Domestic waste classification, cleaning and transportation method and system

Abstract

The present invention provides a method and system for classifying, cleaning and transporting domestic waste, the method comprising: real-time monitoring and collecting ultrasonic parameter data of domestic waste, and sub-classifying domestic waste; real-time monitoring of the geographical location coordinates and the direction of travel of the domestic waste cleaning and transport vehicle, and calculating the total distance between the starting point and the target end point, judging whether to use a circular arc or a straight line turning method at the intermediate garbage collection point, and planning the turning direction of the circular arc turning method; further optimizing the path of the domestic waste cleaning and transport vehicle in the shortest possible manner. The present invention can accurately classify the dryness and wetness of domestic waste, and according to the front and rear wheelbases of different domestic waste cleaning and transport vehicles, determine the circular arc or straight line turning method at each intermediate garbage collection point, and use a genetic algorithm to iteratively optimize the angle when the circular arc turning method of each intermediate garbage collection point is used, thereby optimizing the control of the travel direction of the domestic waste cleaning and transport vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of domestic waste cleaning, and in particular relates to a method and system for classifying, cleaning and transporting domestic waste. Background Art

[0002] With the progress of urbanization and the improvement of people's living standards, more and more garbage is generated in cities. The unreasonable layout of urban garbage bins and the low degree of automation of the removal method have brought a lot of inconvenience to life. In the era of "smart city", Internet of Things technology and information and communication technology have become an indispensable part of modern urban domestic waste management planning and design. At the same time, due to the rapid increase in the amount of garbage and the complexity of garbage types, it is urgent to implement garbage classification to promote resource recycling and achieve sustainable development. There are also methods in the prior art for garbage collection classification and dispatching the walking routes of garbage collection vehicles based on the Internet of Things.

[0003] For example, a Chinese patent with application number 202111616323.X in the prior art discloses a classified garbage intelligent transportation management system and method, in which weighing sensors are set at the bottom of the classified garbage bins at all garbage bin placement points within the jurisdiction of the garbage recycling station, and the weight data of all garbage bins are collected into the garbage bin database; then, according to the preset route, the weights of the garbage bins in sequence along the preset route are accumulated to obtain the maximum actual load of the classified garbage transport vehicle, that is, the transportation route is calculated. Garbage collection and transportation according to the transportation route makes classified garbage transportation management smarter and more efficient. However, the technology disclosed in this patent does not accurately classify garbage of different dryness and wetness.

[0004] For example, a Chinese patent with application number 202111015308.X in the prior art discloses a garbage collection and dispatching method and device, which obtains the garbage distribution map by obtaining the status information of the garbage can, calculates the garbage collection routes of each sanitation vehicle according to the number and location information of the sanitation vehicles and the information of the full garbage bucket points, and sends the garbage collection routes to the corresponding sanitation vehicles, so that the sanitation vehicles can clean up the garbage at the garbage station according to the garbage collection routes. Compared with the traditional manual timed and fixed-point garbage processing, this method can obtain the garbage can information of the garbage point in real time, automatically generate a full garbage bucket cleaning route, and can process the full garbage bucket in time. For garbage points without full buckets, they are not put into the garbage cleaning route, saving cleaning time and cleaning costs.

[0005] However, the domestic waste collection and transportation method disclosed in the above prior art does not make an optimized choice for the direction of travel within each garbage collection point, nor does it determine the route plan for whether the garbage collection vehicle turns at each garbage collection point to reach the next garbage collection point or directly connects in a straight line to reach the next garbage collection point. In addition, different garbage collection vehicles have different models and lengths, which leads to congestion at the garbage collection point when turning from one garbage collection point to another, or the scattering of the collected garbage when a collision occurs due to incomplete turns, which can easily cause the duration of the entire walking route to exceed the specified time, causing delays. Summary of the invention

[0006] In view of the above-mentioned defects, the present invention provides a method and system for classifying, cleaning and transporting domestic waste. The present invention can accurately classify the dryness and wetness of domestic waste, and according to the front and rear wheelbases of different domestic waste cleaning and transport vehicles, determine the turning method of circular turning or straight turning point at each intermediate waste collection point, which turning method is more suitable, and use genetic algorithms to iteratively optimize the angle of the circular turning method at each intermediate waste collection point, thereby optimizing the control of the travel direction of the domestic waste cleaning and transport vehicle and improving the precision and accuracy of the control.

[0007] The present invention provides the following technical solution: a method for classifying, cleaning and transporting domestic waste, comprising the following steps:

[0008] S1: Real-time monitoring and collection of ultrasonic parameter data of domestic waste, then rough classification and weighing, fine classification of domestic waste, and placing the classified domestic waste into different waste cleaning and transportation bins;

[0009] S2: real-time monitoring of the geographic location coordinates and travel direction of the domestic waste cleaning and transportation vehicle, and calculation of the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle, judging whether the domestic waste cleaning and transportation vehicle turns in an arc or in a straight line at an intermediate garbage collection point during the garbage cleaning process, and planning the turning direction of the domestic waste cleaning and transportation vehicle in an arc turn;

[0010] S3: Further optimize the shortest path of garbage collection and transportation of domestic garbage collection and transportation vehicles to complete the classification and collection of domestic garbage.

[0011] Furthermore, the real-time collection of ultrasonic parameter data of domestic waste and weighing data after rough classification in step S1 to finely classify domestic waste includes the following steps:

[0012] S11: real-time monitoring of the temperature T(t) of domestic garbage, and emitting ultrasonic signals to the domestic garbage, real-time monitoring of the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, the radial distance R(t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the direction of refraction of the ultrasonic wave by the monitored garbage;

[0013] S12: constructing a real-time subdivision dryness and wetness calculation model for domestic waste, and calculating the real-time dryness and wetness of the monitored domestic waste during subdivision;

[0014] S13: Determine whether the real-time dryness and wetness of the monitored domestic waste is greater than or equal to the humidity threshold within the monitored time period n. If it is greater than or equal to the humidity threshold, classify the domestic waste as subdivided wet waste; otherwise, classify the domestic waste as subdivided dry waste.

[0015] Furthermore, the method of constructing a real-time subdivision dryness and wetness calculation model for domestic waste in S12 comprises the following steps:

[0016] S121: Construct the dryness coefficient D related to the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located. L (t) calculation model and the dryness coefficient D related to the radial distance R(t) from the horizontal plane of the domestic garbage to the central axis of the ultrasonic signal emission source point R (t) Calculation model:

[0017]

[0018]

[0019] Among them, λ1 is the dryness composite density coefficient of domestic waste, w1 is the total weight of the dry garbage roughly sorted and weighed in step S1, and w2 is the total weight of the wet garbage roughly sorted and weighed in step S1;

[0020] S122: According to the results calculated in S121, the first household waste dryness and humidity mixing coefficient DH is respectively constructed. L (t) Calculation model and the second household waste dry-humidity mixing coefficient DH R (t) Calculation model:

[0021]

[0022]

[0023] Among them, λ2 is the humidity composite specific gravity coefficient of domestic waste, Q is the polarization mixing coefficient of the ultrasonic signal, μ(β(t)) is the refraction coefficient of the ultrasonic signal at the ultrasonic incident point with an angle of β(t) in the refraction direction, G(θ(t)) is the influence coefficient of the angle θ(t) between the horizontal plane of the ultrasonic incident point of the monitored garbage and the ultrasonic emission source point on the wet garbage detection, G(θ(t)) = λ2 / cos 2 θ(t),

[0024] S123: Construct a calculation model for the dryness and humidity DH(t) of subdivided domestic garbage:

[0025] DH(t)=T(t)[1-(DH L (t)+DH R (t))]e -η +T(t)(1-κ)(1-e -η )[1+e -η (1-(DH L (t)+DH R (t)))]

[0026] Wherein, η is the attenuation coefficient of the ultrasonic signal caused by the monitored garbage, and κ is the reflection coefficient of the ultrasonic signal caused by the monitored garbage; and the real-time dryness and wetness of the subdivided domestic garbage are calculated.

[0027] Furthermore, the humidity threshold DH of step S13 is thres for:

[0028]

[0029] Wherein, t=1, 2, ..., n, where n is the total time for transmitting ultrasonic signals to monitor domestic waste.

