CN216685861U - A garbage collection device - Google Patents

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

A garbage collection device

technical field

The utility model relates to the technical field of garbage recycling, in particular to a garbage recycling device.

Background technique

At present, garbage sorting and disposal has become a social hotspot. On the one hand, regulators raise the awareness of users (or residents) about garbage sorting and disposal through publicity, and on the other hand, place garbage recycling equipment for sorting and throwing in the garbage disposal area to realize garbage sorting in the throwing stage.

Only garbage categories, such as kitchen waste, recyclable garbage, etc., are identified on the garbage recycling equipment provided by the prior art. Users put garbage into the matching garbage collection equipment according to their own judgment. However, before the current garbage is packaged and put out, there are often cases where it is not properly classified, such as mixed packaging of dry garbage and wet garbage. Existing garbage collection equipment does not have the ability to detect mixed and packaged garbage. Based on this, it is not possible to feed back information about mis-throwing in real time to garbage throwers and regulatory authorities, which is not conducive to regulating users' garbage throwing behavior.

Utility model content

The purpose of the utility model is to provide a garbage recycling device, which is used to supervise and regulate the user's garbage throwing behavior under the condition of real-time monitoring whether the garbage classification is reasonable.

In a first aspect, the present invention provides a garbage recycling device, which is used for recycling garbage. Garbage collection equipment includes:

The barrel body is a closed barrel body, and a feeding port is provided on one side of the barrel body.

The door, which can be opened and closed, is arranged at the delivery port.

The cover plate can be opened and closed in the barrel body, and the cover plate is located below the injection port.

The volume measurement module, which is arranged in the barrel and above the cover plate, is used to obtain the volume information of the garbage bag.

The weight measurement module is arranged in the barrel and close to the cover plate, and is used to obtain the weight information of the garbage bag.

Image recognition module, the image recognition module is arranged in the barrel and above the cover plate, and is used to obtain the classification quality information of the garbage in the garbage bag.

The bag breaking assembly is arranged above the cover plate and is used to controllably tear the garbage bag.

The communication module is connected with the volume measurement module, the weight measurement 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.

The processing module is connected in communication with the communication module, obtains the bulk density ratio of the garbage bag based on the volume information and the weight information, and generates a bag breaking instruction and a lid opening instruction when the bulk density ratio meets the preset bulk density ratio. Under the control of the bag-breaking instruction, the bag-breaking component tears the garbage bag, and the cover is opened under the control of the opening instruction, so as to put the garbage in the bag into the bucket. The processing module is also used to generate garbage classification scores when the classification quality information is obtained.

In the case of adopting the above technical solution, when the user needs to deliver garbage into the barrel, the door is opened, and at this time, the cover plate is in a closed state. Place the garbage bag on the cover plate, use the volume measurement module to obtain the volume information of the garbage bag, and use the weight measurement module to obtain the weight information of the garbage bag. The above volume information and weight information are sent to the processing module through the communication module. The preset bulk density ratios of different types of garbage (different types of garbage including dry garbage and/or wet garbage) are pre-stored in the processing module. The processing module also has a calculation model for calculating the volume-to-weight ratio of the garbage bags, and the calculation model is used to calculate the volume-to-weight ratio of the currently placed garbage bags based on the volume information and the weight information. A comparison model can also be set in the processing module, and the processing module generates a bag breaking instruction and a lid opening instruction under the condition that the volume-to-weight ratio of the currently put-in garbage bags satisfies the preset volume-to-weight ratio. The above-mentioned bag breaking instruction and lid opening instruction are respectively sent to the bag breaking assembly and the servo motor for controlling the opening and closing of the cover plate through the communication module. The bag breaking assembly tears garbage bags under the control of the bag breaking command. At this time, the image recognition module is used to obtain the classification quality information of the garbage in the garbage bag. On this basis, for example, the servo motor opens the cover plate under the control of the cover opening command, so as to put the garbage after the broken bag into the bucket. The classification quality information of garbage can also be sent to the processing module through the communication module, and the processing module generates garbage classification points. The above garbage classification points can be processed in various ways, for example, they can be sent to the dispenser and/or the supervisor.

It can be seen from the above application process that before the garbage is put into the barrel, it can first stay on the cover for a certain period of time. In the case of determining the volume-to-weight ratio, predict the type of garbage contained in the garbage bag, and then determine the type of garbage and garbage. Only when the types of garbage that the bucket can hold are the same, the operation of putting garbage bags into the bucket is started. It can be seen that before the garbage bags containing garbage are put into the bucket, a pre-judgment can be made to prevent the garbage bags from being mistakenly put into the garbage can from the source. In addition, using the bulk-weight ratio to pre-judgment garbage also has the advantages of convenient implementation and low cost. In practical applications, the classification quality information of the garbage identified by the image recognition module can also be fed back to the processing module. In the case that the processing module judges that the garbage is placed incorrectly, the information about the wrong placement can be fed back to the dispenser and the supervisory department, thereby supporting the regulation. User's garbage disposal behavior. When the processing module judges that the garbage is put in correctly, the incentive point information is fed back to the dispenser and the regulatory department, so as to achieve the purpose of positively encouraging the dispenser.

As an 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 implementation, when the volume measurement module is an infrared measurement module, the infrared measurement module includes an infrared detector and a laser detector, and the infrared detector and the laser detector are both disposed in the barrel and above the cover plate. Among them, the infrared detector is used to detect the infrared energy on the cover plate carrying the garbage bag, so as to obtain the infrared energy distribution on the cover plate; the laser detector is used to measure the maximum cross section of the garbage bag in the horizontal direction. Both the infrared detector and the laser detector are connected in communication with the communication module. The communication module is also used to send the infrared energy distribution and the maximum cross-section information to the processing module, and the processing module is used to obtain an effective cross-section with a corresponding infrared energy change in the maximum cross-section greater than the first threshold based on the infrared energy distribution and the maximum cross-section, and based on the infrared energy distribution and the maximum cross-section. The effective section and the actual height of the garbage bag are used to obtain the volume information of the garbage bag.

