CN113548342A - Household garbage recycling system based on ROS intelligent AGV trolley and operation method thereof - Google Patents
Household garbage recycling system based on ROS intelligent AGV trolley and operation method thereof Download PDFInfo
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Abstract
The invention discloses a domestic garbage recycling system based on an ROS intelligent AGV and an operation method thereof, wherein the domestic garbage recycling system comprises an upper computer, an intelligent recycling garbage can, an intelligent recycling trolley and an intelligent recycling client which are connected with the upper computer, and the operation method comprises the steps that the intelligent recycling garbage can identifies garbage and delivers the garbage; when the capacity of the intelligent recycling garbage can is judged to exceed the safe capacity, a warning is given out and full-load information is sent to the intelligent recycling client; after receiving the message, the intelligent recovery client sends a signal to the intelligent recovery trolley; the intelligent recycling trolley receives information, carries the no-load garbage can to a specified place, replaces the no-load garbage can after taking away the full-load garbage can, and sends a processing completion signal; the intelligent recycling dustbin relieves the alarm and continues working; the intelligent recycling trolley transports the full-load garbage can to a garbage terminal station for treatment after being replaced.
Description
Technical Field
The invention relates to the technical field of household garbage recovery, in particular to a household garbage recovery system based on an ROS intelligent AGV and an operation method thereof.
Background
Along with the development of economy, the acceleration of urbanization process and the increasing of the living standard of people, the discharge amount of garbage is rapidly increased, so that the difficulty in treating and recycling the household garbage is increasingly difficult. Although the garbage classification is carried out at the present stage, the garbage classification is divided into four types of recoverable garbage, unrecoverable garbage, harmful garbage and kitchen garbage, but the garbage classification is various and redundant, so that people have difficulty in correctly classifying and correctly delivering the garbage to a corresponding garbage can. The problem that the household garbage is discarded at will due to the difficulty of garbage classification often occurs, the household garbage is difficult to be accurately and timely recovered, and the problems of shortage of a household garbage recovery system and the like are continuously gushed. The domestic garbage is difficult to recycle due to the fact that the domestic garbage cannot be recycled, and human resources and material resources are consumed more due to the fact that a single recycling mode with fixed time and fixed points is adopted.
Although intelligent garbage recycling equipment is researched in the prior art, most of household garbage intelligent recycling devices lack intelligent, visual and convenient human-computer interaction systems, and no humanized icon is available for delivering household garbage to guide people to correctly deliver the household garbage. If the Chinese patent with the publication number of CN107918316A discloses an intelligent garbage recycling system and a garbage can overfilling treatment method, the system comprises an intelligent garbage can, an intelligent garbage truck, a WeChat small program client and an upper computer monitoring center, the intelligent garbage can comprises a garbage can body, a garbage can controller, a garbage detection device, a can cover turning device, a garbage can positioning device and a garbage can communication device, the garbage can positioning device is positioned by a GPS, the garbage detection of the invention is realized by infrared geminate transistors, when the garbage in the garbage can reaches a certain height to block infrared light to trigger a garbage overflow alarm signal, compared with the prior art, the garbage quantity detection mode improves the accuracy of garbage quantity detection, combines the ZigBee network technology and the GPRS communication mode technology, and reduces the high cost caused by the fact that the intelligent garbage can adopts GPRS network communication in the prior art. Although the scheme solves the problems of alarming when the garbage overflows and saving the communication cost, the human-computer interaction between the garbage can and the delivery person and the selection of the driving path of the garbage truck are still optimized.
Disclosure of Invention
The invention aims to solve the technical problem of providing a domestic garbage recycling system based on an ROS intelligent AGV and an operation method thereof.
In order to solve the technical problem, the invention discloses a domestic garbage recycling system based on an ROS intelligent AGV, which comprises an upper computer, an intelligent recycling garbage can, an intelligent recycling trolley and an intelligent recycling client side, wherein the intelligent recycling garbage can, the intelligent recycling trolley and the intelligent recycling client side are connected with the upper computer.
The intelligent garbage recycling bin comprises a garbage bin processor, a display screen device, a garbage recycling device, a garbage delivery device, a human body detection and illumination device, a garbage bin communication device, a garbage recognition device and a garbage bin state detection device, wherein the display screen device, the garbage recycling device and the garbage delivery device are respectively connected with the output end of the garbage bin processor, and the human body detection and illumination device, the garbage bin communication device, the garbage recognition device and the garbage bin state detection device are respectively connected with the input end and the output end of the garbage bin processor.
