CN109625706A - A kind of intelligent garbage bin and its control method - Google Patents
A kind of intelligent garbage bin and its control method Download PDFInfo
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- CN109625706A CN109625706A CN201811449226.4A CN201811449226A CN109625706A CN 109625706 A CN109625706 A CN 109625706A CN 201811449226 A CN201811449226 A CN 201811449226A CN 109625706 A CN109625706 A CN 109625706A
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- dustbin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent garbage bin and its control methods, the dustbin includes dustbin ontology and bung, the upper end of the bucket ontology is arranged in the bung, and the upper end of the bung and the bucket ontology is rotatablely connected, and the openable or closing bucket ontology, the bung and steering engine pass through a pull rod and steering engine, to be rotated by steering engine come rapid pushing drawing rod, complete turning on or off for dustbin cover, in the front upper place of the bucket ontology equipped with camera shooting acquisition device, to acquire the dustbin ontology and its ambient enviroment image, ultrasonic wave module is provided on the bung, walking mechanism is arranged in dustbin ontology domain, the movement of dustbin is realized under the control of master controller, the dustbin further includes master controller and power module, it is spatially separating by separation layer and storage rubbish, the present invention is changeable The mode that tradition is thrown away rubbish enables dustbin to be automatically moved to user position, and the position for going to dustbin without user is thrown away rubbish.
Description
Technical field
The present invention relates to environmental protection technical fields, more particularly to a kind of indoor intelligent dustbin and its control method.
Background technique
With making rapid progress for development in science and technology, house refuse has become influence environment, influences human lives, or even influence
An important factor for environment for human survival.Streets and lanes, tourist attractions are flooded with the house refuse of the mankind, rubbish inside campus everywhere
Rubbish bucket has become essential product common in people's daily life.
Dustbin is as necessity indispensable in user's life, and with the development of technology, the type of dustbin also exists
Continuous renovation and increase, so that dustbin also develops towards intelligent direction.
However, indoor intelligent dustbin on the market is primarily present following problem at present:
A, most intelligent garbage bins only have automatic lid closing/opening and timed-shutoff lid function, i.e. user gently kicks generation concussion or handle with foot
Hand, which protrudes into infrared induction area, could trigger and uncap, and most intelligent garbage bins only have automatic lid closing/opening and timed-shutoff lid function.It is this
By infrared sensor triggering uncap in the way of, in practical applications infrared sensor be easy by external environmental interference, cause
Dustbin is uncapped without reason, consumes electricity, and waits that close the lid time be a regular time section, in this process may be
User does not complete throw away rubbish movement before close lid or thrown away a period of time after rubbish and just close lid, influence user experience；
B, most dustbins can't automatic moving, or only simple remote control type is mobile.
Summary of the invention
In order to overcome the deficiencies of the above existing technologies, one of present invention be designed to provide a kind of intelligent garbage bin and its
Control method enables dustbin to be automatically moved to user position, without user in a manner of changing tradition and throw away rubbish
The position for going to dustbin is thrown away rubbish.
Another object of the present invention is to provide a kind of intelligent garbage bin and its control method, can be according to the need of user
It asks, carries out corresponding pattern switching, in the case where user location is persistently moved and persistently thrown away rubbish, dustbin may be selected and enter
Follow the mode or MANUAL CONTROL mode.
A further object of the present invention is to provide a kind of intelligent garbage bin and its control method, passes by using ultrasonic wave
Sensor adds camera comprehensive descision, instead of the infrared sensor vulnerable to environmental disturbances, judges user so as to more acurrate
Whether need to uncap or close lid.
In order to achieve the above object, the present invention proposes that a kind of intelligent garbage bin, including dustbin ontology and bung, the bung are set
It sets in the upper end of the bucket ontology, and the upper end of the bung and the bucket ontology is rotatablely connected, and described in openable or closing
Bucket ontology, the bung and steering engine complete dustbin by a pull rod and steering engine to rotate by steering engine come rapid pushing drawing rod
Lid turn on or off, in the front upper place of the bucket ontology equipped with camera shooting acquisition device, with acquire the dustbin ontology and
Its ambient enviroment image is provided with ultrasonic wave module on the bung, and walking mechanism is arranged in dustbin ontology domain, in electricity
The movement of dustbin is realized under the control of machine driving, the dustbin further includes master controller and power module, passes through isolation
Layer is spatially separating with storage rubbish.
Preferably, the dustbin further includes sound collection array, and the sound collection array is set on the bung.
Preferably, the walking mechanism, which includes two, the deceleration direct-current motor of Hall encoder, an everything wheel and two
A auxiliary wheel, those components are directly fixed on domain, to control the movement of dustbin.
Preferably, the master controller includes:
Scheme control start unit, for receiving the mode selection command of mobile terminal transmission, according to mode selection command
Start corresponding scheme control；
General mode control unit, for starting under corresponding mode selection command, by using photographic device and
The acquisition aggregation of data of ultrasonic wave module judges, realizes the automatic control of dustbin switch cover；
Remote control mode control unit, for starting under corresponding mode selection command, and according to the remote control of mobile terminal
Instruction carries out switch cover control to dustbin and controls all around moving for dustbin walking mechanism；
Follow the mode control unit, for starting under corresponding mode selection command, by being acquired using photographic device
Picture in its picture target carry out identifying processing, and according to recognition result control walking mechanism follow the target to be moved
It is dynamic；
Call mode controlling unit, for starting under corresponding mode selection command, according to sound collection array or
The data of photographic device acquisition are handled, and are determined and are called instruction, and determine target position according to the collected data, drive rubbish
The walking mechanism of bucket runs to target position.
Preferably, the general mode control unit further comprises:
Image acquisition and processing unit is carried out for utilizing the photographic device real-time image acquisition, and to the image of acquisition
Image procossing, in the angular field of view to detect photographic device whether someone；
Ultrasonic data acquisition processing unit, for detecting that someone enters camera shooting dress in described image acquisition process unit
When the angular field of view set, start ultrasonic wave module, acquires ultrasound data to obtain human body at a distance from dustbin, and in acquisition
When human body is less than preset threshold at a distance from dustbin, generates trigger signal triggering steering engine control unit control steering engine of uncapping and carry out
It uncaps movement；
Steering engine control unit, for being adopted according to the trigger signal and described image of the ultrasonic data acquisition processing unit
The detection signal control steering engine for collecting processing unit carries out switch cover movement.