As an implementation manner, when the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser rangefinder. The monocular camera and the laser rangefinder are both arranged inside the barrel and above the cover plate. Among them, the monocular camera is used to obtain the top view of the garbage bag placed on the cover, and to calculate the minimum circumscribed rectangular area of the top surface of the garbage bag in the top view; the laser rangefinder is used to obtain the top view of the garbage bag into the ranging area according to the The height of the garbage bag is obtained by the distance change, and both the monocular camera and the laser rangefinder are connected to the communication module. The communication module is also used to send the minimum circumscribed rectangular area and height to the processing module; the processing module pre-stores the collection angle of view of the monocular camera; the processing module is used to calculate the length and width of the garbage bag based on the collection angle of view and the minimum circumscribed rectangle; the processing module also Used to get the volume information of the garbage bag based on the length, width and height of the garbage bag.

As an implementation manner, when the volume measurement module is a laser measurement measurement module, the laser measurement measurement module includes a laser sensor, and the laser sensor is disposed in the barrel and above the cover plate. The laser sensor is communicatively connected with the communication module. Divide the garbage bag into measurement areas. The laser sensor is used to obtain the vertical distance H from the laser sensor to the cover plate, rotate the laser sensor to form an angle α between the laser sensor and the vertical line, and measure the value of the center point of the stack surface of the garbage bag in each measurement area. Measure the distance L. The processing module is used to determine the stacking height hi=H-L*cosα in each measurement area based on the vertical distance H, the included angle α and the measurement distance L. The processing module is also used for smoothing each stacking height to obtain the smoothed stacking height hix corresponding to each measurement area. The processing module is also used to pre-store the length and width corresponding to each measurement area. The processing module is further configured to obtain the volume of each measurement area based on the smooth stack height, length and width, and obtain volume information of the garbage bag based on the volume of each measurement area.

As an implementation manner, in the case where the volume measurement module is a visual measurement module, the visual measurement module includes a binocular camera, and the binocular camera is arranged in the barrel and is located directly above the cover plate . The binocular camera is connected in communication with the communication module. The binocular camera is used to obtain the original image of the garbage bag and perform binocular correction. The communication module is configured to send the original image to a processing module, and the processing module obtains a center horizontal strip disparity map based on the original image and fills in a hole, and obtains a center vertical strip disparity map based on the original image and fills in a center vertical strip disparity map. Empty. The parallax transition region is detected according to the horizontal strip parallax map and the vertical strip parallax map, and four sets of parallax edge points are obtained. Four line equations are fitted on the basis of the four sets of parallax edge points, and four line segments are obtained. Rotate around the center of each of the line segments to adjust the two opposite sides so that the opposite sides are parallel. Based on the parallax values existing in the four line segments, the mean value is calculated as the average parallax between the garbage bag and the binocular camera, and the distance between the garbage bag and the binocular camera is obtained according to the parallax-distance calculation formula. distance, and then obtain the height of the garbage bag. Calculate the 3D line equation for the four said line segments. Calculate the distance between two pairs of parallel variables according to the 3D line equation, obtain the length and width of the garbage bag, and obtain the volume information of the garbage bag according to the length, width and height of the garbage bag.

As an implementation manner, the garbage recovery equipment also includes a spray head, a pipeline and a liquid storage tank. The spray head is arranged above the cover plate and is used to spray deodorant to the cover plate; the pipeline runs through the side wall of the barrel, and the pipe 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 manner, the garbage collection device further includes a push component, and the push component is arranged on the cover plate; the processing module generates a push command when the bulk density ratio does not meet the preset bulk weight ratio; the push component is controlled by the push command. Push the garbage bag closer to the door.

As an implementation manner, the garbage collection device further includes an alarm, and the processing module generates an alarm signal when the volume-to-weight ratio does not meet the preset volume-to-weight ratio. After receiving the alarm signal, the alarm device will alarm.

As an implementation manner, a pump is arranged in the liquid storage tank, and the outlet of the pump is communicated with the inlet of the pipeline; and/or, a valve is arranged on the pipeline.

As an implementation manner, the door is any one of a push-in door, a pull-out door, a single door or a pair of doors; or,

In the case that the door is an inner push type door or an outer pull type door, a first rotating shaft is rotatably arranged on any wall of the barrel along the length of the wall, and the inner push type door or the outer pull type door is driven by the first rotating shaft. When opening and closing, the first rotating shaft is driven by at least one first motor.

As an implementation manner, opposite ends of the cover plate are respectively connected with the barrel wall of the barrel body through a second rotating shaft, and the second rotating shaft is driven by a second motor.

As an implementation manner, the cover plate includes a first cover plate and a second cover plate that can be split apart; one end of the first cover plate is rotatably connected to the barrel wall of the barrel body, and the second cover plate is rotatably connected to the barrel wall of the barrel body. One end of the barrel is rotatably connected to the other barrel wall of the barrel body.

As an implementation manner, the upper surface of the cover plate is further provided with a brush; when the cover plate is in a closed state, the brush can move on the cover plate.

As an implementation manner, the brush is carried by a bearing rod, the bearing rod is driven by a transmission belt, the transmission belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is driven by a third motor.

As an implementation manner, an infrared distance sensor is set at the position of the barrel body close to the injection port, which is used to detect the height of the garbage in the barrel body.