The intelligent recycling trolley comprises a trolley processor, a positioning mechanism, a vision mechanism, a driving mechanism, a carrying mechanism, a navigation mechanism, a communication mechanism and a human-computer interaction mechanism, wherein the positioning mechanism and the vision mechanism are respectively connected with the input end of the trolley processor, the driving mechanism and the carrying mechanism are respectively connected with the output end of the trolley processor, and the navigation mechanism, the communication mechanism and the human-computer interaction mechanism are respectively connected with the input end and the output end of the trolley processor.
The intelligent recycling client comprises a client processor, an information receiving module, a communication module, a trolley control module and an integral database module, wherein the information receiving module, the communication module, the trolley control module and the integral database module are respectively connected with the input end and the output end of the client processor.
Preferably, the human body detection and illumination device mainly comprises a human body induction ranging module and an illumination module, wherein the human body induction ranging module is positioned on the lower middle part of the intelligent recovery dustbin and comprises an HC-SR505 mini human body induction module and an HC-SR04 ultrasonic ranging module; the lighting module is located at the top of the intelligent recycling dustbin.
Preferably, garbage bin state detection device mainly comprises infrared induction module and warning circuit, infrared induction module gets into "eliminating and trembles" mode when being used for judging that the rubbish content exceedes safe volume value in the intelligent recovery dustbin, postpones a period after, judges again, if the rubbish content exceedes safe volume value in the intelligent recovery dustbin, signals to dustbin treater, and warning circuit's on the intelligent recovery dustbin buzzer rings simultaneously, the alarm lamp lights to act as the warning.
Preferably, the garbage recycling device mainly comprises a stepping motor, a rotating disc and five types of garbage cans, wherein the five types of garbage cans comprise a recyclable garbage can, a non-recyclable garbage can, a harmful garbage can, other garbage cans and a manual intervention variable garbage can, and when the garbage type identification succeeds, the garbage can processor sends a signal to drive the stepping motor to drive the rotating disc, so that the corresponding garbage can is aligned to the delivery port and is ready to receive the household garbage.
Preferably, the garbage delivery device mainly comprises a delivery motor and a grid baffle plate, when the corresponding five types of garbage cans rotate to the lower part of the delivery opening, a signal is sent to the garbage can processor, the garbage can processor sends a signal to the delivery motor to drive the delivery motor to pull the grid baffle plate away, and the garbage falls into one of the corresponding five types of garbage cans due to gravity.
Preferably, the garbage recognition device performs dual-mode recognition through a voice module and an OpenMV module, enters a human-computer interaction mode through voice awakening, performs garbage category classification through voice interaction, performs garbage category judgment through key vocabularies, performs voice broadcasting after the judgment is successful, performs autonomous recognition through an OpenMV camera, performs image processing by using a microphon parser, performs autonomous recognition of garbage categories through an edgepulse training model, performs voice broadcasting after the recognition is successful, and performs garbage category and recognition whether the playing information is successful.
The invention also discloses an operation method of the domestic garbage recycling system based on the ROS intelligent AGV, which comprises the following steps:
(1) the intelligent garbage recycling bin identifies garbage and delivers the garbage;
(2) when the capacity of the intelligent recycling garbage can is judged to exceed the safe capacity, a warning is given out and full-load information is sent to the intelligent recycling client;
(3) after receiving the message, the intelligent recovery client sends a signal to the intelligent recovery trolley;
(4) the intelligent recycling trolley receives information, carries the no-load garbage can to a specified place, replaces the no-load garbage can after taking away the full-load garbage can, and sends a processing completion signal;
(5) the intelligent recycling dustbin relieves the alarm and continues working;
(6) the intelligent recycling trolley transports the full-load garbage can to a garbage terminal station for treatment after being replaced.
Preferably, in the step (4),
firstly, the intelligent recovery vehicle carries a no-load garbage can to a specified place, firstly, the real-time position of the intelligent recovery vehicle is determined by a positioning mechanism defined by a GPS module, an optimal route is planned by a self-constructed map of a 360-degree laser ranging radar, and meanwhile, the intelligent recovery vehicle runs through a driving mechanism and runs an optimal path according to the optimal route;
secondly, the intelligent garbage recycling trolley judges whether an obstacle appears in front or not through the vision mechanism and the navigation mechanism in a dual mode, if the obstacle appears, the intelligent garbage recycling trolley decelerates and slowly moves through the driving mechanism, if the obstacle is judged to be gradually close to the intelligent garbage recycling trolley, the intelligent garbage recycling trolley stops in place through the driving mechanism, if the obstacle does not move, the intelligent garbage recycling trolley performs secondary planning on a path through the navigation mechanism, and the intelligent garbage recycling trolley drives the optimal path through the driving mechanism again;
finally, the intelligent recycling trolley observes the carrying state in real time through the carrying mechanism, the vision mechanism and the communication mechanism, when the intelligent recycling trolley reaches the intelligent recycling dustbin, the no-load dustbin is placed, the protective cover of the intelligent recycling dustbin is opened, the no-load dustbin is replaced after the full-load dustbin is taken away, and then the full-load dustbin is carried; and returning to the initial starting place after the intelligent recycling trolley carries the garbage back to the designated position according to the set route, and finishing the carrying.
