CN110697273B - Household garbage intelligent recognition and automatic classification system and method based on iterative learning control - Google Patents
Household garbage intelligent recognition and automatic classification system and method based on iterative learning control Download PDFInfo
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 303
- 238000000034 method Methods 0.000 title claims description 44
- 230000006870 function Effects 0.000 claims abstract description 3
- 230000008569 process Effects 0.000 claims description 16
- 238000013145 classification model Methods 0.000 claims description 13
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- 238000003786 synthesis reaction Methods 0.000 claims description 9
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- 238000012544 monitoring process Methods 0.000 claims description 2
- 239000010791 domestic waste Substances 0.000 claims 1
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- 230000005540 biological transmission Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 4
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- 238000013527 convolutional neural network Methods 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
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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
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
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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
- B65F1/04—Refuse receptacles; Accessories therefor with removable inserts
- B65F1/06—Refuse receptacles; Accessories therefor with removable inserts with flexible inserts, e.g. bags or sacks
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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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- 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
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/139—Illuminating means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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Abstract
The invention relates to a garbage can with identification and classification functions, which comprises a classification identification module and a garbage classification can; the classification recognition module comprises a power supply module, a microcontroller, a classification recognition module, a voice control module and an information display module. The classification recognition module senses garbage delivery gestures, collects garbage photos and recognizes classification; the voice control module collects voice and key control information; the information display module displays garbage state information and carries out voice reminding; the garbage classification bin comprises a control information receiver and a plurality of classified garbage sub-bins, each classified garbage sub-bin comprises a garbage classification bin, a classification bin cover plate and classified garbage bags, and classification storage of different types of garbage is achieved. The invention gives consideration to delivering gesture, junk image and voice control information, can integrate gesture, photo and voice and key control information, and realizes intelligent recognition and automatic classification of junk.
Description
Technical Field
The invention relates to the field of intelligent environmental protection of household garbage, in particular to an intelligent household garbage identification and automatic classification system and method based on iterative learning control.
Background
With the gradual improvement of the living standard of urban people, the generated household garbage is more and more, and the household garbage becomes one of important pollution sources in cities. Although classification garbage cans are arranged in a plurality of communities at present, the mixing rate of household garbage is always high because residents do not pay attention to or are difficult to correctly distinguish garbage classifications in ordinary life, so that the traditional classification garbage cans become furnishings.
However, the subject of such mandatory classification rules is still limited to public institutions and related enterprises, and for the residents who produce the most household garbage, the daily habits of garbage classification are not formed, and the common sense of related garbage classification is lacking.
The household garbage generated by residents has the typical characteristics of wide sources and scattered positions, so that the household garbage can be generated in places where residents live, different residents can generate different types of garbage in life, and the same garbage can generate different conditions after the residents are treated. Aiming at the situation, the invention collects and analyzes specific characteristics of household garbage generated by each resident, designs and develops an intelligent household garbage identification and automatic classification system and method based on iterative learning control.
The patent number 201810365225.5 discloses a working method of a multifunctional garbage can machine capable of automatically classifying garbage, which comprises the steps of identifying and classifying the garbage such as paper, metal, plastic, glass and the like according to the difference of absorption and reflection capacities of garbage substances on 950nm near infrared light of an infrared transmitting tube, an infrared reflecting receiving tube and an infrared projection receiving tube in a garbage detection bin at the front side of a can body. However, it can only identify one type of garbage, such as paper, metal, plastic and glass, and if the garbage needs to be recovered separately, a plurality of garbage cans must be arranged, so that it is difficult to meet the classification and identification requirements of various types, different forms and mixed properties of household garbage.
Patent number CN201811422605.4 discloses a control device and method for an intelligent dustbin and the intelligent dustbin, which are used for controlling the working mode and dynamic path planning of the dustbin by acquiring voice control information and modeling and classifying a large number of samples of a picture database by using a convolutional neural network. However, after the picture library is established, the picture library is not expanded any more, and can not be calibrated and updated according to the special household garbage conditions generated by resident users, so that the picture library is difficult to identify and classify with the special garbage characteristics generated by the users.