[0030] Furthermore, the step S2 includes the following steps:

[0031] S21: Real-time monitoring of the geographical location coordinates (x q ,y q ) and the angle α between its traveling direction and the x-axis of the earth coordinate system in the plane rectangular coordinate system q , q = 1, 2, ..., m; and then the geographical coordinates of the domestic waste cleaning and transporting vehicle at the starting point are (x1, y1), and the angle between the traveling direction at the starting point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is α1; the geographical coordinates of the target terminal of the domestic waste cleaning and transporting vehicle at the mth intermediate garbage collection point are (xm ,y m ), the angle between the traveling direction at the mth intermediate garbage collection point and the x-axis of the earth coordinate system in the plane rectangular coordinate system is α m ; The first intermediate garbage collection point is the starting point of the domestic garbage cleaning and transportation vehicle, and the mth intermediate garbage collection point is the last garbage collection point of the domestic garbage cleaning and transportation vehicle;

[0032] S22: Calculate the total distance D between the starting point and the target end point of the domestic waste cleaning and transporting vehicle toatal :

[0033] S23: According to the diameter of the domestic waste cleaning and transporting vehicle, the minimum turning circle radius r of the domestic waste cleaning and transporting vehicle at the intermediate waste collection point is limited min : Wherein, d is the front and rear wheelbase of the domestic waste cleaning and transport vehicle;

[0034] S24: If the total distance D between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S22 is toatal ≥50r min , the domestic waste cleaning and transporting vehicle takes a walking path that turns in an arc at the intermediate garbage collection point; if the total distance between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S32 satisfies the following conditions: 30r min <D total <50r min , the domestic waste cleaning and transporting vehicle adopts a walking path that turns in a straight line at the intermediate garbage collection point.

[0035] Furthermore, when the domestic waste cleaning and transporting vehicle adopts a circular turning path at the intermediate waste collection point, the step S2 plans the turning direction of the circular turning of the domestic waste cleaning and transporting vehicle, including the following steps:

[0036] S201: Constructing the total path length of the turning path of the domestic waste cleaning and transporting vehicle using an arc turning method Computational model:

[0037]

[0038] When turning in an arc, the turning angle of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point is β1, and the turning path distance is In order to reach the q+1th intermediate garbage collection point, the domestic garbage cleaning and transporting vehicle has a turning angle of β2 at the q+1th intermediate garbage collection point, and a turning walking path distance of The straight-line distance that the domestic waste cleaning and transporting vehicle travels after turning at the qth intermediate waste collection point and turning to reach the q+1th intermediate waste collection point is and The turning distance of the qth intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at O q Point C on the circle q The horizontal and vertical coordinates of and The turning distance before reaching the q+1th intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at O q+1 Point C on the circle q+1 The horizontal and vertical coordinates of

[0039] S202: The included angle α between the travel direction of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system respectively monitored in real time according to step S21 q , α q+1 , the turning angle β1 of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the turning angle β2 of the q+1th intermediate waste collection point are converted into a calculation formula in a plane rectangular coordinate system:

[0040]

[0041]

[0042] S203: The total path length of the turning path of the domestic waste cleaning and transporting vehicle using the arc turning method according to the conversion result of step S202 and the total path length of the turning path of the domestic waste cleaning and transporting vehicle constructed in step S201 Calculation model, construct a calculation model for the total length of the turning walking path that minimizes the circular turning method:

[0043]

[0044]

[0045] -180°≤α q+1 ≤180°

[0046] -180°≤α q ≤180°

[0047] α q ≠α q+1 ;

[0048] S204: Obtaining the optimal angle between the travel direction of the domestic waste cleaning and transporting vehicle at the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The absolute value of:

[0049]

[0050] S205: Determine the angle α between the travel direction of the q+1th intermediate garbage collection point of the domestic garbage cleaning and transportation vehicle obtained by real-time monitoring and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system q+1 The absolute value of |α q+1 |Is it satisfied If it is greater, turn left at the q+1 intermediate garbage collection point, otherwise turn right.

[0051] Furthermore, in the step S3, the garbage collection and transportation path of the domestic garbage collection and transportation vehicle is further optimized to the shortest possible value, including the following steps:

[0052] S31: According to the left or right turn direction of each intermediate garbage collection point determined in steps S201-S205, the domestic garbage cleaning and transportation vehicle turns and walks in an arc turning manner, and the included angle α between the traveling direction of each intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is monitored in real time. j As initial value, j = 2, 3, ... m-1;

[0053] S32: respectively taking the angle α between the travel direction of the jth and j+1th intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system j and α j+1 The average value of is used as the predicted value of the angle between the travel direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system.

[0054] S33: using the predicted value of the angle between the travel direction of the j-th intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The angle α between the traveling direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is j , calculate the updated value set of the angle between the travel direction of all the intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system

[0055] S34: Using a genetic algorithm to optimize the angle update value set calculated in step S33 The updated value of the angle of each intermediate domestic waste collection point in Calculate the fitness value of the angle update value set S

[0056]

[0057] S35: Determine the updated value of the angle of the j-th intermediate domestic waste collection point Is it greater than the fitness value of the angle update value set S calculated in step S34? If so, the angle update value of the jth intermediate domestic waste collection point is adopted. Substitute the total path length of the arc turning walking path constructed in steps S101-S202 into In the calculation model, the shortest optimization value of the turning walking path of the circular turning method is obtained; otherwise, the angle update value of each intermediate domestic waste collection point is corrected using discrete accuracy ε That is, the angle update value of each intermediate domestic waste collection point is used Repeating the steps S31-S34 as the initial value of step S31 to optimize the angle between each intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system;

[0058]

[0059] The present invention also provides a system for classifying, cleaning and transporting domestic waste, including a domestic waste ultrasonic parameter acquisition module, a domestic waste coarse classification and weighing module, a domestic waste temperature acquisition module, a domestic waste fine classification module, a domestic waste cleaning and transport vehicle geographical location parameter acquisition module, a total distance calculation module, a turning mode control module and a shortest path optimization module;

[0060] The domestic waste ultrasonic parameter collection module includes an ultrasonic transmitter and an ultrasonic receiver, which are used to monitor and collect ultrasonic parameter data of domestic waste in real time;

[0061] The domestic waste rough classification and weighing module is used to roughly classify the domestic waste and weigh the dry waste and wet waste after the rough classification;

[0062] The domestic waste temperature collection module is used to monitor and collect the temperature of domestic waste in real time;

[0063] The household waste subdivision module is used to construct a real-time subdivision dryness and humidity calculation model for household waste, calculate the real-time dryness and humidity and humidity threshold of the monitored household waste during subdivision, and subdivide the household waste;

[0064] The geographical location parameter acquisition module of the domestic waste cleaning and transporting vehicle is used to monitor and acquire the geographical location coordinates of the domestic waste cleaning and transporting vehicle at each intermediate garbage collection point in the plane rectangular coordinate system composed of the x-axis and y-axis of the geodetic coordinate system, as well as the angle between the geographical location coordinates of the domestic waste cleaning and transporting vehicle and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system;

[0065] The total distance calculation module is used to calculate the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle;

[0066] The turning mode control module is used to determine whether the domestic waste cleaning and transporting vehicle uses an arc turning mode or a straight turning mode at an intermediate garbage collection point during the garbage cleaning process, and to plan the garbage cleaning and transportation path of the domestic waste cleaning and transporting vehicle;

[0067] The shortest path optimization module is used to optimize the garbage collection and transportation path of the domestic garbage collection and transportation vehicle in the shortest possible manner.

[0068] The present invention also provides an electronic device, which includes a processor and a memory for storing instructions executable by the processor; the processor is configured to call the instructions stored in the memory to execute the method for classifying, cleaning and transporting domestic waste as described above.

[0069] The present invention also provides a computer-readable medium having computer program instructions stored thereon, and the computer program instructions can be executed by one or more processors to implement the method for classifying, cleaning and transporting domestic waste as described above.

