CN117945034B - Garbage truck control method and system based on garbage can monitor - Google Patents
Garbage truck control method and system based on garbage can monitor Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 38
- 238000007726 management method Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 19
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F9/00—Transferring of refuse between vehicles or containers with intermediate storage or pressing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/182—Volume determining means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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Abstract
The invention relates to the technical field of garbage monitoring and management, in particular to a garbage truck management and control method and system based on a garbage can monitor. The scheme includes that cameras are arranged on a garbage can for image acquisition; completing image calibration during first image acquisition; acquiring the overflow degree data of the garbage can according to the garbage can image acquired by image acquisition; analyzing according to the overflow degree of each garbage can to form all garbage stations to be treated; determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles; and starting all garbage trucks according to the optimal garbage collection scheme to collect garbage. According to the scheme, the garbage bin monitor is arranged, and the garbage truck is efficiently managed and controlled by combining the self-adaptive analysis learning method.
Description
Technical Field
The invention relates to the technical field of garbage monitoring and management, in particular to a garbage truck management and control method and system based on a garbage can monitor.
Background
With the improvement of the living standard of people, more and more areas are provided with the garbage can, but the management of the garbage can is often negligent because the positions of the garbage can are scattered, special people are difficult to set for observation, and in addition, the state of the garbage can is difficult to evaluate remotely.
Before the technology of the invention, the prior art mainly adopts a mode of designing a garbage collection scheme, and manages each garbage truck to start to a corresponding area to collect garbage according to the experience design scheme, but the garbage is dynamic, so that the problems that more garbage is left without people and less garbage is repeatedly cleaned often occur, the resource allocation is unreasonable, and the efficiency is very low.
Disclosure of Invention
In view of the above problems, the invention provides a garbage truck control method and a garbage truck control system based on a garbage can monitor, which are used for realizing efficient control of garbage trucks by arranging the garbage can monitor and combining with a self-adaptive analysis learning method.
According to a first aspect of an embodiment of the invention, a garbage truck management and control method based on a garbage can monitor is provided.
In one or more embodiments, preferably, the garbage truck control method based on the garbage can monitor includes:
Arranging a camera on the garbage can for image acquisition;
completing image calibration during first image acquisition;
Acquiring the overflow degree data of the garbage can according to the garbage can image acquired by image acquisition;
analyzing according to the overflow degree of each garbage can to form all garbage stations to be treated;
determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles;
and starting all garbage trucks according to the optimal garbage collection scheme to collect garbage.
In one or more embodiments, preferably, the laying of the camera on the trash can performs image acquisition, specifically includes:
A camera is arranged at the top of the dustbin;
And acquiring garbage can acquisition information through video and image shooting after layout.
In one or more embodiments, preferably, the image calibration when the first image acquisition is completed specifically includes:
when the image acquisition is carried out for the first time, starting a garbage video calibration function, continuously running for 1 minute, and judging that the color of the camera is normal;
placing a contrast color card at a preset position;
comparing the image with the image at the preset position, if the image is normal, starting the image, if the image is abnormal, starting the image after debugging is normal.
In one or more embodiments, preferably, the acquiring the data of the overflow degree of the garbage can according to the image of the garbage can obtained by image acquisition specifically includes:
Analyzing each dustbin image and judging the overflow degree of the current dustbin;
And determining the overflow degree of the garbage can according to the residual space ratio in the current garbage can.
In one or more embodiments, preferably, the analyzing according to the overflow degree of each garbage can forms all garbage stations to be treated, which specifically includes:
Judging all the garbage cans meeting the first calculation formula to be used as a full garbage can set;
Performing curve fitting on the overflow degree of the unsatisfied garbage cans to form an overflow degree prediction curve of each garbage can;
Analyzing the unsatisfied garbage cans by using a second calculation formula, and judging the overflow prediction time of each unsatisfied garbage can;
judging which garbage cans in the unsatisfied garbage cans meet a third calculation formula, and taking the garbage cans as garbage can sets which are not fully filled;
combining all the garbage bin sets which are not full and the garbage bin sets which are full to form all garbage stations to be treated;
the first calculation formula is as follows:
P>80％
wherein P is the overflow degree of the garbage can;
The second calculation formula is as follows:
P(t1)＝80％
Wherein P (t 1) is the garbage overflow degree at the time t1 in the future determined by curve fitting, and t1 is the overflow prediction time meeting a second calculation formula;
the third calculation formula is as follows:
t1<T
wherein T is a garbage cleaning period.