Preferably, in step (3),
the intelligent recycling client can monitor the full load information of the dustbin in real time and can control the intelligent recycling trolley through self definition.
Preferably, the user can intelligently recycle the client registration account number, and when the garbage is delivered once, the credit can be accumulated, the credit of each garbage is different, and when the credit reaches a certain value, the gift can be exchanged through a favorite small shop.
Compared with the prior art, the invention has the following advantages:
1. the whole system is completely independent, a user only needs to place garbage into an appointed putting-in opening, the intelligent recovery garbage can not only can correctly deliver the garbage to the corresponding garbage can after independently distinguishing garbage types, but also can automatically recover the household garbage by the intelligent recovery trolley when the garbage can is fully loaded, and manpower and material resources are saved.
2. The garbage recognition device carries out dual-mode recognition by the voice module and the OpenMV module, so that the recognition efficiency is high, and the accuracy is also guaranteed.
3. This system operational environment strong adaptability to only just can carry out domestic waste when the garbage bin is fully loaded and retrieve the task, improve domestic waste recovery efficiency when reducing manpower resources.
4. The dustbin has full load warning, broadcast rubbish classification commonweal propaganda piece function.
5. The dustbin can correctly display the corresponding classification information of the delivered rubbish of the user.
6. The invention supports the algorithms of mapping and sector/Harto to construct maps, supports the keyboard and the mouse to select areas to construct maps, and can transmit videos in real time through the camera.
7. The mechanical arm carried by the AGV trolley (intelligent recovery trolley) and the camera can realize dynamic interaction; ROS and arm application kinematics carry out the vision and snatch, and the accuracy is higher.
8. The AGV map building system is provided with the XR-ROS human-computer interaction system, and functions of controlling the AGV to build a map, navigating in real time and the like at a mobile phone end can be realized.
9. The system has a multi-point positioning movement function, autonomously plans a path according to a constructed map, and sequentially reaches a destination point; if the roads are different, secondary path planning can be carried out, and dynamic obstacle avoidance can be realized.
Drawings
FIG. 1 is a block diagram of a domestic waste recovery system based on an ROS intelligent AGV of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent recycling bin;
FIG. 3 is a schematic structural diagram of an intelligent recovery trolley;
FIG. 4 is a simulation diagram of indoor operation of the intelligent recovery trolley;
fig. 5 is an outdoor operation simulation diagram of the intelligent recovery trolley.
Reference numerals: 1. the garbage can comprises an illumination module, 2, a garbage delivery device, 3, a garbage can processor, 4, a garbage can communication device, 5, a garbage can state detection device, 6, a garbage recovery device, 7, a garbage recognition device, 8, a voice broadcasting unit, 9, a voice recognition unit, 10, a display screen device, 11, a human body induction ranging module, 12, a trolley processor, 13, a vision mechanism, 14, a driving mechanism, 15, a carrying mechanism, 16, a human-computer interaction mechanism, 17, a communication mechanism, 18, a navigation mechanism, 19 and a positioning mechanism.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following detailed description of the invention is given in conjunction with the accompanying drawings and examples.
The invention discloses a domestic garbage recycling system based on an ROS intelligent AGV, which comprises an upper computer, an intelligent recycling garbage can, an intelligent recycling trolley and an intelligent recycling client, wherein the upper computer is respectively connected with the intelligent recycling garbage can, the intelligent recycling trolley and the intelligent recycling client.
As shown in fig. 2, the intelligent recycling garbage can includes a garbage can processor 3, a display screen device 10, a garbage recycling device 6, a garbage delivery device 2, a human body detection and illumination device, a garbage can communication device 4, a garbage recognition device 7 and a garbage can state detection device 5. The display screen device 10, the garbage recycling device 6 and the household garbage delivery device 2 are respectively connected with the output end of the garbage can processor 3, and the human body detection and illumination device, the garbage can communication device 4, the garbage recognition device 7 and the garbage can state detection device 5 are respectively connected with the input end and the output end of the garbage can processor 3. The garbage can processor 3 and the garbage can communication device 4 are installed on the box body, the display screen device 10 is installed on one side of the upper end of the box body, the garbage delivery device 2 is arranged under a delivery opening of the box body, the garbage recovery device 6 is even under the garbage delivery device 2, the human body detection and illumination device is arranged on the upper end of the box body and located on one side of the delivery opening, the garbage recognition device 7 is arranged above the delivery opening, and the garbage can state detection device 5 is arranged in each garbage can.
