CN216685861U - Garbage recycling equipment - Google Patents
Garbage recycling equipment Download PDFInfo
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- CN216685861U CN216685861U CN202122544139.0U CN202122544139U CN216685861U CN 216685861 U CN216685861 U CN 216685861U CN 202122544139 U CN202122544139 U CN 202122544139U CN 216685861 U CN216685861 U CN 216685861U
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Abstract
The utility model relates to garbage recycling equipment, and belongs to the technical field of garbage recycling. The method is used for supervising and standardizing the garbage throwing behaviors of the user. The garbage recycling device comprises a barrel body, the barrel body is a closed barrel body, and one side of the barrel body is provided with a feeding opening. The door is arranged at the throwing opening in a folding way. The cover plate can be opened and closed in the barrel body, and the cover plate is positioned below the feeding opening. The volume measurement module is arranged in the barrel body and is positioned above the cover plate. The weight measuring module is arranged in the barrel body and close to the cover plate. The image recognition module is arranged in the barrel body and is positioned above the cover plate. The bag breaking assembly is arranged above the cover plate. The communication module is simultaneously in communication connection with the volume measuring module, the weight measuring module and the image recognition module. The processing module is in communication connection with the communication module, obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets a preset volume-weight ratio.
Description
Technical Field
The utility model relates to the technical field of garbage recovery, in particular to garbage recovery equipment.
Background
Currently, garbage classification has become a social hotspot. The supervisor improves the consciousness that user (or resident) waste classification handled through propaganda on the one hand, and on the other hand, places the rubbish recovery plant who is used for categorised input in the rubbish input area to realize waste classification in the input stage.
The garbage recycling equipment provided by the prior art only identifies garbage categories, such as kitchen garbage, recyclable garbage and the like. And the user puts the garbage into the garbage recycling equipment matched with the garbage recycling equipment according to the judgment of the user. Before the current garbage is packed and put in, the situation that the garbage cannot be reasonably classified often exists, such as dry garbage and wet garbage are mixed and packed. The existing garbage recycling equipment has no detection capability on the mixed packaged garbage. Based on this, the information of wrong delivery cannot be fed back to the garbage deliverer and the supervision department in real time, so that the garbage delivery behavior of the user is not standardized.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide garbage recycling equipment which is used for supervising and standardizing garbage throwing behaviors of users under the condition of monitoring whether garbage classification is reasonable or not in real time.
In a first aspect, the present invention provides a waste recycling apparatus for recycling waste. The garbage recycling apparatus includes:
the barrel body is a closed barrel body, and one side of the barrel body is provided with a feeding opening.
The door, the setting that the door can open and shut is put in the mouth.
The cover plate is covered in the barrel body in an openable and closable manner and is positioned below the feeding port.
And the volume measurement module is arranged in the barrel body and positioned above the cover plate and used for obtaining the volume information of the garbage bag.
The weight measurement module is arranged in the barrel body and close to the cover plate and used for obtaining the weight information of the garbage bag.
The image recognition module is arranged in the can body and positioned above the cover plate and used for obtaining classification quality information of the garbage in the garbage bag.
The bag breaking component is arranged above the cover plate and is used for tearing and breaking the garbage bag in a controllable manner.
And the communication module is in communication connection with the volume measuring module, the weight measuring module and the image recognition module at the same time and is used for receiving and sending volume information, weight information and classification quality information.
And the processing module is in communication connection with the communication module, obtains the volume-weight ratio of the garbage bag based on the volume information and the weight information, and generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets the preset volume-weight ratio. The bag breaking component tears the garbage bag under the control of a bag breaking instruction, and the cover plate is opened under the control of an uncovering instruction so as to throw the bag breaking garbage into the barrel. The processing module is further configured to generate a garbage classification score in case of obtaining the classification quality information.
Under the condition of adopting above-mentioned technical scheme, when the user need deliver rubbish to the staving in, open the door, at this moment, the apron is the closed condition. The garbage bag is placed on the cover plate, the volume measuring module is used for obtaining the volume information of the garbage bag, and the weight measuring module is used for obtaining the weight information of the garbage bag. The volume information and the weight information are sent to the processing module through the communication module. The processing module is internally pre-stored with preset volume-weight ratios of different types of garbage (the different types of garbage comprise dry garbage and/or wet garbage). The processing module is also internally provided with a calculation model for calculating the volume-weight ratio of the garbage bags, and the volume-weight ratio of the currently thrown garbage bags is calculated by utilizing the calculation model and based on the volume information and the weight information. A comparison model can be further arranged in the processing module, and the processing module generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio of the currently thrown garbage bag meets the preset volume-weight ratio. The bag breaking instruction and the cover opening instruction are respectively sent to the bag breaking assembly and the servo motor and the like for controlling the cover plate to open and close through the communication module. The bag breaking component tears and breaks the garbage bag under the control of the bag breaking instruction. At the moment, the image recognition module is used for acquiring the classification quality information of the garbage in the garbage bag. On the basis, if the servo motor opens the cover plate under the control of the opening instruction, the broken garbage is thrown into the barrel. The classification quality information of the garbage can be sent to the processing module through the communication module, and the processing module generates garbage classification scores. The garbage classification score can be processed in various ways, and can be sent to a dispenser and/or a supervisor, for example.