Preferably, the remote control mode control unit further comprises:
Telecommand receiving unit, for receiving the telecommand of mobile terminal；
Telecommand processing unit realizes switch cover movement and control vehicle with walking machine for controlling steering engine according to telecommand
The motor drive module driving motor of structure realizes all around moving for dustbin.
Preferably, the follow the mode control unit further comprises:
Object detection unit judges whether there is mesh in current frame image for obtaining current frame image according to photographic device
Mark exists；
Target is detached from visual field processing unit, if target is not present in image, sets dustbin for current goal position
There are the positions in the visual field for last time, and it is mobile to the direction that target is detached from the visual field to control dustbin；
Target model- following control unit, if there are targets in image, according to the vehicle with walking machine of the position control dustbin of target
Structure follows the position of target to be moved accordingly.
Preferably, the target model- following control unit includes:
Initial target determination unit, when for entering the field range of photographic device in target, according to have it is aimless before
Frame image initial determines target afterwards, and records target；
Target image acquiring unit finds out target according to color characteristic for reading the image of present frame；
Binarization unit, for obtaining the binary image containing mixed noise for image binaryzation；
Filter unit obtains two containing larger noise block for first erosion algorithm being used to filter out lesser distributed noise
Then value image carries out connected domain filtering to image, obtains more clean binary image；
Target position determination unit, for asking coordinate mean value to obtain central point filtered binary image；
Processing unit is followed, judges target position, if target is in central region, does not generate model- following control signal；
If target deviates central region, the position of target is calculated using the proportional controller of front and rear, left and right two, be added to a left side
The drive module of right two motors keeps dustbin mobile towards target direction.
Preferably, the call mode controlling unit includes:
Instruction-determining unit is called, the processing determination of the data for acquiring by sound collection array or photographic device is
It is no to be instructed to call；
Target position computing unit, in be confirmed as call instruction when, according to sound reach sound collection array when
Difference calculates the position of sound source, or obtains target in the position in the visual field according to parsing image and then calculate the reality of target
Position；
Driving unit, for when calculating the position of target, driving dustbin driving motor driving dustbin to be moved to
Corresponding position.
In order to achieve the above objectives, the present invention also provides a kind of control method of indoor intelligent dustbin, include the following steps:
Step S1, receives the mode selection command that mobile terminal is sent, and starts corresponding mode according to mode selection command
Control；
Step S2 starts general mode control, passes through benefit if the mode selection command is general mode selection instruction
Judged with the acquisition aggregation of data of photographic device and ultrasonic wave module, realizes the automatic control of dustbin switch cover；
Step S3 starts remote control mode control if the mode selection command is remote control mode selection instruction, receives simultaneously
According to the telecommand of mobile terminal, switch cover control and control dustbin walking mechanism are carried out all around to dustbin
It is mobile；
Step S4 starts follow the mode control, passes through benefit if the mode selection command is follow the mode selection instruction
Identifying processing is carried out to target therein with the picture that photographic device acquires, and controls walking mechanism and the target is followed to be moved
It is dynamic；
Step S5 starts call scheme control, according to right if the mode selection command is to call mode selection command
Sound collection array or the data of photographic device acquisition are handled, and are determined and are called instruction, and determine mesh according to the collected data
Cursor position drives the walking mechanism of dustbin to run to target position.
Compared with prior art, the present invention has the advantage that
1, the present invention changes the mode that tradition is thrown away rubbish, and dustbin can be automatically moved to user and replace user to go to rubbish at one's side
Rubbish bucket position is set, solve the problems, such as mobile difficult user throw away rubbish thrown away rubbish with multi-user it is inconvenient.
2, the dustbin of the present invention has the function of to follow, and dustbin can follow user location to be moved, and solves daily
In life and work, because throwing away rubbish troublesome ask caused by dustbin position fixes, need persistently to throw away rubbish, user location is random etc.
Topic.
3, the present invention increases in the ordinary mode to the accurate judgement for uncapping and closing lid, improves user experience.
4, the present invention, which increases, manually controls function, and in certain special scenes, it is mobile that user can manually control dustbin.
5, present invention is particularly suitable for the places such as hospital, family, saloon bar, and the individuals with disabilities of difficulty easy to remove makes
With.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of intelligent garbage bin of the present invention；
Fig. 2 is the controling circuit structure figure of intelligent garbage bin in the specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of master controller in the specific embodiment of the invention；
Fig. 4 is the structural schematic diagram of general mode control unit in the specific embodiment of the invention；
Fig. 5 is the structural schematic diagram of remote control mode control unit in the specific embodiment of the invention；
Fig. 6 is the structural schematic diagram of follow the mode control unit in the specific embodiment of the invention；
Fig. 6-1 is that target is detached from the schematic diagram that visual field processing unit determines target direction in the specific embodiment of the invention；
Fig. 6-2 is the process schematic of the originally determined target of initial target determination unit in the specific embodiment of the invention；
Fig. 6-3a is the schematic diagram that proportion of utilization controller calculates target position in the specific embodiment of the invention；
Fig. 6-3b is the relativeness schematic diagram of dustbin and target position in the specific embodiment of the invention；
Fig. 7 is the structural schematic diagram that mode controlling unit is called in the specific embodiment of the invention；
Fig. 7-1 is to calculate sound source position according to the time difference that sound reaches sound collection array in the specific embodiment of the invention
Implement schematic diagram；
Fig. 7-2 is to calculate sound source position according to the time difference that sound reaches sound collection array in the specific embodiment of the invention
Specific implementation schematic diagram；
Fig. 8 is a kind of step flow chart of the control method of intelligent garbage bin of the present invention；
Fig. 9 is the Booting sequence schematic diagram of dustbin in the specific embodiment of the invention；
Figure 10 is general mode control flow chart in the specific embodiment of the invention；
Figure 11 is remote control mode control flow chart in the specific embodiment of the invention；
Figure 12 is follow the mode control flow chart in the specific embodiment of the invention；
Figure 13 is that mode control flow figure is called in the specific embodiment of the invention.