In one or more embodiments, preferably, the determining according to the optimal garbage collection scheme performed by all garbage stations to be treated and all vehicles specifically includes:
calculating the current garbage ratio by using a fourth calculation formula;
Calculating the number of stations available by using a fifth calculation formula according to the residual capacity of each vehicle in all the current vehicles;
Sorting the number of the stations from large to small, preferentially starting path searching with a large number of the stations, and selecting a path with the shortest time from all the stations to be processed by using the current position of the garbage truck as a starting point through dijkstra shortest path searching;
Completing all path determination one by one according to the number of the stations which can be removed, deleting the selected garbage station from all garbage stations to be treated after each path is determined until all paths are determined, and storing all paths as an optimal garbage collection scheme;
the fourth calculation formula is as follows:
A＝B÷C
Wherein A is the garbage ratio, B is the total garbage amount, and C is the total residual capacity of all vehicles;
The fifth calculation formula is:
D＝Z[A×(E÷F)]
where E is the current vehicle's remaining capacity, F is the garbage site's total capacity upper limit, and Z [ ] is a rounding function for extracting the integer portion of the data within [ ].
In one or more embodiments, preferably, the starting all garbage trucks according to the optimal garbage collection scheme, and performing garbage collection specifically includes:
Sending out a corresponding optimal garbage collection scheme to each garbage truck through wireless communication;
And starting garbage collection work, and after garbage collection is completed, enabling a garbage truck to be in a garbage disposal plant.
According to a second aspect of the embodiment of the invention, a garbage truck management and control system based on a garbage can monitor is provided.
In one or more embodiments, preferably, the garbage truck management system based on a garbage can monitor includes:
the sensor module is arranged and used for arranging a camera on the garbage can to acquire images;
The periodic checking module is used for completing image calibration during first image acquisition;
The overflow degree analysis module is used for acquiring the overflow degree data of the garbage can according to the garbage can image acquired by the image acquisition;
the unsatisfied processing module is used for analyzing according to the overflow degree of each garbage can to form all garbage stations to be processed;
the optimal analysis module is used for determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles;
and the scheme online execution module is used for starting all garbage trucks according to the optimal garbage collection scheme to collect garbage.
According to a third aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method according to any of the first aspect of embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention there is provided an electronic device comprising a memory and a processor, the memory being for storing one or more computer program instructions, wherein the one or more computer program instructions are executable by the processor to implement the method of any of the first aspects of embodiments of the present invention.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
in the scheme of the invention, the camera at the top of the garbage can is arranged, and the garbage can is confirmed to be always capable of monitoring the overflow proportion of garbage by combining with image correction.
In the scheme of the invention, a dynamic self-adaptive garbage truck operation line control method is formed through the garbage overflow proportion, so that the garbage truck is efficiently scheduled.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a garbage truck management and control method based on a garbage can monitor according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for controlling a garbage truck based on a garbage monitor according to an embodiment of the present invention, in which a camera is disposed on a garbage to collect images.
Fig. 3 is a flowchart of image calibration at the completion of the first image acquisition in a garbage truck management and control method based on a garbage can monitor according to an embodiment of the present invention.
Fig. 4 is a flowchart of a garbage can image obtained according to image acquisition in a garbage can monitor-based garbage can management and control method according to an embodiment of the present invention, to obtain garbage can overflow degree data.
FIG. 5 is a flow chart of a garbage truck management method based on a garbage can monitor according to an embodiment of the present invention, which analyzes the overflow degree of each garbage can to form all garbage stations to be treated.
FIG. 6 is a flow chart of a garbage truck management method based on a garbage monitor for determining an optimal garbage collection scheme based on all garbage stations to be treated and all vehicles in accordance with an embodiment of the present invention.
FIG. 7 is a flow chart of a garbage truck management method based on a garbage can monitor according to an embodiment of the present invention, which starts all garbage trucks according to the optimal garbage collection scheme, and performs garbage collection.
Fig. 8 is a block diagram of a garbage truck management and control system based on a garbage can monitor according to an embodiment of the present invention.
Fig. 9 is a block diagram of an electronic device in one embodiment of the invention.
Detailed Description
In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations occurring in a particular order are included, but it should be understood that the operations may be performed out of order or performed in parallel, with the order of operations such as 101, 102, etc., being merely used to distinguish between the various operations, the order of the operations themselves not representing any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
With the improvement of the living standard of people, more and more areas are provided with the garbage can, but the management of the garbage can is often negligent because the positions of the garbage can are scattered, special people are difficult to set for observation, and in addition, the state of the garbage can is difficult to evaluate remotely.