The garbage recycling device 6 is connected with the output end of the garbage can processor 3, the garbage recycling device 6 mainly comprises a stepping motor, a rotating disk and five types of garbage cans, wherein the five types of garbage cans comprise a recyclable garbage can, a non-recyclable garbage can, a harmful garbage can, other garbage cans and a human intervention variable garbage can, and the human intervention garbage can is used for specially collecting domestic garbage which can not accurately identify garbage types. The recyclable garbage can, the non-recyclable garbage can, the harmful garbage can, the other garbage cans and the manual intervention variable garbage can are uniformly distributed on the outer circumference of the rotating disc, and a main shaft of the stepping motor is connected with the rotating disc. After the garbage type is successfully identified, an identification success signal S is sent to the garbage can processor 3, the garbage can processor 3 sends a signal to drive the stepping motor to drive the rotating disc, so that the corresponding garbage can is aligned to the delivery port to prepare for receiving the household garbage.
The garbage delivery device 2 is connected with the output end of the garbage can processor 3 and mainly comprises a delivery motor and a grid baffle plate, the grid baffle plate is arranged below a delivery opening of the intelligent recovery garbage can, and a main shaft of the delivery motor is connected with the grid baffle plate. When the corresponding five types of garbage cans rotate to the lower part of the delivery opening, a signal is sent to the garbage can processor 3, the garbage can processor 3 sends a signal to the delivery motor to drive the delivery motor to pull the grid baffle plate away, and therefore the garbage falls into the corresponding type of garbage cans due to gravity.
The human body detection and illumination device is connected with the input end and the output end of the garbage can processor 3, the human body detection and illumination device mainly comprises a human body induction ranging module 11 and an illumination module 1, the human body induction ranging module 11 is positioned on the middle lower part of the intelligent recovery garbage can and comprises an HC-SR505 mini human body induction module and an HC-SR04 ultrasonic ranging module; the lighting module 1 is positioned at the top of the intelligent recycling dustbin. When the human body induction module detects a person, a signal H (human body induction signal) is sent to the garbage can processor 3, the ultrasonic ranging module is started, the distance D between the person and the garbage can starts to be detected after the ultrasonic module is started, and when the distance D is within a set range, a lighting signal L is sent to the garbage can processor 3 to light the lighting module 1. The lighting module 1 is positioned at the top of the intelligent recycling garbage can and used for lighting when pedestrians pass by or carry out garbage delivery.
The garbage can communication device 4 is connected with the input end and the output end of the garbage can processor 3, the garbage can communication device 4 is composed of a GSM module and a wireless communication model, when the capacity of the intelligent recovery garbage can is judged to exceed the safe capacity, a short message is found to a designated mobile phone through the GSM module, and meanwhile, the wireless communication module sends a signal to the intelligent recovery client.
The garbage recognition device 7 is connected with the input end and the output end of the garbage can processor 3, the garbage recognition device 7 is subjected to dual-mode recognition through a voice module and an OpenMV module, the voice module comprises a voice broadcasting unit 8 and a voice recognition unit 9, the voice recognition device is awakened through specific voice, if a voice signal is ' small Kai ', a man-machine interaction mode is entered, garbage classification is carried out through voice interaction, garbage type judgment is carried out through key words, voice broadcasting is carried out after judgment is successful, playing information is the garbage type and whether recognition is successful or not, and a cigarette end is taken as an example, after the man-machine interaction is entered, the cigarette end ' can be spoken, and then a key word signal ' cigarette end ' can be transmitted to the garbage can processor 3 to be processed. The method comprises the steps of carrying out autonomous recognition through an OpenMV camera, carrying out image processing by using a MicroPhthon resolver, carrying out autonomous recognition on garbage types through an edgeimpulse training model, carrying out voice broadcast after the recognition is successful, and playing information whether the garbage types are recognized or not. The OpenMV camera shoots a garbage image in the detection area and transmits image data to a garbage detection and identification module in the garbage can processor 3 through serial port communication; preprocessing is needed before the image is transmitted, and preprocessing operation comprises color channel sequence conversion and image format conversion; garbage detection identification module in dustbin treater 3 discerns rubbish kind in the rubbish image gathered, establishes rubbish detection's identification model through the algorithm, but discernment kitchen garbage, recoverable thing, harmful rubbish and other rubbish four kinds of rubbish, and the used data set of training is derived from the data set of network open source and partly self-control data set to adopt the mode of data enhancement, carry out the operation such as upset, distortion, color shake to the picture and increase the increment of data set, the generalization ability of reinforcing model detection. Specifically, the data sets are collected by using OpenMV IDE, each garbage classification adopts at least about 100 data sets, images collected in OpenMV IDE are uploaded to EDGE IMPULSE, a model of a neural network is trained by itself by using the EDGE IMPULSE, a machine learning function is performed by using the neural network, the model is trained, the garbage classification is performed by using the trained model, the matching degree calculation is performed by shooting the content in the images and the model, a garbage classification judgment score G is obtained, the garbage classification threshold is 90%, the garbage classification judgment score G exceeds 90%, the garbage judgment is successful, and a garbage classification name keyword is sent to the MCU for processing. Taking the cigarette end as an example, if the matching degree score G exceeds 90 points, the cigarette end is output.