As an implementation manner, the surface of the cover plate is coated with a nanomaterial layer; and/or, a lighting lamp is further provided in the barrel and above the cover plate; and/or, the weight measurement module is a weight sensor; and/or, The image recognition module is a CCD camera.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present utility model and constitute a part of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. . In the attached image:

1 is a schematic structural diagram of a garbage collection device provided by an embodiment of the present invention;

2 is a schematic diagram of data interaction during use of a garbage collection device provided by an embodiment of the present invention;

FIG. 3 is a flowchart of a garbage collection device provided by an embodiment of the present invention.

Reference number:

10-Barrel, 11-Door, 12-Cover,

13-volume measurement module, 14-weight measurement module 15-image recognition module,

16-Push assembly, 160-Push plate, 170-Spray head,

171-Pipeline, 172-Liquid reservoir, 110-First motor,

120-Second motor, 18-Brush 19-Lighting lamp.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or 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 indirectly connected to the other element.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined. "Several" means one or more than one, unless expressly specifically defined otherwise.

In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present utility model. limits.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a connectable connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Aiming at the technical problems existing in the garbage collection equipment provided in the prior art, an embodiment of the present invention provides a garbage collection equipment. FIG. 1 shows a schematic structural diagram of a garbage collection device provided by an embodiment of the present invention. As shown in Figure 1, garbage collection equipment is used to recycle garbage. The garbage recycling equipment includes: a barrel body 10 , the barrel body 10 is a closed barrel body, and a feeding port is provided on one side of the barrel body 10 . The door 11, which can be opened and closed, is provided at the injection port. A cover plate 12, the cover plate 12 can be opened and closed in the barrel 10, and the cover plate 12 is located below the injection port. The volume measurement module 13, which is arranged in the barrel 10 and located above the cover plate 12, is used to obtain volume information of the garbage bag. The weight measurement module 14, which is arranged in the barrel and close to the cover plate 12, is used to obtain the weight information of the garbage bag. The image recognition module 15 is arranged on the barrel body 10 and above the cover plate 12, and is used to obtain the classification quality information of the garbage in the garbage bag. The bag breaking assembly, which is arranged above the cover plate 12, is used to controllably tear the garbage bag. A communication module, the communication module is connected in communication with the volume measurement module 13, the weight measurement module 14 and the image recognition module 15 at the same time, for receiving and sending volume information, weight information and classification quality information. The processing module is connected in communication with the communication module, and obtains the bulk density ratio of the garbage bag based on the volume information and the weight information; and generates a bag breaking instruction and a lid opening instruction when the bulk density ratio satisfies the preset bulk density ratio; the bag breaking component is in Under the control of the broken bag instruction, the garbage bag is torn, and the cover 12 is opened under the control of the opening instruction to put the broken bag garbage into the bucket; the processing module is also used to generate garbage classification under the condition of obtaining classification quality information integral.

Referring to FIG. 1 , the above-mentioned barrel 10 may be any structure provided in the prior art, such as a plastic barrel or its surface (it should be understood that the surface here includes an inner surface and an outer surface) coated with anti-corrosion The metal barrel and the like of the material layer are not specifically limited here.

Referring to FIG. 1 , the above-mentioned cover plate 12 can be of various materials in terms of materials, which is not specifically limited here. For example, the material of the cover plate 12 may be the same as or different from that of the barrel body 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 nanomaterial layer. At this time, since the nanomaterial layer has good oleophobic and hydrophobic properties, when sewage or oil flows out of the garbage placed on the cover plate 12 , the erosion of the cover plate 12 by sewage or oil can be effectively reduced. Based on this, the service life of the cover plate 12 can be improved. In addition, due to the high hardness of the nanomaterial layer, it can effectively resist the pressing of a harder substance into its surface, so that the probability of its surface deformation is reduced. Furthermore, since the nano-material layer has excellent friction resistance and smoothness, the cover plate 12 has the advantages of easy cleaning, anti-sticking and anti-icing.

Referring to FIG. 1 , the above-mentioned cover plate 12 is normally closed under normal conditions. When the garbage in the barrel 10 produces peculiar smell due to fermentation, the normally closed cover plate 12 can effectively reduce the leakage of peculiar smell and improve the garbage disposal equipment. Environmental friendliness of the surroundings. In addition, when the cover plate 12 is in a normally closed state, the risk of directly throwing the garbage bag into the tub body 10 without pre-judging can be effectively avoided.

Referring to FIG. 1 , the door 11 can be opened in various manners, which are not specifically limited herein. For example, a manual cover opening method can be adopted, that is, the garbage thrower manually opens the door 11, places the garbage bag on the cover plate 12, and then manually closes the door 11 again. For another example, the way of automatically opening the door 11 may be adopted, that is, the automatic opening and closing of the door 11 may be realized by using the existing relatively mature technologies such as NFC technology, face recognition technology and scanning code authentication.

Referring to FIG. 1 , the image recognition module 15 and the volume measurement module 13 can be directly connected to the inner side surface of the top plate of the tub body 10 by any method such as bonding, welding or plugging. Of course, a mounting seat or mounting arm can also be fastened on the opposite side of the top plate and the cover plate 12 by any method such as bonding, welding or plugging. At this time, the image recognition module 15 and the volume measurement module 13 are fastened to the above-mentioned mounting seat or mounting arm. The above-mentioned image recognition module 15 may be a CCD camera or the like, and the above-mentioned volume measurement module 13 may be of various types, which are not specifically limited here, and are described in the following. The above-mentioned weight measurement module 14 can be detachably disposed on the tub body 10 and close to the cover plate 12 in any of the above-mentioned manners, so as to conveniently obtain the weight information of the garbage bags placed on the cover plate 12 . The weight measurement module 14 is a weight sensor or the like.