Before the technology of the invention, the prior art mainly adopts a mode of designing a garbage collection scheme, and manages each garbage truck to start to a corresponding area to collect garbage according to the experience design scheme, but the garbage is dynamic, so that the problems that more garbage is left without people and less garbage is repeatedly cleaned often occur, the resource allocation is unreasonable, and the efficiency is very low.
The embodiment of the invention provides a garbage truck control method and a garbage truck control system based on a garbage can monitor. According to the scheme, the garbage bin monitor is arranged, and the garbage truck is efficiently managed and controlled by combining the self-adaptive analysis learning method.
According to a first aspect of an embodiment of the invention, a garbage truck management and control method based on a garbage can monitor is provided.
Fig. 1 is a flowchart of a garbage truck management and control method based on a garbage can monitor according to an embodiment of the present invention.
In one or more embodiments, preferably, the garbage truck control method based on the garbage can monitor includes:
S101, arranging a camera on a garbage can to acquire images;
s102, completing image calibration during primary image acquisition;
S103, acquiring the overflow degree data of the garbage can according to the garbage can image acquired by image acquisition;
s104, analyzing according to the overflow degree of each garbage can to form all garbage stations to be treated;
S105, determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles;
s106, starting all garbage trucks according to the optimal garbage collection scheme, and collecting garbage.
In the embodiment of the invention, the garbage truck and the garbage can are public resources, if the resources can be effectively scheduled, the life quality of a related radiation area can be greatly improved, and the waste of the resources is reduced, so that the garbage truck is very necessary.
Fig. 2 is a flowchart of a method for controlling a garbage truck based on a garbage monitor according to an embodiment of the present invention, in which a camera is disposed on a garbage to collect images.
As shown in fig. 2, in one or more embodiments, preferably, the disposing a camera on the trash can for image acquisition specifically includes:
S201, arranging a camera at the top of the dustbin;
s202, acquiring garbage can acquisition information through video and image shooting after layout.
In the embodiment of the invention, the arrangement of the dustbin cameras is mainly arranged at the top of the dustbin, the position of the highest area of the current dustbin can be rapidly judged through the cameras at the top, the dustbin acquisition information is obtained in a video shooting mode, and the flash lamp is automatically started during night shooting.
Fig. 3 is a flowchart of image calibration at the completion of the first image acquisition in a garbage truck management and control method based on a garbage can monitor according to an embodiment of the present invention.
As shown in fig. 3, in one or more embodiments, preferably, the image calibration when the first image acquisition is completed specifically includes:
s301, when image acquisition is carried out for the first time, starting a garbage video calibration function, continuously running for 1 minute, and judging that the color of a camera is normal;
s302, placing a contrast color card at a preset position;
S303, comparing the image with the image at the preset position, if the image is normal, starting the image, if the image is abnormal, starting the image after debugging is normal.
In the embodiment of the invention, when the image acquisition is carried out for the first time, a garbage video calibration function is started, the color of the camera is judged to be normal, and whether the information acquisition is finished is judged by comparing a contrast color card with the image at the preset position.
Fig. 4 is a flowchart of a garbage can image obtained according to image acquisition in a garbage can monitor-based garbage can management and control method according to an embodiment of the present invention, to obtain garbage can overflow degree data.
As shown in fig. 4, in one or more embodiments, preferably, the acquiring the data of the overflow degree of the garbage can according to the image of the garbage can obtained by image acquisition specifically includes:
s401, analyzing each dustbin image, and judging the overflow degree of the current dustbin;
s402, determining the overflow degree of the garbage can according to the residual space ratio in the current garbage can.
In the embodiment of the invention, after specific garbage images are acquired, each garbage can image is analyzed, the overflow degree of the current garbage can is judged, the overflow degree of the garbage can is determined according to the residual space ratio in the current garbage can, and the residual space ratio subtracted by 1 is the overflow degree of the garbage can.
FIG. 5 is a flow chart of a garbage truck management method based on a garbage can monitor according to an embodiment of the present invention, which analyzes the overflow degree of each garbage can to form all garbage stations to be treated.