According to the application process, before the garbage is thrown into the can body, the garbage can firstly stay on the cover plate for a certain time, the type of the garbage contained in the garbage bag is judged in advance under the condition that the volume-weight ratio is determined, and the operation of throwing the garbage bag into the can is started under the condition that the determined type of the garbage is the same as the type of the garbage contained in the garbage can. Therefore, before the garbage bag filled with garbage is thrown into the garbage can, the garbage bag can be judged in advance so as to avoid the garbage bag from being thrown into the garbage can by mistake from the source. In addition, the garbage is pre-judged by utilizing the volume-weight ratio, and the garbage pre-judgment method has the advantages of convenience in realization, low cost and the like. In practical application, classification quality information of the garbage identified by the image identification module can be fed back to the processing module, and when the processing module judges that garbage throwing is wrong, wrong throwing information is fed back to a throwing person and a supervision department, so that garbage throwing behaviors of a standard user are supported. And under the condition that the processing module judges that the garbage throwing is correct, the incentive point information is fed back to the throwing person and a supervision department, so that the purpose of positively motivating the throwing person is achieved.
As one implementation, the volume measurement module is at least one of an infrared measurement module, a laser measurement module, or a visual measurement module.
As an implementation mode, under the condition that the volume measurement module is an infrared measurement module, the infrared measurement module comprises an infrared detector and a laser detector, and the infrared detector and the laser detector are both arranged in the barrel and positioned above the cover plate. The infrared detector is used for detecting infrared energy on a cover plate bearing the garbage bag to obtain infrared energy distribution on the cover plate; the laser detector is used for measuring the maximum section of the garbage bag in the horizontal direction. And the infrared detector and the laser detector are in communication connection with the communication module. The communication module is further used for sending the infrared energy distribution and the maximum section information to the processing module, the processing module is used for obtaining an effective section of which the corresponding infrared energy variation in the maximum section is larger than a first threshold value based on the infrared energy distribution and the maximum section, and obtaining the volume information of the garbage bag based on the effective section and the actual height of the garbage bag.
As an implementation, in the case that the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser range finder. Monocular camera and laser range finder all set up in the barrel, and are located the top of apron. The monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view; the laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area, and the monocular camera and the laser range finder are in communication connection with the communication module. The communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module prestores an acquisition visual angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition visual angle and the minimum external rectangle; the processing module is also used for obtaining the volume information of the garbage bags based on the length, the width and the height of the garbage bags.
As an implementation mode, under the condition that the volume measuring module is a laser measuring module, the laser measuring module comprises a laser sensor, and the laser sensor is arranged in the barrel body and is positioned above the cover plate. The laser sensor is in communication connection with the communication module. The trash bag is divided into a plurality of measurement areas. The laser sensor is used for obtaining the vertical distance H from the laser sensor to the cover plate, rotating the laser sensor to enable the laser sensor to form an included angle alpha with the vertical line, and measuring the measuring distance L of the laser sensor at the center point value of the stacking surface of the garbage bag in each measuring area. The processing module is used for determining the stacking height hi in each measuring area, which is H-L cos alpha, based on the vertical distance H, the included angle alpha and the measuring distance L. The processing module is further configured to smooth each stacking height to obtain a smoothed stacking height hix corresponding to each measurement region. The processing module is also used for prestoring the length and the width corresponding to each measuring area. The processing module is further configured to obtain a volume of each measurement region based on the smooth windrow height, length, and width, and obtain volumetric information of the trash bag based on the volume of each measurement region.
As an implementation manner, under the condition that the volume measuring module is a vision measuring module, the vision measuring module comprises a binocular camera, and the binocular camera is arranged in the barrel body and is located right above the cover plate. The binocular camera is in communication connection with the communication module. The binocular camera is used for acquiring the original image of the garbage bag and carrying out binocular correction. The communication module is used for sending the original image to a processing module, the processing module is used for obtaining a central horizontal stripe disparity map and filling a hole based on the original image, and obtaining a central vertical stripe disparity map and filling a hole based on the original image. And detecting a parallax jump area according to the horizontal stripe parallax map and the vertical stripe parallax map to obtain four parallax edge point sets. And fitting 4 linear equations on the basis of the 4 parallax edge point sets to obtain four line segments. And rotating and adjusting the two opposite sides around the center of each line segment to enable the opposite sides to be parallel. And calculating a mean value serving as an average parallax between the garbage bag and the binocular cameras on the basis of parallax values existing inside the four line segments, and obtaining the distance from the garbage bag to the binocular cameras according to a parallax-distance calculation formula so as to obtain the height of the garbage bag. And calculating the 3D straight line equations of the four line segments. And calculating the distance between the two pairs of parallel variables according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
As an implementation mode, the garbage recycling equipment further comprises a spray head, a pipeline and a liquid storage tank, wherein the spray head is arranged above the cover plate and used for spraying a deodorant to the cover plate; the pipeline penetrates through the side wall of the barrel body, the inlet of the pipeline is communicated with the outlet of the liquid storage tank, and the outlet of the pipeline is communicated with the inlet of the spray head.
As an implementation mode, the garbage recycling equipment further comprises a pushing assembly, and the pushing assembly is arranged on the cover plate; the processing module generates a push instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing assembly pushes the garbage bag to a position close to the door under the control of the pushing instruction.
As an implementation mode, the garbage recycling equipment further comprises an alarm, and the processing module generates an alarm signal under the condition that the volume-weight ratio does not meet the preset volume-weight ratio. And the alarm gives an alarm after receiving the alarm signal.
As an implementation mode, a pump is arranged in the liquid storage tank, and an outlet of the pump is communicated with an inlet of the pipeline; and/or a valve is arranged on the pipeline.
As one implementation mode, the door is any one of an inward push type door, an outward pull type door, a single-opening door or a split door; or the like, or a combination thereof,
when the door is an inward-pushing door or an outward-pulling door, a first rotating shaft is rotatably arranged on any one wall of the barrel body along the length direction of the wall, the inward-pushing door or the outward-pulling door is driven by the first rotating shaft to be opened and closed, and the first rotating shaft is driven by at least one first motor.
As an implementation mode, two opposite ends of the cover plate are respectively connected with the barrel wall of the barrel body through second rotating shafts, and the second rotating shafts are driven by a second motor.
