CN214826172U - Intelligent classification garbage bin based on vision servo - Google Patents
Intelligent classification garbage bin based on vision servo Download PDFInfo
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- CN214826172U CN214826172U CN202120555507.9U CN202120555507U CN214826172U CN 214826172 U CN214826172 U CN 214826172U CN 202120555507 U CN202120555507 U CN 202120555507U CN 214826172 U CN214826172 U CN 214826172U
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- optical axis
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- rubbish
- stepping motor
- linear bearing
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 101
- 230000003287 optical effect Effects 0.000 claims description 74
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 210000000078 claw Anatomy 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 abstract description 5
- 238000000151 deposition Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 description 5
- 239000002699 waste material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to an intelligent classification garbage bin based on vision servo, because rubbish is of a great variety, categorised complicated, manual operation also has sanitary problem, through setting up rubbish discernment platform, through camera analysis rubbish and discernment classification, rubbish subregion baffle is used for depositing different types of rubbish with garbage bin bottom portion four regions, and the gripper snatchs rubbish back, moves and places according to the classification through the moving platform, the utility model discloses a design vision servo and carry out rubbish classification and place by classification, can independently discern the rubbish type of input and store rubbish classification, need not artifical judgement, prevent to throw the mistake, load wrong rubbish; the garbage storage capacity can be sensed, and when the garbage amount in a certain area reaches a certain value, a user is actively reminded of dumping; the walking frame type mechanical arm is adopted, so that the structure is simple, the operation is stable and rapid, and the identification is accurate.
Description
Technical Field
The utility model relates to a garbage bin, concretely relates to intelligent classification garbage bin based on vision servo.
Background
The garbage classification can reduce the occupied land, reduce the pollution and change waste into valuable, and the extreme importance of the garbage classification is deeply clarified from the national strategy and the national high-quality development. Since then, garbage classification has been put to an unprecedented level, which has attracted widespread attention from all social circles.
However, the garbage is various, at present, many citizens are limited due to relevant knowledge, the classification ability and consciousness are not strong, the goal of garbage classification cannot be well realized in life is achieved, great troubles are brought to life, and the manual operation also has a sanitary problem, so that the intelligent garbage can capable of realizing independent garbage classification can bring great convenience to the citizens.
The trash can needs to have a function of recognizing and determining the type of trash that can be automatically thrown into the trash can from a designated area: the garbage can be recovered, kitchen garbage, harmful garbage and other garbage, and the recognized garbage can be classified and stored.
At present, the accuracy rate of other visual recognition technologies for common objects by means of neural networks is over 98%, and the technology is widely applied to various fields of production and life.
SUMMERY OF THE UTILITY MODEL
To this difficult problem of waste classification, the utility model discloses an intelligent classification garbage bin based on vision servo has been designed based on servo and visual identification technique.