As shown in fig. 5, in one or more embodiments, the analyzing according to the overflow degree of each garbage can preferably forms all garbage stations to be treated, which specifically includes:
s501, judging all garbage cans meeting a first calculation formula to be used as a full garbage can set;
S502, curve fitting is carried out on the overflow degree of the unsatisfied garbage cans, so that an overflow degree prediction curve of each garbage can is formed;
S503, analyzing the unsatisfied garbage cans by using a second calculation formula, and judging the overflow prediction time of each unsatisfied garbage can;
S504, judging which garbage cans in the unsatisfied garbage cans meet a third calculation formula, and taking the garbage cans as a garbage can set which is not full;
S505, combining all the garbage bin sets which are not full and the garbage bin sets which are full to form all garbage stations to be treated;
the first calculation formula is as follows:
P>80％
wherein P is the overflow degree of the garbage can;
The second calculation formula is as follows:
P(t1)＝80％
Wherein P (t 1) is the garbage overflow degree at the time t1 in the future determined by curve fitting, and t1 is the overflow prediction time meeting a second calculation formula;
the third calculation formula is as follows:
t1<T
wherein T is a garbage cleaning period.
In the embodiment of the invention, the overflow degree of each garbage can at the current moment is obtained, and all garbage cans meeting a first calculation formula are judged to be used as full garbage can sets; performing curve fitting on the overflow degree of the unsatisfied garbage cans to form an overflow degree prediction curve of each garbage can; analyzing the unsatisfied garbage cans by using a second calculation formula, and judging the overflow prediction time of each unsatisfied garbage can; judging which garbage cans in the unsatisfied garbage cans meet a third calculation formula, and taking the garbage cans as garbage can sets which are not fully filled; and combining all the garbage bin sets which are not full and the garbage bin sets which are full to form all the garbage stations to be treated.
FIG. 6 is a flow chart of a garbage truck management method based on a garbage monitor for determining an optimal garbage collection scheme based on all garbage stations to be treated and all vehicles in accordance with an embodiment of the present invention.
As shown in fig. 6, in one or more embodiments, preferably, the determining according to the optimal garbage collection scheme according to all garbage stations to be treated and all vehicles specifically includes:
S601, calculating the current garbage ratio by using a fourth calculation formula;
S602, calculating the number of stations which can be removed by utilizing a fifth calculation formula according to the residual capacity of each vehicle in all the current vehicles;
S603, sorting from large to small according to the number of the sites capable of being removed, preferentially starting path searching with the large number of the sites capable of being removed, and selecting a path with the shortest time from all the sites to be treated by using the current position of the garbage truck as a starting point through dijkstra shortest path searching;
S604, completing all path determination one by one according to the number of the sites which can be removed, deleting the selected garbage station from all garbage stations to be processed after each path is determined until all paths are determined, and storing all paths as an optimal garbage collection scheme;
the fourth calculation formula is as follows:
A＝B÷C
Wherein A is the garbage ratio, B is the total garbage amount, and C is the total residual capacity of all vehicles;
The fifth calculation formula is:
D＝Z[A×(E÷F)]
where E is the current vehicle's remaining capacity, F is the garbage site's total capacity upper limit, and Z [ ] is a rounding function for extracting the integer portion of the data within [ ].
In the embodiment of the invention, the ratio relation between all garbage and the residual capacity of all vehicles is analyzed, the current garbage ratio is calculated by utilizing a fourth calculation formula, the garbage ratio is a number smaller than 1 under normal conditions, when the garbage ratio is larger than 1, an emergency garbage transportation process is started, and additional garbage is scheduled to the current all vehicles until the garbage ratio is smaller than 1; the upper limit of the total capacity of each garbage station is fixed by default, and the number of stations which can be removed is calculated by utilizing a fifth calculation formula according to the residual capacity of each vehicle in all the current vehicles; sorting the number of the stations from large to small, preferentially starting path searching with a large number of the stations, and selecting a path with the shortest time from all the stations to be processed by using the current position of the garbage truck as a starting point through dijkstra shortest path searching; and completing all path determination from large to small according to the number of the stations which can be removed, deleting the selected garbage station from all garbage stations to be treated after each path is determined until all paths are determined, and storing all paths as an optimal garbage collection scheme.
FIG. 7 is a flow chart of a garbage truck management method based on a garbage can monitor according to an embodiment of the present invention, which starts all garbage trucks according to the optimal garbage collection scheme, and performs garbage collection.
As shown in fig. 7, in one or more embodiments, preferably, the starting all garbage trucks according to the optimal garbage collection scheme, to perform garbage collection specifically includes:
s701, sending a corresponding optimal garbage collection scheme to each garbage truck through wireless communication;
S702, starting garbage collection work, and after garbage collection is completed, enabling a garbage truck to be in a garbage disposal plant.
