CN109867072A - Building share garbage classification recycler device people and method - Google Patents
Building share garbage classification recycler device people and method Download PDFInfo
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- CN109867072A CN109867072A CN201910292489.7A CN201910292489A CN109867072A CN 109867072 A CN109867072 A CN 109867072A CN 201910292489 A CN201910292489 A CN 201910292489A CN 109867072 A CN109867072 A CN 109867072A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims description 14
- 239000002699 waste material Substances 0.000 claims description 12
- 238000012790 confirmation Methods 0.000 claims description 9
- 238000004886 process control Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 241001062009 Indigofera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
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- 239000011229 interlayer Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Abstract
The invention belongs to smart home robot field, in particular to a kind of building share garbage classification recycler device people and method.The robot includes mobile platform, dustbin, microcomputer, gas-driven module, depth camera, color sensor, gateway module and remote control terminal；The mobile platform includes left and right wheels, a pair of motor for respectively driving left and right wheels rotation, the single-chip microcontroller and battery for controlling motor；Color sensor is mounted on inside dustbin；Microcomputer is connect with the single-chip microcontroller of gas-driven module, depth camera, color sensor, gateway module and mobile platform and battery respectively；Cell built in microcomputer and building map, and pass through the gateway module control system connecting communication with remote control terminal and building elevator respectively.The present invention reaches each user family to carry out the movement of floor gap by elevator in gateway module control cell building, refuse bag color is identified by color sensor, to carry out classification processing to rubbish.
Description
Technical field
The invention belongs to smart home robot field, in particular to a kind of building share garbage classification recycler device people and
Method.
Background technique
With the continuous propulsion of urbanization process, urban life rhythm is constantly accelerated, and consequent is house refuse
Aggravation increases.At this stage, in garbage reclamation problem, the house refuse of high-rise resident can not often be handled in time, easy to breed
Bacterium endangers residents ' health.In addition, China city dweller garbage classification situation is poor in garbage classification problem, generally only divide
For recyclable and not recyclable two classes, the recovery operation of rubbish also needs the later stage work of sanitationman in most cases.
Garbage reclamation robot in the prior art can not carry out the movement of floor gap, and job area is limited, can not be towards
Neighbours living directly arrives resident entrance and carries out garbage reclamation；And Classification and Identification can not be carried out to the rubbish of recycling.
Summary of the invention
The object of the present invention is to provide a kind of building share garbage classification recycler device people, come solve city dweller's rubbish without
The problem of method recycles and classifies in time.
It is a further object to provide a kind of building to share Waste sorting recycle method.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of shared garbage classification recycler device people of building, which includes mobile platform 9, dustbin 8, miniature industry control
Machine 6, gas-driven module 5, depth camera 1, color sensor 3, gateway module 2 and remote control terminal.
The mobile platform 9 includes left and right wheels 7, a pair of motor 10 for respectively driving the rotation of left and right wheels 7, control motor
10 single-chip microcontroller 4 and battery 11.
The microcomputer 6, depth camera 1 and gateway module 2 are respectively and fixedly installed to the front of mobile platform 9.
The dustbin 8 is arranged in the rear portion of mobile platform 9, is provided between the bottom surface and mobile platform 9 of dustbin 8 logical
The pneumatic cylinder of the driving of gas-driven module 5 is crossed, and the side of the bottom surface of dustbin 8 and the side of mobile platform 9 pass through pin connection.
The color sensor 3 is mounted on inside dustbin 8.
The microcomputer 6 respectively with gas-driven module 5, depth camera 1, color sensor 3, gateway module 2 with
And single-chip microcontroller 4 and battery 11 connection of mobile platform 9；Cell and building map built in the microcomputer 6, and pass through gateway
The control system connecting communication with remote control terminal and building elevator respectively of module 2.
The robot further comprises the Bluetooth signal receiver that the top front of mobile platform 9 is arranged in.