The intelligent classification garbage can based on the visual servo system comprises a main body part and a garbage grabbing and identifying part, wherein the main body part comprises a box body, a garbage identifying table and a garbage partition baffle plate, a garbage throwing-in opening is formed in one side of the box body, the garbage identifying table is arranged at a position corresponding to the garbage throwing-in opening in the box body, an infrared sensor is arranged above the garbage throwing-in opening, a steering engine b is arranged beside the garbage throwing-in opening in the box body and connected with the garbage throwing-in opening through a rocker arm, the garbage partition baffle plate is arranged at the bottom in the box body to divide the bottom in the box body into four areas, and a distance sensor is arranged at the top of the garbage partition baffle plate;
the trash capture recognition portion includes: the garbage collection box comprises a camera, an optical axis a, an optical axis b, a linear bearing a, a linear bearing b, a linear bearing c, a linear bearing d, a shaft support a, a shaft support b, an optical axis c, an optical axis d, a transverse shaft, a vertical shaft, a top support, a moving platform, a base and a mechanical claw, wherein the surface of the box body with a garbage input opening is the left side, the optical axis a is arranged on the left side of the top of the interior of the box body, the optical axis c is arranged on the right side of the interior of the box body, the optical axis a and the optical axis c are parallel to each other, the interior of the box body is slightly higher than the optical axis a, the optical axis b is arranged on the rear side of the optical axis c, the optical axis d is arranged on the front side of the box body, the optical axis b and the optical axis d are parallel to each other, the optical axis b is provided with two shaft supports a through the linear bearing a, the optical axis b is arranged on the optical axis b, the two shaft supports a on the optical axis b are connected through the transverse shaft supports b, and the bottom of the optical axis c is provided with a large-stepping motor b, the large stepping motor b is connected with an optical axis c through a synchronous belt c, the optical axis c is connected with two shaft support seats a on the optical axis b midway through the synchronous belt b and then connected with the optical axis a, the middle of a cross shaft is connected with a moving platform 28 through a linear bearing c, a top seat is arranged above the moving platform in parallel, a base is arranged below the moving platform in parallel, a vertical shaft is arranged between the top seat and the base, a lead screw is arranged in the middle of the vertical shaft, the lead screw penetrates through one side of the moving platform, the vertical shaft is connected with the moving platform through a linear bearing d, a large stepping motor a is arranged on the top seat, the large stepping motor a is connected with the lead screw through a synchronous belt d, a small stepping motor is arranged above the base, a mechanical claw is arranged below the base, the small stepping motor is connected with the mechanical claw, a steering engine a is arranged on the side surface of the mechanical claw 8, and the large stepping motor c is arranged below the shaft support seats a, the large stepping motor c is connected to the lower portion of the shaft support b through a synchronous belt a, a camera is arranged below the base, and the bottom of the moving platform is fixedly connected with the synchronous belt a.
The utility model discloses the advantage:
1. can automatically open the garbage throwing port when sensing that garbage is thrown in, and is in a closed state at other time, thereby avoiding garbage from popping out
2. The garbage classification can be automatically identified and classified for storage without manual judgment, and the garbage is prevented from being wrongly thrown and wrongly loaded.
3. The garbage storage capacity can be sensed, and when the garbage amount in a certain area reaches a certain value, a user is actively reminded of dumping.
4. The walking frame type mechanical arm is adopted, so that the structure is simple, the operation is stable and rapid, and the identification is accurate.
Drawings
FIG. 1 is an external view of the present invention
FIG. 2 is a top view of the present invention
FIG. 3 is the internal structure diagram of the present invention
FIG. 4 is an internal structure view of the present invention
FIG. 5 is a structural view of the garbage inlet of the present invention
Detailed Description