As one implementation mode, the cover plate comprises a first cover plate and a second cover plate which can be split; one end of the first cover plate is rotatably connected to the bucket wall of the bucket body, and one end of the second cover plate is rotatably connected to the other bucket wall of the bucket body.
As an implementation mode, the upper surface of the cover plate is also provided with a hairbrush; when the cover plate is in a closed state, the brush can move on the cover plate.
As an implementation mode, the hairbrush is borne by a bearing rod, the bearing rod is driven by a transmission belt, the transmission belt is sleeved on a driving wheel and a driven wheel, and the driving wheel is driven by a third motor.
As an implementation mode, an infrared distance sensor is arranged at the position, close to the throwing opening, of the barrel body and used for detecting the height of the garbage in the barrel body.
As one implementation, the surface of the cover plate is coated with a nano material layer; and/or a lighting lamp is also arranged in the barrel body and above the cover plate; and/or the weight measuring module is a weight sensor; and/or the image recognition module is a CCD camera.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model. In the drawings:
fig. 1 is a schematic structural diagram of a garbage recycling apparatus provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of data interaction of the garbage collection apparatus provided in the embodiment of the present invention in the using process;
fig. 3 is a flowchart of a garbage recycling apparatus according to an embodiment of the present invention.
Reference numerals:
10-barrel body, 11-door, 12-cover plate,
13-volume measuring module, 14-weight measuring module 15-image recognition module,
16-pushing component, 160-push plate, 170-spray head,
171-a pipeline, 172-a liquid storage tank, 110-a first motor,
120-second motor, 18-brush 19-lighting lamp.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Aiming at the technical problems of the garbage recycling equipment provided by the prior art, the embodiment of the utility model provides the garbage recycling equipment. Fig. 1 shows a schematic structural diagram of a garbage recycling apparatus provided in an embodiment of the present invention. As shown in fig. 1, the garbage recycling apparatus is used to recycle garbage. The garbage recycling apparatus includes: the barrel body 10 is a closed barrel body, and one side of the barrel body 10 is provided with a feeding opening. And the door 11 is arranged at the throwing opening in an openable and closable manner. The cover plate 12 is covered in the barrel body 10, the cover plate 12 can be opened and closed, and the cover plate 12 is positioned below the feeding opening. And the volume measuring module 13 is arranged in the barrel body 10 and positioned above the cover plate 12, and is used for obtaining the volume information of the garbage bag. And the weight measuring module 14 is arranged in the barrel body and close to the cover plate 12, and is used for obtaining the weight information of the garbage bag. The image recognition module 15 is arranged at the position above the cover plate 12 of the can body 10, and is used for obtaining the classification quality information of the garbage in the garbage bag. The bag breaking component is arranged above the cover plate 12 and is used for controllably tearing the garbage bag. And the communication module is in communication connection with the volume measuring module 13, the weight measuring module 14 and the image recognition module 15 at the same time and is used for receiving and sending volume information, weight information and classification quality information. The processing module is in communication connection with the communication module and obtains the volume-weight ratio of the garbage bags based on the volume information and the weight information; generating a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets the preset volume-weight ratio; the bag breaking component tears the garbage bag under the control of a bag breaking instruction, and the cover plate 12 is opened under the control of an uncovering instruction so as to put the bag breaking garbage into the barrel; the processing module is further configured to generate a garbage classification score in case of obtaining the classification quality information.
Referring to fig. 1, the tub 10 may be any one of the prior art-provided tub bodies 10, such as a plastic tub body or a metal tub body whose surface (it is understood that the surface herein includes an inner surface and an outer surface) is coated with a corrosion preventing material layer, etc., and is not particularly limited herein.
Referring to fig. 1, the cover plate 12 is various in material, and is not particularly limited thereto. For example, the cover 12 may be made of the same material as or different from the tub 10. As an example, the cover plate 12 is a plastic cover plate 12 or a cover plate 12 whose surface is coated with a nano material layer. At this time, since the nano material layer has better oleophobic and hydrophobic properties, when sewage or oil flows out from the garbage placed on the cover plate 12, the corrosion of the cover plate 12 by the sewage or oil can be effectively reduced. Based on this, the service life of the cover plate 12 can be improved. In addition, because the nano material layer has high hardness, harder substances can be effectively resisted to be pressed into the surface of the nano material layer, so that the probability of deformation of the surface of the nano material layer is reduced. Furthermore, since the nanomaterial layer has excellent friction resistance and smoothness, the cover plate 12 has the advantages of easy cleaning, adhesion prevention, and ice prevention.
Referring to fig. 1, the cover plate 12 is normally closed, and when the garbage in the bin 10 generates odor due to fermentation, the normally closed cover plate 12 can effectively reduce the leakage of the odor, thereby improving the environmental friendliness around the garbage throwing device. In addition, when the cover plate 12 is normally closed, the risk that the garbage bag is directly thrown into the can body 10 without pre-determination can be effectively avoided.
Referring to fig. 1, the opening manner of the door 11 is various and is not particularly limited herein. For example, a manual opening mode may be adopted, in which a trash thrower manually opens the door 11, places a trash bag on the cover plate 12, and manually closes the door 11 again. For another example, the door 11 may be opened automatically, that is, the existing and mature technologies such as NFC technology, face recognition technology, code scanning authentication, and the like may be used to realize the automatic opening and closing of the door 11.