A kind of shared Waste sorting recycle method of building for sharing garbage classification recycler device people using the building, should
Method includes:
A, with the control system connecting communication of remote control terminal and building elevator:
Building user is called the building awaited orders in designated place by remote control terminal and shares garbage classification recycler device
People, at the same to robot send user number；
After robot confirmation reaches the user doorway for sending instruction, microcomputer 6 passes through gateway module 2 to long-range control
Terminal sends arriving reminding, and user is notified to tip rubbish；
User will be put into the dustbin 8 of robot with the packed good a kind of rubbish of garbage classification, and by remotely controlling
Terminal is issued to robot completes rubbish dispensing instruction；
Robot passes through the control system connecting communication of gateway module 2 and building elevator in moving process, realizes floor
Between movement；
B, route planning:
After the microcomputer 6 of robot receives the call instruction of user by gateway module 2,6 basis of microcomputer
The number of user and built-in cell and the planning of building map receive rubbish travelling route, while opening call instruction shielding；
After the microcomputer 6 of robot determines target rubbish collection raising middle flask, microcomputer 6 is according to target rubbish collection raising middle flask
Position and built-in cell and the planning of building map dump rubbish travelling route；
C, obstacles avoidance:
Robot is mobile according to travelling route, and in moving process, robot acquires surrounding ring by depth camera 1 in real time
Border image simultaneously feeds back to microcomputer 6, and microcomputer 6 identifies the ambient image of depth camera 1, and according to identification
As a result control instruction is issued to the single-chip microcontroller 4 of mobile platform 9, the rotation of two motors 10 is controlled by single-chip microcontroller 4, realize avoidance；
D, rubbish type identifies:
The color sensor 3 of robot identifies the color of the garbage classification bag in dustbin 8, microcomputer 6
Rubbish type is judged according to the color of garbage classification bag, and then determines target rubbish collection raising middle flask；
E, rubbish is toppled over:
After robot confirmation reaches target rubbish collection raising middle flask nearby, 6 control pressure drive module 5 of microcomputer makes air pressure
Cylinder stretching, extension, the garbage classification bag in dustbin 8 is poured onto target rubbish collection raising middle flask；Then 6 control pressure of microcomputer
Drive module 5 resets pneumatic cylinder, and call disestablishment instruction shielding.
The step of the method further includes location confirmations: robot reaches user doorway or target rubbish collection raising middle flask is attached
After close, the two dimensional code at user doorway or on target rubbish collection raising middle flask is scanned by depth camera 1, and feed back to microcomputer
6, microcomputer 6 identifies two dimensional code, judges whether robot reaches accurate location, if robot does not reach accurately
Position, microcomputer 6 plan new travelling route, robot root according to the number of user or target rubbish collection raising middle flask again
It advances according to new travelling route.
It further comprises robot automatic charging step: microcomputer 6 that the building, which share Waste sorting recycle method,
The electricity for detecting battery 11 starts charging procedure and patrols automatically when the electricity of battery 11 is lower than electricity needed for one action
Line reaches charging pile and charges, while opening call instruction shielding.
The automatic charging step detailed process are as follows: the charging pile of robot constantly issues Bluetooth signal, robot setting
Bluetooth signal is received in the Bluetooth signal receiver of the top front of mobile platform 9, charging is positioned by reflective ranging
The position of stake calculates the distance between charging pile, eventually arrives at recharging base and start to charge, when electricity reaches 100%, machine
Device people starts working procedure, returns to ready position and continues to await orders.
Compared with prior art, the beneficial effects of the present invention are:
Garbage classification recycler device people of the invention can control elevator in cell building by gateway module 2, to carry out building
The movement of interlayer reaches each user family, and can identify refuse bag color by color sensor, to carry out to rubbish
Classification processing.When robot electric quantity deficiency, which can march to automatically at charging pile and charge, and autonomy-oriented is higher.
Detailed description of the invention
Fig. 1 a is the structural schematic diagram that building of the invention share garbage classification recycler device people；
Fig. 1 b is the rubbish tilt state schematic diagram that building of the invention share garbage classification recycler device people；
Fig. 2 is the control system block diagram that building of the invention share garbage classification recycler device people.