[0070] The beneficial effects of the present invention are:

[0071] 1. The method for classifying, cleaning and transporting domestic waste provided by the present invention firstly weighs and roughly classifies the monitored domestic waste, and uses ultrasonic signal parameters and attenuation coefficient, refractive coefficient, mixed polarization coefficient, dryness composite specific gravity coefficient, and wetness composite specific gravity coefficient to subdivide the dryness and humidity calculation model and dynamically set the humidity threshold value. After classifying domestic waste with different dryness and humidity, the angle and geographic coordinates of domestic waste cleaning and transport vehicles at different intermediate waste collection points in a plane rectangular coordinate system are monitored in real time. The minimum turning radius is limited by the front and rear wheelbases of the domestic waste cleaning and transport vehicles, and then the total plane Euler distance D between the starting point and the target end point is determined. toatalThe relationship between the turning angle at each intermediate garbage collection point, the turning arc walking path, the straight-line distance between the common tangent segments of the turning circles of the two intermediate garbage collection points, and the turning angle and turning walking path to reach the next intermediate garbage collection point are used to construct a calculation model for minimizing the total length of the turning walking path of the circular turning method, and then the optimal angle between the plane rectangular coordinate system and the geodetic coordinate system of each intermediate garbage collection point is determined, and this is used as the judgment standard. , determine the left or right turn direction of each intermediate garbage collection point to make all the overall circular arc turning walking paths of each intermediate garbage collection point the shortest; then determine the predicted value of the angle of each intermediate garbage collection point with the x-axis of the geodetic coordinate system in the plane rectangular coordinate system as its angle update value, use genetic algorithm to iteratively optimize, and judge whether it is the optimal angle through the constructed fitness value, and then substitute it into the constructed circular arc turning mode turning walking path total length calculation model, further optimize the angle of each intermediate garbage collection point with the x-axis of the geodetic coordinate system in the plane rectangular coordinate system when turning, so as to improve the accuracy of the calculation result.

[0072] The method provided by the present invention can accurately classify the dryness and wetness of domestic garbage, thereby avoiding the low efficiency of domestic garbage treatment caused by the rough classification in the early stage and the mixing of dry and wet garbage, which leads to the later domestic garbage treatment method specifically for dry garbage or wet garbage. In addition, according to the front and rear wheelbases of different domestic garbage cleaning and transportation vehicles, it is determined that it is more appropriate to adopt an arc turning or a straight turning point at each intermediate garbage collection point, thereby avoiding the situation that the domestic garbage cleaning and transportation vehicle is inconvenient to turn and causes road congestion, or the turning causes collision with surrounding buildings or vehicles, and the garbage scattered in the garbage truck causes environmental pollution and unnecessary cleaning. Finally, a genetic algorithm is used to iteratively optimize the angle of the x-axis of the earth coordinate system in the plane rectangular coordinate system when the circular arc turning method of each intermediate garbage collection point is used, thereby optimizing the control of the walking direction of the domestic garbage cleaning and transportation vehicle, avoiding the deviation of the overall walking path caused by inaccurate control and causing the path to be too long, and improving the precision and accuracy of control.

[0073] 2. The method for classifying, cleaning and transporting domestic waste provided by the present invention integrates the attenuation coefficient η and the reflection coefficient κ of the ultrasonic signal caused by domestic waste, and finally constructs a calculation model for the dryness and humidity DH(t) of the subdivided domestic waste, and determines whether it is greater than the humidity threshold DH thresTo subdivide the dryness and wetness of the monitored domestic waste, and calculate the dryness composite gravity coefficient λ1 and the moisture composite gravity coefficient λ2 of the domestic waste after rough classification and weighing, so as to effectively and accurately judge the dryness and wetness of the domestic waste, avoiding the unclear distinction of domestic waste caused by rough classification, which leads to inaccurate classification in the later stage.

[0074] 3. In the method for classifying, cleaning and transporting domestic waste provided by the present invention, the judgment basis for the garbage subdivision in step S1 is: the humidity threshold value, which changes dynamically with various influencing factors and the total monitoring time, thereby more effectively determining the humidity threshold value of different environmental factors and the monitored waste conditions, and effectively dividing the monitored waste into a measurement scale for the mixed dry and wet waste, thereby avoiding misjudgment when performing dry and wet waste subdivision when the temperature threshold is only at one point value.

[0075] 4. In the method for sorting, cleaning and transporting domestic waste provided by the present invention, in step S2, the straight-line plane Euler distance between each intermediate waste collection point and the first intermediate waste collection point (starting point) and the last intermediate waste collection point (target end point) is monitored in real time, and the value r is calculated according to the front and rear wheelbase d of different domestic waste cleaning and transport vehicles. min The multiple of is used as the limiting threshold, thereby taking into account the different situations of domestic waste collection and transportation vehicles and determining the turning method of the domestic waste collection and transportation vehicles at each intermediate collection point, thereby avoiding congestion or inconvenience in turning of the domestic waste collection and transportation vehicles at each intermediate garbage collection point.

[0076] 5. After determining that the turning method of the domestic waste cleaning and transportation vehicle at each intermediate garbage collection point is a circular turning method, in order to make the arc turning path the shortest, the total length of the arc turning path is constructed by taking the angle between the next (q+1th) intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system as a variable. Minimize the model to determine the optimal angle of the x-axis of the geodetic coordinate system in the plane rectangular coordinate system of the next intermediate garbage collection point in the walking path The absolute value is used as a standard to determine whether the angle of the x-axis of the geodetic coordinate system in the plane rectangular coordinate system in the real-time arc turning walking path is greater than the standard, and then the direction of left or right turn is determined, and the walking path and direction are planned to make the overall path of multiple intermediate garbage collection points the shortest, thereby achieving the optimal effect of path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0078] Figure 1 A schematic diagram of the process flow of the method for classifying, cleaning and transporting domestic waste provided by the present invention;

[0079] Figure 2 This is a schematic diagram of the process of subdividing domestic waste in step S1 of the method provided by the present invention;

[0080] Figure 3 A schematic diagram of a method flow chart for constructing a real-time subdivided dryness and wetness calculation model for domestic waste in step S12 of the method provided by the invention;

[0081] Figure 4 A schematic flow chart of a method for a domestic waste cleaning and transporting vehicle to turn in a circular arc or straight line at an intermediate waste collection point in step S2 of the method provided by the present invention;

[0082] Figure 5 A flowchart of the specific steps of determining whether to use a circular arc or a straight line turning method in step S2 of the method provided by the present invention;

[0083] Figure 6 A schematic diagram of the total distance between the starting point and the target end point of the domestic waste cleaning and transporting vehicle in step S2 of the method provided by the present invention;

[0084] Figure 7 A schematic diagram of a left-turn circle and a right-turn circle in which straight line A is used as a tangent and tangent line B is used as a tangent in optimizing the arc turn at the turning direction of the q+1th intermediate garbage collection point in steps S201-S205 of the method provided by the present invention at the qth and q+1th intermediate garbage transfer points;

[0085] Figure 8 A schematic diagram of an arc turning path in which a person first turns left in an arc, then walks in a straight line, and then turns left in an arc from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point in the method provided by the present invention;

[0086] Fig. 9 A schematic diagram of an arc turning path in which a person first turns left in an arc, then walks in a straight line, and then turns right in an arc from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point in the method provided by the present invention;

[0087] Fig.10 A schematic diagram of an arc turning path in which a person first turns right in an arc, then walks in a straight line, and then turns left in an arc from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point in the method provided by the present invention;

[0088] Fig.11A schematic diagram of an arc turning path in which a person first turns right in an arc, then walks in a straight line, and then turns right in an arc from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point in the method provided by the present invention;

[0089] Fig.12 A schematic diagram of a process for optimizing the angles between each intermediate domestic waste collection point and the x-axis of the earth coordinate system in a plane rectangular coordinate system when walking in a circular turning manner provided by the invention by using a genetic algorithm;

[0090] Fig.13 This is a schematic diagram of the structure of the domestic waste classification, cleaning and transportation system provided by the present invention. DETAILED DESCRIPTION

[0091] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0092] like Figure 1 As shown, a method for classifying, cleaning and transporting domestic waste provided by the present invention comprises the following steps:

[0093] S1: Real-time monitoring and collection of ultrasonic parameter data of domestic waste, then rough classification and weighing, fine classification of domestic waste, and placing the classified domestic waste into different waste cleaning and transportation bins;

[0094] S2: Real-time monitoring of the geographic coordinates and travel direction of the domestic waste cleaning and transportation vehicle in the geodetic coordinate system, and calculation of the total distance D between the starting point and the target end point of the domestic waste cleaning and transportation vehicle toatal , determine whether the domestic garbage cleaning and transporting vehicle turns in an arc turning manner or a straight turning manner at an intermediate garbage collection point during the garbage cleaning process, and plan the turning direction of the circular turning manner of the domestic garbage cleaning and transporting vehicle;

[0095] Preferably, the geographical location coordinates of the domestic waste cleaning and transporting vehicle monitored in real time in step S2 of the present invention adopt the geographical coordinates in the geodetic coordinate system, and its travel direction is transformed by selecting the x-axis and y-axis in the geodetic coordinate system as the horizontal axis and vertical axis of the newly established plane rectangular coordinate system, respectively, and then the travel direction obtained by transformation is [0°, 180°] and [-180°, 0°] based on the x-axis of the newly established plane rectangular coordinate system, that is, the 360° rotation angle of the domestic waste cleaning and transporting vehicle in the entire plane of the plane rectangular coordinate system, such as Figure 4As shown, the x-axis is divided into an upper half of [0°, 180°] and a lower half of [-180°, 0°];

[0096] S3: Optimize the shortest route of the garbage collection and transportation vehicle to complete the classification and collection of domestic garbage.