The garbage bin state detection device 5 is connected with the input end and the output end of the garbage bin processor 3, and the garbage bin state detection device 5 mainly comprises an infrared sensing module and an alarm circuit and is arranged inside each garbage bin. When infrared induction module was used for judging rubbish content in the intelligent recovery dustbin exceeded safe capacity (set for safe capacity to be 75% of garbage bin) value, got into "eliminating trembles" mode, postpone a period after, judge again, if rubbish content in the intelligent recovery dustbin exceeds safe capacity value, send full load signal F to dustbin treater 3, the buzzer of the warning circuit on the intelligent recovery dustbin rings simultaneously, the alarm lamp lights to as the alarming effect.
As shown in fig. 3, the intelligent recycling trolley comprises a trolley body, a trolley processor 12, a positioning mechanism 19, a vision mechanism 13, a driving mechanism 14, a carrying mechanism 15, a navigation mechanism 18, a communication mechanism 17 and a man-machine interaction mechanism 16. The positioning mechanism 19 and the vision mechanism 13 are respectively connected with the input end of the trolley processor 12, the driving mechanism 14 and the carrying mechanism 15 are respectively connected with the output end of the trolley processor 12, and the navigation mechanism 18, the communication mechanism 17 and the man-machine interaction mechanism 16 are respectively connected with the input end and the output end of the trolley processor 12. The trolley processor 12, the man-machine interaction mechanism 16, the communication mechanism 17, the navigation mechanism 18 and the positioning mechanism 19 are arranged on the trolley body, the driving mechanism 14 is arranged at the lower part of the trolley body, the vision mechanism 13 is arranged at the upper end of the trolley body, and the carrying mechanism 15 is arranged at the front end of the trolley body. The positioning mechanism 19 is a GPS module and is used for positioning the intelligent recovery trolley. The vision mechanism 13 is an OpenMV camera, and the OpenMV camera is used for feeding back scanned data to the trolley processor 12 in real time. The driving mechanism 14 is driven by a four-wheel motor and is used for driving the intelligent recovery trolley. The carrying mechanism 15 is a mechanical arm and is used for carrying the garbage can. The navigation mechanism 18 lidar constructs a map. The human-computer interaction mechanism 16 is a display touch screen, the display touch screen is connected with the trolley processor 12 through an HDMI line, animation in standby and detection processes of the playing device is played, a picture is displayed during image detection, and the picture during image detection by starting the camera is also displayed in the display screen. After the trolley processor 12 receives a signal of the upper computer, the navigation mechanism 18 plans a driving path, the driving mechanism 14 is started to drive the intelligent recycling garbage bin, in the driving process, roadblock detection is carried out through the navigation mechanism 18 and an OpenMV camera controlled by a motor to rotate, after the target is reached, the mechanical arm is controlled to replace a full-load garbage bin with an empty garbage bin, and then the full-load garbage bin is transported to drive to the garbage yard and then return to the original place.
The intelligent recycling client is used for monitoring full-load information of the garbage can in real time through the intelligent recycling client by a user, and meanwhile, the intelligent recycling trolley can be communicated to select a custom option to control the household garbage recycling trolley to perform certain service or complete certain action. The system comprises a client processor, an information receiving module, a communication module, a trolley control module and an integral database module. The input end and the output end of the client processor are respectively connected with the information receiving module, the communication module, the trolley control module and the integral database module.
The invention also discloses an operation method of the domestic garbage recycling system based on the ROS intelligent AGV, which comprises the following steps:
step 1: the intelligent garbage recycling bin identifies garbage and delivers the garbage.