Appended drawing reference therein are as follows:
1 depth camera
2 gateway modules
3 color sensors
4 single-chip microcontrollers
5 gas-driven modules
6 microcomputers
7 wheels
8 dustbins
9 mobile platforms
10 motors
11 batteries
Specific embodiment
Invention is further explained with reference to the accompanying drawings and examples.
As illustrated in figs. 1A and ib, a kind of building share garbage classification recycler device people, including mobile platform 9, dustbin
8, microcomputer 6, gas-driven module 5, depth camera 1, color sensor 3, gateway module 2 and remote control terminal.
The mobile platform 9 includes left and right wheels 7, a pair of motor 10 for respectively driving the rotation of left and right wheels 7, control motor
10 single-chip microcontroller 4 and battery 11.
The microcomputer 6, depth camera 1 and gateway module 2 are respectively and fixedly installed to the front of mobile platform 9, institute
It states the progress environment of depth camera 1 and builds figure and two dimensional code identification.
The dustbin 8 is arranged in the rear portion of mobile platform 9, is provided between the bottom surface and mobile platform 9 of dustbin 8 logical
The pneumatic cylinder of the driving of gas-driven module 5 is crossed, and the side of the bottom surface of dustbin 8 and the side of mobile platform 9 pass through pin connection.
The color sensor 3 is mounted on inside dustbin 8, for the face to the garbage classification bag in investment dustbin 8
Color is identified.
The microcomputer 6 respectively with gas-driven module 5, depth camera 1, color sensor 3, gateway module 2 with
And single-chip microcontroller 4 and battery 11 connection of mobile platform 9.Cell and building map built in the microcomputer 6, and pass through gateway
The control system connecting communication with remote control terminal and building elevator respectively of module 2.
It further comprises the indigo plant that the top front of mobile platform 9 is arranged in that the building, which share garbage classification recycler device people,
Tooth signal receiver, the charging pile for receiving robot issue Bluetooth signal, realize automatic charging.
A kind of shared Waste sorting recycle method of building for sharing garbage classification recycler device people using building, comprising:
A, with the control system connecting communication of remote control terminal and building elevator:
Building user is called the building awaited orders in designated place by remote control terminal (such as cell phone application) and shares rubbish point
Class recycling machine people, at the same to robot send user number；
After robot confirmation reaches the user doorway for sending instruction, microcomputer 6 passes through gateway module 2 to long-range control
Terminal sends arriving reminding, and user is notified to tip rubbish；
User will be put into the dustbin 8 of robot with the packed good a kind of rubbish of garbage classification, and by remotely controlling
Terminal is issued to robot completes rubbish dispensing instruction；
Robot passes through the control system connecting communication of gateway module 2 and building elevator in moving process, realizes floor
Between movement；
B, route planning:
After the microcomputer 6 of robot receives the call instruction of user by gateway module 2,6 basis of microcomputer
The number of user and built-in cell and the planning of building map receive rubbish travelling route, while opening call instruction shielding,
Shield the call instruction of other users；
After the microcomputer 6 of robot determines target rubbish collection raising middle flask, microcomputer 6 is according to target rubbish collection raising middle flask
Position and built-in cell and the planning of building map dump rubbish travelling route；
C, obstacles avoidance:
Robot is mobile according to travelling route, and in moving process, robot acquires surrounding ring by depth camera 1 in real time
Border image simultaneously feeds back to microcomputer 6, and microcomputer 6 identifies the ambient image of depth camera 1, and according to identification
As a result control instruction is issued to the single-chip microcontroller 4 of mobile platform 9, the rotation of two motors 10 is controlled by single-chip microcontroller 4, realize avoidance；
D, rubbish type identifies:
The color sensor 3 of robot identifies the color of the garbage classification bag in dustbin 8, microcomputer 6
Rubbish type is judged according to the color of garbage classification bag, and then determines target rubbish collection raising middle flask；
E, rubbish is toppled over:
After robot confirmation reaches target rubbish collection raising middle flask nearby, 6 control pressure drive module 5 of microcomputer makes air pressure
Cylinder stretching, extension, the garbage classification bag in dustbin 8 is poured onto target rubbish collection raising middle flask；Then 6 control pressure of microcomputer
Drive module 5 resets pneumatic cylinder, and call disestablishment instruction shielding.