As shown in fig. 1-5, the utility model relates to an intelligent classification garbage can based on visual servo system, including main part, rubbish snatch identification part, main part includes box 1, rubbish discernment platform 7, rubbish subregion baffle 10, box 1 one side is equipped with rubbish input 18, is equipped with rubbish discernment platform 7 at the rubbish input 18 corresponding position in box 1 inside, the rubbish input 18 top is equipped with infrared sensor 2, 18 one side of rubbish input in box 1 is equipped with steering wheel b30, steering wheel b30 is connected rubbish input 18 through rocking arm 31, the bottom is equipped with rubbish subregion baffle 10 in box 1 and is four regions with the bottom in box 1, rubbish subregion baffle 10 top is equipped with distance sensor 9;
the trash capture recognition portion includes: the camera 6, an optical axis a4, an optical axis b13, a linear bearing a14, a linear bearing b34, a linear bearing c25, a linear bearing d29, a shaft support a15, a shaft support b19, an optical axis c26, an optical axis d32, a transverse shaft 33, a vertical shaft 36, a top support 37, a moving platform 28, a base 38 and a mechanical claw 8, wherein the case 1 is provided with a garbage input port 18 on the left side, the optical axis a 32 is arranged on the left side of the top in the case 1, the optical axis c 32 is arranged on the right side, the optical axis a 32 is arranged on the optical axis a 32, the optical axis c 32 is parallel to each other, the optical axis b 32 is provided with two optical axes a 32 through the linear bearing a 32, the optical axis d32 is arranged on the rear side of the optical axis c 32, the optical axis d32 is arranged on the front side, the optical axis b 32 and the optical axis d32 are parallel to each other, the optical axis b 32 is provided with two optical axes a 32 through the linear bearing a 32, the two optical axis a 32 b 32 is connected with the two optical axis b 32 through the two optical axis 32 b 32, the optical axis c26 bottom is equipped with big step motor b27, big step motor b27 passes through hold-in range c24 and connects optical axis c26, optical axis c26 passes through hold-in range b23 and connects two shaft support a15 reconnection on the optical axis b13 to optical axis a4, the removal platform 28 is connected through linear bearing c25 in the middle of the cross axle 33, the parallel top seat 37 that is equipped with in removal platform 28 top, the parallel base 38 that is equipped with in removal platform 28 below, be equipped with vertical axis 36 between top seat 37 and the base 38, be equipped with lead screw 5 in the middle of the vertical axis 36, lead screw 5 passes removal platform 28 one side, vertical axis 36 passes through linear bearing d29 and connects removal platform 28, be equipped with big step motor a16 on the top seat 37, big step motor a16 passes through hold-in range d17 and connects lead screw 5, the base 38 top is equipped with little step motor 12, the base 38 below is equipped with mechanical claw 8, little step motor 12 connects mechanical claw 8, a steering engine a11 is arranged on the side face of the mechanical claw 8, a large stepping motor c22 is arranged below the shaft support a15, the large stepping motor c22 is connected to the position below the shaft support b19 through a synchronous belt a20, a camera 6 is arranged below the base 38, and the bottom of the movable platform 28 is fixedly connected with a synchronous belt a 20.
The working process of the garbage can is as follows: when the infrared sensor 2 detects that an object exists in a certain range, the steering engine b30 rotates, the rocker arm 31 rotates, the garbage throwing-in opening 18 is opened, garbage is put into the garbage recognition table 7, the moving platform 28 moves to the position above the garbage recognition table 7, the camera 6 starts recognizing garbage types, the mechanical claw 8 works to grab the garbage, the moving platform 28 throws the garbage into a corresponding storage area through moving, meanwhile, the distance sensor 9 is used for monitoring the garbage storage amount of each area, and when the equivalent weight exceeds a certain value, a user is reminded of cleaning.
The large stepping motor b27 drives a synchronous belt c24 to rotate, the synchronous belt c24 drives an optical axis c26 to rotate, the optical axis c26 rotates and drives a shaft support a15 to move left and right through a synchronous belt b23, the shaft support a15 drives a cross shaft 33 to move left and right, the cross shaft 33 drives a moving platform 28 to move left and right, and the moving platform 28 drives a mechanical claw 8 to move left and right;
the large stepping motor c22 drives the synchronous belt a20 to rotate, the synchronous belt a20 drives the moving platform 28 to move back and forth, and the moving platform 28 drives the mechanical claw 8 to move back and forth;
the large stepping motor a16 drives the screw 5 through the synchronous belt d17, the screw 5 drives the moving platform 28 to move up and down, and the moving platform 28 drives the mechanical claw 8 to move up and down;
the mechanical claw 8 captures garbage through a steering engine a 11.
The large stepping motor b27, the large stepping motor c22, the large stepping motor c22, the steering engine a11, the steering engine b30, the infrared sensor 2, the camera 6 and the distance sensor 9 are controlled by a single chip microcomputer.