In the embodiment of the invention, after the optimal garbage collection scheme is determined, a corresponding optimal garbage collection scheme is sent to each garbage truck, garbage collection work is started, and after garbage collection is completed, garbage disposal plants in the garbage truck range wait for the next garbage cleaning period.
According to a second aspect of the embodiment of the invention, a garbage truck management and control system based on a garbage can monitor is provided.
Fig. 8 is a block diagram of a garbage truck management and control system based on a garbage can monitor according to an embodiment of the present invention.
In one or more embodiments, preferably, the garbage truck management system based on a garbage can monitor includes:
the layout sensing module 801 is used for laying cameras on the garbage can to acquire images;
a periodic checking module 802, configured to complete image calibration during first image acquisition;
The overflow degree analysis module 803 is configured to obtain the data of the overflow degree of the garbage can according to the image of the garbage can obtained by image acquisition;
an unsatisfied processing module 804, configured to analyze according to the overflow degree of each garbage can to form all garbage stations to be processed;
The optimal analysis module 805 is configured to determine an optimal garbage collection scheme according to all garbage stations to be processed and all vehicles;
And a scheme online execution module 806, configured to start all garbage trucks according to the optimal garbage collection scheme, and perform garbage collection.
In the embodiment of the invention, a system suitable for different structures is realized through a series of modularized designs, and the system can realize closed-loop, reliable and efficient execution through acquisition, analysis and control.
According to a third aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method according to any of the first aspect of embodiments of the present invention.
According to a fourth aspect of an embodiment of the present invention, there is provided an electronic device. Fig. 9 is a block diagram of an electronic device in one embodiment of the invention. The electronic device shown in fig. 9 is a general garbage truck control device based on a garbage can monitor. As shown in fig. 9, the electronic device 900 includes a Central Processing Unit (CPU) 901 that can perform various suitable actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM) 902 or computer program instructions loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM903, various programs and data required for the operation of the electronic device 900 can also be stored. The CPU 901, ROM 902, and RAM903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
A number of components in the electronic device 900 are connected to the I/O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a processing unit 901 perform the respective methods and processes described above, for example, the method described in the first aspect of the embodiment of the present invention. For example, in some embodiments, the methods described in the first aspect of the embodiments of the present invention may be implemented as a computer software program, which is stored on a machine readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into RAM 903 and executed by CPU901, one or more operations of the method described in the first aspect of the embodiment of the present invention may be performed. Alternatively, in other embodiments, CPU901 may be configured in any other suitable manner (e.g., by means of firmware) as one or more actions of the method described in the first aspect of embodiments of the present invention.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
in the scheme of the invention, the camera at the top of the garbage can is arranged, and the garbage can is confirmed to be always capable of monitoring the overflow proportion of garbage by combining with image correction.
In the scheme of the invention, a dynamic self-adaptive garbage truck operation line control method is formed through the garbage overflow proportion, so that the garbage truck is efficiently scheduled.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A garbage truck management and control method based on a garbage can monitor, which is characterized by comprising the following steps:
Arranging a camera on the garbage can for image acquisition;
completing image calibration during first image acquisition;
Acquiring the overflow degree data of the garbage can according to the garbage can image acquired by image acquisition;
analyzing according to the overflow degree of each garbage can to form all garbage stations to be treated;
determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles;
Starting all garbage trucks according to the optimal garbage collection scheme to collect garbage;
wherein, the analysis is carried out according to the overflow degree of each garbage bin and is formed all garbage stations to be treated, specifically includes:
Judging all the garbage cans meeting the first calculation formula to be used as a full garbage can set;
Performing curve fitting on the overflow degree of the unsatisfied garbage cans to form an overflow degree prediction curve of each garbage can;
Analyzing the unsatisfied garbage cans by using a second calculation formula, and judging the overflow prediction time of each unsatisfied garbage can;
judging which garbage cans in the unsatisfied garbage cans meet a third calculation formula, and taking the garbage cans as garbage can sets which are not fully filled;
combining all the garbage bin sets which are not full and the garbage bin sets which are full to form all garbage stations to be treated;
the first calculation formula is as follows:
P>80%
wherein P is the overflow degree of the garbage can;
The second calculation formula is as follows:
P(t1)=80%
Wherein P (t 1) is the garbage overflow degree at the time t1 in the future determined by curve fitting, and t1 is the overflow prediction time meeting a second calculation formula;
the third calculation formula is as follows:
t1<T
Wherein T is a garbage cleaning period;
The method for determining the optimal garbage collection scheme according to all garbage stations to be treated and all vehicles specifically comprises the following steps:
calculating the current garbage ratio by using a fourth calculation formula;
Calculating the number of stations available by using a fifth calculation formula according to the residual capacity of each vehicle in all the current vehicles;
Sorting the number of the stations from large to small, preferentially starting path searching with a large number of the stations, and selecting a path with the shortest time from all the stations to be processed by using the current position of the garbage truck as a starting point through dijkstra shortest path searching;
Completing all path determination one by one according to the number of the stations which can be removed, deleting the selected garbage station from all garbage stations to be treated after each path is determined until all paths are determined, and storing all paths as an optimal garbage collection scheme;
the fourth calculation formula is as follows:
A=B÷C
Wherein A is the garbage ratio, B is the total garbage amount, and C is the total residual capacity of all vehicles;
The fifth calculation formula is:
D=Z[A×（E÷F）]
Where E is the current vehicle's remaining capacity, F is the garbage site's total capacity upper limit, and Z [ ] is a rounding function for extracting the integer portion of the data within [ ].