Patent number CN201910191797.0 discloses a multi-angle rubbish classification cloud platform based on deep learning, acquires rubbish picture through front end image acquisition module, passes through wireless high-speed transmission module and transmits rubbish image to rubbish classification cloud platform, carries out discernment and classification. However, the wireless high-speed transmission module and the cloud platform need to be maintained for a long time, and the 4G network transmission module contained in the wireless high-speed transmission module needs to consume a large amount of 4G network traffic for transmitting the garbage images, so that high wireless network communication cost is generated, and meanwhile, if the garbage can is disconnected from the network, real-time image transmission and classification judgment cannot be performed, so that the wireless high-speed transmission module has the defects of high cost, strong dependence and the like, and is difficult to popularize and apply in resident families.
The patent number 201910312315.2 discloses an intelligent classification garbage bin based on machine vision, adopts the discernment control system on the central revolving stage, and after discernment rubbish in the garbage bin, control center selects dress platform rotation for the discernment bucket rotates to the top of the rubbish branch bucket of discernment rubbish kind, and the opening that the control discernment platform selected dress makes the central revolving stage opens. According to the garbage image recognition and classification system, the central rotating platform is used as the garbage delivery and recognition platform, so that the volume and the weight of delivered garbage are limited, the interior light is dark due to the sealing performance of the recognition platform, and the quality of the collected and obtained images is difficult to guarantee although the light source module is adopted, so that the accuracy of garbage image recognition and classification can be greatly reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a system and a method for acquiring, processing, integrating and analyzing delivering gestures, garbage images, voices and key control information when residents deliver garbage, fully utilizing the acquired gesture, voice and key control input information, further acquiring and marking garbage entity photos, recording, tracking and repeatedly learning the characteristics of the garbage generated by different residents, and realizing accurate recognition and automatic classification of the household garbage.
The iterative learning control marks the garbage entity pictures with control input information such as voice, gestures and keys when delivering garbage, and generates a garbage classification image library with user characteristics by repeatedly marking the garbage delivering pictures and classification information so as to improve the accuracy of intelligent garbage identification and automatic garbage classification.
In order to solve the technical problems, the invention provides a household garbage intelligent recognition and automatic classification system and method based on iterative learning control, wherein the household garbage intelligent recognition and automatic classification system comprises a garbage recognition device and a garbage classification can, the garbage recognition device is arranged at the upper end of the garbage classification can, and is connected with the garbage classification can in an induction way, wherein:
the classification and identification device comprises: the system comprises a power supply module, a microcontroller, an induction acquisition module, a voice control module and an information display module, wherein the power supply module provides electric energy for the classification and identification module; the microcontroller is internally provided with a garbage delivery gesture and entity classification intelligent recognition firmware program, the microcontroller initializes an induction acquisition module, a voice control module and an information display module, the induction acquisition module acquires the garbage delivery gesture and entity photo, the acquired garbage delivery gesture and entity photo are transmitted to the microcontroller, the voice control module acquires voice and key control information of a garbage delivery person, the acquired voice and key control information is transmitted to the microcontroller, the microcontroller receives the voice and key control information transmitted by the voice control module, and classification categories corresponding to the voice and keys are judged;
the garbage classification can comprises a classification information receiver, a plurality of classification garbage sub-cans and corresponding classification garbage bags, wherein the garbage classification can is provided with at least three classification garbage sub-cans, an LED display screen is arranged on the classification garbage sub-cans, the classification garbage sub-cans comprise a can cover capable of being opened and closed, a can body and a distance sensor, the distance sensor is arranged in the garbage classification can and is used for updating and displaying collected garbage information on an information display module in real time, the classification information receiver is in wireless connection with the classification garbage sub-cans, the classification information receiver sends clear garbage classification information, and the classification information receiver controls automatic opening and closing of the can cover of the classification garbage sub-cans corresponding to classification according to the received garbage classification information.