The following will take a garbage disposal scenario as an example to describe in detail the application process of the garbage collection device provided by the embodiment of the present invention and the beneficial effects produced in the application process.

Referring to FIG. 1 and FIG. 2 , when the user needs to deliver garbage into the tub body 10 , the door 11 is opened, and at this time, the cover plate 12 is in a closed state. Place the garbage bag on the cover plate 12, use the volume measurement module 13 to obtain the volume information of the garbage bag, and use the weight measurement module 14 to obtain the weight information of the garbage bag. The above volume information and weight information are sent to the processing module through the communication module. The preset volume-to-weight ratios of different types of garbage are pre-stored in the processing module. Different waste types include dry or wet waste. For example, the bulk density ratio of the wet garbage is 630-780kg/m ³ . When the garbage collection equipment is used for recycling wet garbage, the specific value range of the bulk density ratio of the wet garbage can be pre-stored in the processing module. , at this time, the above-mentioned value range is the preset volume-to-weight ratio.

The processing module also has a calculation model for calculating the volume-to-weight ratio of the garbage bags, and the calculation model is used to calculate the volume-to-weight ratio of the currently placed garbage bags based on the volume information and the weight information. A comparison model can also be set in the processing module, and the processing module generates a bag breaking instruction and a lid opening instruction under the condition that the volume-to-weight ratio of the currently put-in garbage bags satisfies the preset volume-to-weight ratio. For example, when the bulk-to-weight ratio of the garbage bag obtained by using the calculation module is 650kg/m ³ , the processing module generates a bag breaking instruction and a lid opening instruction. The above-mentioned bag breaking instruction and lid opening instruction are respectively sent to the bag breaking assembly and the servo motor for controlling the opening and closing of the cover plate 12 through the communication module. The bag breaking assembly tears garbage bags under the control of the bag breaking command. At this time, the image recognition module 15 is used to obtain the classification quality information of the garbage in the garbage bag. On this basis, for example, the servo motor opens the cover plate 12 under the control of the cover opening command, and the garbage after the bag is broken is put into the bucket. The classification quality information of garbage can also be sent to the processing module through the communication module, and the processing module generates garbage classification points. The above garbage classification points can be processed in various ways, for example, they can be sent to dispensers and/or supervisors.

It can be seen from the above application process that before the garbage is put into the barrel body 10, it can first stay on the cover plate 12 for a certain period of time. In the case of determining the bulk density ratio, the type of garbage contained in the garbage bag can be predicted. Only when the category of garbage is the same as that which can be accommodated in the trash can, the operation of putting garbage bags into the trash can is started. Compared with placing the garbage bag on the cover 12, after directly breaking the bag, the image recognition module 15 is used to obtain the garbage classification quality information, and pre-judgment is performed before the garbage bag containing garbage is put into the bucket, so as to avoid the problem from the source. The garbage bags are thrown into the trash can by mistake to improve the correctness of garbage classification. In addition, the pre-judgment of garbage is carried out by using the bulk density ratio. In the pre-judgment, there is no need to perform bag breaking treatment on the garbage bags. When the garbage recycling equipment is a recycling equipment for recycling wet garbage, this setting can effectively avoid the damage caused by the bag breaking treatment. The problem of sewage outflow and odor diffusion. In addition, it also has the advantages of convenient implementation, low cost and high speed. In practical applications, the classification quality information of the garbage identified by the image recognition module 15 can also be fed back to the processing module. In the case that the processing module judges that the garbage has been placed incorrectly, the information about the wrong throwing can be fed back to the thrower and the supervision department 11, so as to Support to regulate users' garbage disposal behavior. In the case that the processing module judges that the garbage is put in correctly, the incentive point information is fed back to the dispenser and the supervision department 11, so as to achieve the purpose of positively stimulating the dispenser.

It should be further explained that the information on the type of garbage identified by the image recognition module 15 can be uploaded to the processor in communication with the image recognition module 15 in a wired or wireless manner. Spam mis-delivery information can be generated, and the processor sends the spam mis-delivery information to the dispenser or regulator. It should be understood that before throwing garbage, the thrower can install the garbage throwing module on the handheld terminal, and can register on the garbage throwing module with personal information to generate the thrower's identity code. When the thrower throws garbage, the garbage throwing device can be used to obtain the personal information of the thrower, so as to associate the to-be thrower, the thrown garbage and the garbage throwing device. At this time, when the garbage thrown by the dispenser is classified incorrectly, it can be traced back to the dispenser.

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 measurement module is an infrared measurement module. In this case, the infrared detector and the laser detector of the infrared measurement module are both disposed in the barrel and above the cover plate. Wherein, the infrared detector is used to detect infrared energy on the cover plate carrying the garbage bag, so as to obtain the infrared energy distribution on the cover plate. Laser detectors are used to measure the maximum cross-section of the garbage bag in the horizontal direction. Both the infrared detector and the laser detector are connected in communication with the communication module. The communication module is also used for sending the infrared energy distribution and the maximum cross-section information to the processing module, and the processing module is used for obtaining an effective cross-section with infrared energy corresponding to the maximum cross-section greater than the first threshold based on the infrared energy distribution and the maximum cross-section, and based on the effective cross-section With the actual height of the garbage bag, get the volume information of the garbage bag.

In the case of adopting the above technical solution, when the garbage contained in the garbage bag is wet garbage, since the material of the wet garbage is different from that of the garbage bag, the heat radiation of the infrared rays generated by the wet garbage to the cover plate is different from the heat radiation generated by the garbage bag. The thermal radiation of infrared rays to the cover plate is different. At this time, the thermal radiation (infrared energy) radiated on the cover plate corresponding to the junction of the wet garbage and the garbage bag will change. Based on this, the accuracy of the effective area determined by the infrared energy change is higher, so that the volume information determined based on the effective area and actual height of the garbage bag is more consistent and consistent with the volume of the actual garbage bag. In this case, the accuracy of the final bulk-to-weight ratio can be improved.