[0097] Preferably, in step S3 of the present invention, after step S2 performs the turning selection of each intermediate garbage collection point as left turn or right turn, the travel distance from the initial point (i.e., the first intermediate garbage collection point) to the target end point (i.e., the last intermediate garbage collection point) of the domestic garbage collection and transportation vehicle is shorter, and a circular turning method or a straight turning method is selected, and the circular turning method is further determined to turn left or right. If the circular turning method is used to turn at the intermediate garbage collection point, step S3 is used to further optimize the angle of the domestic garbage collection and transportation vehicle at each intermediate garbage collection point relative to the x-axis of the newly established plane rectangular coordinate system, and then after step S2 determines whether the turn of each intermediate garbage collection point is left or right, the angle with the x-axis of the plane rectangular coordinate system during the turn is further optimized, so that the garbage collection and transportation path is further optimized to the shortest.

[0098] As a preferred embodiment of the present invention, Figure 2 As shown, in the method provided by the present invention, the real-time collection of ultrasonic parameter data of domestic waste and the weighing data after rough classification in step S1, and the fine classification of domestic waste, include the following steps:

[0099] S11: real-time monitoring of the temperature T(t) of domestic garbage, and emitting ultrasonic signals to the domestic garbage, real-time monitoring of the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, the radial distance R(t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the refraction direction of the ultrasonic wave by the monitored garbage;

[0100] S12: Construct a real-time subdivision dryness and humidity calculation model for domestic waste, and calculate the real-time dryness and humidity of the monitored domestic waste during subdivision:

[0101] S13: Determine whether the real-time dryness and wetness of the monitored domestic waste is greater than or equal to the humidity threshold within the monitored time period n. If it is greater than or equal to the humidity threshold, classify the domestic waste as subdivided wet waste; otherwise, classify the domestic waste as subdivided dry waste.

[0102] As another preferred embodiment of the present invention, specifically, Figure 3As shown, the method for constructing a real-time subdivided dryness and wetness calculation model for domestic waste in step S12 includes the following steps:

[0103] S121: Construct the dryness coefficient D related to the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located. L (t) calculation model and the dryness coefficient D related to the radial distance R(t) from the horizontal plane of the domestic garbage to the central axis of the ultrasonic signal emission source point R (t) Calculation model:

[0104]

[0105]

[0106] Among them, λ1 is the composite density coefficient of dryness of domestic waste, w1 is the total weight of dry garbage roughly sorted and weighed in step S1, and w2 is the total weight of wet garbage roughly sorted and weighed in step S1;

[0107] S122: According to the results calculated in S121, the first household waste dryness and humidity mixing coefficient DH is constructed respectively. L (t) Calculation model and second household waste dryness and humidity mixing coefficient DH R (t) Calculation model:

[0108]

[0109]

[0110] Among them, λ2 is the humidity composite specific gravity coefficient of domestic waste, Q is the polarization mixing coefficient of the ultrasonic signal caused by the wet garbage in the domestic garbage. μ(β(t)) is the refraction coefficient of the ultrasonic signal due to the presence of wet garbage, with an angle of β(t) in the direction of the refraction of the ultrasonic signal at the incident point of the ultrasonic wave. G(θ(t)) is the influence coefficient of the angle θ(t) between the horizontal plane of the ultrasonic incident point of the monitored garbage and the ultrasonic emission source point on the wet garbage detection. G(θ(t)) = λ2 / cos 2 θ(t),

[0111] S123: Construct a calculation model for the dryness and humidity DH(t) of subdivided domestic garbage:

[0112] DH(t)=T(t)[1-(DH L (t)+DH R (t))]e -η +T(t)(1-κ)(1-e -η )[1+e-η (1-(DH L (t)+DH R (t)))]

[0113] Among them, η is the attenuation coefficient of the ultrasonic signal caused by the monitored garbage, η is generally 0.002-0.009dB / (cm·MHz), κ is the reflection coefficient of the ultrasonic signal caused by the monitored garbage, κ is generally 0.05-0.10; and then the real-time dryness and wetness of the subdivided domestic garbage are calculated;

[0114] As shown in Table 1, in step S122, the polarization mixing coefficient Q of polarization caused by wet garbage in domestic garbage has different values ​​when ultrasonic wave transmitting signals have different powers.

[0115] Table 1

[0116] Ultrasonic emission signal power Polarization mixing coefficient Q 1.4GHz 0.01～0.15 5GHz 0.15～0.30 10.7GHz 0.20～0.50

[0117] The method for classifying, cleaning and transporting domestic waste provided by the present invention first monitors the ultrasonic parameter data of domestic waste in real time: the height L(t) of the horizontal plane where the domestic waste is located from the ultrasonic signal emission source point, the radial distance R(t) from the horizontal plane where the domestic waste is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored waste is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored waste is located and the refraction direction of the ultrasonic wave by the monitored waste, and then respectively constructs the dryness coefficient D with L(t) and R(t). L (t) and D R (t), then according to D L (t) and D R (t) Calculate the first household garbage dryness and humidity mixing coefficient DH L (t) and the second household waste dryness and humidity mixing coefficient DH R (t), the first household waste dryness and humidity mixing coefficient DH L (t) and the second household waste dryness and humidity mixing coefficient DH R (t) takes into account the polarization mixing coefficient of the ultrasonic signal caused by wet garbage in the domestic garbage, the refraction coefficient μ(β(t)) affected by the refraction angle β(t) of the ultrasonic signal caused by the wet garbage, and the influence coefficient G(θ(t)) of θ(t) on the detection of wet garbage;

[0118] According to the first household garbage dryness and humidity mixing coefficient DH L (t) and the second household waste dryness and humidity mixing coefficient DH R(t), the attenuation coefficient η and the reflection coefficient κ of the ultrasonic signal caused by domestic garbage are integrated, and finally the calculation model of the dryness and humidity DH(t) of the domestic garbage is constructed, and it is judged whether it is greater than the humidity threshold DH thres To subdivide the dryness and wetness of the monitored domestic waste, and calculate the dryness composite specific gravity coefficient λ1 and the moisture composite specific gravity coefficient λ2 of the domestic waste after rough classification and weighing, so as to effectively and accurately judge the dryness and wetness of the domestic waste, avoiding the unclear distinction of domestic waste caused by rough classification, resulting in inaccurate classification in the later stage. When dry waste or wet waste is treated separately in the later stage, if the early classification is inaccurate, resulting in a lot of wet waste mixed in the dry waste, it will cause the treatment process specifically for dry waste to incompletely treat the wet waste, or the treatment process specifically for wet waste to incompletely treat the dry waste, resulting in low efficiency of domestic waste treatment.

[0119] The first household garbage dry-humidity mixing coefficient DH provided by the present invention L (t) and the second household waste dryness and humidity mixing coefficient DH R (t) is the dryness coefficient D related to the height L(t) calculated in step S121 L (t) and the dryness coefficient D related to the radial distance R(t) R (t), and then the two dryness coefficients D L (t) and D R (t) considers the detection factors of the dryness and wetness of the monitored domestic waste caused by the height L(t) of the ultrasonic signal to the monitored domestic waste and the radial distance R(t) from the central axis of the ultrasonic signal emission source point on the horizontal plane where the domestic waste is located, thereby improving the accuracy and comprehensiveness of the final constructed detailed dryness and wetness calculation model DH(t).

