can and no personnel image exists in a first preset area in the second image, determining that the current working state of the garbage truck is a loading state;

and if the first image does not comprise the image of the garbage can and/or the personnel image exists in the first preset area in the second image, determining that the current working state of the garbage truck is a transportation state.

In one possible implementation manner of the embodiment of the present application, the determining module 303 determines, based on the current working state, whether the current garbage truck is in an overflow dangerous state, and is specifically configured to:

if the current working state is a loading state, acquiring the current garbage-carrying weight of the garbage truck and the current garbage-carrying weight of target garbage to be loaded of the garbage truck, and judging whether the current garbage truck is in an overflow dangerous state or not based on the garbage-carrying weight and the garbage-carrying weight;

If the current working state is a transportation state, the total weight of the garbage currently borne by the garbage truck is obtained, a current running speed threshold of the garbage truck is determined based on the total weight of the garbage, and whether the current garbage truck is in an overflow dangerous state or not is judged based on the running speed threshold and the running speed.

In one possible implementation manner of the embodiment of the present application, when the determining module 303 obtains the weight of the target garbage to be loaded of the garbage truck, the method is specifically used for:

determining angle information of a target garbage can bearing the target garbage based on an angle sensor;

acquiring a preset weight calculation formula corresponding to the angle information, wherein the preset weight calculation formula corresponds to the initial weight of the target garbage acquired by the gravity sensor corresponding to the angle information;

determining the secondary weight of the target garbage corresponding to the angle information based on the primary weight and a preset weight calculation formula;

when the angle information is detected to reach the preset angle information, determining the third-level weight of the target garbage based on a plurality of target second-level weights, wherein the target second-level weight is the second-level weight corresponding to the target angle information, the target angle information does not reach the preset angle information, and the third-level weight comprises the weight of the target garbage can;

Acquiring current position information of a garbage truck and a historical charging record of the garbage truck, wherein the historical charging record comprises a plurality of pieces of historical position information, and each piece of historical position information corresponds to a plurality of garbage can weights;

determining the weight of the target garbage can based on the current position information and the historical charging record;

and determining the weight of the target garbage to be loaded based on the weight of the target garbage can and the three-level weight.

In one possible implementation manner of the embodiment of the present application, when the determining module 303 determines the weight of the target trash can based on the current location information and the historical charging record, the determining module is specifically configured to:

the weight of the target trash can is determined based on the plurality of target trash can weights.

In one possible implementation manner of the embodiment of the present application, the determining module 303 is specifically configured to, when determining whether the garbage truck overflows in a preset period of time based on the running speed threshold and the running speed:

if the running speed reaches the running speed threshold value, a third image of the garbage truck is obtained;

Judging whether vehicles exist in a second preset area of the garbage truck or not based on the third image, and obtaining a judging result;

judging whether the garbage truck is in an overflow dangerous state or not based on a judging result;

and if the running speed does not reach the running speed threshold value, determining that the garbage truck is not in an overflow dangerous state.

In one possible implementation manner of the embodiment of the present application, the apparatus 30 further includes:

the first output module is used for acquiring a target time length when the current working state is a loading state, wherein the target time length is the time length when the angle information of the target garbage can reaches the preset angle information, acquiring the identity information of sanitation workers corresponding to the garbage truck if the target time length reaches the preset time length, and outputting the identity information, and the preset time length is the time length for judging whether the garbage in the target garbage can is poured into the garbage truck or not;

and the second output module is used for judging whether the running speed of the garbage truck is reduced or not when the current working state is a transportation state, and if not, acquiring the identity information of the sanitation worker corresponding to the garbage truck and outputting the identity information.

It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the device 30 for monitoring a garbage truck described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In an embodiment of the present application, as shown in fig. 4, an electronic device 40 shown in fig. 4 includes: a processor 401 and a memory 403. Processor 401 is connected to memory 403, such as via bus 402. Optionally, the electronic device 40 may also include a transceiver 404. It should be noted that, in practical applications, the transceiver 404 is not limited to one, and the structure of the electronic device 40 is not limited to the embodiment of the present application.

The processor 401 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 401 may also be a combination for implementing a computing function, e.g. comprising at least one microprocessor combination, a combination of a DSP and a microprocessor, etc.

Bus 402 may include a path to transfer information between the components. Bus 402 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or EISA (Extended Industry Standard Architecture ) bus, among others. Bus 402 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or type of bus.

The Memory 403 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 403 is used for storing application program codes for executing the inventive arrangements and is controlled to be executed by the processor 401. The processor 401 is arranged to execute application code stored in the memory 403 for implementing what is shown in the foregoing method embodiments.

Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the application.

Embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the related art, in the embodiment of the application, the running speed of the garbage truck is acquired, the current working state of the garbage truck can be conveniently determined based on the running speed, the working state of the garbage truck comprises a loading state and a transporting state, wherein the loading state is the state of the garbage truck when the garbage truck loads garbage, the transporting state is the state of the garbage truck when the garbage truck is in different states, the method for judging whether the current garbage truck is in an overflow dangerous state is different, the overflow dangerous state represents the state that the garbage in the garbage truck has an overflow risk, the method for judging whether the garbage truck is in the overflow dangerous state based on the current working state, so that the effect of accurately determining whether the garbage truck has the overflow dangerous state in each working stage is achieved, and when the garbage truck is detected to be in the overflow dangerous state, prompt information is output, so that sanitation workers can timely know the condition of the current garbage truck in the overflow dangerous state, and the effect of reducing the condition of the garbage carried by the garbage truck in the working process of the garbage truck is achieved.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.

Claims

1. A method of garbage truck monitoring, comprising:

acquiring the running speed of the garbage truck;

if yes, outputting prompt information.

2. The method of claim 1, wherein said determining a current operating state of said garbage truck based on said travel speed comprises:

3. The method of claim 1, wherein determining whether the garbage truck is currently in an overflow hazard state based on the current operating state comprises:

4. A method of monitoring a refuse vehicle according to claim 3, characterized in that the refuse vehicle is provided with a gravity sensor and an angle sensor, and the acquisition of the weight of the refuse to be carried by the target refuse currently required to be loaded by the refuse vehicle comprises:

5. The method of claim 4, wherein said determining the weight of said target trash can based on said current location information and said historical loading record comprises:

6. A method of monitoring a refuse vehicle according to claim 3, characterized in that said determining whether the refuse vehicle overflows during the preset time period based on the travel speed threshold and the travel speed comprises:

7. The method of claim 4, wherein if yes, outputting a prompt message, and further comprising any one of the following:

8. A device for monitoring a refuse vehicle, comprising:

9. An electronic device, comprising:

at least one processor;

a memory;

at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a method of performing the garbage truck monitoring according to any one of claims 1 to 7.

10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed in a computer, causes the computer to perform the method of garbage truck monitoring according to any of claims 1-7.