As a further improvement of the invention, the sensing acquisition module comprises an infrared sensor, a camera, an illumination sensor and an LED auxiliary illuminating lamp, wherein the infrared sensor senses garbage delivery gestures, the camera acquires garbage photos, and when the illumination sensor senses that light is darker, the LED auxiliary illuminating lamp is turned on and acquired information is transmitted to the microcontroller; the voice control module comprises a sound pick-up, a voice recognition processor and a plurality of classification keys, wherein the voice recognition processor analyzes and recognizes voice classification information collected by the sound pick-up and corresponding garbage classification information input by the classification keys; the information display module comprises an LED display screen and a voice synthesis module, wherein the LED display screen displays the state information of the classified garbage, and the voice synthesis module simulates human voice to carry out voice reminding. The microcontroller acquires, identifies and analyzes the collected information to determine the classification to which the trash belongs.
As a further improvement of the invention, the microcontroller processes, compares and analyzes the garbage delivery gesture, entity photo, voice and key control information, automatically and intelligently identifies the corresponding garbage classification, and sends the garbage classification information to the classification information receiver of the garbage classification bin.
As a further improvement of the invention, the classification information receiver of the garbage classification can receives the garbage classification information and controls the opening and closing of the barrel covers of the classified garbage sub cans corresponding to the classification, so as to realize intelligent opening and closing of the barrel covers during classified garbage delivery; the distance sensor in the garbage classification bin monitors the garbage height in the classified garbage sub-bin in real time, updates and displays the collected garbage information on the LED display screen of the information display module in real time, and carries out voice prompt.
Compared with the prior art, the invention has the following advantages:
the intelligent recognition and automatic classification system for household garbage comprises: a garbage classification bin of a classification and identification module device; the classification recognition device comprises a power supply module, a microcontroller, a classification recognition module, a voice control module and an information display module. The classification recognition module senses garbage delivery gestures, collects garbage photos and recognizes classification; the voice control module collects voice and key control information; the information display module displays garbage state information and carries out voice reminding; the garbage classification bin comprises a control information receiver and a plurality of classified garbage sub-bins, each classified garbage sub-bin comprises a garbage classification bin, a classification bin cover plate and classified garbage bags, and classification storage of different types of garbage is achieved. The invention gives consideration to delivering gesture, junk image and voice control information, can integrate gesture, photo and voice and key control information, and realizes intelligent recognition and automatic classification of junk in an accurate way.
Drawings
FIG. 1 is a schematic view of a garbage can with identification and classification functions according to the present invention.
FIG. 2 is a block diagram of a classification and identification device for a trash can according to the present invention.
FIG. 3 is a detailed block diagram of the classification and identification device of the garbage can according to the present invention.
Fig. 4 is a block diagram of a garbage classification bin with identification and classification of garbage in the garbage bin according to the invention.
FIG. 5 is a flow chart for implementing intelligent garbage identification and automatic garbage classification according to the present invention.
FIG. 6 is a flowchart of the garbage delivery gesture and entity photo collection by the collection module according to the present invention.
FIG. 7 is a flowchart of the voice control module of the present invention for collecting the voice and key control of the spammer.
FIG. 8 is a flow chart of the microcontroller of the present invention processing, comparing and analyzing spam delivery gestures, physical photographs, voice and key control information.
Fig. 9 is a flow chart of intelligent opening and closing of the barrel cover of the classified garbage sub-can with corresponding classification.
Fig. 10 is a flowchart of updating and displaying the garbage information collected by the garbage classification can to the LED display screen in real time.
FIG. 11 is an illustration of an iterative update of garbage intelligent recognition classification model parameters in accordance with the present invention.
Wherein: the garbage classification system comprises a 1-classification recognition module, a 2-garbage classification barrel, a 101-power supply module, a 102-microcontroller, a 103-induction acquisition module, a 104-voice control module, a 105-information display module, a 201-classification information receiver, a 202-classification garbage sub-barrel, a 203-garbage bag, a 301-infrared sensor, a 302-camera, a 303-illumination sensor, a 304-LED auxiliary illuminating lamp, a 401-pickup, a 402-voice recognition processor, a 403-classification key, a 501-LED display screen and a 502-voice synthesis module.
Detailed Description
As shown in fig. 1-3, an intelligent household garbage recognition and automatic classification system and method based on iterative learning control, the intelligent recognition and classification system comprises: a classification and identification device 1 and a garbage classification can 2.