[0120] In the method for sorting, cleaning and transporting domestic waste provided by the present invention, a first domestic waste dryness and humidity mixing coefficient DH is adopted, which takes into account the composite specific gravity coefficient λ1 of the domestic waste dryness at each time point within the total time n monitored in real time, the composite specific gravity coefficient λ2 of the humidity, the polarization mixing coefficient of the ultrasonic signal caused by the wet waste, the ultrasonic refraction coefficient μ(β(t)) that should be absorbed by the refraction angle β(t), and the influence coefficient G(θ(t)) of the angle θ(t) between the emission direction at the ultrasonic incident point and the horizontal plane. L (t) and the second household waste dryness and humidity mixing coefficient DH R (t) The humidity threshold DH caused by the calculated average value and the temperature at each monitoring time point thresTherefore, the humidity threshold also changes dynamically with various influencing factors and the total monitoring time, thereby more effectively determining the humidity threshold of different environmental factors and the monitored garbage conditions, and effectively dividing the monitored garbage into a measurement scale for the subdivision of domestic garbage mixed with dry garbage and wet garbage, avoiding misjudgment when subdividing dry and wet garbage when the temperature threshold is only at one point value.

[0121] As another preferred embodiment of the invention, Figure 4 As shown, in the method for classifying, cleaning and transporting domestic waste provided by the present invention, during the process of cleaning and transporting waste by a domestic waste collection vehicle, a plurality of intermediate waste collection points will be passed. At each intermediate waste collection point, a straight line connecting route between points can be used to travel, or a curved arc walking route can be used to pass through each intermediate waste collection point, such as Figure 5 As shown, step S2 in the method provided by the present invention comprises the following steps:

[0122] S21: Real-time monitoring of domestic waste collection and transportation vehicles Figure 4 The geographical location coordinates (x q ,y q ) and the angle α between its direction of travel and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system q , q=1,2,…,m,α q ∈[-180°, 180°]; the geographical coordinates of the domestic waste collection and transportation vehicle at the starting point are (x1, y1), and the angle between the travel direction at the starting point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is α1; the geographical coordinates of the target terminal of the domestic waste collection and transportation vehicle at the mth intermediate garbage collection point are (x m ,y m ), the angle between the direction of travel at the mth intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is α m ; The first intermediate garbage collection point is the starting point of the domestic garbage cleaning and transportation vehicle, and the mth intermediate garbage collection point is the last garbage collection point of the domestic garbage cleaning and transportation vehicle;

[0123] S22: Calculate Figure 6 As shown, the total distance D between the starting point and the target end point of the domestic garbage cleaning and transportation vehicle toatal :

[0124] S23: According to the diameter of the domestic waste collection and transportation vehicle, the minimum turning circle radius r of the domestic waste collection and transportation vehicle at the intermediate waste collection point is limited min : Wherein, d is the front and rear wheelbase of the domestic waste cleaning and transport vehicle;

[0125] S24: If the total distance D between the starting point and the target end point of the household garbage cleaning and transportation vehicle calculated in step S22 is toatal ≥50r min , then the domestic waste cleaning and transport vehicle uses an arc turning path at the intermediate garbage collection point; if the total distance between the starting point and the target end point of the domestic waste cleaning and transport vehicle calculated in step S32 satisfies the following conditions: 30r min <D total <50r min , the domestic waste collection and transportation vehicle adopts a straight-line turning path at the intermediate garbage collection point.

[0126] The method for classifying, cleaning and transporting domestic waste provided by the present invention monitors in real time the linear plane Euler distance between each intermediate waste collection point and the first intermediate waste collection point (starting point) and the last intermediate waste collection point (target end point) of the domestic waste cleaning and transporting vehicle. Then calculate the value r based on the front and rear wheelbase d of different domestic garbage cleaning and transportation vehicles min As the threshold, 50 times r min As a criterion for whether to use the arc turning method to turn at each intermediate garbage point, the walking path is judged, and 30 times the r min As the minimum limit for straight-line turning at each intermediate garbage collection point, it effectively considers the minimum turning radius r required by the front and rear wheelbases of different types of domestic garbage collection and transportation vehicles if circular turning is adopted at each intermediate garbage collection point. min , and then the total distance required for the circular turning method of each intermediate collection point is calculated by the minimum turning radius r min Then the total plane Euler distance D between the starting point and the target end point is determined. toatal With the judgment standard 50r min For comparison, if D toatal ≥50r min , it indicates that the domestic garbage collection and transportation vehicles are suitable for the following use at the intermediate garbage collection points: Figure 7-11 If you walk along the arc turning path shown in the figure, at 30r min <D toatal <50r min range, you can choose a straight-line turning path, that is, do not use the circular turning method as shown in Figure 7-11.

[0127] The circular arc turning method of the method for sorting, cleaning and transporting domestic waste provided by the present invention is as follows: Figure 7 As shown, between the qth intermediate garbage collection point and the q+1th intermediate garbage collection point, when the method for classifying, cleaning and transporting domestic garbage provided by the present invention is not adopted, there is an arc-shaped walking path F, and the domestic garbage cleaning and transporting vehicle is at an angle α between the qth intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system according to the walking direction of the walking path F. q , the angle between the q+1th intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is α q+1 In order to optimize the classification and cleaning of domestic waste and the turning paths at each intermediate waste collection point, if D toatal ≥50r min , it indicates that the domestic garbage collection and transportation vehicle is suitable for using an arc turning method at the intermediate garbage collection point, such as Figure 8-11 As shown, at the qth intermediate garbage collection point, there are left-turning circles and right-turning circles tangent to the straight line A on the left and right sides of the straight line A, respectively. The center of the left-turning circle is The center of the right-turn circle is When the walking path using the circular turning method moves from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point to continue collecting garbage, in order to reach the q+1th intermediate garbage point, first turn left from the qth intermediate garbage point to the center of the circle. Turn left a certain angle or turn a certain angle with the center of the right-turn circle, and then the length of the arc path is The angle of rotation is β1; after walking the arc path, it reaches the tangent point C from the qth intermediate garbage point q , in order to reach the q+1th intermediate garbage collection point, from the tangent point C q Walk a certain straight distance After reaching point C q+1 , and then from C before reaching the q+1th intermediate garbage collection point q+1 Point to walk a circular path The turning angle is β2, and the arc path is the angle α between the walking path F of the q+1th intermediate garbage collection point and the x-axis of the geodetic coordinate system q+1 The direction is a part of the left-turning circle or right-turning circle of the tangent line B, and C q+1 Straight-line distance traveled by garbage collection and transportation vehicles The tangent point of the straight line and the left-turn circle or right-turn circle of the q+1th intermediate garbage collection point. The center of the q+1th left-turn circle is The center of the q+1th right turn circle is So line segment C q C q+1 The center of the circle with the qth intermediate garbage collection point is O q The turning circle (when the turning circle is a left turning circle, the center O qfor When the circle is a right-turn circle, the center O q for ) and is tangent to the q+1th intermediate garbage collection point. q+1 The turning circle (when the turning circle is a left turning circle, the center O q+1 for When the circle is a right-turn circle, the center O q+1 for ) are tangent.

[0128] like Figure 8 The arc turning method shown is that the center of the circle at the qth intermediate garbage collection point is Walking arc distance on the left turn circle After reaching the tangent point C q ; Then from the tangent point C q Straight line distance After reaching the tangent point C q+1 , from the tangent point C q+1 The center of the circle around the q+1th intermediate garbage collection point is The arc distance on the left turn circle After that, it arrives at the q+1th intermediate garbage collection point.

[0129] like Fig. 9 The arc turning method shown is that the center of the circle at the qth intermediate garbage collection point is Walking arc distance on the left turn circle After reaching the tangent point C q ; Then from the tangent point C q Straight line distance After reaching the tangent point C q+1 , from the tangent point C q+1 The center of the circle around the q+1th intermediate garbage collection point is The arc distance on the right turn circle After that, it arrives at the q+1th intermediate garbage collection point.

[0130] like Fig.10 The arc turning method shown is that the center of the circle at the qth intermediate garbage collection point is Walking arc distance on the right turn circle After reaching the tangent point C q ; Then from the tangent point C q Straight line distance After reaching the tangent point C q+1 , from the tangent point C q+1 The center of the circle around the q+1th intermediate garbage collection point is The arc distance on the left turn circle After that, it arrives at the q+1th intermediate garbage collection point.