Step 2: and when the capacity of the intelligent recycling garbage can is judged to exceed the safe capacity, a warning is given out and full-load information is sent to the intelligent recycling client.
And step 3: and after receiving the message, the intelligent recovery client sends a signal to the intelligent recovery trolley to start. The intelligent recycling client can monitor the full load information of the dustbin in real time and can control the intelligent recycling trolley through self definition.
And 4, step 4: firstly, the intelligent recovery vehicle carries a no-load garbage can to a specified place, firstly, the real-time position of the intelligent recovery vehicle is determined by a positioning mechanism 19 defined by a GPS module, an optimal route is planned by a self-constructed map of 360-degree laser ranging radar, and meanwhile, the intelligent recovery vehicle runs through a driving mechanism 14 and runs an optimal route according to the optimal route;
secondly, the intelligent garbage recycling trolley judges whether an obstacle appears in front or not through the vision mechanism 13 and the navigation mechanism 18, if the obstacle appears, the intelligent garbage recycling trolley decelerates and crawls through the driving mechanism 14, if the obstacle is judged to be gradually close to the intelligent garbage recycling trolley, the intelligent garbage recycling trolley stops on site through the driving mechanism 14, if the obstacle does not move, the intelligent garbage recycling trolley performs secondary path planning through the navigation mechanism 18, and the intelligent garbage recycling trolley drives an optimal path through the driving mechanism 14 again;
finally, the intelligent recycling trolley observes the carrying state in real time through the carrying mechanism 15, the vision mechanism 13 and the communication mechanism 17, when the intelligent recycling trolley reaches the intelligent recycling dustbin, an idle-load dustbin is placed, a protective cover of the intelligent recycling dustbin is opened, the idle-load dustbin is replaced after a full-load dustbin is taken away, and then the full-load dustbin is carried; and returning to the initial starting place after the intelligent recycling trolley carries the garbage back to the designated position according to the set route, and finishing the carrying.
And 5: the intelligent recycling dustbin relieves the alarm and continues working.
Step 6: the intelligent recycling trolley transports the full-load garbage can to a garbage terminal station for treatment after being replaced.
The man-machine interaction part of the intelligent household garbage recycling trolley is arranged by the highlight display screen, and the user-defined option can be clicked through the touch screen to control the intelligent household garbage recycling trolley. The household garbage intelligent recycling client can monitor the state of the garbage can in real time. The trolley operation control can be carried out through the household garbage intelligent recovery trolley communication part. The mobile terminal selects a user-defined option to control the household garbage recycling trolley to perform certain service or complete certain action. The user can intelligently recycle the client registration account number through the household garbage. The garbage can be accumulated by points every time the garbage is delivered. Different integral values are set for various types of garbage. When the points reach a certain value, the goods can be exchanged through a love store. The exchangeable articles include daily stationery for children in mountainous areas, cat and dog food for street stormy waves, and the like. The more the number of the exchanged articles is, the higher the love value of the individual user is, the love value can be exchanged for various personalized decorations to carry out the decoration of the personal user interface, and the love value is not reduced after the exchange.
As a preferred embodiment, an operation method of a domestic garbage recycling system based on an ROS intelligent AGV is described, and an intelligent recycling garbage can identifies delivered garbage in real time and delivers the garbage to a corresponding garbage can. When the capacity of any garbage can in the intelligent recycling garbage can is judged to exceed the safe capacity, a warning is given out: the buzzer buzzes, the alarm lamp is lightened, full-load information F is sent to a specified mobile phone through a GSM module in the garbage can communication device, and meanwhile a full-load signal F and a household garbage carrying request signal P are sent to the intelligent recycling client through a wireless communication module in the garbage can communication device to request carrying of household garbage. The intelligent recovery client sends a signal to the intelligent recovery trolley, and the intelligent recovery trolley is started to carry the unloaded garbage can (the side of the full-load garbage can is provided with an ear-shaped handle for grabbing) to the appointed place. As shown in fig. 4 and 5, the intelligent recycling trolley determines the real-time position of the intelligent recycling trolley through the positioning part defined by the GPS module, plans the optimal route through the self-established map of the 360-degree laser ranging radar, and drives the intelligent recycling trolley to drive the optimal route according to the optimal route through the driving mechanism 14, wherein the optimal route planning adopts an a-algorithm, also called a heuristic search algorithm, evaluates each position in the state space, selects the optimal position, searches for the target from the position, and in the heuristic search, the adopted estimation cost function is f (n) ═ g (n) + h (n), and according to the method, the optimal position is