The classification and identification device 1 comprises: a power module 101, a microcontroller 102, an induction acquisition module 103, a voice control module 104 and an information display module 105.
The power module 101 supplies electric power to the classification and identification device 1; the induction acquisition module 103, the voice control module 104 and the information display module 105 are respectively connected with the port of the microcontroller 102; the microcontroller 102 is internally provided with a trained firmware program for intelligent garbage recognition and classification models; the sensing acquisition module 103 comprises an infrared sensor 301, a camera 302, an illumination sensor 303 and an LED auxiliary illumination lamp 304, wherein the infrared sensor 301 senses a garbage delivery gesture, the camera 302 acquires a garbage photo, and when the illumination sensor 303 senses that light is darker, the LED auxiliary illumination lamp 304 is turned on and acquired information is transmitted to the microcontroller 102; the voice control module 104 comprises a sound pick-up 401, a voice recognition processor 402 and a plurality of classification keys 403, wherein the voice recognition processor 402 analyzes and recognizes voice classification information acquired by the sound pick-up 401 and corresponding garbage classification information input by the classification keys 403; the information display module 105 comprises an LED display screen 501 and a voice synthesis module 502, wherein the LED display screen 501 displays the state information of the classified garbage, and the voice synthesis module 502 simulates the voice of a person to carry out voice reminding. The microcontroller 102 obtains, identifies and analyzes the collected information to determine the classification to which the garbage belongs.
The garbage classification bin 2 comprises a classification information receiver 201, a plurality of classification garbage sub-bins 202 and corresponding classification garbage bags 203. Each classified garbage sub-can 202 comprises a can cover capable of being opened and closed, a can body and a distance sensor, and the classified information receiver 201 controls the automatic opening and closing of the can cover of the classified garbage sub-can 202 corresponding to the received classified classification information of the garbage; the classified garbage sub-cans 202 and the garbage bags 203 of different types are distinguished by different colors, and the garbage bags of each color store one classified garbage, are not mixed with other classified garbage any more, and are not required to be sorted again, so that the classified storing of the garbage of different types is realized.
As shown in fig. 5, the method for realizing intelligent garbage identification and automatic garbage classification comprises the following steps:
a. after the power supply module 101 of the classification recognition module 1 is powered on, the microcontroller 102 initializes the induction acquisition module 103, the voice control module 104 and the information display module 105, and monitors monitoring information and running states of the modules in real time;
b. the sensing acquisition module 103 acquires the garbage delivery gesture and the entity photo and transmits the acquired garbage delivery gesture and entity photo to the microcontroller 102;
c. the voice control module 104 collects voice and key control information of the spammer and transmits the collected voice and key control information to the microcontroller 102;
d. the microcontroller 102 processes, compares and analyzes the garbage delivery gesture, the entity photo, the voice and the key control information, automatically and intelligently recognizes the corresponding garbage classification, and sends the garbage classification information to the classification information receiver 201 of the garbage classification bin 2;
e. the classification information receiver 201 of the garbage classification bin 2 receives garbage classification information and controls the bin cover of the classified garbage sub bin (202) corresponding to classification to be opened and closed, so that the bin cover can be intelligently opened and closed when classified garbage is delivered;
f. the distance sensor 204 in the garbage classification bin 2 monitors the garbage height in the classified garbage sub-bin 202 in real time, updates and displays the collected garbage information on the LED display screen 501 of the information display module 105 in real time, and carries out voice prompt.