Referring to fig. 1, the image recognition module 15 and the volume measurement module 13 may be directly fastened to the inner side of the top plate of the barrel 10 by any means such as bonding, welding, or plugging. Of course, a mounting base or arm may be first fastened to the opposite side of the top plate from the cover plate 12 by any means such as adhesive, welding, or insertion. At this time, the image recognition module 15 and the volume measurement module 13 are fastened to the mount or the mounting arm. The image recognition module 15 may be a CCD camera, etc., and the volume measurement module 13 may be various, which is not limited herein and will be described in detail below. The weight measuring module 14 may be detachably disposed on the bin 10 and close to the cover 12 in any one of the manners described above, so as to conveniently obtain the weight information of the garbage bag placed on the cover 12. The weight measuring module 14 is a weight sensor or the like.
The application process of the garbage recycling device provided by the embodiment of the utility model and the beneficial effects generated in the application process will be described in detail below by taking a garbage putting scene as an example.
Referring to fig. 1 and 2, when a user desires to deliver garbage into the tub 10, the door 11 is opened, and the cover 12 is closed. The garbage bag is placed on the cover plate 12, the volume measuring module 13 is used for obtaining the volume information of the garbage bag, and the weight measuring module 14 is used for obtaining the weight information of the garbage bag. The volume information and the weight information are sent to the processing module through the communication module. The processing module is internally pre-stored with preset volume-weight ratios of different types of garbage. Different waste types include dry waste or wet waste. For example, the volume-weight ratio of the wet garbage is 630-780kg/m3When the garbage recycling equipment is used for recycling wet garbage, the value range of the specific volume-weight ratio of the wet garbage can be prestored in the processing module, and at the moment, the value range is the preset volume-weight ratio.
The processing module is also internally provided with a calculation model for calculating the volume-weight ratio of the garbage bags, and the volume-weight ratio of the currently thrown garbage bags is calculated by using the calculation model and based on the volume information and the weight information. A comparison model can be further arranged in the processing module, and the processing module generates a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio of the currently thrown garbage bag meets the preset volume-weight ratio. For example, when the volume-weight ratio of the garbage bag obtained by the calculation module is 650kg/m3And the processing module generates a bag breaking instruction and a cover opening instruction. The bag breaking instruction and the cover opening instruction are respectively sent to the bag breaking assembly and the servo motor and the like for controlling the cover plate 12 to open and close through the communication module. The bag breaking component tears and breaks the garbage bag under the control of the bag breaking instruction. At this time, the image recognition module 15 is used to obtain the classification quality information of the trash in the trash bag. On the basis, the cover plate 12 is opened under the control of an uncovering instruction by a servo motor, so that the broken garbage is thrown into the barrel. The classification quality information of the garbage can be sent to the processing module through the communication module, and the processing module generates garbage classification scores. The garbage classification score can be processed in various ways, and can be sent to a dispenser and/or a supervisor, for example.
From the above application process, before the garbage is thrown into the bin body 10, the garbage can firstly stay on the cover plate 12 for a certain time, the type of the garbage contained in the garbage bag is judged in advance under the condition of determining the volume-weight ratio, and the operation of throwing the garbage bag into the bin is started under the condition of determining that the type of the garbage is the same as the type of the garbage contained in the garbage bin. After for placing the disposal bag on apron 12, directly breaking the bag back, utilize image recognition module 15 to acquire the categorised quality information of rubbish, put in the rubbish bag that contains rubbish and judge in advance before the bucket to avoid the disposal bag to throw into the garbage bin by mistake from the source in order to improve the accuracy of waste classification. In addition, the volume-weight ratio is utilized to pre-judge the garbage, the garbage bag does not need to be broken when the garbage bag is pre-judged, and when the garbage recovery device is a recovery device for recovering wet garbage, the problems of sewage outflow and odor diffusion caused by broken bag treatment can be effectively avoided. In addition, the method also has the advantages of convenience in realization, low cost, high speed and the like. In practical application, the classification quality information of the garbage identified by the image identification module 15 can be fed back to the processing module, and when the processing module judges that the garbage throwing is wrong, the wrong throwing information is fed back to the throwing person and the supervision department 11, so that the garbage throwing behavior of the standard user is supported. And under the condition that the processing module judges that the garbage throwing is correct, the incentive point information is fed back to the throwing person and the supervision department 11, so that the purpose of positively motivating the throwing person is achieved.
To be further explained: the information of the garbage category identified by the image identification module 15 can be uploaded to a processor in communication connection with the image identification module 15 in a wired or wireless manner, and when the processor judges that the garbage throwing is wrong, the garbage throwing error information can be generated, and the processor sends the garbage throwing error information to a throwing person or a supervisor. It should be understood that before the garbage throwing, the throwing person may install the garbage throwing module on the handheld terminal, and may register with personal information on the garbage throwing module to generate the identification code of the throwing person. When the thrower throws garbage, the garbage throwing device can be utilized to acquire personal information of the thrower so as to associate the to-be-thrown person, the thrown garbage and the garbage throwing device. At this time, when the garbage classification thrown by the thrower is incorrect, the thrower can be traced back.
As a possible implementation manner, the volume measurement module is at least one of an infrared measurement module, a laser measurement module or a visual measurement module.
As an example, the volume measuring module is an infrared measuring module, and at this time, the infrared measuring module includes an infrared detector and a laser detector, which are both disposed in the barrel and above the cover plate. The infrared detector is used for detecting infrared energy on the cover plate carrying the garbage bag to obtain infrared energy distribution on the cover plate. The laser detector is used for measuring the maximum section of the garbage bag in the horizontal direction. And the infrared detector and the laser detector are in communication connection with the communication module. The communication module is further used for sending the infrared energy distribution and the maximum section information to the processing module, and the processing module is used for obtaining an effective section, corresponding to the infrared energy larger than a first threshold value, in the maximum section based on the infrared energy distribution and the maximum section, and obtaining the volume information of the garbage bag based on the effective section and the actual height of the garbage bag.