Preferably, the building share the step of Waste sorting recycle method further comprises location confirmation: robot arrives
After near up to user doorway or target rubbish collection raising middle flask, by depth camera 1 scan user doorway at or target rubbish collection raising middle flask
On two dimensional code, and feed back to microcomputer 6, microcomputer 6 identifies two dimensional code, judges whether robot reaches
Accurate location, if robot does not reach accurate location, microcomputer 6 is again according to the number of user or target rubbish collection
Raising middle flask plans new travelling route, and robot advances according to new travelling route.
Preferably, it further comprises robot automatic charging step that the building, which share Waste sorting recycle method: miniature
Industrial personal computer 6 detects the electricity of battery 11, and when the electricity of battery 11 is lower than electricity needed for one action, starting charging procedure is simultaneously
Automatic running on transmisson line reaches charging pile and charges, while opening call instruction shielding, that is, shields the call instruction of all users.
Detailed process are as follows: the charging pile of robot constantly issues Bluetooth signal, and the front of mobile platform 9 is arranged in robot
The Bluetooth signal receiver on top receives Bluetooth signal, and the position of charging pile is positioned by reflective ranging, calculates and fills
The distance between electric stake eventually arrives at recharging base and starts to charge, and when electricity reaches 100%, robot starts working procedure,
Ready position is returned to continue to await orders.
The course of work of the invention is as follows:
According to rubbish type difference, household garbage is divided into " recyclable rubbish ", " garbage ", " Harmful Waste "
" Other Waste " recycles four classes.Distribute refuse bag to resident, wherein blue, yellow, the black and red four kinds of colors of refuse bag point, wherein
Blue refuse bag is for filling " recyclable rubbish "；Yellow refuse bag is for filling " garbage "；Black garbage bag is " harmful for filling
Rubbish "；Red refuse bag is for filling " Other Waste ".User is called specified by remote control terminal (such as cell phone application)
The building that point is awaited orders share garbage classification recycler device people, while the number of user is sent to robot；Robot it is miniature
After industrial personal computer 6 receives the call instruction of user by gateway module 2, according to the number of user and built-in cell and building
Figure planning travelling route, while shielding the call instruction of other users；After robot reaches user doorway, pass through depth camera 1
The two dimensional code at user doorway is scanned, and feeds back to microcomputer 6, microcomputer 6 identifies two dimensional code, judges machine
Whether device people reaches accurate location, if robot does not reach accurate location, microcomputer 6 is again according to the number of user
New travelling route is planned with built-in cell and building map, and robot advances according to new travelling route；If robot
It arrived accurate location, microcomputer 6 sends arriving reminding to remote control terminal by gateway module 2, user is notified to fall
Rubbish；User will be put into the dustbin 8 of robot with the packed good a kind of rubbish of garbage classification, and pass through remote control terminal
It is issued to robot and completes rubbish dispensing instruction；Color of the color sensor 3 of robot to the garbage classification bag in dustbin 8
It is identified, microcomputer 6 judges rubbish type according to the color of garbage classification bag, and then determines that target rubbish is concentrated
Case；Microcomputer 6 plans travelling route according to the position of target rubbish collection raising middle flask and built-in cell and building map；Machine
After near people to target rubbish collection raising middle flask, the two dimensional code on target rubbish collection raising middle flask is scanned by depth camera 1, and feed back to micro-
Type industrial personal computer 6, microcomputer 6 identify two dimensional code, judge whether robot reaches accurate location, if robot is not
Accurate location is reached, microcomputer 6 is planned newly according to target rubbish collection raising middle flask and built-in cell and building map again
Travelling route, robot advance according to new travelling route；If robot arrived accurate location, microcomputer 6 is controlled
Gas-driven module 5 stretches pneumatic cylinder, the garbage classification bag in dustbin 8 is poured onto target rubbish collection raising middle flask, then
6 control pressure drive module 5 of microcomputer resets pneumatic cylinder, completes rubbish and topples over.Robot passes through in moving process
Depth camera 1 acquires ambient enviroment image in real time and feeds back to microcomputer 6, environment of the microcomputer 6 to depth camera 1
Image is identified, and issues control instruction to the single-chip microcontroller 4 of mobile platform 9 according to recognition result, controls motor by single-chip microcontroller 4
10, realize avoidance；Robot passes through the control system connecting communication of gateway module 2 and building elevator, realizes the movement of floor gap.