Specific embodiment
Below by way of specific specific example and embodiments of the present invention are described with reference to the drawings, those skilled in the art can
Understand further advantage and effect of the invention easily by content disclosed in the present specification.The present invention can also pass through other differences
Specific example implemented or applied, details in this specification can also be based on different perspectives and applications, without departing substantially from
Various modifications and change are carried out under spirit of the invention.
Fig. 1 is a kind of structural schematic diagram of intelligent garbage bin of the present invention.As shown in Figure 1, a kind of intelligent garbage bin of the present invention,
Including dustbin ontology and bung, the upper end of the bucket ontology, and the bung and the bucket ontology is arranged in the bung
Upper end rotation connection, and the openable or closing bucket ontology, in the specific embodiment of the invention, the bung is connected with steering engine
Place completes turning on or off for dustbin cover by steering engine rotation come rapid pushing drawing rod for a pull rod, in the bucket ontology
Positive front upper place locate between two parties equipped with a camera shooting acquisition device 10, in the specific embodiment of the invention, the camera shooting acquisition device
10 can be camera, ultrasonic wave module 11 is provided on the bung, walking mechanism 12 is arranged in bucket ontology domain, in motor
The movement of dustbin is realized under the control of driving 17, the walking mechanism 12 includes two deceleration direct currents for having Hall encoder
Machine, an everything wheel and two auxiliary wheels, these components are directly fixed on domain, to control the movement of dustbin, the rubbish
Bucket further includes master controller 13 and power module 14, is set to the floor portions of dustbin ontology, passes through separation layer and storage
Rubbish is spatially separating, and in the specific embodiment of the invention, the power module is battery.Preferably, the dustbin sheet
Charging interface is arranged in body domain lower part, to charge to battery.
Preferably, the dustbin further includes sound collection array 15, the sound collection array 15 is set to the bucket
It covers.
Preferably, the dustbin further includes bluetooth module 16, to carry out wireless communication with mobile terminal.
Fig. 2 is the circuit structure diagram of the control circuit of intelligent garbage bin in the specific embodiment of the invention.As shown in Fig. 2, should
Control circuit is specific as follows:
1) master controller uses the microcontroller of Cortex-M3 kernel, 72MHz dominant frequency, fast, the complete base with processing speed
In hardware to interrupt processing, various interface resources are abundant, cost performance is high the advantages that, be widely used in industrial control field, the present invention is based on
The microcontroller controls entire circuit.
(2) motor is driven using H bridge motor drive ic, the Continuous Drive electricity of each channel output highest 1.2A
Stream, for peak-peak up to 2A, motor drive power supply meets 10V, and two signal wires of master controller chip output can be such that the chip produces
Raw four kinds of control models: forward/reverse/braking/stopping.The chip can drive two direct current generators simultaneously, pass through output two
Road pwm signal can make dustbin complete arbitrary motion state to control its speed just.
(3) ultrasonic wave module uses HC-SR04 ultrasonic sensor, by the height electricity for persistently giving Trig pin 10us or more
Flat, module sends the square wave of 8 40kHz, and waits to be received；Output pin Echo export high level time be sound currently away from
From twice of transmission time, master controller, which acquires and calculates the duration of high level, may determine that whether induction zone is touched by user
Hair.
(4) steering engine that the present invention uses is JX6221, peak torque 20Kg, rotates 180 ° of angle.Control input high level
Duration control rotation angle, significant level duration 1ms to 2ms, 0 ° to 180 ° of corresponding angle.Input different control letters
Number, steering engine swing arm different rotation angle pushes or pulls down the pull rod being connected with bung, and bung opens or closes.
(5) direct current generator Hall encoder is used to measure the steering and speed of motor.The motor that dustbin uses is included suddenly
That coder module, is mainly made of two parts: the Hall code-disc with motor coaxle, the Hall sensor being fixed on the base,
Output result is A, B two-way square wave, wherein containing the information of direction of rotation and rotating cycle.Master controller carries hardware encoding
The square wave of output is accessed encoder interfaces, can be parsed out speed, distance, direction by device interface.
(6) sound collection array is used to carry out direction calculating, the different location being mounted on dustbin cover, sound transducer
Sound is received, is filtered by low-pass filter, the voltage comparator of LM393 composition, delay circuit exports logic level, access
Master controller.
(7) camera shooting acquisition device uses OV7725 camera, and valid pixel 30w, the FIFO with a 64k are slow
It deposits, using rgb format output data.Master controller is responsible for the acquisition and processing of image section, and processing result is passed through UART
Serial ports is transmitted to master controller, and master controller reads the data of a frame to FIFO every time, then differently handles data,
Processing mode is mainly to be controlled by receiving the data that master controller is sent, including gesture identification and human body follow, and is executed
Different algorithms, and processing result is returned.
(8) bluetooth module uses HC-06 bluetooth module, supports 2.0 agreement of bluetooth, can only be used as server-side, cell phone customer
After the connection of end command adapted thereto can be sent to it.The data received are sent to master control from the UART1 serial ports of master controller by HC-06
Device processed.
Fig. 3 is the structural schematic diagram of master controller in the specific embodiment of the invention, and as described in Figure 3, master controller includes:
Scheme control start unit 30 refers to for receiving the mode selection command of mobile terminal transmission according to model selection
It enables and starts corresponding scheme control.In the specific embodiment of the invention, there are four modes for tool: general mode, is followed remote control mode
Mode and call mode, that is to say, that on mobile terminal (such as corresponding APP), select following mode for user: general
Logical mode, remote control mode, follow the mode and call mode are then sent general when being used for selecting a mode (such as general mode)
The mode selection command of logical mode is to the master controller of dustbin, and master controller is then according to the common mould of mode selection command starting
Formula control unit 31.
General mode control unit 31, for starting under corresponding mode selection command, by using photographic device with
And the acquisition aggregation of data judgement of ultrasonic wave module, realize the automatic control of dustbin switch cover.