Under the condition of adopting above-mentioned technical scheme, when the rubbish of splendid attire was wet rubbish in the disposal bag, because wet rubbish is different with the material of disposal bag, consequently, the produced infrared radiation of infrared ray to the apron of wet rubbish is different with the produced infrared radiation of infrared ray to the apron of disposal bag, and at this moment, there can be the change in the corresponding thermal radiation (infrared energy) of radiation on the apron of juncture of wet rubbish and disposal bag. Based on this, the accuracy of the effective area determined by the infrared energy change amount is higher, so that the conformity and consistency between the volume information determined based on the effective area and the actual height of the garbage bag and the volume of the actual garbage bag are higher. In this case, the accuracy of the finally determined volume-to-weight ratio can be improved.
As a second example, in the case where the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser range finder. Monocular camera and laser range finder all set up in the barrel, and are located the top of apron. The monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view. The laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area, and the monocular camera and the laser range finder are in communication connection with the communication module. The communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module prestores the acquisition visual angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition visual angle and the minimum external rectangle. The processing module is also used for obtaining the volume information of the garbage bags based on the length, the width and the height of the garbage bags.
As a third example, in the case that the volume measuring module is a laser measuring module, the laser measuring module includes a laser sensor disposed in the barrel body and above the cover plate. The laser sensor is in communication connection with the communication module. The trash bag is divided into a plurality of measurement areas. The laser sensor is used for obtaining the vertical distance H from the laser sensor to the cover plate, rotating the laser sensor to enable the laser sensor to form an included angle alpha with the vertical line, and measuring the measuring distance L of the laser sensor at the center point value of the stacking surface of the garbage bag in each measuring area. The processing module is used for determining the stacking height hi in each measuring area, which is H-L cos alpha, based on the vertical distance H, the included angle alpha and the measuring distance L. The processing module is further configured to smooth each stacking height to obtain a smoothed stacking height hix corresponding to each measurement region. The processing module is also used for prestoring the length and the width corresponding to each measuring area. The processing module is further configured to obtain a volume of each measurement region based on the smooth windrow height, length, and width, and obtain volumetric information of the trash bag based on the volume of each measurement region.
As a fourth example, in the case where the volume measurement module is a vision measurement module, the vision measurement module includes a binocular camera disposed in the tub and directly above the cover plate. The binocular camera is in communication connection with the communication module. The binocular camera is used for acquiring the original image of the garbage bag and carrying out binocular correction. The communication module is used for sending the original image to a processing module, the processing module is used for obtaining a central horizontal stripe disparity map and filling a hole based on the original image, and obtaining a central vertical stripe disparity map and filling a hole based on the original image. And detecting a parallax jump area according to the horizontal stripe parallax map and the vertical stripe parallax map to obtain four parallax edge point sets. And fitting 4 linear equations on the basis of the 4 parallax edge point sets to obtain four line segments. And rotating and adjusting the two opposite sides around the center of each line segment to enable the opposite sides to be parallel. And calculating a mean value as an average parallax between the garbage bag and the binocular cameras on the basis of parallax values existing in the four line segments, and obtaining the distance from the garbage bag to the binocular cameras according to a parallax-distance calculation formula so as to obtain the height of the garbage bag. And calculating a 3D linear equation of the four line segments. And calculating the distance between the two pairs of parallel variables according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
Referring to fig. 1, as a possible implementation manner, the garbage recycling device further includes a pushing assembly 16, where the pushing assembly 16 is disposed on the cover plate 12; and the processing module generates a push instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio. The pushing assembly 16 pushes the garbage bag to a position close to the door 11 under the control of the pushing instruction. So set up, can pass to the position that the person of conveniently puting in takes out with the disposal bag that does not satisfy the input condition.
As an example, the pushing assembly 16 may specifically include a pushing plate 160 capable of performing a reciprocating linear movement along the cover plate 12, and the reciprocating linear movement may be implemented in various manners, for example, a hydraulic cylinder or a pneumatic cylinder (not shown) may be provided at one side of the pushing plate 160, and the reciprocating linear movement of the pushing plate may be implemented by using the hydraulic cylinder or the pneumatic cylinder.
It should be further explained that, in the case that the volume of the garbage recycling apparatus provided by the embodiment of the present invention is not too large, the pushing assembly may not be provided. The arrangement does not affect a throwing person to take out the garbage bags which do not meet the throwing condition, and the garbage recycling equipment provided by the embodiment of the utility model can be simplified.
As a possible implementation manner, the garbage recycling device further includes an alarm (not shown in the figure), and the processing module generates an alarm signal when the volume-to-weight ratio does not satisfy the preset volume-to-weight ratio. And the alarm gives an alarm after receiving the alarm signal.
As a possible implementation, the bag breaking assembly (not shown) may be a serrated mechanical device. The device can be driven by a motor, and when the garbage is confirmed to be the garbage meeting the throwing condition, the bag breaking treatment is carried out by utilizing the saw teeth.
Referring to fig. 1, as a possible implementation manner, the garbage recycling device further includes a spray head 170, a pipeline 171 and a liquid storage tank 172, wherein the spray head 170 is disposed above the cover plate 12 and is used for spraying deodorant to the cover plate 12. The pipe 171 penetrates a side wall of the tub 10, an inlet of the pipe 171 communicates with an outlet of the reservoir 172, and an outlet of the pipe 171 communicates with an inlet of the shower head 170.