2. The garbage truck control method based on the garbage can monitor as claimed in claim 1, wherein the arranging of the camera on the garbage can for image acquisition specifically comprises:
A camera is arranged at the top of the dustbin;
And acquiring garbage can acquisition information through video and image shooting after layout.
3. The garbage truck control method based on a garbage can monitor as claimed in claim 1, wherein the image calibration when the first image acquisition is completed, specifically comprises:
when the image acquisition is carried out for the first time, starting a garbage video calibration function, continuously running for 1 minute, and judging that the color of the camera is normal;
placing a contrast color card at a preset position;
comparing the image with the image at the preset position, if the image is normal, starting the image, if the image is abnormal, starting the image after debugging is normal.
4. The garbage truck control method based on a garbage can monitor as claimed in claim 1, wherein the garbage can image obtained according to the image acquisition is used for obtaining garbage can overflow degree data, and specifically comprises the following steps:
Analyzing each dustbin image and judging the overflow degree of the current dustbin;
And determining the overflow degree of the garbage can according to the residual space ratio in the current garbage can.
5. The garbage truck control method based on the garbage can monitor as claimed in claim 1, wherein the method for starting all garbage trucks to collect garbage according to the optimal garbage collection scheme specifically comprises the following steps:
Sending out a corresponding optimal garbage collection scheme to each garbage truck through wireless communication;
And starting garbage collection work, and after garbage collection is completed, enabling a garbage truck to be in a garbage disposal plant.
6. A garbage truck management system based on a garbage can monitor, characterized in that the system is adapted to implement the method of any of claims 1-5, the system comprising:
the sensor module is arranged and used for arranging a camera on the garbage can to acquire images;
The periodic checking module is used for completing image calibration during first image acquisition;
The overflow degree analysis module is used for acquiring the overflow degree data of the garbage can according to the garbage can image acquired by the image acquisition;
the unsatisfied processing module is used for analyzing according to the overflow degree of each garbage can to form all garbage stations to be processed;
the optimal analysis module is used for determining an optimal garbage collection scheme according to all garbage stations to be treated and all vehicles;
and the scheme online execution module is used for starting all garbage trucks according to the optimal garbage collection scheme to collect garbage.
7. A computer readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the method of any of claims 1-5.
8. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method of any of claims 1-5.
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| CN217866213U (en) * | 2021-12-31 | 2022-11-22 | 上海智楹机器人科技有限公司 | Wisdom sanitation system of transporting based on garbage bin is overflowed real-time supervision |
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| CN112478529B (en) * | 2020-11-30 | 2021-12-07 | 重庆电子工程职业学院 | Intelligent garbage collection and transportation system |
| KR102358468B1 (en) * | 2021-09-28 | 2022-02-08 | 안재호 | Method and system for measuring and setting collected garbage |
| CN114275409A (en) * | 2021-10-29 | 2022-04-05 | 嘉兴学院 | Rubbish wisdom recovery system based on artificial intelligence and big data |
| CN115861885A (en) * | 2022-12-07 | 2023-03-28 | 长沙中联重科环境产业有限公司 | Training method of garbage can detection model and garbage can detection method |
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| CN217866213U (en) * | 2021-12-31 | 2022-11-22 | 上海智楹机器人科技有限公司 | Wisdom sanitation system of transporting based on garbage bin is overflowed real-time supervision |
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