As a second example, when the volume measurement module is a laser measurement module, the laser measurement module includes a monocular camera and a laser rangefinder. The monocular camera and the laser rangefinder are both arranged inside the barrel and above the cover plate. The monocular camera is used to obtain a top view of the garbage bag placed on the cover, and to calculate the minimum circumscribed rectangular area of the top surface of the garbage bag in the top view. The laser range finder is used to obtain the height of the garbage bag according to the distance change of the garbage bag into the ranging area. Both the monocular camera and the laser range finder are connected to the communication module. The communication module is also used to send the minimum circumscribed rectangle area and height to the processing module; the processing module pre-stores the collection angle of view of the monocular camera; the processing module is used to calculate the length and width of the garbage bag based on the collection angle of view and the minimum circumscribed rectangle. The processing module is also used to obtain volume information of the garbage bag based on the length, width and height of the garbage bag.

As a third example, when the volume measurement module is a laser measurement measurement module, the laser measurement measurement module includes a laser sensor, and the laser sensor is disposed in the barrel and above the cover plate. The laser sensor is communicatively connected with the communication module. Divide the garbage bag into measurement areas. The laser sensor is used to obtain the vertical distance H from the laser sensor to the cover plate, rotate the laser sensor to form an angle α between the laser sensor and the vertical line, and measure the value of the center point of the stack surface of the garbage bag in each measurement area. Measure the distance L. The processing module is used to determine the stacking height hi=H-L*cosα in each measurement area based on the vertical distance H, the included angle α and the measurement distance L. The processing module is also used for smoothing each stacking height to obtain the smoothed stacking height hix corresponding to each measurement area. The processing module is also used to pre-store the length and width corresponding to each measurement area. The processing module is further configured to obtain the volume of each measurement area based on the smooth stack height, length and width, and obtain volume information of the garbage bag based on the volume of each measurement area.

As a fourth example, in the case where the volume measurement module is a visual measurement module, the visual measurement module includes a binocular camera, and the binocular camera is disposed inside the barrel and is located just above the cover plate . The binocular camera is connected in communication with the communication module. The binocular camera is used to obtain the original image of the garbage bag and perform binocular correction. The communication module is configured to send the original image to a processing module, and the processing module obtains a center horizontal strip disparity map based on the original image and fills in a hole, and obtains a center vertical strip disparity map based on the original image and fills in a center vertical strip disparity map. Empty. The parallax transition region is detected according to the horizontal strip parallax map and the vertical strip parallax map, and four sets of parallax edge points are obtained. Four line equations are fitted on the basis of the four sets of parallax edge points, and four line segments are obtained. Rotate around the center of each of the line segments to adjust the two opposite sides so that the opposite sides are parallel. Based on the parallax values existing in the four line segments, the mean value is calculated as the average parallax between the garbage bag and the binocular camera, and the distance between the garbage bag and the binocular camera is obtained according to the parallax-distance calculation formula. distance, and then obtain the height of the garbage bag. Calculate the 3D line equation for the four said line segments. Calculate the distance between two pairs of parallel variables according to the 3D line equation, obtain the length and width of the garbage bag, and obtain the volume information of the garbage bag according to the length, width and height of the garbage bag.

Referring to FIG. 1 , as a possible implementation manner, the garbage collection device further includes a push assembly 16 , and the push assembly 16 is disposed on the cover plate 12 ; the processing module generates a push instruction when the bulk density ratio does not meet the preset bulk density ratio. The push assembly 16 pushes the garbage bag to a position close to the door 11 under the control of the push command. With this arrangement, the garbage bags that do not meet the throwing conditions can be moved to a position that is convenient for the thrower to take out.

As an example, the pusher assembly 16 may specifically include a push plate 160, which can reciprocate linearly along the cover plate 12. There are various ways to realize the reciprocating linear movement. For example, a hydraulic cylinder may be provided on one side of the push plate 160. Or a pneumatic cylinder (not shown in the figure), using a hydraulic cylinder or a pneumatic cylinder to realize the reciprocating linear movement of the push plate.

It should be further explained that, in the case where the volume of the garbage collection device provided by the embodiment of the present invention is not too large, the pusher assembly may not be provided. This arrangement does not affect the thrower of taking out garbage bags that do not meet the throwing conditions, and can also simplify the garbage recycling device provided by the embodiment of the present invention.

As a possible implementation manner, the garbage collection 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 meet the preset volume-to-weight ratio. After receiving the alarm signal, the alarm device will alarm.

As a possible implementation manner, the above-mentioned bag breaking assembly (not shown in the figure) may be a serrated mechanical device. The device can be driven by a motor, and when the garbage is confirmed to be garbage that meets the throwing conditions, the sawtooth is used for bag breaking processing.

Referring to FIG. 1 , as a possible implementation manner, the garbage collection device further includes a spray head 170 , a pipeline 171 and a liquid storage tank 172 . The spray head 170 is arranged above the cover plate 12 and is used for spraying deodorant to the cover plate 12 . The pipeline 171 penetrates through the side wall of the barrel 10 , the inlet of the pipeline 171 communicates with the outlet of the liquid storage tank 172 , and the outlet of the pipeline 171 communicates with the inlet of the spray head 170 .