As shown in fig. 6, the process of collecting the garbage delivery gesture and the entity photo by the sensing collection module 103 includes the following steps:
2a, waiting for the infrared sensor 301 in the sensing acquisition module 103 to scan and capture the infrared change condition of the garbage throwing area in real time;
2b, judging whether the infrared change sensed by the infrared sensor 301 is a garbage delivery gesture, if yes, executing the step 2c, and if not, executing the step 2a;
2c, judging whether the illumination intensity monitored by the illumination sensor 303 in real time is too dark, and if so, turning on the LED auxiliary illuminating lamp 304;
2d, the camera 302 shoots and collects the garbage delivery gesture and the entity photo, and transmits the collected photo to the microcontroller 102;
as shown in fig. 7, the voice control module 104 collects voice of the spammer and the key control process, which includes the following steps:
waiting for the sound pickup 401 on the voice control module 104 to receive voice information;
waiting for a plurality of classification keys 403 on the voice control module 104 to receive key control information;
3c, judging whether the voice and key information is clear garbage classification information, if so, executing the step 3d, otherwise, executing the step 3a;
3d, the voice control module 104 sends clear garbage classification information to the microcontroller 102;
as shown in fig. 8, the microcontroller 102 processes, compares and analyzes the spam delivery gesture, physical photograph, voice and key control information process, including the steps of:
4a, the microcontroller 102 receives the garbage delivery gesture and the entity photo transmitted by the sensing acquisition module 103, calls a garbage delivery gesture and entity classification intelligent recognition firmware program, and recognizes delivery gesture and classification category corresponding to garbage in the photo;
4b, the microcontroller 102 receives the voice and key control information transmitted by the voice control module 104, and judges classification categories corresponding to the voice and keys;
4c, judging and comparing whether the garbage classification information of the gesture, the classification, the voice and the key control are consistent, if so, executing the step 4e, and if not, executing the step 4d;
4d, confirming garbage classification categories according to priorities of 'key > voice > gesture > photos', marking the garbage classification categories with high priorities as classification labels for collecting photos, iteratively updating parameters of the pre-trained garbage intelligent recognition classification model, and realizing iterative learning control of the classification model;
4e. Sending clear garbage classification information to the classification information receiver 201;
as shown in fig. 9, the classification information receiver 201 receives the garbage classification information, controls the intelligent opening and closing process of the tub cover of the classified garbage sub-tub 202 corresponding to the classification, and includes the steps of:
5a, opening the barrel cover of the classified garbage sub-can 202 corresponding to the classification after the classification information receiver 201 of the garbage classification can 2 receives the clear garbage classification information;
5b, judging whether the garbage delivery is completed or not when the infrared sensor of the classified garbage sub-can 202 senses the infrared change, and closing the barrel cover of the classified garbage sub-can 202 if the garbage delivery is completed;
as shown in fig. 10, the process of updating and displaying the garbage information collected by the garbage classification can 2 on the LED display screen 501 of the information display module 105 in real time includes the following steps:
6a, the distance sensor 204 of the garbage classification bin 2 monitors the garbage height in the classified garbage sub-bin 202 in real time and sends the collected data to the microprocessor 102;
and 6b, the microprocessor 102 gathers the garbage height information in each garbage classification can sub-can, displays the garbage state information in the can on the LED display screen 501 in a graphic mode, and simulates voice through the voice synthesis module 502 to carry out voice prompt.
As shown in fig. 11, the process of iteratively updating the garbage intelligent recognition classification model parameters is as follows: according to the method, a camera shoots and collects garbage delivery entity photos, a pre-trained garbage intelligent recognition classification model is used for obtaining corresponding classification categories, the corresponding classification categories are compared with collected gesture, voice and key control input information, and parameters of the garbage intelligent recognition classification model are corrected through iteration of compared error information, so that iterative updating is continuously repeated, the next intelligent recognition classification result is enabled to be more consistent with actual classification categories, namely recording, tracking and repeated learning of specific characteristics of household garbage generated by residents are achieved, and the purpose of gradually improving recognition classification accuracy is achieved.