selectedDifferent estimated cost values h (n) and known actual cost values g (n) can obtain different evaluation cost values f (n) to judge the updating function after the A algorithm evolves, if the value of h (n) is 0, the value of g (n) is not zero, the A algorithm is changed into Dijkstra algorithm, if the value of h (n) is far more than the value of g (n), the A algorithm programs the optimal preferential search algorithm, when the A algorithm is used for finding the shortest path, the heuristic function adopts the Manhattan distance, the Euclidean distance and the Chebyshev distance, and the Manhattan distance is taken as an example, and the (X) is sete,Ye) As the endpoint coordinate, (X)n,Yn) The coordinates of the node n are represented by the formula h (n) abs (X)e-Xn)+abs(Ye-Yn) And calculating, improving on the basis of an A-algorithm, correcting the shortest distance calculated in the path optimization algorithm, and finding the path with the minimum turning times while realizing the shortest path length. The intelligent recovery trolley judges whether an obstacle appears in the front through the vision mechanism 13 and the navigation mechanism 18 in a dual mode, if the obstacle appears, the intelligent recovery trolley decelerates and slowly moves through the driving part, if the obstacle does not move, the intelligent recovery trolley performs secondary planning on a path through the navigation part, and the intelligent recovery trolley drives the optimal path through the driving part again. The intelligent recycling trolley observes the carrying state of the garbage can in real time through the carrying mechanism 15 and the vision mechanism 13, places the no-load garbage can before and after the intelligent recycling trolley reaches the intelligent recycling garbage can, opens the garbage can protective cover, replaces the no-load garbage can after taking away the full-load garbage can, picks up the full-load garbage can and carries the garbage can. The intelligent recycling trolley carries the garbage back to the appointed position according to the set route, returns to the initial starting place and finishes the carrying.
The above-described embodiments are only specific examples for further explaining the object, technical solution and advantageous effects of the present invention in detail, and the present invention is not limited thereto. Any modification, equivalent replacement, improvement and the like made within the scope of the disclosure of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a domestic waste recovery system based on ROS intelligence AGV dolly, includes the host computer to and retrieve dustbin, intelligent recovery dolly, the intelligent recovery customer end of being connected with the host computer, its characterized in that:
the intelligent garbage recycling bin comprises a garbage bin processor (3), a display screen device (10), a garbage recycling device 6, a garbage delivery device (2), a human body detection and illumination device, a garbage bin communication device (4), a garbage recognition device (7) and a garbage bin state detection device (5), wherein the display screen device (10), the garbage recycling device 6 and the garbage delivery device (2) are respectively connected with the output end of the garbage bin processor (3), and the human body detection and illumination device, the garbage bin communication device (4), the garbage recognition device (7) and the garbage bin state detection device (5) are respectively connected with the input end and the output end of the garbage bin processor (3);
the intelligent recovery trolley comprises a trolley processor (12), a positioning mechanism (19), a vision mechanism (13), a driving mechanism (14), a carrying mechanism (15), a navigation mechanism (18), a communication mechanism (17) and a human-computer interaction mechanism (16), wherein the positioning mechanism (19) and the vision mechanism (13) are respectively connected with the input end of the trolley processor (12), the driving mechanism (14) and the carrying mechanism (15) are respectively connected with the output end of the trolley processor (12), and the navigation mechanism (18), the communication mechanism (17) and the human-computer interaction mechanism (16) are respectively connected with the input end and the output end of the trolley processor (12);
the intelligent recycling client comprises a client processor, an information receiving module, a communication module, a trolley control module and an integral database module, wherein the information receiving module, the communication module, the trolley control module and the integral database module are respectively connected with the input end and the output end of the client processor.
2. The system of claim 1, wherein the ROS-based AGV comprises: the human body detection and illumination device mainly comprises a human body induction ranging module (11) and an illumination module (1), wherein the human body induction ranging module (11) is positioned on the lower middle part of the intelligent recovery dustbin and comprises an HC-SR505 mini human body induction module and an HC-SR04 ultrasonic ranging module; the lighting module (1) is positioned at the top of the intelligent recycling dustbin.
3. The system of claim 1, wherein the ROS-based AGV comprises: garbage bin state detection device (5) mainly comprise infrared induction module and alarm circuit, infrared induction module gets into "eliminating and trembles" mode when being used for judging that rubbish content exceedes safe volume value in the intelligent recovery dustbin, postpones a period after, judges again, if rubbish content exceedes safe volume value in the intelligent recovery dustbin, signals to dustbin treater (3), and alarm circuit's on the intelligent recovery dustbin buzzer rings, the alarm lamp lights simultaneously to act as the warning.