Referring to FIG. 1, in practical applications, when the garbage collection equipment is used for a period of time, there will inevitably be dirt on the cover plate 12 for temporarily placing garbage. If the dirt cannot be cleaned in time, it will easily affect the air quality around the garbage collection equipment. gas. In order to solve the above-mentioned technical problems, the deodorant may be stored in the liquid storage tank 172 in advance. The liquid storage tank 172 can be provided independently of the garbage collection equipment, or can be hung on the outer wall of the barrel 10 included in the garbage collection equipment. A pump can be placed in the liquid storage tank 172 , and the outlet of the pump is communicated with the inlet of the pipeline 171 . When it is necessary to deodorize the garbage collection equipment, the pump can be powered on to transfer the deodorant in the liquid storage tank 172 to the spray head 170 through the pipeline 171, and then use the spray head 170 to spray the deodorant on the cover plate 12. . The flow rate of the deodorant sprayed by the spray head 170 can be controlled by adjusting the parameters of the pump. Of course, a valve 11 can also be provided on the pipeline 171 , and the flow rate of the deodorant sprayed by the spray head 170 can be controlled by adjusting the opening of the valve 11 .

Referring to FIG. 1 , in the case of adopting the above technical solution, a spray head 170 capable of providing deodorant to the cover plate 12 is arranged above the cover plate 12 , and the cover plate 12 can be deodorized regularly or irregularly according to actual application requirements. The operation can reduce the contamination of the surrounding environment by the dirt on the cover plate 12 .

As a possible implementation manner, the door 11 is any one of a push-in door, a pull-out door, a single door or a side-to-side door.

As an example, in the case where the door 11 is a push-in door or a pull-out door, a first rotating shaft is rotatably disposed on any wall of the barrel 10 along the length direction of the wall, and the door is push-in or pull-out. The door is driven by a first rotating shaft to open and close, and the first rotating shaft is driven by at least one first motor 110 .

As a possible implementation manner, opposite ends of the cover plate 12 are respectively connected to the tub wall of the tub body 10 through a second rotating shaft, and the second rotating shaft is driven by the second motor 120 . Specifically, the cover plate 12 is integrally covered at the opening of the barrel 10 , and the cover plate 12 has opposite ends, which can be defined as a first end and a second end. A first mounting hole may be opened from the end of the first end to the direction of the second end, and a second mounting hole may be opened from the end of the second end to the direction of the first end. One end of one of the second rotating shafts is fitted or clamped in the first installation hole by interference, and the other end of the second rotating shaft can penetrate through the barrel wall of the barrel body 10 to be powered with the second motor 120 . In the same way, one end of the other second rotating shaft is fitted or clamped in the second installation hole by interference, and the other end of the second rotating shaft can penetrate through the barrel wall of the barrel body 10 and be dynamically connected to the other second motor 120 . Together. Of course, only one second motor 120 can also be provided, and the second rotating shaft at the end opposite to the second motor 120 is only used as a support and a slave.

In the case of using the above technical solution, when the cover plate 12 needs to be closed with the opening of the barrel body 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, and the second rotating shaft drives the cover plate 12 to rotate to a horizontal state. , the cover plate 12 covers the opening of the barrel 10 . When the cover plate 12 needs to have a garbage throwing channel between the opening of the tub body 10, the second motor 120 is controlled to drive the second rotating shaft to rotate, and the second rotating shaft drives the cover plate 12 to rotate to a certain angle with the horizontal plane. At this time, the cover plate 12 is inclined relative to the horizontal plane. A garbage throwing channel can be formed between the inclined cover plate 12 and the tub wall of the tub body 10 . When there is garbage on the cover plate 12 , the garbage can enter the tub body 10 after passing through the garbage throwing channel along the inclined cover plate 12 .

As a possible implementation manner, the cover plate 12 includes a first cover plate and a second cover plate that can be split apart. One end of the first cover plate is rotatably connected to the tub wall of the tub body 10 by a third rotating shaft, and the third rotating shaft is driven by a third motor. One end of the second cover plate is rotatably connected to another barrel wall of the barrel body 10 by a fourth rotating shaft, and the fourth rotating shaft is driven by a fourth motor.

In the case of adopting the above technical solution, when the cover plate 12 needs to be closed with the opening of the barrel body 10, the third motor is controlled to drive the third rotating shaft to rotate, and the third rotating shaft drives the first cover plate to rotate to a horizontal state. The four motors drive the fourth rotating shaft to rotate, and the fourth rotating shaft drives the second cover plate to rotate to a horizontal state. At this time, the non-rotating ends of the first cover plate and the second cover plate are abutted together. When the cover plate 12 needs to have a garbage throwing channel between the opening of the barrel body 10 , the third motor is controlled to drive the third rotating shaft to rotate, and the third rotating shaft drives the first cover plate to move toward the bottom of the barrel close to the barrel body 10 . When the direction rotates, 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 in the direction close to the bottom of the tub body 10 . At this time, there is a gap between the first cover plate and the second cover plate to form a garbage throwing channel. When there is garbage on the cover plate 12, the garbage can enter the tub body 10 after passing through the garbage throwing channel along the inclined first cover plate and the second cover plate.

Referring to FIG. 1 , as a possible implementation manner, a brush 18 is provided on the side of the cover plate 12 opposite to the tub cover. When the opening of the cover plate 12 and the tub body 10 is in a closed state, the brush 18 can move on the cover plate 12.

In the case of adopting the above technical solution, the cleaning of the cover plate 12 can be realized by using the brush 18 moving on the upper surface of the cover plate 12 . Of course, the brush 18 can also cooperate with the spray head 170 , the pipeline 171 and the liquid storage tank 172 provided in the above implementation manner to spray cleaning liquid to the cover plate 12 while cleaning the cover plate 12 with the brush 18 .