Specifically, as shown in figure 4, general mode control unit 31 further comprises:
Image acquisition and processing unit 310 for utilizing photographic device real-time image acquisition, and carries out figure to the image of acquisition
As processing, in the angular field of view to detect photographic device whether someone, in the specific embodiment of the invention, image acquisition and processing list
Member 310 carries out image recognition processing to the image of acquisition in real time and detects when someone enters the angular field of view of photographic device
Someone enters, and when the people of angular field of view leaves, then judges in angular field of view nobody, in the specific embodiment of the invention,
Since the image detection to human body contour outline is using the prior art, it will not be described here.
Ultrasonic data acquisition processing unit 311, for detecting that someone enters camera shooting in image acquisition and processing unit 310
When the angular field of view of device, start ultrasonic wave module, acquires ultrasound data to obtain human body at a distance from dustbin, and in obtaining
Human body at a distance from dustbin be less than preset threshold when, generation uncap trigger signal triggering 312 control flaps of steering engine control unit
Machine carries out movement of uncapping.
Steering engine control unit 312, for the trigger signal and Image Acquisition according to ultrasonic data acquisition processing unit 311
The detection signal control steering engine of processing unit 310 carries out switch cover movement.Specifically, when steering engine control unit 312 receive it is super
Sonic data acquisition process unit 311 uncap trigger signal when, control steering engine realization is uncapped movement, and in acquisition Image Acquisition
The testing result of processing unit 310 be angular field of view in nobody when, then control steering engine realize close lid movement.
The acquisition aggregation of data of ultrasonic wave module and camera is sentenced as it can be seen that the present invention passes through to utilize in the normal mode
It is disconnected, instead of the infrared sensor vulnerable to environmental disturbances, judge whether user needs to uncap or close lid so as to more acurrate,
It eliminates absolute delay to wait, reduces the probability that lid was uncapped and closed to mistake.
Remote control mode control unit 32, for starting under corresponding mode selection command, according to the remote control of mobile terminal
Instruction carries out switch cover control to dustbin and controls all around moving for dustbin walking mechanism.
Specifically, as shown in figure 5, remote control mode control unit 32 further comprises:
Telecommand receiving unit 320, for receiving the telecommand of mobile terminal.That is, when dustbin according to
When the mode selection command of the remote control mode of mobile terminal is entered under remote control mode, mobile terminal can pass through phase on APP
The operation interface answered controls dustbin, such as switch cover and all around mobile.
Telecommand processing unit 321 realizes that switch cover movement and control are gone for controlling steering engine according to telecommand
The motor drive module driving motor for walking mechanism realizes all around moving for dustbin.It is distant in the specific embodiment of the invention
Control instruction process unit 321 realizes switch cover and walking purpose according to the remote signal of the mobile terminal received, also
It is to say, when the telecommand for receiving mobile terminal is switch cover signal, then steering engine realization is controlled according to switch cover signal and opened
Lid purpose is closed, when the telecommand for receiving mobile terminal is move all around, then electricity is driven according to move
Machine realizes walking purpose.
Follow the mode control unit 33, for starting under corresponding mode selection command, by being adopted using photographic device
The picture of collection carries out identifying processing to target therein, and controls walking mechanism and the target is followed to be moved.
Specifically, as shown in fig. 6, follow the mode control unit 33 further comprises:
Object detection unit 330, for obtaining current frame image in real time according to photographic device, judge be in current frame image
It is no to there is target (people) to exist.
Target is detached from visual field processing unit 331, when target being not present in image, then illustrates that target has been detached from camera shooting dress
The field range set, setting dustbin last time for current goal position, there are the positions in the visual field, and control dustbin
The direction for being detached from the visual field to target is mobile.Specifically, target is detached from visual field processing unit 331 when refresh data each time, all
The coordinate data obtained every time is stored in queue by an available coordinate, as in Figure 6-1, then can be according to the disengaging visual field
The point of preceding record, and determine that target is detached from the rough direction in the visual field by linear relationship, it is de- to target that dustbin can be controlled
Direction from the visual field is mobile.
Target model- following control unit 332 obtains target and then according to the position control of target there are when target in image
The walking mechanism of dustbin follows the position of target to be moved accordingly.
Specifically, target model- following control unit 332 includes:
Initial target determination unit, when for entering the field range of photographic device in target, according to have it is aimless before
Frame image initial determines target afterwards, and records target.
In the specific embodiment of the invention, when target enters the field range of photographic device, initial target determination unit
The rgb value of no target and the before and after frames image A/B for having target is subtracted each other respectively, as in fig. 6-2, target can be obtained in C figure as a result,
Overlay area, the color of the overlay area is then extracted in B figure, find block that color in target is at most most concentrated be used as with
With object, that is, follow target.
Target image acquiring unit finds out target according to color characteristic for reading the image of present frame.That is,
When target enters the field range of photographic device, initial target determination unit can find the block that color is at most most concentrated in target
As object is followed, i.e., during subsequent follow, target can be found out according to color characteristic.
Binarization unit, for obtaining the binary image containing mixed noise for image binaryzation.
Filter unit obtains two containing larger noise block for first erosion algorithm being used to filter out lesser distributed noise
Then value image carries out connected domain filtering to image, suitable threshold value is arranged, obtains more clean binary image.
Target position determination unit, for asking coordinate mean value to obtain central point filtered binary image.
Processing unit is followed, judges target position, if target is in central region, does not generate model- following control signal,
It does not drive dustbin mobile, if target deviates central region, utilizes the proportional controller of front and rear, left and right two by the position of target
It sets and is calculated, the drive module for two motors in left and right that are added to keeps dustbin mobile towards target direction.As Fig. 6-3a is shown
The schematic diagram that proportion of utilization controller calculates target position in the specific embodiment of the invention, with dustbin shown in Fig. 6-3b with
For the relativeness of target position, result is as follows:
Left motor=Δ yP1+ Δ xP2
Right motor=Δ yP1- Δ xP2
Wherein the value of proportional controller P1, P2 can be obtained according to practical debugging.