[0131] like Fig.11 The arc turning method shown is that the center of the circle at the qth intermediate garbage collection point is Walking arc distance on the right turn circle After reaching the tangent point C q ; Then from the tangent point C q Straight line distance After reaching the tangent point C q+1 , from the tangent point C q+1 The center of the circle around the q+1th intermediate garbage collection point is The arc distance on the right turn circle After that, it arrives at the q+1th intermediate garbage collection point.

[0132] Therefore, as another preferred embodiment of the present invention, when the domestic waste collection and transportation vehicle adopts a circular turning path at the intermediate waste collection point, the turning direction of the circular turning method of the domestic waste collection and transportation vehicle is planned in step S2, including the following steps:

[0133] S201: Construct the total path length of the circular turning path used by the domestic garbage collection and transportation vehicle Computational model:

[0134]

[0135] When turning in an arc, the turning angle of the garbage collection and transportation vehicle at the qth intermediate garbage collection point is β1, and the turning path distance is In order to reach the q+1th intermediate garbage collection point, the domestic garbage collection vehicle has a turning angle of β2 at the q+1th intermediate garbage collection point, and the turning path distance is The straight-line distance that the domestic waste collection and transportation vehicle travels after turning at the qth intermediate waste collection point and turning to reach the q+1th intermediate waste collection point is That is Figure 8-11 The distance traveled by the domestic waste collection vehicle shown in the figure after turning at the qth intermediate waste collection point is The arc path is located at the center of the arc, O q The tangent point C on the circle q Turn and walk with the q+1th intermediate garbage collection point The arc path is located at the center of the circle O. q+1 The tangent point C on the circle q+1 The straight-line distance between and The turning distance of the qth intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at Oq The tangent point C on the circle q The horizontal and vertical coordinates of and The turning distance before reaching the q+1th intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at O q+1 The tangent point C on the circle q+1 The horizontal and vertical coordinates of

[0136] S202: The included angle α between the travel direction of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system respectively monitored in real time according to step S21 q , α q+1 , the turning angle of the domestic waste collection vehicle at the qth intermediate waste collection point is β1 and the turning angle of the q+1th intermediate waste collection point is β2, which are converted into the calculation formula in the plane rectangular coordinate system:

[0137]

[0138]

[0139] S203: The total path length of the path of the household garbage cleaning and transporting vehicle using the arc turning method according to the conversion result of step S202 and the total path length of the path of the household garbage cleaning and transporting vehicle using the arc turning method constructed in step S201 Calculation model, construct a calculation model for the total length of the turning walking path that minimizes the circular turning method:

[0140]

[0141]

[0142] -180°≤α q+1 ≤180°

[0143] -180°≤α q ≤180°

[0144] α q ≠α q+1 ;

[0145] like Fig. 9 , Fig.11 As shown, when turning right at point Cq+1 to reach point q+1,

[0146]

[0147] , x q+1 +r min ×sinαq+1 In order to reach point q+1, q+1 Click the right turn circle to turn right The horizontal axis, y q+1 -r min ×cosα q+1 In order to reach point t+1, q+1 Click the right turn circle to turn right The vertical coordinate of The coordinates of (x q+1 +r min ×sinα q+1 ,y q+1 -r min ×cosα q+1 )

[0148] like Figure 8 , Fig.10 As shown, when C q+1 When point turns left to reach point q+1,

[0149]

[0150] , x q+1 -r min ×sinα q+1 In order to reach point q+1, q+1 Click the left turn circle The horizontal axis, y q+1 +r min ×cosα q+1 In order to reach point q+1, q+1 Click the left turn circle The vertical coordinate of the left-turn circle The coordinates of (x q+1 -r min ×sinα q+1 ,y q+1 +r min ×cosα q+1 );

[0151] S204: Obtaining the optimal angle between the travel direction of the domestic waste cleaning and transporting vehicle at the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The absolute value of:

[0152]

[0153] S205: Determine the angle α between the x-axis of the geodetic coordinate system in the plane rectangular coordinate system and the q+1th intermediate garbage collection point of the domestic garbage cleaning and transportation vehicle obtained by real-time monitoring q+1 The absolute value of |α q+1|Is it satisfied If it is greater, turn left at the q+1 intermediate garbage collection point, otherwise turn right.

[0154] The method provided by the present invention monitors in real time the angle α between the x-axis direction of the earth coordinate system and the domestic garbage cleaning and transporting vehicle at each intermediate garbage collection point in the plane rectangular coordinate system. q and geographic coordinates (x q ,y q ), and the minimum turning circle radius r of the garbage collection and transportation vehicle at the intermediate garbage collection point min Then, through the steps S201-S205 in the method provided by the present invention, the angle α of each intermediate garbage collection point is considered. q , the angle α of the next intermediate garbage collection point q+1 The left-turning circle with the straight line A in the direction and the tangent B as the tangent and right turn circle Walk the circular path of the arc turning on the turning circle of the qth intermediate garbage collection point and the q+1th intermediate garbage collection point respectively and and the line segment C between the two tangent points of the common tangent line of the turning circle of the qth intermediate garbage collection point and the q+1th intermediate garbage collection point q C q+1 Straight line distance It is expressed as the turning angles β1 and β2 and the minimum turning circle radius r that limits the circular turning of the domestic garbage collection and transportation vehicle at the intermediate garbage collection point min and two tangent points C q , C q+1 The total length of the arc turning path based on the coordinate parameters of the turning method The turning angle β1 at the qth intermediate garbage collection point and the turning angle β2 at the q+1th intermediate garbage collection point are respectively represented by the angle α between the traveling direction and the x-axis direction of the geodetic coordinate system in the plane rectangular coordinate system q and tangent point C q Coordinate-related calculation formula, α q+1 and the tangent point C q+1 After calculating the coordinate-related formula, using the known parameters and angle α q , α q+1 The limiting condition is to minimize the total length of the arc turning path. Then, the optimal angle between the turning direction of each intermediate garbage collection point and the x-axis direction of the plane rectangular coordinate system and the geodetic coordinate system is obtained. After reinforcement learning of this model, for the domestic garbage cleaning and transportation vehicle controlled by this method, the included angle α between the travel direction of the q+1th intermediate garbage collection point obtained by real-time monitoring and the x-axis direction of the geodetic coordinate system in the plane rectangular coordinate system is q+1 The absolute value of |α q+1 |Absolute value of the angle with the optimal angle Comparative judgment analysis is performed to determine whether the turn at the q+1th intermediate garbage collection point is a left turn or a right turn, and the total length of the arc turning walking path from the qth intermediate garbage collection point to the q+1th intermediate garbage collection point The shortest total length of the walking path of the entire arc turning method from the starting point to the target end point Shortest.

[0155] As another preferred embodiment of the present invention, Fig.12 As shown, in step S3, the garbage collection and transportation path of the domestic garbage collection and transportation vehicle is further optimized to the shortest possible level, including the following steps:

[0156] S31: According to the left or right turn direction of each intermediate garbage collection point determined in steps S201-S205, the domestic garbage cleaning and transportation vehicle turns in an arc, and monitors in real time the angle α between the direction of travel of each intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system j As initial value, j = 2, 3, ... m-1;

[0157] S32: Take the angle α between the travel direction of the jth and j+1th intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system respectively. j and α j+1 The average value of is used as the predicted value of the angle between the travel direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system.