4. The system of claim 1, wherein the ROS-based AGV comprises: the garbage recycling device (6) mainly comprises a stepping motor, a rotating disc and five types of garbage cans, wherein the five types of garbage cans comprise recyclable garbage cans, non-recyclable garbage cans, harmful garbage cans, other garbage cans and manual intervention variable garbage cans, and when the garbage types are successfully identified, the garbage can processor (3) sends signals to drive the stepping motor to drive the rotating disc, so that the corresponding garbage cans are aligned to the delivery port and are ready to receive household garbage.
5. The system of claim 1, wherein the ROS-based AGV comprises: the garbage delivery device (2) is mainly composed of a delivery motor and a grid baffle, when corresponding five types of garbage cans rotate to the lower portion of a delivery opening, a signal is sent to the garbage can processor (3), the garbage can processor (3) sends a signal to the delivery motor to drive the delivery motor to pull the grid baffle away, and therefore garbage falls into one of the corresponding five types of garbage cans due to gravity.
6. The system of any one of claims 1-5 for recycling household garbage based on an ROS intelligent AGV, characterized in that: the garbage recognition device (7) is used for performing dual-mode recognition through a voice module and an OpenMV module, entering a human-computer interaction mode through voice awakening, performing garbage category classification through voice interaction, performing garbage category judgment through key vocabularies, performing voice broadcasting after the judgment is successful, judging whether the garbage category and the recognition are successful or not through an OpenMV camera, performing autonomous recognition through a MicroPhthon parser, performing image processing, performing autonomous recognition of the garbage category through an edgepulse training model, performing voice broadcasting after the recognition is successful, and judging whether the garbage category and the recognition are successful or not through the play information.
7. The method of operating a ROS-based intelligent AGV domestic waste recovery system according to any of claims 1-6, comprising the steps of:
(1) the intelligent garbage recycling bin identifies garbage and delivers the garbage;
(2) when the capacity of the intelligent recycling garbage can is judged to exceed the safe capacity, a warning is given out and full-load information is sent to the intelligent recycling client;
(3) after receiving the message, the intelligent recovery client sends a signal to the intelligent recovery trolley;
(4) the intelligent recycling trolley receives information, carries the no-load garbage can to a specified place, replaces the no-load garbage can after taking away the full-load garbage can, and sends a processing completion signal;
(5) the intelligent recycling dustbin relieves the alarm and continues working;
(6) the intelligent recycling trolley transports the full-load garbage can to a garbage terminal station for treatment after being replaced.
8. The method of claim 7, wherein the method comprises the following steps: in the step (4), the step (c),
firstly, the intelligent recovery vehicle carries a no-load garbage can to a specified place, firstly, the real-time position of the intelligent recovery vehicle is determined through a positioning mechanism (19) defined by a GPS module, an optimal route is planned through a self-map built by a 360-degree laser ranging radar, and meanwhile, the intelligent recovery vehicle runs through a driving mechanism (14) and runs through the optimal route;
secondly, the intelligent garbage recycling trolley judges whether an obstacle appears in the front through a vision mechanism (13) and a navigation mechanism (18) in a dual mode, if the obstacle appears, the intelligent garbage recycling trolley decelerates and slowly moves through a driving mechanism (14), if the obstacle gradually approaches to the intelligent garbage recycling trolley, the intelligent garbage recycling trolley stops on site through the driving mechanism (14), if the obstacle does not move, the intelligent garbage recycling trolley performs secondary path planning through the navigation mechanism (18), and the intelligent garbage recycling trolley drives the optimal path through the driving mechanism (14);
finally, the intelligent recycling trolley observes the carrying state in real time through the carrying mechanism (15), the vision mechanism (13) and the communication mechanism (17), when the intelligent recycling trolley reaches the intelligent recycling dustbin, an empty garbage can is placed, the protective cover of the intelligent recycling dustbin is opened, the empty garbage can is replaced after a full-load garbage can is taken away, and then the full-load garbage can is carried; and returning to the initial starting place after the intelligent recycling trolley carries the garbage back to the designated position according to the set route, and finishing the carrying.
9. The method of operating a system for recovering household refuse based on an ROS-intelligent AGV, according to claim 7 or 8, characterized in that: in the step (3), the step (c),
the intelligent recycling client can monitor the full load information of the dustbin in real time and can control the intelligent recycling trolley through self definition.
10. The method of operating a system for recovering household refuse based on an ROS-intelligent AGV, according to claim 7 or 8, characterized in that: the user can retrieve the client registration account number through intelligence to when throwing rubbish once and all can carrying out the score and add up, each rubbish score is different, when the score reaches certain numerical value, accessible heart-loving small shop exchanges the gift.
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