Mode controlling unit 34 is called, for starting under corresponding mode selection command, according to sound collection array
Or the data of photographic device acquisition are handled, and are determined and are called instruction, and determine target position according to the collected data, drive rubbish
The walking mechanism of rubbish bucket runs to target position.
As shown in fig. 7, mode controlling unit 34 is called to specifically include:
Instruction-determining unit 340 is called, the processing of the data for acquiring by sound collection array or photographic device is true
Whether fixed be to call instruction, with the data instance of sound collection array acquisition, it is assumed that preset to collect and continuously clap one's hands three times
And the interval clapped one's hands every time calls instruction-determining unit 340 then continuously to clap one's hands three times in acquisition no more than a (preset threshold), and institute
The time interval that the record of record is clapped one's hands three times is both less than a, it is determined that call instruction, otherwise, does not instruct to call；And for
The picture of photographic device acquisition, carries out picture processing to it, is continuously waved within camera visual angle if collecting user,
It then parses image and obtains this movement to call instruction.
Target position computing unit 341, for reaching sound collection array according to sound when being confirmed as calling instruction
The time difference calls ADOT algorithm to calculate the position of sound source, or obtains target in the position in the visual field according to parsing image and then count
Calculate the physical location of target；
Specifically, the specific implementation signal of sound source position is calculated as schemed according to the time difference that sound reaches sound collection array
Shown in 7-1, wherein F1, F2, F3 be sound collection array on certain three sound receiver installation point, P point (set its coordinate as
(x, y)) it is the position that user claps one's hands three times.Known distance of the F1F2 between installation point F1, F2, the value of F1F2 are a hyperbolic
The focal length 2c of line, | PF1-PF2 |=the time difference × velocity of sound value is that this hyp real axis 2a easily establishes equation each hyperbolic
The normal equation of line, similarly can according to F1F3, | PF1-PF3 | value establish an other hyperbola normal equation.Obviously this two
The hyp intersection point of item is user position P point, it is only necessary to which solving this equation can be obtained P point coordinate.On dustbin
There is multiple groups receiver, multiple slight difference P point coordinates can be obtained, but these values all concentrate on practical P point nearby coordinates, by multiple groups
After calculated result is integrated, the coordinate of best P point is obtained.
Target, which is obtained, according to parsing image calculates the specific implementation signal of the physical location of target such as in the position in the visual field
Fig. 7-2, that is, calculate dustbin in real image at a distance from target point and direction, distance calculation formula are as follows:
Driving unit 342, for when calculating the position of target, driving dustbin driving motor driving dustbin to be mobile
To corresponding position, in the present invention, the data that driving unit 342 can be measured by encoder calculate whether dustbin has moved
It moves to target position, encoder herein refers to the Hall encoder of motor, and specifically, driving unit can from Hall encoder
The velocity information of each wheel is obtained, ∑ value is sought this, distance can be obtained, angle is then obtained according to the path length difference value of each wheel
Degree, and then obtain gauged distance and direction, and judge whether to reach requirement, i.e., whether designated position is appeared in, if not having, weighed
The multiple above process, is adjusted again.
Fig. 8 is a kind of step flow chart of the control method of intelligent garbage bin of the present invention.As shown in figure 8, the present invention is a kind of
The control method of intelligent garbage bin, includes the following steps:
Step S1, receives the mode selection command that mobile terminal is sent, and starts corresponding mode according to mode selection command
Control.In the specific embodiment of the invention, there are four modes for tool: general mode, remote control mode, follow the mode and call mould
Formula, that is to say, that on mobile terminal (such as corresponding APP), select following mode: general mode, remote control mould for user
Formula, follow the mode and call mode, when for selecting a mode (such as general mode), then the mode for sending general mode is selected
The master controller of instruction to dustbin is selected, master controller then starts general mode control according to the mode selection command.
Step S2 starts general mode control, passes through benefit if the mode selection command is general mode selection instruction
Judged with the acquisition aggregation of data of photographic device and ultrasonic wave module, realizes the automatic control of dustbin switch cover.
Specifically, step S2 further comprises:
Step S200 is carried out image procossing using photographic device real-time image acquisition, and to the image of acquisition, is taken the photograph with detection
As device angular field of view in whether someone carries out image recognition to the image of acquisition in real time in the specific embodiment of the invention
Processing detects that someone enters when someone enters the angular field of view of photographic device, and when the people of angular field of view leaves
When, then judge in angular field of view nobody, in the specific embodiment of the invention, due to the image detection to human body contour outline using
The prior art, it will not be described here.
Step S201 starts ultrasonic wave module when step S200 detects that someone enters the angular field of view of photographic device,
Ultrasound data is acquired to obtain human body at a distance from dustbin, and is less than preset threshold at a distance from dustbin in obtaining human body
When, it generates trigger signal triggering steering engine control unit control steering engine of uncapping and carries out movement of uncapping.
Step S202, using steering engine control unit according to the trigger signal of step S201 and the detection signal control of step S200
Steering engine processed carries out switch cover movement.Specifically, when receive step S201 uncap trigger signal when, then control steering engine realization open
Lid movement, and in obtain step S200 testing result be angular field of view in nobody when, then control steering engine realize close lid movement.
Step S3 starts remote control mode control if the mode selection command is remote control mode selection instruction, receives simultaneously
According to the telecommand of mobile terminal, switch cover control and control dustbin walking mechanism are carried out all around to dustbin
It is mobile.
Specifically, step S3 further comprises:
Step S300 receives the telecommand of mobile terminal.That is, when dustbin is according to the remote control mould of mobile terminal
When the mode selection command of formula is entered under remote control mode, mobile terminal can be by corresponding operation interface on APP to rubbish
Rubbish bucket is controlled, such as switch cover and all around mobile.
Step S301 controls the motor driven that steering engine realizes switch cover movement and control walking mechanism according to telecommand
Module drive motor realizes all around moving for dustbin.In the specific embodiment of the invention, according to the mobile end received
The remote signal at end is to realize switch cover and walking purpose, that is to say, that when the telecommand for receiving mobile terminal is to open
When closing lid signal, then steering engine is controlled according to switch cover signal and realize switch cover purpose, when the telecommand for receiving mobile terminal
When for move all around, then walking purpose is realized according to move driving motor.