[0158] S33: The predicted value of the angle between the travel direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The angle α between the direction of travel of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system j , calculate the updated value set of the angle between the travel direction of all the intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system

[0159] S34: Use genetic algorithm to optimize the angle update value set calculated in step S33 The updated value of the angle of each intermediate domestic waste collection point in Calculate the fitness value of the angle update value set S

[0160]

[0161] S35: Determine the updated value of the angle of the j-th intermediate domestic waste collection point Is it greater than the fitness value of the angle update value set S calculated in step S34? If it is greater, the angle update value of the jth intermediate domestic waste collection point is adopted. Substitute the total path length of the arc turning walking path constructed in steps S101-S202 In the calculation model, the shortest optimization value of the total path of the arc turning mode is obtained; otherwise, the angle update value of each intermediate domestic waste collection point is corrected using discrete accuracy ε That is, the angle update value of each intermediate domestic waste collection point is used Repeat steps S31-S34 as the initial value of step S31 to optimize the angle between each intermediate domestic waste collection point and the x-axis of the earth coordinate system in the plane rectangular coordinate system, thereby making the arc turning mode the shortest walking path;

[0162]

[0163] In the preferred embodiment provided by the present invention, the angle α between each intermediate garbage collection point and the x-axis of the earth coordinate system in the plane rectangular coordinate system obtained by real-time monitoring is j As the initial value, then take the angle α between the jth and j+1th intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system j and α j+1 , the average value of the two (α j +α j+1 ) / 2 is used as the predicted value of the angle between the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system. By replacing and updating the angles of all the intermediate garbage collection points with the x-axis of the geodetic coordinate system in the plane rectangular coordinate system, a set of updated angle values ​​of all the intermediate domestic garbage collection points with the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is formed. By using genetic algorithm to optimize the iterative angle update value set S, the fitness value of the angle update value set S is calculated After reinforcement learning, determine the updated value of the angle of the jth intermediate garbage collection point monitored in real time is the fitness value of the calculated angle update value set S If it is greater than, it proves that the angle update value of the intermediate garbage collection point is in the optimal convergence result, and the total path length of the arc turning walking path constructed in steps S101-S202 is substituted into In the calculation model, the shortest optimization value of the arc turning walking path is obtained, which can effectively improve the calculation accuracy of the arc turning walking path and avoid the defect of too long total distance caused by angle calculation and control errors; if it is less than or equal to the fitness value This proves that the updated angle value of the intermediate garbage collection point is in a state of low fitness and discreteness, so the calculated discrete accuracy is used. To correct the angle update value of each intermediate domestic waste collection point That is, the angle update value of each intermediate domestic waste collection point is used Repeat steps S31-S34 as the initial value of step S31 to optimize the angle between the path direction of each intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system, and then select the direction of the circular turning mode as left turn or right turn in steps S201-S205 of step S2, so that the total path length of the circular turning mode turning path is The shortest total length of the walking path for the entire arc turning method In the shortest case, the variables that affect the total length of the arc turning path are further analyzed from the perspective of accuracy: the angle α between the jth intermediate garbage collection point and the x-axis of the geodetic coordinate system of the plane rectangular coordinate system j , and further optimize the garbage collection and transportation routes of domestic garbage collection and transportation vehicles in the shortest possible time.

[0164] like Fig.13 As shown, the present invention also provides a system for classifying, cleaning and transporting domestic waste, including a domestic waste ultrasonic parameter acquisition module, a domestic waste coarse classification and weighing module, a domestic waste temperature acquisition module, a domestic waste fine classification module, a domestic waste cleaning and transport vehicle geographical location parameter acquisition module, a total distance calculation module, a turning mode control module and a shortest path optimization module;

[0165] The domestic garbage ultrasonic parameter acquisition module includes an ultrasonic transmitter and an ultrasonic receiver, wherein the ultrasonic transmitter is used to transmit ultrasonic signals to the monitored domestic garbage, and the ultrasonic receiver is used to receive the reflected signals of the monitored domestic garbage, thereby real-time monitoring and collecting the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, the radial distance R(t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the refraction direction of the ultrasonic wave by the monitored garbage;

[0166] A domestic waste rough classification and weighing module is used to roughly classify domestic waste and weigh the dry waste and wet waste after rough classification to obtain a total weight w1 of dry waste and a total weight w2 of wet waste;

[0167] Domestic waste temperature collection module, used for real-time monitoring and collection of domestic waste temperature T(t);

[0168] The household garbage classification module is used to implement the steps S121-S123 of the household garbage classification and cleaning and transportation method provided by the present invention, construct a real-time household garbage classification dryness and humidity calculation model, calculate the real-time dryness and humidity of the monitored household garbage during classification, and calculate the humidity threshold DH thres , and then implement step S13 of the method for classifying, cleaning and transporting domestic waste provided by the present invention, determine whether the real-time dryness and wetness of the monitored domestic waste is greater than or equal to the humidity threshold value within the monitored time period n to perform sub-classification of the domestic waste;

[0169] The geographic location parameter acquisition module of the domestic garbage cleaning and transportation vehicle is used to monitor and collect the geographic location coordinates (x q ,y q ) and the angle α with the x-axis of the geodetic coordinate system in the plane rectangular coordinate system q ;

[0170] The total distance calculation module is used to calculate the total distance D between the starting point and the target end point of the domestic garbage cleaning and transportation vehicle. toatal ;

[0171] The turning mode control module is used to implement step S24 of the method for classifying, cleaning and transporting domestic waste provided by the present invention, determine whether the domestic waste cleaning and transport vehicle turns in an arc turning mode or a straight turning mode at an intermediate waste collection point during the process of completing waste cleaning, and implement steps S201-S205 of the method for classifying, cleaning and transporting domestic waste provided by the present invention, and plan the waste cleaning and transport path of the domestic waste cleaning and transport vehicle;

[0172] The shortest path optimization module is used to implement steps S31-S35 of the method for sorting, cleaning and transporting domestic waste provided by the present invention, and to perform the shortest optimization on the garbage cleaning and transport path of the domestic waste cleaning and transport vehicle.

[0173] The domestic waste sub-classification module, the turning mode control module and the shortest path optimization module are different sub-control modules included in the main control module.

[0174] The present invention also provides an electronic device, which includes a processor and a memory for storing instructions executable by the processor; the processor is configured to call the instructions stored in the memory to execute the method for classifying, cleaning and transporting domestic waste provided by the present invention.

[0175] The present invention also provides a computer-readable medium on which computer program instructions are stored. The computer program instructions can be executed by one or more processors to implement the method for classifying, cleaning and transporting domestic waste.