Referring to fig. 1, in practical application, after the garbage recycling apparatus is used for a period of time, inevitable dirt exists on the cover plate 12 for temporarily placing garbage, and if the dirt cannot be cleaned in time, gas affecting the quality of air around the garbage recycling apparatus is easily generated. In order to solve the above-described technical problem, the deodorant may be stored in advance in the liquid reservoir 172. The fluid reservoir 172 may be provided separately from the garbage collection apparatus, or may be hung on the outer wall of the can body 10 included in the garbage collection apparatus. A pump may be disposed in reservoir 172 and have an outlet in communication with the inlet of line 171. When it is required to deodorize the garbage collection apparatus, the pump may be energized to transfer the deodorant in the storage tank 172 to the spray head 170 through the pipe 171, and then the deodorant may be sprayed on the cover plate 12 by the spray head 170. The flow rate of the deodorant sprayed from the spray head 170 can be controlled by adjusting the parameters of the pump. Of course, a valve 11 may be provided in the pipeline 171, and the flow rate of the deodorant ejected from the nozzle 170 may be controlled by adjusting the opening degree of the valve 11.
Referring to fig. 1, in the case of the above technical solution, the spray head 170 capable of providing the deodorant to the cover plate 12 is disposed above the cover plate 12, so that the cover plate 12 can be deodorized at regular or irregular time according to the actual application requirement, and the pollution of the dirt on the cover plate 12 to the surrounding environment can be reduced.
As a possible implementation, the door 11 is any one of an inner push type door, an outer pull type door, a single opening door, or a split door.
As an example, in the case that the door 11 is an inner push type door or an outer pull type door, a first rotating shaft is rotatably provided on any one wall of the tub 10 in a length direction of the wall, and the inner push type door or the outer pull type door is driven by the first rotating shaft to be opened and closed, and the first rotating shaft is driven by at least one first motor 110.
As a possible implementation manner, two opposite ends of the cover plate 12 are respectively connected to the barrel wall of the barrel 10 through a second rotating shaft, and the second rotating shaft is driven by the second motor 120. Specifically, the cover plate 12 covers the opening of the barrel 10, and the cover plate 12 has two opposite ends, which may be defined as a first end and a second end. The first mounting hole may be formed in a direction from the end face of the first end to the second end, and the second mounting hole may be formed in a direction from the end face of the second end to the first end. One end of one of the second rotating shafts is assembled in an interference manner or clamped in the first mounting hole, and the other end of the second rotating shaft can penetrate through the barrel wall of the barrel body 10 and is connected with the second motor 120 in a power connection manner. Similarly, one end of the second rotating shaft is in interference fit or clamped in the second mounting hole, and the other end of the second rotating shaft can penetrate through the barrel wall of the barrel body 10 to be in power connection with the second motor 120. Of course, it is also possible to provide only one second motor 120, and the second rotating shaft at the end opposite to the second motor 120 is only used as a support and a driven.
Under the condition of adopting the above technical scheme, when the cover plate 12 needs to be covered with the opening of the barrel body 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, the second rotating shaft drives the cover plate 12 to rotate to the horizontal state, and at the moment, the cover plate 12 covers the opening of the barrel body 10. When a garbage throwing channel is required between the cover plate 12 and the opening of the barrel 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, the second rotating shaft drives the cover plate 12 to rotate to a position having a certain included angle with the horizontal plane, and at this time, the cover plate 12 is inclined relative to the horizontal plane. The inclined cover plate 12 and the tub wall provided to the tub 10 may form a trash chute therebetween. When there is debris on the lid 12, the debris can pass through the debris chute along the angled lid 12 and into the receptacle 10.
As a possible implementation, the cover plate 12 includes a first cover plate and a second cover plate that can be split. One end of the first cover plate is rotatably connected to the tub wall of the tub 10 by a third shaft, and the third shaft is driven by a third motor. One end of the second cover plate is rotatably connected to another tub wall of the tub 10 by a fourth rotating shaft, and the fourth rotating shaft is driven by a fourth motor.
Under the condition of adopting the technical scheme, when the cover plate 12 needs to be covered with the opening of the barrel body 10, the third motor is controlled to drive the third rotating shaft to rotate, the third rotating shaft drives the first cover plate to rotate to the horizontal state, the fourth motor is controlled to drive the fourth rotating shaft to rotate, and the fourth rotating shaft drives the second cover plate to rotate to the horizontal state. At this time, the non-rotating ends of the first cover plate and the second cover plate are butted together. When the cover plate 12 needs to have a garbage throwing channel with the opening of the barrel body 10, the third motor is controlled to drive the third rotating shaft to rotate, the third rotating shaft drives the first cover plate to rotate towards the direction close to the barrel bottom of the barrel body 10, the fourth motor is controlled to drive the fourth rotating shaft to rotate, and the fourth rotating shaft drives the second cover plate to rotate towards the direction close to the barrel bottom of the barrel body 10. At the moment, a gap is formed between the first cover plate and the second cover plate to form a garbage throwing channel. When there is waste on the cover plate 12, the waste can enter the tub 10 through the waste chute along the inclined first and second cover plates.
Referring to fig. 1, as a possible implementation, a brush 18 is provided on the side of the cover plate 12 opposite to the tub cover. When the lid 12 and the opening of the tub 10 are closed, the brush 18 can move on the lid 12.
With the above-described configuration, the cleaning of the cover plate 12 can be performed by the brush 18 moving on the upper surface of the cover plate 12. Of course, the brush 18 may be used to clean the lid 12 by the brush 18 while spraying the cleaning solution to the lid 12 in cooperation with the spray head 170, the pipe 171, and the reservoir 172 provided in the above-described embodiments.
Referring to fig. 1, as a possible implementation, the brush 18 is carried by a carrier bar, the carrier bar is driven by a transmission belt, the transmission belt is sleeved on a driving wheel and a driven wheel, and the driving wheel is driven by a fifth motor. Specifically, a fifth motor can be installed outside one side wall of the barrel cover through a motor installation seat, an output shaft of the fifth motor penetrates through the side wall and then is in power connection with the driving wheel, meanwhile, a bearing is arranged at one end, opposite to the motor installation seat, of the side wall, the bearing can be located in an installation hole formed in the side wall, a rotating shaft is fixedly connected with an inner ring of the bearing, and the rotating shaft is assembled with the driven wheel. The driving wheel and the driven wheel are sleeved with the transmission belt, a bearing rod can be fixedly connected to the transmission belt, and a plurality of hairbrushes 18 are arranged on the bearing rod at intervals. Of course, in order to ensure that the brush 18 moves only in the accommodating space, a limit baffle may be provided on the driving belt, and when the limit baffle touches the driving wheel or the driven wheel, the fifth motor stops rotating or rotates reversely.