Step S4 starts follow the mode control, passes through benefit if the mode selection command is follow the mode selection instruction
Identifying processing is carried out to target therein with the picture that photographic device acquires, and controls walking mechanism and the target is followed to be moved
It is dynamic.
Specifically, step S4 further comprises:
Step S400 obtains current frame image according to photographic device, judges whether have target (people) to deposit in current frame image
?.
Step S401 illustrates that target has been detached from the field range of photographic device, will work as if target is not present in image
Preceding target position is set as dustbin last time, and there are the positions in the visual field, and control the side that dustbin is detached from the visual field to target
To movement.
Step S402, if there are targets in image, it is determined that target position, and according to the row of target position control dustbin
Walking mechanism follows the position of target to be moved accordingly.
Specifically, step S402 further comprises:
Step S402a according to current frame image, and detects the target determined in image according to color characteristic.
Image binaryzation is obtained the binary image containing mixed noise by step S402b.
Step S402c first filters out lesser distributed noise using erosion algorithm, obtains the binaryzation containing larger noise block
Then image carries out connected domain filtering to image, suitable threshold value is arranged, obtains more clean binary image.
Step S402d asks coordinate mean value to obtain central point filtered binary image.
Step S402e, judges target position, if target is in central region, does not generate model- following control signal, i.e., not
Drive dustbin mobile, if target deviates central region, using the proportional controller of front and rear, left and right two by the position of target into
Row calculates, and the drive module for two motors in left and right that are added to keeps dustbin mobile towards target direction.
Step S5 starts call scheme control, according to right if the mode selection command is to call mode selection command
Sound collection array or the data of photographic device acquisition are handled, and are determined and are called instruction, and determine mesh according to the collected data
Cursor position drives the walking mechanism of dustbin to run to target position.
Specifically, step S5 further comprises:
Step S500, the processing of the data acquired by sound collection array or photographic device determine whether to call and refer to
It enables.With the data instance of sound collection array acquisition, it is assumed that preset between collecting and continuously clapping one's hands and clap one's hands every time three times
It then continuously claps one's hands three times in acquisition every no more than a (preset threshold) call instruction-determining unit 340, and the record recorded is three times
The time interval clapped one's hands is both less than a, it is determined that call instruction, otherwise, does not instruct to call；And for photographic device acquisition
Picture carries out picture processing to it, is continuously waved within camera visual angle if collecting user, and image acquisition is parsed
This movement instructs to call.
Step S501 reaches the time difference of sound collection array according to sound when being confirmed as calling instruction, and ADOT is called to calculate
Method calculates the position of sound source, or obtains target in the position in the visual field according to parsing image and then calculate the actual bit of target
It sets；
Step S502, when calculating the position of target, driving dustbin driving motor driving dustbin is moved to correspondence
Position, in the specific embodiment of the invention, in step S502, whether the data that can be measured by encoder calculate dustbin
Have been moved into target position.
It will illustrate the present invention by specific embodiment below:
1, dustbin starts
Fig. 9 is the Booting sequence schematic diagram of dustbin in the specific embodiment of the invention.As shown in figure 9, user starts rubbish
After bucket, matched mobile phone app can be used to carry out bluetooth connection, dustbin bluetooth power switch and mobile phone is opened, by cell phone customer
Following situation, will occur in end connection dustbin server-side:
If user normally connects dustbin, illustrate that Bluetooth portion is normal, user receives the state letter of dustbin at this time
Breath.If all modules of dustbin work normally, user can start relevant work mould with unrestricted choice operating mode, dustbin
Formula reminds user to repair, dustbin cannot normally enter operating mode if self-test information shows faulty；
It is that bluetooth module breaks down if user can not connect dustbin.Dustbin indicator light can flash, and remind user
Bluetooth module is replaced, user's Bluetooth of mobile phone part is sent can not normally to dustbin and instructs.
When user normally connects dustbin, and dustbin is working properly, user be can choose into following four mode
One of: general mode, follow the mode, calls mode at remote control mode.
2, general mode
Figure 10 is general mode control flow chart in the specific embodiment of the invention.In the specific embodiment of the invention, in order to
Reduce power consumption, under general mode, relevant to the movable part module of general mode control unit suspend mode, i.e. general mode control
Unit processed controls other modules and enters suspend mode, only retains bluetooth module, ultrasonic wave module, the normal work of camera and steering engine
Make.Specifically,
Start camera and ultrasonic wave module real-time data collection, and collection result is filtered；
If the Data Detection acquired according to camera in front of dustbin, executes ultrasonic wave and judges movement of uncapping to user
Whether it is triggered, to realize the control to uncapping；If not detecting human body contour outline according to the data that camera acquires, do not hold
Row throws away rubbish the judgement of movement.
Similarly, the process for closing lid is also similar, if user has been moved off dustbin, executes and closes lid work；No person is always etc.
It is left to user, if user is for a long time without departing from being automatically closed dustbin cover.
User throws away rubbish towards dustbin, and the ultrasonic wave module on dustbin cover is able to detect that user throws away rubbish movement, example
Such as when people, which stretches out one's hand, loses rubbish to dustbin, since ultrasonic wave module is installed on bung, then hand or rubbish can block ultrasonic wave
Probe top, changes so as to cause its distance measured, to judge whether that someone will throw away rubbish, while also passing through filtering
With respective algorithms exclusive PCR factor.
If judging result is not violate-action, dustbin cover is opened, collects the rubbish of user, otherwise without processing.
The instruction for the switch mode whether real-time detection user mobile phone APP end is sent by bluetooth module, if user does not send out
The instruction of switch mode is sent, then dustbin rests on present mode；If user has sent the instruction of switch mode, stop current
Mode enters next mode.
As it can be seen that the present invention can minimize system power dissipation in general mode, suspend mode module relevant to movable part,
Only retain automatic lid closing/opening and closes lid function, it is similar with traditional automatic garbage bin in effect, compared with traditional scheme, increase camera shooting
Detection of the head to human body contour outline eliminates absolute delay and waits, and reduces the probability that lid was uncapped and closed to mistake in this way.