Claims (6)
1. a kind of building share garbage classification recycler device people, it is characterised in that: the robot includes mobile platform (9), rubbish
Case (8), microcomputer (6), gas-driven module (5), depth camera (1), color sensor (3), gateway module (2) and remote
Process control terminal；
The mobile platform (9) includes that left and right wheels (7), a pair respectively drive the motor (10) of left and right wheels (7) rotation, control
The single-chip microcontroller (4) and battery (11) of motor (10)；
Before the microcomputer (6), depth camera (1) and gateway module (2) are respectively and fixedly installed to mobile platform (9)
Portion；
The dustbin (8) is arranged in the rear portion of mobile platform (9), is arranged between the bottom surface and mobile platform (9) of dustbin (8)
There are the pneumatic cylinder driven by gas-driven module (5), and the side of the side of the bottom surface of dustbin (8) and mobile platform (9)
Pass through pin connection；
It is internal that the color sensor (3) is mounted on dustbin (8)；
The microcomputer (6) respectively with gas-driven module (5), depth camera (1), color sensor (3), gateway module
(2) and the single-chip microcontroller (4) of mobile platform (9) and battery (11) connection；Cell built in the microcomputer (6) and building
Figure, and pass through gateway module (2) control system connecting communication with remote control terminal and building elevator respectively.
2. building according to claim 1 share garbage classification recycler device people, it is characterised in that: the robot is into one
Step includes Bluetooth signal receiver of the setting in the top front of mobile platform (9).
3. a kind of building for sharing garbage classification recycler device people using building as described in claim 1 are shared garbage classification and are returned
Receiving method, it is characterised in that: this method comprises:
A, with the control system connecting communication of remote control terminal and building elevator:
Building user is called the building awaited orders in designated place by remote control terminal and shares garbage classification recycler device people, together
When to robot send user number；
After robot confirmation reaches the user doorway for sending instruction, microcomputer (6) passes through gateway module (2) to long-range control
Terminal sends arriving reminding, and user is notified to tip rubbish；
User will be interior with the dustbin (8) of the packed good a kind of rubbish investment robot of garbage classification, and eventually by remotely control
It holds to issue to robot and completes rubbish dispensing instruction；
Robot passes through the control system connecting communication of gateway module (2) and building elevator in moving process, realizes floor gap
Movement；
B, route planning:
After the microcomputer (6) of robot receives the call instruction of user by gateway module (2), microcomputer (6) root
Rubbish travelling route is received according to the number of user and built-in cell and the planning of building map, while opening call instruction screen
It covers；
After the microcomputer (6) of robot determines target rubbish collection raising middle flask, microcomputer (6) is according to target rubbish collection raising middle flask
Position and built-in cell and the planning of building map dump rubbish travelling route；
C, obstacles avoidance:
Robot is mobile according to travelling route, and in moving process, robot acquires ambient enviroment by depth camera (1) in real time
Image is simultaneously fed back to microcomputer (6), and microcomputer (6) identifies the ambient image of depth camera (1), and according to
Recognition result issues control instruction to the single-chip microcontroller (4) of mobile platform (9), controls turning for two motors (10) by single-chip microcontroller (4)
It is dynamic, realize avoidance；
D, rubbish type identifies:
The color sensor (3) of robot identifies the color of the garbage classification bag in dustbin (8), microcomputer
(6) rubbish type is judged according to the color of garbage classification bag, and then determines target rubbish collection raising middle flask；
E, rubbish is toppled over:
After robot confirmation reaches target rubbish collection raising middle flask nearby, microcomputer (6) control pressure drive module (5) makes air pressure
Cylinder stretching, extension, the garbage classification bag in dustbin (8) is poured onto target rubbish collection raising middle flask；Then microcomputer (6) controls
Gas-driven module (5) resets pneumatic cylinder, and call disestablishment instruction shielding.