As a possible implementation manner, an infrared distance sensor is disposed at a position of the bucket 10 close to the feeding port, and is used for detecting the height of the garbage in the bucket 10. Specifically, the infrared distance sensor may be disposed on an inner wall of the tub 10.
By adopting the technical scheme, the height of the garbage in the barrel body 10 can be acquired in real time by using the infrared distance sensor, and the acquired garbage height information is sent to the processor. Can prestore the rubbish height threshold value that staving 10 can the splendid attire in the treater, under the condition that the high information of rubbish that the treater received is greater than or equal to the high threshold value of rubbish, can generate the control signal that uncaps, garbage disposal device is under the control of control signal that uncaps, and the bung will not open to give in the person and rubbish person of retrieving with the full information feedback of bucket simultaneously.
Referring to fig. 3, an embodiment of the present invention further provides a garbage recycling apparatus in practical application, including the following steps:
s10, opening the door, and putting the garbage bag on the cover plate under the condition that the cover plate is determined to be closed;
s11, acquiring the volume information of the garbage bag by using a volume measuring module;
s12, acquiring weight information of the garbage bag by using a weight measuring module;
s13, sending the volume information and the weight information to a processing module by using a communication module, wherein a preset volume-weight ratio is stored in the processing module, and the volume-weight ratio of the garbage bag is obtained based on the volume information and the weight information; generating a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets the preset volume-weight ratio;
s14, tearing the garbage bag by the garbage bag breaking component under the control of the garbage bag breaking instruction; utilizing an image recognition module to obtain classification quality information of the garbage in the garbage bag; the processing module is also used for generating a garbage classification integral under the condition of obtaining the classification quality information; the cover plate is opened under the control of the uncovering instruction so as to throw the bag-broken garbage into the barrel.
As a possible implementation manner, the garbage recycling method further includes:
under the condition that the volume-weight ratio does not meet the preset volume-weight ratio, generating a push instruction; the pushing assembly pushes the garbage bag to a position close to the door under the control of the pushing instruction.
In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The garbage recycling equipment is characterized by being used for recycling garbage; the garbage recycling apparatus includes:
the barrel body is a closed barrel body, and one side of the barrel body is provided with a feeding opening;
the door is arranged on the throwing opening in an openable and closable manner;
the cover plate is covered in the barrel body in an openable and closable manner and is positioned below the feeding port;
the volume measuring module is arranged in the barrel body and positioned above the cover plate and used for obtaining volume information of the garbage bag;
the weight measuring module is arranged in the barrel body and close to the cover plate and used for obtaining weight information of the garbage bag;
the image recognition module is arranged in the barrel body and above the cover plate and used for obtaining classification quality information of the garbage in the garbage bag;
the bag breaking assembly is arranged above the cover plate and is used for controllably tearing the garbage bag;
the communication module is in communication connection with the volume measuring module, the weight measuring module and the image recognition module at the same time and is used for receiving and sending the volume information, the weight information and the classification quality information;
the processing module is in communication connection with the communication module and obtains the volume-weight ratio of the garbage bags based on the volume information and the weight information; generating a bag breaking instruction and a cover opening instruction under the condition that the volume-weight ratio meets a preset volume-weight ratio; the bag breaking assembly tears the garbage bag under the control of the bag breaking instruction, and the cover plate is opened under the control of the cover opening instruction so as to throw bag breaking garbage into the barrel body; the processing module is further configured to generate a garbage classification score under the condition that the classification quality information is obtained.
2. The waste recovery apparatus of claim 1, wherein the volumetric measurement module is at least one of an infrared measurement module, a laser measurement module, or a visual measurement module.
3. The trash recycling device of claim 2, wherein in case the volume measuring module is an infrared measuring module, the infrared measuring module comprises an infrared detector and a laser detector, both of which are disposed inside the can body and above the cover plate;
the infrared detector is used for detecting infrared energy on a cover plate bearing the garbage bag to obtain infrared energy distribution on the cover plate; the laser detection module is used for measuring the maximum section of the garbage bag in the horizontal direction;
the infrared detector and the laser detector are both in communication connection with the communication module;
the communication module is further used for sending the infrared energy distribution and the maximum cross section information to the processing module, the processing module is used for obtaining an effective cross section of which the corresponding infrared energy variation in the maximum cross section is larger than a first threshold value based on the infrared energy distribution and the maximum cross section, and obtaining the volume information of the garbage bag based on the effective cross section and the actual height of the garbage bag.
4. The waste recycling apparatus of claim 2, wherein in the case where the volume measuring module is a laser measuring module, the laser measuring module comprises a monocular camera and a laser rangefinder; the monocular camera and the laser range finder are both arranged in the barrel body and are positioned above the cover plate;
the monocular camera is used for acquiring a top view of the garbage bag placed on the cover plate and calculating a minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view; the laser range finder is used for obtaining the height of the garbage bag according to the distance change of the garbage bag entering the range finding area;
the monocular camera and the laser range finder are in communication connection with the communication module;
the communication module is also used for sending the minimum circumscribed rectangular area and the height to the processing module; the processing module prestores an acquisition visual angle of the monocular camera; the processing module is used for calculating the length and the width of the garbage bag based on the acquisition visual angle and the minimum circumscribed rectangle; the processing module is further configured to obtain the volume information of the trash bag based on a length, a width, and a height of the trash bag.