3, remote control mode
Figure 11 is the control flow chart of remote control mode in the specific embodiment of the invention.Remote control mode is in order in specified conditions
Under, user is operated manually.When user enters remote control mode by cell phone application selection, to reduce system power dissipation, dustbin is received
To after instruction, remote control mode control unit then controls ultrasonic wave module, Hall encoder, and sound collection array enters suspend mode, blue
Tooth, camera, steering engine, motor-driven normal work are switched to the operation process of remote control mode.The functional mode elementary instruction
Including nine, it is front, rear, left and right respectively, stopping, acceleration, slowing down, uncap, closing lid.
User clicks corresponding button, Bluetooth transmission instruction in mobile phone control interface, and remote control mode control unit persistently connects
The control instruction of user is received, and these instructions are parsed, correlation function is called to obtain different control requirements, control electricity
Machine driving TB6612 completes all around to move or control the movement that lid was uncapped and closed in steering engine completion.Specifically, if user sends
For moving direction instruction, then two groups of control signals of motor driven TB6612, Ain1, Ain2, tetra- signals of Bin1, Bin2 are controlled
Line, make two wheels and meanwhile rotate forward, invert, the positive B of A is anti-, the anti-B of A just, dustbin generate four kinds of front, rear, left and right moving direction shape
State；If it is that movement speed instructs that user, which sends, PWMA is controlled, the duty ratio of PWMB increases, reduces.Dustbin generation acceleration,
Slow down two kinds of movement speed states；If it is that dustbin switch cover instructs that user, which sends, controls steering engine and turn to 90 °, 135 °, rubbish
Rubbish bucket, which generates, closes lid, movement of uncapping.
The instruction for the switch mode whether real-time detection user mobile phone APP end is sent by bluetooth module, if user does not send out
The instruction of switch mode is sent, then dustbin rests on present mode；If user has sent the instruction of switch mode, stop current
Mode enters next mode.
4, follow the mode
When user location persistently changes and needs that dustbin is used continuously, such as kitchen, the occasions such as hospital, can open with
With mode.Figure 12 is the control flow chart of follow the mode in the specific embodiment of the invention.After follow the mode starting, mould is followed
The ultrasonic wave module and sound collection array of formula control unit control dustbin enter suspend mode, Hall encoder, bluetooth, camera shooting
Head, steering engine and motor enter working condition.Detailed process is as follows for follow the mode:
If user does not enter the angular field of view of camera, dustbin waits user to enter.
If user enters the angular field of view of camera, dustbin confirms target and records target, reads the figure of present frame
Picture finds out target according to color characteristic, by image binaryzation, obtains the binary image containing mixed noise, is calculated using corrosion
Method filters out lesser dispersion noise, obtains the binary image containing larger noise block, carries out connected domain filtering, setting to image
Suitable threshold value obtains more clean binary image.
If target is not present in image, illustrates that target has been detached from camera view, set current goal position to
There are the positions in the visual field for dustbin last time.It is mobile to the direction that target is detached from the visual field to control dustbin.
If there are targets in image, dustbin is mobile towards target position, if target is in central region, dustbin
It does not move；If target deviates central region, the position of target is calculated, is superimposed by two proportional controllers in front and rear, left and right
To the drive module of two motors in left and right, keep dustbin mobile towards target direction.
The instruction for the switch mode whether real-time detection user mobile phone APP end is sent by bluetooth module, if user does not send out
The instruction of switch mode is sent, then continues next frame image procossing；If user sends new command, stop present mode entrance
Next mode.
5, mode is called
Figure 13 is the control flow chart that mode is called in the specific embodiment of the invention.
In the specific embodiment of the invention, the behaviour such as " waving to come ", " clapping hands to come " are may be implemented in user under the mode
Make.For mobile inconvenient user, throwing away rubbish no longer is a kind of difficult behavior.As long as user is in oneself position to dustbin
It waves or continuously claps one's hands three times, dustbin can be called to be moved to user current location, after opening call mode, dustbin
All modules enter normal operating conditions.
If user continuously claps one's hands three times, sound array received to sound and filter, dustbin records each receiving module
The time clapped one's hands three times this time calls effective if the interval that user claps one's hands three times meets the requirements.According to sound reach module it
Between the time difference, call ADOT algorithm to calculate the position of sound source, dustbin driving motor reaches corresponding position, surveys by encoder
The data measured, can calculate whether dustbin has moved to target position, and this time calling terminates.
If not detecting, user continuously claps one's hands three times, and detects user and carry out within camera angular field of view continuously
It waves, calls mode controlling unit parsing image to obtain this movement, and calculate target in the position in the visual field by target
Physical location, dustbin is moved towards this direction, and in moving process, camera obtains always the phase of target and dustbin
To position, line direction of going forward side by side is corrected, and principle is similar with the principle of aforementioned follow the mode.When user appears in some position in the visual field
When, i.e., some setting position closer with respect to dustbin when, dustbin stops movement, and call process terminates.
If user had not both clapped one's hands continuously or waved against dustbin, dustbin is waited for.
The instruction for the switch mode whether real-time detection user mobile phone APP end is sent by bluetooth module, if user does not send out
The instruction for sending switch mode, then called process next time；If user sends the instruction of switch mode, stop present mode
Into next mode.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.Any
Without departing from the spirit and scope of the present invention, modifications and changes are made to the above embodiments by field technical staff.Therefore,
The scope of the present invention, should be as listed in the claims.
Claims (10)
1. a kind of intelligent garbage bin, including dustbin ontology and bung, the upper end of the bucket ontology, and institute is arranged in the bung
The upper end for stating bung and the bucket ontology is rotatablely connected, and the openable or closing bucket ontology, it is characterised in that: the bung
It is connected with steering engine by a pull rod, to rotate pushing drawing rod by steering engine, completes turning on or off for the bung, Yu Suoshu
The front upper place setting camera shooting acquisition device of bucket ontology, to acquire the dustbin ontology and its ambient enviroment image, the bung
Upper setting ultrasonic wave module, dustbin ontology domain are arranged walking mechanism, realize dustbin under motor-driven control
Movement, the dustbin further includes master controller and power module, passes through being spatially separating for separation layer and storage rubbish.