4. building according to claim 3 share Waste sorting recycle method, it is characterised in that: the method is further wrapped
The step of including location confirmation: it after robot reaches user doorway or target rubbish collection raising middle flask nearby, is scanned by depth camera (1)
Two dimensional code at user doorway or on target rubbish collection raising middle flask, and microcomputer (6) are fed back to, microcomputer (6) is to two
Dimension code is identified, judges whether robot reaches accurate location, if robot does not reach accurate location, microcomputer
(6) new travelling route is planned according to the number of user or target rubbish collection raising middle flask again, robot is according to new traveling road
Line is advanced.
5. building according to claim 3 share Waste sorting recycle method, it is characterised in that: the building share rubbish
Classified reclaiming method further comprises robot automatic charging step: microcomputer (6) detects the electricity of battery (11), works as electricity
When electricity needed for the electricity in pond (11) is lower than one action, simultaneously automatic running on transmisson line arrival charging pile is filled starting charging procedure
Electricity, while opening call instruction shielding.
6. building according to claim 5 share Waste sorting recycle method, it is characterised in that: the automatic charging step
Detailed process are as follows: the charging pile of robot constantly issues Bluetooth signal, and the top front in mobile platform (9) is arranged in robot
Bluetooth signal receiver receives Bluetooth signal, positions the position of charging pile by reflective ranging, calculate with charging pile it
Between distance, eventually arrive at recharging base and start to charge, when electricity reaches 100%, robot start working procedure, return to
Continue to await orders in life place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910292489.7A CN109867072A (en) | 2019-04-12 | 2019-04-12 | Building share garbage classification recycler device people and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910292489.7A CN109867072A (en) | 2019-04-12 | 2019-04-12 | Building share garbage classification recycler device people and method |
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| CN110466913A (en) * | 2019-07-29 | 2019-11-19 | 东莞弓叶互联科技有限公司 | Rubbish collection methods and device |
| CN110482057A (en) * | 2019-08-14 | 2019-11-22 | 六安智华工业自动化技术有限公司 | A kind of separate waste collection equipment |
| CN110482058A (en) * | 2019-08-14 | 2019-11-22 | 六安智华工业自动化技术有限公司 | A kind of separate waste collection equipment |
| CN110516925A (en) * | 2019-08-08 | 2019-11-29 | 上海新时达电气股份有限公司 | Garbage classification unmanned vehicle and its scheduling system and dispatching method based on Internet of Things |
| CN110817207A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Garbage truck side edge feeding mechanism and feeding method thereof |
| CN111661531A (en) * | 2020-06-05 | 2020-09-15 | 广东慧福信息科技有限公司 | Medical waste recovery system and data storage method thereof |
| CN112550990A (en) * | 2021-01-12 | 2021-03-26 | 陈常斌 | Intelligent garbage transfer robot capable of collecting garbage at each floor of building, intelligent garbage temporary storage box frame and control system of intelligent garbage temporary storage box frame |
| CN112974296A (en) * | 2021-02-08 | 2021-06-18 | 杭州师范大学 | Colleges and universities bedroom rubbish classification robot based on internet of things |
| CN113401543A (en) * | 2021-06-17 | 2021-09-17 | 广东机电职业技术学院 | Garbage classification device and classification method based on unmanned trolley |
| CN114104556A (en) * | 2021-12-01 | 2022-03-01 | 北京云迹科技有限公司 | Garbage clearing method and device, storage medium and equipment of epidemic prevention robot |
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| CN113401543A (en) * | 2021-06-17 | 2021-09-17 | 广东机电职业技术学院 | Garbage classification device and classification method based on unmanned trolley |
| CN113401543B (en) * | 2021-06-17 | 2022-07-08 | 广东机电职业技术学院 | Garbage classification device and classification method based on unmanned trolley |
| CN114104556A (en) * | 2021-12-01 | 2022-03-01 | 北京云迹科技有限公司 | Garbage clearing method and device, storage medium and equipment of epidemic prevention robot |
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