5. The trash recycling apparatus of claim 2, wherein in case the volume measuring module is a laser measuring module, the laser measuring module comprises a laser sensor disposed inside the can and above the cover plate; the laser sensor is in communication connection with the communication module;
dividing the trash bag into a plurality of measurement areas;
the laser sensor is used for acquiring a vertical distance H from the laser sensor to the cover plate, rotating the laser sensor to enable the laser sensor to form an included angle alpha with a vertical line, and measuring a measuring distance L of the laser sensor at a stacking surface center point value of the garbage bag in each measuring area;
the processing module is used for determining the stacking height H in each measuring area based on the vertical distance H, the included angle alpha and the measuring distance LiH-L cos α; the processing module is further configured to smooth each stacking height to obtain a smooth stacking height h corresponding to each measurement areaix；
The processing module is also used for prestoring the length and the width corresponding to each measuring area;
the processing module is further used for obtaining the volume of each measuring area based on the height, the length and the width of the smooth stacking material, and obtaining the volume information of the garbage bag based on the volume of each measuring area.
6. The trash recycling apparatus of claim 2, wherein in case the volume measuring module is a vision measuring module, the vision measuring module comprises a binocular camera disposed within the tub and directly above the cover plate; the binocular camera is in communication connection with the communication module;
the binocular camera is used for acquiring an original image of the garbage bag and performing binocular correction;
the communication module is used for sending the original image to a processing module, the processing module is used for obtaining a central horizontal stripe disparity map and filling a hole based on the original image, and obtaining a central vertical stripe disparity map and filling a hole based on the original image; detecting a parallax jump area according to the horizontal stripe parallax map and the vertical stripe parallax map to obtain four parallax edge point sets; fitting 4 linear equations on the basis of the 4 parallax edge point sets to obtain four line segments; rotating and adjusting two opposite sides around the center of each line segment to enable the opposite sides to be parallel; calculating a mean value as an average parallax between the garbage bag and the binocular cameras on the basis of parallax values existing inside the four line segments, and obtaining the distance between the garbage bag and the binocular cameras according to a parallax-distance calculation formula so as to obtain the height of the garbage bag; calculating a 3D linear equation of the four line segments; and calculating the distance between the two pairs of parallel variables according to the 3D linear equation to obtain the length and the width of the garbage bag, and obtaining the volume information of the garbage bag according to the length, the width and the height of the garbage bag.
7. The garbage recycling apparatus according to claim 1, further comprising a spraying head, a pipeline and a liquid storage tank, wherein the spraying head is disposed above the cover plate for spraying deodorant to the cover plate; the pipeline penetrates through the side wall of the barrel body, the inlet of the pipeline is communicated with the outlet of the liquid storage tank, and the outlet of the pipeline is communicated with the inlet of the spray head; and/or the presence of a gas in the gas,
the garbage recycling equipment further comprises a pushing assembly, and the pushing assembly is arranged on the cover plate;
the processing module generates a push instruction under the condition that the volume-weight ratio does not meet the preset volume-weight ratio; the pushing assembly pushes the garbage bag to a position close to the door under the control of the pushing instruction; or the like, or, alternatively,
the processing module generates an alarm signal under the condition that the volume-weight ratio does not meet the preset volume-weight ratio, and the garbage recycling equipment further comprises an alarm; and the alarm gives an alarm after receiving the alarm signal.
8. The waste recovery device of claim 7, wherein a pump is disposed within the storage tank, the pump having an outlet in communication with the inlet of the conduit; and/or a valve is arranged on the pipeline.
9. The garbage collection apparatus of claim 1, wherein the door is any one of an inner push type door, an outer pull type door, a single opening door, or a split door; or the like, or, alternatively,
and when the door is an inward-pushing door or an outward-pulling door, a first rotating shaft is rotatably arranged on any one wall of the barrel body along the length direction of the wall, the inward-pushing door or the outward-pulling door is driven by the first rotating shaft to be opened and closed, and the first rotating shaft is driven by at least one first motor.
10. The garbage recycling device according to claim 1, wherein the two opposite ends of the cover plate are respectively connected to the bin wall of the bin body through a second rotating shaft, and the second rotating shaft is driven by a second motor; and/or the presence of a gas in the gas,
the cover plate comprises a first cover plate and a second cover plate which can be split; one end of the first cover plate is rotatably connected to one barrel wall of the barrel body, and one end of the second cover plate is rotatably connected to the other barrel wall of the barrel body; and/or the presence of a gas in the gas,
the upper surface of the cover plate is also provided with a hairbrush; when the cover plate is in a closed state, the brush can move on the cover plate; the hairbrush is carried by a carrying rod, the carrying rod is driven by a transmission belt, the transmission belt is sleeved on a driving wheel and a driven wheel, and the driving wheel is driven by a third motor; and/or the presence of a gas in the gas,
an infrared distance sensor is arranged at a position, close to the putting-in opening, of the barrel body and is used for detecting the height of the garbage in the barrel body;
and/or the presence of a gas in the gas,
the surface of the cover plate is coated with a nano material layer; and/or the presence of a gas in the gas,
an illuminating lamp is also arranged in the barrel body and above the cover plate; and/or the presence of a gas in the atmosphere,
the weight measuring module is a weight sensor; and/or the presence of a gas in the atmosphere,
the image recognition module is a CCD camera.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114013868A (en) * | 2021-10-09 | 2022-02-08 | 北京化工大学 | Garbage recycling equipment and garbage recycling method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114013868A (en) * | 2021-10-09 | 2022-02-08 | 北京化工大学 | Garbage recycling equipment and garbage recycling method |
| CN114013868B (en) * | 2021-10-09 | 2024-06-04 | 北京化工大学 | Garbage recycling equipment and garbage recycling method |
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