2. a kind of intelligent garbage bin as described in claim 1, it is characterised in that: the dustbin further includes sound collection battle array
Column, the sound collection array are set on the bung.
3. a kind of intelligent garbage bin as claimed in claim 2, it is characterised in that: the walking mechanism, which includes two, Hall volume
The code deceleration direct-current motor of device, an everything wheel and two auxiliary wheels, those components are directly fixed on chassis, to control dustbin
Movement.
4. a kind of intelligent garbage bin as claimed in claim 3, which is characterized in that the master controller includes:
Scheme control start unit starts for receiving the mode selection command of mobile terminal transmission according to mode selection command
Corresponding scheme control；
General mode control unit, for starting under corresponding mode selection command, by utilizing photographic device and ultrasound
The acquisition aggregation of data of wave module judges, realizes the automatic control of dustbin switch cover；
Remote control mode control unit, for starting under corresponding mode selection command, and according to the telecommand of mobile terminal,
Switch cover control is carried out to dustbin and controls all around moving for dustbin walking mechanism；
Follow the mode control unit passes through the figure using photographic device acquisition for starting under corresponding mode selection command
Piece carries out identifying processing to the target in its picture, and controls walking mechanism according to recognition result and the target is followed to be moved；
Mode controlling unit is called, for starting under corresponding mode selection command, according to sound collection array or camera shooting
The data of device acquisition are handled, and are determined and are called instruction, and determine target position according to the collected data, drive dustbin
Walking mechanism runs to target position.
5. a kind of intelligent garbage bin as claimed in claim 4, which is characterized in that the general mode control unit is further wrapped
It includes:
Image acquisition and processing unit carries out image for utilizing the photographic device real-time image acquisition, and to the image of acquisition
Processing, in the angular field of view to detect photographic device whether someone；
Ultrasonic data acquisition processing unit, for detecting that someone enters photographic device in described image acquisition process unit
When angular field of view, start ultrasonic wave module, acquire ultrasound data to obtain human body at a distance from dustbin, and in acquisition human body
It uncaps with trigger signal triggering steering engine control unit control steering engine of uncapping when being less than preset threshold at a distance from dustbin, is generated
Movement；
Steering engine control unit, at the trigger signal and described image acquisition according to the ultrasonic data acquisition processing unit
The detection signal control steering engine for managing unit carries out switch cover movement.
6. a kind of intelligent garbage bin as claimed in claim 4, which is characterized in that the remote control mode control unit is further wrapped
It includes:
Telecommand receiving unit, for receiving the telecommand of mobile terminal；
Telecommand processing unit realizes that switch cover acts and control walking mechanism for controlling steering engine according to telecommand
Motor drive module driving motor realizes all around moving for dustbin.
7. a kind of intelligent garbage bin as claimed in claim 4, which is characterized in that the follow the mode control unit is further wrapped
It includes:
Object detection unit judges whether have target to deposit in current frame image for obtaining current frame image according to photographic device
?；
Target is detached from visual field processing unit, if target is not present in image, it is last to set dustbin for current goal position
Primary there are the positions in the visual field, and it is mobile to the direction that target is detached from the visual field to control dustbin；
Target model- following control unit, if there are target in image, according to the walking mechanism of the position control dustbin of target with
It is moved accordingly with the position of target.
8. a kind of intelligent garbage bin as claimed in claim 7, which is characterized in that the target model- following control unit includes:
Initial target determination unit, when for entering the field range of photographic device in target, according to there is aimless before and after frames
Image initial determines target, and records target；
Target image acquiring unit finds out target according to color characteristic for reading the image of present frame；
Binarization unit, for obtaining the binary image containing mixed noise for image binaryzation；
Filter unit obtains the binaryzation containing larger noise block for first erosion algorithm being used to filter out lesser distributed noise
Then image carries out connected domain filtering to image, obtains more clean binary image；
Target position determination unit, for asking coordinate mean value to obtain central point filtered binary image；
Processing unit is followed, judges target position, if target is in central region, does not generate model- following control signal；If mesh
Mark deviates central region, then is calculated the position of target using the proportional controller of front and rear, left and right two, and be added to left and right two
The drive module of a motor keeps dustbin mobile towards target direction.
9. a kind of intelligent garbage bin as claimed in claim 4, which is characterized in that the call mode controlling unit includes:
Call instruction-determining unit, the processing of the data for being acquired by sound collection array or photographic device determine whether for
Call instruction；
Target position computing unit, for when being confirmed as calling instruction, reaching the time difference of sound collection array, meter according to sound
The position of sound source is calculated, or target is obtained in the position in the visual field according to parsing image and then calculates the physical location of target；
Driving unit, for when calculating the position of target, driving dustbin driving motor driving dustbin to be moved to correspondence
Position.
10. a kind of control method of intelligent garbage bin, includes the following steps:
Step S1, receives the mode selection command that mobile terminal is sent, and starts corresponding scheme control according to mode selection command；
Step S2 starts general mode control if the mode selection command is general mode selection instruction, is taken the photograph by utilizing
As device and the judgement of the acquisition aggregation of data of ultrasonic wave module, the automatic control of dustbin switch cover is realized；
Step S3 starts remote control mode control if the mode selection command is remote control mode selection instruction, receives simultaneously basis
The telecommand of mobile terminal carries out switch cover control to dustbin and controls the shifting all around of dustbin walking mechanism
It is dynamic；
Step S4 starts follow the mode control if the mode selection command is follow the mode selection instruction, is taken the photograph by utilizing
The picture acquired as device carries out identifying processing to target therein, and controls walking mechanism and the target is followed to be moved；
Step S5 starts call scheme control, according to sound if the mode selection command is to call mode selection command
Acquisition array or the data of photographic device acquisition are handled, and are determined and are called instruction, and determine target position according to the collected data
It sets, the walking mechanism of dustbin is driven to run to target position.
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