Referring to FIG. 1 , as a possible implementation manner, the brush 18 is carried by a bearing rod, and the bearing rod is driven by a transmission belt, the transmission belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is driven by the fifth motor. Specifically, the fifth motor can be installed through the motor mounting seat outside one side wall of the barrel cover, and the output shaft of the fifth motor can be connected to the driving wheel after passing through the side wall. At the same time, the side wall is connected to the motor mounting seat The opposite end is provided with a bearing, the bearing can be seated in the mounting hole opened on the side wall, the inner ring of the bearing is fixedly connected with a rotating shaft, and the rotating shaft and the driven wheel are assembled together. The transmission belt is sleeved on the driving wheel and the driven wheel, and a bearing rod can be fastened to the transmission belt, and a plurality of brushes 18 are arranged on the bearing rod at intervals. Of course, in order to ensure that the brush 18 only moves in the accommodating space, a limit baffle can be provided on the transmission belt. When the limit baffle touches the driving wheel or the driven wheel, the fifth motor stops rotating or rotates in the opposite direction.

As a possible implementation manner, an infrared distance sensor is provided at the position of the barrel body 10 close to the injection port, which is used to detect the height of the garbage in the barrel body 10 . Specifically, the infrared distance sensor may be arranged on the inner wall of the barrel body 10 .

In the case of adopting the above technical solution, the infrared distance sensor can be used to acquire the garbage height in the barrel 10 in real time, and the acquired garbage height information can be sent to the processor. The garbage height threshold that can be contained in the barrel 10 can be pre-stored in the processor. When the garbage height information received by the processor is greater than or equal to the garbage height threshold, a lid opening control signal can be generated, and the garbage disposal device is in the lid opening control signal. Under the control of the bucket lid, the bucket lid will not be opened, and the bucket full information will be fed back to the dispenser and the garbage collector at the same time.

Referring to FIG. 3 , an embodiment of the present invention also provides garbage collection equipment in practical applications, including the following steps:

S10. Open the door, and put the garbage bag on the cover when it is determined that the cover is closed;

S11. Use a volume measurement module to obtain volume information of the garbage bag;

S12, use the weight measurement module to obtain the weight information of the garbage bag;

S13, using the communication module to send the volume information and the weight information to the processing module, the processing module stores a preset volume-to-weight ratio, and obtains the volume-to-weight ratio of the garbage bag based on the volume information and the weight information; and when the volume-to-weight ratio meets the preset volume-to-weight ratio Next, generate a bag breaking instruction and a lid opening instruction;

S14. Under the control of the bag-breaking instruction, the bag-breaking component tears the garbage bag; the image recognition module is used to obtain the classification quality information of the garbage in the garbage bag; the processing module is also used to generate garbage classification points when the classification quality information is obtained. ; The cover is opened under the control of the opening command to put the broken bag garbage into the bucket.

As a possible implementation, garbage collection methods also include:

When the bulk density ratio does not meet the preset bulk density ratio, a push instruction is generated; under the control of the push instruction, the push component pushes the garbage bag to a position close to the door.