Claims (7)
1. The utility model provides a domestic waste intelligent identification and automatic classification method based on iterative learning control, its characterized in that includes intelligent identification classification system, intelligent identification classification system includes rubbish recognition device (1) and rubbish classification bucket (2), rubbish recognition device (1) set up in rubbish classification bucket (2) upper end, rubbish recognition device (1) and rubbish classification bucket (2) response link to each other, wherein: the garbage recognition device (1) comprises: the garbage identification device comprises a power module (101), a microcontroller (102), an induction acquisition module (103), a voice control module (104) and an information display module (105), wherein the power module (101) is used for providing electric energy for the garbage identification device (1), and the induction acquisition module (103), the voice control module (104) and the information display module (105) are respectively connected with a port of the microcontroller (102); the microcontroller (102) is internally provided with a firmware program of a pre-trained garbage intelligent recognition classification model, the microcontroller (102) initializes the induction acquisition module (103), the voice control module (104) and the information display module (105), the induction acquisition module (103) acquires garbage delivery gestures and entity photos, the acquired garbage delivery gestures and entity photos are transmitted to the microcontroller (102), the voice control module (104) acquires voice and key control information of a garbage delivery person, the acquired voice and key control information is transmitted to the microcontroller (102), the microcontroller (102) receives the voice and key control information transmitted by the voice control module (104) and judges classification types corresponding to the voice and keys;
the garbage classification bin (2) comprises a classification information receiver (201) and a plurality of classification garbage sub-bins (202) and corresponding classification garbage bags (203), the garbage classification bin (2) is provided with at least three classification garbage sub-bins (202), an LED display screen (501) is arranged on the classification garbage sub-bins (202), the classification garbage sub-bins (202) comprise a bin cover (6) capable of being opened and closed, a bin body (7) and a distance sensor (204), the distance sensor (204) is arranged in the garbage classification bin (2) and is used for updating and displaying collected garbage information on an information display module (105) in real time, the classification information receiver (201) is in wireless connection with the classification garbage sub-bins (202), the classification information receiver (201) is used for sending clear garbage classification information, and the classification information receiver (201) is used for controlling automatic opening and closing of the bin cover of the classification garbage sub-bin (202) corresponding to classification according to the received garbage classification information;
the method for realizing intelligent garbage identification and automatic garbage classification comprises the following steps:
a. after a power supply module (101) of the garbage identification device (1) is powered on, a microcontroller (102) initializes an induction acquisition module (103), a voice control module (104) and an information display module (105) to monitor monitoring information and running states of the modules in real time;
b. the sensing acquisition module (103) acquires the garbage delivery gesture and the entity photo, and transmits the acquired garbage delivery gesture and entity photo to the microcontroller (102);
c. the voice control module (104) collects voice and key control information of the junk delivery person and transmits the collected voice and key control information to the microcontroller (102);
d. the microcontroller (102) processes, compares and analyzes the garbage delivery gestures, entity photos, voices and key control information, automatically and intelligently identifies corresponding garbage classifications, sends garbage classification information to the classification information receiver (201) of the garbage classification bin (2), and iteratively updates the gestures, voices and control information serving as labels of the garbage entity photos into the classification image library;
e. the classification information receiver (201) of the garbage classification bin (2) receives garbage classification information and controls the bin cover of the classified garbage sub bin (202) corresponding to classification to be opened and closed, so that the intelligent opening and closing of the bin cover during classified garbage delivery are realized;
f. the distance sensor (204) in the garbage classification bin (2) monitors the garbage height in the classified garbage sub-bin (202) in real time, updates and displays the collected garbage information on the LED display screen (501) of the information display module (105) in real time, and carries out voice prompt;
the microcontroller (102) processes, compares and analyzes garbage delivery gestures, entity photos, voices and key control information, and comprises the following steps:
4a, the microcontroller (102) receives the garbage delivery gesture and the entity photo transmitted by the sensing acquisition module (103), invokes a garbage delivery gesture and entity classification intelligent recognition firmware program, and recognizes delivery gesture and classification category corresponding to garbage in the photo;
4b, the microcontroller (102) receives the voice and key control information transmitted by the voice control module (104) and judges classification categories corresponding to the voice and keys;
4c, judging and comparing whether the garbage classification information of the gesture, the classification, the voice and the key control are consistent, if so, executing the step 4e, and if not, executing the step 4d;
4d, confirming garbage classification categories according to priorities of 'keys > voice > gestures > photos', marking the garbage classification categories with high priorities as classification labels for collecting photos, and iteratively updating garbage intelligent recognition classification model parameters to realize iterative learning control of classification models;
and 4e, sending the clear garbage classification information to a classification information receiver (201).
2. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the garbage can is characterized by further comprising a garbage can with identification and classification functions, wherein the sensing acquisition module (103) comprises an infrared sensor (301), a camera (302), an illumination sensor (303) and an LED auxiliary illuminating lamp (304), the infrared sensor (301) senses garbage delivery gestures, the camera (302) acquires garbage photos, and when the illumination sensor (303) senses that light is darker, the LED auxiliary illuminating lamp (304) is turned on and acquired information is transmitted to the microcontroller (102); the voice control module (104) comprises a sound pick-up (401), a voice recognition processor (402) and a plurality of classification keys (403), wherein the voice recognition processor (402) analyzes and recognizes voice classification information acquired by the sound pick-up (401) and corresponding garbage classification information input by the classification keys (403); the information display module (105) comprises an LED display screen (501) and a voice synthesis module (502), wherein the LED display screen (501) displays the state information of the classified garbage, the voice synthesis module (502) simulates human voice to carry out voice reminding, and the microcontroller (102) acquires, recognizes and analyzes the acquired information to determine the classification of the garbage.
3. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the sensing and collecting module (103) collects garbage delivery gestures and entity photo processes, and the method comprises the following steps of:
2a, waiting for an infrared sensor (301) in the induction acquisition module (103) to scan in real time and capture the infrared change condition of the garbage throwing area;
2b, judging whether the infrared change sensed by the infrared sensor (301) is a garbage delivery gesture, if so, executing the step 2c, and if not, executing the step 2a;
2c, judging whether the illumination intensity monitored by the illumination sensor (303) in real time is too dark, and if so, turning on the LED auxiliary illuminating lamp (304);
and 2d, the camera (302) shoots and collects garbage delivery gestures and entity photos, and the collected photos are transmitted to the microcontroller (102).
4. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the voice control module (104) collects voice and key control process of the rubbish delivery person, and comprises the following steps:
waiting for a pickup (401) on the voice control module (104) to receive voice information;
waiting for a plurality of classification keys (403) on the speech control module (104) to receive key control information;
3c, judging whether the voice and key information is clear garbage classification information, if so, executing the step 3d, otherwise, executing the step 3a;
and 3d, the voice control module (104) sends clear garbage classification information to the microcontroller (102).
5. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the classification information receiver (201) receives the garbage classification information and controls the intelligent opening and closing process of the barrel cover of the classified garbage sub-barrel (202) corresponding to the classification, and the method comprises the following steps:
5a, opening a barrel cover of a classified garbage sub-barrel (202) corresponding to classification after the classification information receiver (201) of the garbage classification barrel (2) receives the clear garbage classification information;
and 5b, judging whether the garbage delivery is completed or not when the infrared sensor of the classified garbage sub-can (202) senses the infrared change, and closing the barrel cover of the classified garbage sub-can (202) if the garbage delivery is completed.
6. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the process of updating and displaying the garbage information collected by the garbage classification bin (2) on the LED display screen (501) of the information display module (105) in real time comprises the following steps:
6a, a distance sensor (204) of the garbage classification bin (2) monitors the garbage height in the classified garbage sub-bin (202) in real time and sends acquired data to the microprocessor (102);
and 6b, the microprocessor (102) gathers the garbage height information in each garbage classification can sub-can, displays the garbage state information in the can on the LED display screen (501) in a graphic mode, and simulates voice through the voice synthesis module (502) to carry out voice prompt.
7. The intelligent household garbage identification and automatic classification method based on iterative learning control of claim 1, wherein the method is characterized by comprising the following steps of: the process of iteratively updating the garbage intelligent identification classification model parameters is as follows: according to the method, a camera shoots and collects garbage delivery entity photos, a pre-trained garbage intelligent recognition classification model is used for obtaining corresponding classification categories, the corresponding classification categories are compared with collected gesture, voice and key control input information, and parameters of the garbage intelligent recognition classification model are corrected through iteration of compared error information, so that iterative updating is continuously repeated, the next intelligent recognition classification result is enabled to be more consistent with actual classification categories, namely recording, tracking and repeated learning of specific characteristics of household garbage generated by residents are achieved, and the purpose of gradually improving recognition classification accuracy is achieved.
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