The utility model discloses its general family of mainly being applicable to at present stage is to waste classification's demand, and accessible visual identification judges the rubbish that drops into four types of recoverable rubbish, rubbish from cooking, harmful rubbish and other rubbish to snatch through gripper 8 and drop into the region that corresponds in, store respectively.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides an intelligent classification garbage bin based on vision servo, includes main part, rubbish and snatchs the identification part, its characterized in that: the garbage collection box comprises a main body part and is characterized in that the main body part comprises a box body (1), a garbage recognition table (7) and a garbage partition baffle (10), a garbage throwing-in opening (18) is formed in one side of the box body (1), the garbage recognition table (7) is arranged at a position corresponding to the garbage throwing-in opening (18) in the box body (1), an infrared sensor (2) is arranged above the garbage throwing-in opening (18), a steering engine b (30) is arranged beside the garbage throwing-in opening (18) in the box body (1), the steering engine b (30) is connected with the garbage throwing-in opening (18) through a rocker arm (31), the garbage partition baffle (10) is arranged at the inner bottom of the box body (1) to divide the inner bottom of the box body (1) into four areas, and a distance sensor (9) is arranged at the top of the garbage partition baffle (10);
the trash capture recognition portion includes: camera (6), optical axis a (4), optical axis b (13), linear bearing a (14), linear bearing b (34), linear bearing c (25), linear bearing d (29), axle support a (15), axle support b (19), optical axis c (26), optical axis d (32), cross axle (33), vertical axis (36), footstock (37), moving platform (28), base (38), gripper (8), box (1) is with being equipped with rubbish input mouth (18) one side as left side be equipped with optical axis a (4) on the left of the inside top of box (1), the right side is equipped with optical axis c (26), optical axis a (4), optical axis c (26) are parallel to each other, box (1) is inside to be a little higher than optical axis a (4), and optical axis c (26) rear side is equipped with optical axis b (13), and the front side is equipped with optical axis d (32), optical axis b (13), The optical axes d (32) are parallel to each other, the optical axis b (13) is provided with two shaft supports a (15) through a linear bearing a (14), the optical axis d (32) is provided with two shaft supports b (19) through a linear bearing b (34), the two shaft supports a (15) on the optical axis b (13) are connected with the two shaft supports b (19) on the optical axis d (32) through a transverse shaft (33), the bottom of the optical axis c (26) is provided with a large stepping motor b (27), the large stepping motor b (27) is connected with the optical axis c (26) through a synchronous belt c (24), the optical axis c (26) is connected with the two shaft supports a (15) on the optical axis b (13) in the middle through a synchronous belt b (23) and then connected with the optical axis a (4), the middle of the transverse shaft (33) is connected with a moving platform (28) through a linear bearing c (25), and a top seat (37) is arranged above the moving platform (28) in parallel, the automatic stepping device is characterized in that a base (38) is arranged below the moving platform (28) in parallel, a vertical shaft (36) is arranged between the top seat (37) and the base (38), a lead screw (5) is arranged in the middle of the vertical shaft (36), the lead screw (5) penetrates through one side of the moving platform (28), the vertical shaft (36) is connected with the moving platform (28) through a linear bearing d (29), a large stepping motor a (16) is arranged on the top seat (37), the large stepping motor a (16) is connected with the lead screw (5) through a synchronous belt d (17), a small stepping motor (12) is arranged above the base (38), a mechanical claw (8) is arranged below the base (38), the small stepping motor (12) is connected with the mechanical claw (8), a steering engine a (11) is arranged on the side face of the mechanical claw (8), a large stepping motor c (22) is arranged below the shaft seat a (15), and the large stepping motor c (22) is connected to the lower portion of a shaft seat b (19) through a synchronous belt a (20), the camera (6) is arranged below the base (38), and the bottom of the moving platform (28) is fixedly connected with the synchronous belt a (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120555507.9U CN214826172U (en) | 2021-03-18 | 2021-03-18 | Intelligent classification garbage bin based on vision servo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120555507.9U CN214826172U (en) | 2021-03-18 | 2021-03-18 | Intelligent classification garbage bin based on vision servo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214826172U true CN214826172U (en) | 2021-11-23 |
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ID=78758753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120555507.9U Expired - Fee Related CN214826172U (en) | 2021-03-18 | 2021-03-18 | Intelligent classification garbage bin based on vision servo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214826172U (en) |
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2021
- 2021-03-18 CN CN202120555507.9U patent/CN214826172U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211123 |