In the foregoing description of the embodiments, the particular features, structures, materials or characteristics may be combined in any suitable manner in any one or more of the embodiments or examples.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A garbage recycling device, wherein the garbage recycling device is used for recycling garbage; the garbage recycling device comprises: a barrel body, the barrel body is a closed barrel body, and a feeding port is provided on one side of the barrel body; a door, which can be opened and closed at the injection port; a cover plate, the cover plate can be opened and closed in the barrel body, and the cover plate is located below the injection port; a volume measurement module, the volume measurement module is arranged in the barrel and above the cover plate, and is used for obtaining volume information of the garbage bag; a weight measurement module, the weight measurement module is arranged in the barrel and close to the cover plate, and is used to obtain the weight information of the garbage bag; an image recognition module, the image recognition module is arranged in the barrel and above the cover plate, and is used to obtain the classification quality information of the garbage in the garbage bag; a bag breaking assembly, the bag breaking assembly is arranged above the cover plate, and is used for controllably tearing the garbage bag; a communication module, which is connected in communication with the volume measurement module, the weight measurement module and the image recognition module at the same time, for receiving and sending the volume information, weight information and classification quality information; a processing module, the processing module is connected in communication with the communication module, obtains the bulk density ratio of the garbage bag based on the volume information and the weight information; and generates a broken bag when the bulk density ratio satisfies a preset bulk density ratio Instructions and instructions for opening the lid; the bag-breaking assembly tears the garbage bag under the control of the bag-breaking instruction, and the cover is opened under the control of the lid-opening instruction to put the garbage in the bag into all the garbage. The processing module is further configured to generate a garbage classification score when the classification quality information is obtained. 2 . The garbage collection device according to claim 1 , wherein the volume measurement module is at least one of an infrared measurement module, a laser measurement module, or a visual measurement module. 3 . 3. The garbage collection device according to claim 2, wherein, when 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 all arranged in the barrel body, and are located above the cover plate; Wherein, the infrared detector is used to detect the infrared energy on the cover plate carrying the garbage bag, so as to obtain the infrared energy distribution on the cover plate; the laser detection module is used to measure the horizontal direction of the garbage bag. maximum section; Both the infrared detector and the laser detector are connected in communication with the communication module; The communication module is further configured to send the infrared energy distribution and maximum cross-section information to the processing module, and the processing module is configured to obtain infrared energy corresponding to the maximum cross-section based on the infrared energy distribution and the maximum cross-section. An effective cross-section whose variation is greater than a first threshold, and based on the effective cross-section and the actual height of the garbage bag, the volume information of the garbage bag is obtained. 4. The garbage collection device according to claim 2, wherein, when the volume measurement module is a laser measurement module, the laser measurement module comprises a monocular camera and a laser rangefinder; the monocular The camera and the laser rangefinder are both arranged in the barrel and above the cover; Wherein, the monocular camera is used to obtain a top view of the garbage bag placed on the cover, and to calculate the minimum circumscribed rectangular area of the upper surface of the garbage bag in the top view; the laser ranging The meter is used to obtain the height of the garbage bag according to the distance change of the garbage bag entering the ranging area; Both the monocular camera and the laser rangefinder are connected in communication with the communication module; The communication module is further configured to send the minimum circumscribed rectangular area and the height to the processing module; the processing module pre-stores the collection angle of view of the monocular camera; the processing module is configured to based on the collection angle of view, the minimum circumscribed angle The rectangle calculates the length and width of the garbage bag; the processing module is further configured to obtain the volume information of the garbage bag based on the length, width and height of the garbage bag. 5 . The garbage collection device according to claim 2 , wherein, when the volume measurement module is a laser measurement measurement module, the laser measurement measurement module comprises a laser sensor, and the laser sensor is arranged in the inside the barrel and above the cover plate; the laser sensor is communicatively connected with the communication module; dividing the garbage bag into a plurality of measurement areas; The laser sensor is used to obtain the vertical distance H from the laser sensor to the cover plate, rotate the laser sensor to make the included angle α between the laser sensor and the vertical line, measure the distance H of the garbage bag in each The center point of the stack surface in the measurement area is the measurement distance L of the laser sensor; The processing module is used to determine the stacking height h _i =HL*cosα in each of the measurement areas based on the vertical distance H, the included angle α and the measurement distance L; the processing module is also used for each measurement area. The stacking height is smoothed to obtain the smooth stacking height h _ix corresponding to each of the measurement areas; The processing module is further configured to pre-store the length and width corresponding to each of the measurement regions; The processing module is further configured to obtain the volume of each of the measurement regions based on the height, length and width of the smooth stack, and obtain volume information of the garbage bag based on the volume of each of the measurement regions. 6 . The garbage collection device according to claim 2 , wherein, when the volume measurement module is a visual measurement module, the visual measurement module comprises a binocular camera, and the binocular camera is arranged on the inside the barrel and located just above the cover plate; the binocular camera is communicatively connected with the communication module; The binocular camera is used to obtain the original image of the garbage bag and perform binocular correction; The communication module is configured to send the original image to a processing module, and the processing module obtains a center horizontal strip disparity map based on the original image and fills a hole, and obtains a center vertical strip disparity map based on the original image and fills in a center vertical strip disparity map. Holes; detect parallax jump regions according to the horizontal strip parallax map and the vertical strip parallax map, and obtain four sets of parallax edge points; fit four straight line equations on the basis of the four sets of parallax edge points to obtain Four line segments; rotate and adjust two opposite sides around the center of each of the line segments so that the opposite sides are parallel; based on the disparity values existing inside the four line segments, calculate the mean value as the difference between the garbage bag and the binocular camera Average parallax, and obtain the distance from the garbage bag to the binocular camera according to the parallax-distance calculation formula, and then obtain the height of the garbage bag; calculate the 3D line equation of the four line segments; calculate according to the 3D line equation The distance between the two pairs of parallel variables is obtained to obtain the length and width of the garbage bag, and the volume information of the garbage bag is obtained according to the length, width and height of the garbage bag. 7 . The garbage recycling device according to claim 1 , wherein the garbage recycling device further comprises a spray head, a pipeline and a liquid storage tank, and the spray head is arranged above the cover plate and is used to send the The cover plate sprays deodorant; the pipeline runs through the side wall of the barrel, the inlet of the pipeline is connected with the outlet of the liquid storage tank, and the outlet of the pipeline is connected to the spray head have inlet connections; and/or, The garbage collection equipment further includes a push assembly, and the push assembly is arranged on the cover plate; The processing module generates a push instruction when the bulk density ratio does not meet the preset bulk density ratio; the push component pushes the garbage bag to a position close to the door under the control of the push instruction ;or, The processing module generates an alarm signal when the volume-to-weight ratio does not meet the preset volume-to-weight ratio, and the garbage collection device further includes an alarm device; the alarm device performs an alarm after receiving the alarm signal. . 8. The garbage collection equipment according to claim 7, wherein a pump is provided in the liquid storage tank, and the outlet of the pump is communicated with the inlet of the pipeline; and/or, on the pipeline Set the valve. 9 . The garbage recycling device according to claim 1 , wherein the door is any one of an inner push door, an outer pull type door, a single door or a side door; or, In the case that the door is an inward push type door or an outward pull type door, a first rotating shaft is rotatably arranged on any wall of the barrel along the length direction of the wall, and the inward push type door or the outward pull type door is rotatably arranged. The door is driven by the first rotating shaft to open and close, and the first rotating shaft is driven by at least one first motor. 10 . The garbage recycling device according to claim 1 , wherein the opposite ends of the cover plate are respectively connected with the barrel wall of the barrel body through a second rotating shaft, and the second rotating shaft is connected by a second rotating shaft. 11 . motor driven; and/or, The cover plate includes a first cover plate and a second cover plate that can be split apart; one end of the first cover plate is rotatably connected to the barrel wall of the barrel body, and the second cover One end of the plate is rotatably connected to another barrel wall of the barrel; and/or, The upper surface of the cover plate is also provided with a brush; when the cover plate is in a closed state, the brush can move on the cover plate; the brush is carried by a bearing rod, and the bearing rod is carried by a transmission belt drive, the transmission belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is driven by a third motor; and/or, An infrared distance sensor is provided at the position of the barrel body close to the injection port, which is used to detect the height of the garbage in the barrel body; and / or, The surface of the cover plate is coated with a nanomaterial layer; and/or, A lighting lamp is also provided in the barrel and above the cover plate; and/or, The weight measurement module is a weight sensor; and/or, The image recognition module is a CCD camera.

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