[0176] It should be noted that the terms "include", "comprises" or any other variations thereof in the present invention described above are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0177] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0178] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for classifying, cleaning and transporting domestic waste, characterized in that: The following steps are involved: S1: Real-time monitoring and collection of ultrasonic parameter data of domestic waste, then rough classification and weighing, fine classification of domestic waste, and placing the classified domestic waste into different waste cleaning and transportation bins; S2: real-time monitoring of the geographic location coordinates and travel direction of the domestic waste cleaning and transportation vehicle, and calculation of the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle, judging whether the domestic waste cleaning and transportation vehicle turns in an arc or in a straight line at an intermediate garbage collection point during the garbage cleaning process, and planning the turning direction of the domestic waste cleaning and transportation vehicle in an arc turn; S3: Further optimize the shortest path of garbage collection and transportation of domestic garbage collection and transportation vehicles to complete the classification and collection of domestic garbage; The real-time collection of ultrasonic parameter data of domestic waste and weighing data after rough classification in step S1 to finely classify domestic waste includes the following steps: S11: real-time monitoring of the temperature T(t) of domestic garbage, and emitting ultrasonic signals to the domestic garbage, real-time monitoring of the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located, the radial distance R(t) from the horizontal plane where the domestic garbage is located to the central axis of the ultrasonic signal emission source point, the angle θ(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the ultrasonic emission source point, and the angle β(t) between the horizontal plane where the ultrasonic incident point of the monitored garbage is located and the direction of refraction of the ultrasonic wave by the monitored garbage; S12: constructing a real-time subdivision dryness and wetness calculation model for domestic waste, and calculating the real-time dryness and wetness of the monitored domestic waste during subdivision; S13: determining whether the real-time dryness and wetness of the monitored domestic waste is greater than or equal to a humidity threshold value within the monitored time period n; if so, classifying the domestic waste as subdivided wet waste; otherwise, classifying the domestic waste as subdivided dry waste; The method of constructing a real-time subdivision dryness and wetness calculation model for domestic waste in S12 comprises the following steps: S121: Construct the dryness coefficient D related to the height L(t) of the domestic garbage from the horizontal plane where the ultrasonic signal emission source point is located. L (t) calculation model and the dryness coefficient D related to the radial distance R(t) from the horizontal plane of the domestic garbage to the central axis of the ultrasonic signal emission source point R (t) Calculation model: Among them, λ1 is the composite density coefficient of dryness of domestic waste, w1 is the total weight of the dry garbage roughly sorted and weighed in step S1, and w2 is the total weight of the wet garbage roughly sorted and weighed in step S1; S122: According to the results calculated in S121, the first household waste dryness and humidity mixing coefficient DH is respectively constructed. L (t) Calculation model and second household waste dryness and humidity mixing coefficient DH R (t) Calculation model: Among them, λ2 is the humidity composite specific gravity coefficient of domestic waste, Q is the polarization mixing coefficient of the ultrasonic signal, μ(β(t)) is the refraction coefficient of the ultrasonic signal at the ultrasonic incident point with an angle of β(t) in the refraction direction, G(θ(t)) is the influence coefficient of the angle θ(t) between the horizontal plane of the ultrasonic incident point of the monitored garbage and the ultrasonic emission source point on the wet garbage detection, G(θ(t)) = λ2 / cos 2 θ(t), S123: Construct a calculation model for the dryness and humidity DH(t) of subdivided domestic garbage: DH(t)=T(t)[1-(DH L (t)+DH R (t))]e -η +T(t)(1-κ)(1-e -η )[1+e -η (1-(DH L (t)+DH R (t)))] Wherein, η is the attenuation coefficient of the ultrasonic signal caused by the monitored garbage, and κ is the reflection coefficient of the ultrasonic signal caused by the monitored garbage; and the real-time dryness and wetness of the subdivided domestic garbage are calculated; The S2 step includes the following steps: S21: Real-time monitoring of the geographical location coordinates (x q ,y q ) and the angle α between its direction of travel and the x-axis of the earth coordinate system in the plane rectangular coordinate system q , q=1,2,…,m; and then the geographical location coordinates of the domestic waste cleaning and transporting vehicle at the starting point are (x1,y1), and the angle between the traveling direction at the starting point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is α1; the geographical location coordinates of the domestic waste cleaning and transporting vehicle at the target end point of the mth intermediate garbage collection point are (x m ,y m ), the angle between the traveling direction of the mth intermediate garbage collection point and the x-axis of the earth coordinate system in the plane rectangular coordinate system is α m ; The first intermediate garbage collection point is the starting point of the domestic garbage cleaning and transportation vehicle, and the mth intermediate garbage collection point is the last garbage collection point of the domestic garbage cleaning and transportation vehicle; S22: Calculate the total distance D between the starting point and the target end point of the domestic waste cleaning and transporting vehicle toatal : S23: According to the diameter of the domestic waste cleaning and transporting vehicle, the minimum turning circle radius r of the domestic waste cleaning and transporting vehicle at the intermediate waste collection point is limited min : Wherein, d is the front and rear wheelbase of the domestic waste cleaning and transport vehicle; S24: If the total distance D between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S22 is toatal ≥50r min , the domestic waste cleaning and transporting vehicle takes a walking path that turns in an arc at the intermediate garbage collection point; if the total distance between the starting point and the target end point of the domestic waste cleaning and transporting vehicle calculated in step S22 satisfies the following conditions: 30r min <D toatal <50r min , the domestic waste cleaning and transport vehicle adopts a walking path that turns in a straight line at the intermediate waste collection point; When the domestic waste cleaning and transporting vehicle adopts a circular turning path at the intermediate waste collection point, the step S2 plans the turning direction of the circular turning of the domestic waste cleaning and transporting vehicle, including the following steps: S201: Constructing the total path length of the turning path of the domestic waste cleaning and transporting vehicle using an arc turning method Computational model: When turning in an arc, the turning angle of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point is β1, and the turning path distance is In order to reach the q+1th intermediate garbage collection point, the domestic garbage cleaning and transporting vehicle has a turning angle of β2 at the q+1th intermediate garbage collection point, and a turning walking path distance of The straight-line distance that the domestic waste cleaning and transporting vehicle travels after turning at the qth intermediate waste collection point and turning to reach the q+1th intermediate waste collection point is and The turning distance of the qth intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at O q Point C on the circle q The horizontal and vertical coordinates of and The turning distance before reaching the q+1th intermediate garbage collection point obtained by real-time monitoring in step S1 is The arc path has its center at O q+1 Point C on the circle q+1 The horizontal and vertical coordinates of S202: The included angle α between the travel direction of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system respectively monitored in real time according to step S21 q , α q+1 , the turning angle β1 of the domestic waste cleaning and transporting vehicle at the qth intermediate waste collection point and the turning angle β2 of the q+1th intermediate waste collection point are converted into a calculation formula in a plane rectangular coordinate system: S203: The total path length of the path of the domestic waste cleaning and transporting vehicle turning in an arc according to the conversion result of step S202 and the total path length of the path of the domestic waste cleaning and transporting vehicle turning in an arc according to step S201 Calculation model, construct a calculation model for the total length of the turning walking path that minimizes the circular turning method: S204: Obtaining the optimal angle between the travel direction of the domestic waste cleaning and transporting vehicle at the q+1th intermediate waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The absolute value of: S205: Determine the angle α between the travel direction of the q+1th intermediate garbage collection point of the domestic garbage cleaning and transportation vehicle obtained by real-time monitoring and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system q+1 The absolute value of |α q+1 |Is it satisfied If it is greater, turn left at the q+1 intermediate garbage collection point, otherwise turn right; The humidity threshold DH of step S13 thres for: Wherein, t=1, 2, ..., n, and n is the total time for transmitting ultrasonic signals to monitor domestic waste.

2. The method for classifying, cleaning and transporting domestic waste according to claim 1, characterized in that: In the step S3, the garbage collection and transportation path of the domestic garbage collection and transportation vehicle is further optimized to the shortest possible level, including the following steps: S31: According to the left or right turn direction of each intermediate garbage collection point determined in steps S201-S205, the domestic garbage cleaning and transportation vehicle turns and walks in an arc turning manner, and the included angle α between the traveling direction of each intermediate garbage collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is monitored in real time. j As initial value, j = 2, 3, ... m-1; S32: respectively taking the angle α between the travel direction of the jth and j+1th intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system j and α j+1 The average value of is used as the predicted value of the angle between the travel direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system. S33: using the predicted value of the angle between the travel direction of the j-th intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system The angle α between the traveling direction of the jth intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system is j , calculate the updated value set of the angle between the travel direction of all the intermediate domestic waste collection points and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system S34: Using a genetic algorithm to optimize the angle update value set calculated in step S33 The updated value of the angle of each intermediate domestic waste collection point in Calculate the fitness value of the angle update value set S S35: Determine the updated value of the angle of the j-th intermediate domestic waste collection point Is it greater than the fitness value of the angle update value set S calculated in step S34? If so, the angle update value of the jth intermediate domestic waste collection point is adopted. Substitute the total path length of the arc turning walking path constructed in steps S201-S202 into In the calculation model, the shortest optimization value of the turning walking path of the circular turning method is obtained; otherwise, the angle update value of each intermediate domestic waste collection point is corrected using discrete accuracy ε That is, the angle update value of each intermediate domestic waste collection point is used Repeating the steps S31-S34 as the initial value of step S31 to optimize the angle between each intermediate domestic waste collection point and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system; 3. A system for classifying, cleaning and transporting domestic waste according to any one of the methods described in claims 1-2, characterized in that: It includes a domestic waste ultrasonic parameter collection module, a domestic waste coarse classification and weighing module, a domestic waste temperature collection module, a domestic waste fine classification module, a domestic waste cleaning and transportation vehicle geographic location parameter collection module, a total distance calculation module, a turning mode control module and a shortest path optimization module; The domestic waste ultrasonic parameter collection module includes an ultrasonic transmitter and an ultrasonic receiver, which are used to monitor and collect ultrasonic parameter data of domestic waste in real time; The domestic waste rough classification and weighing module is used to roughly classify the domestic waste and weigh the dry waste and wet waste after the rough classification; The domestic waste temperature collection module is used to monitor and collect the temperature of domestic waste in real time; The household waste subdivision module is used to construct a real-time subdivision dryness and humidity calculation model for household waste, calculate the real-time dryness and humidity and humidity threshold of the monitored household waste during subdivision, and subdivide the household waste; The geographical location parameter acquisition module of the domestic waste cleaning and transporting vehicle is used to monitor and acquire the geographical location coordinates of the domestic waste cleaning and transporting vehicle at each intermediate garbage collection point in the plane rectangular coordinate system composed of the x-axis and y-axis of the geodetic coordinate system, as well as the angle between the geographical location coordinates of the domestic waste cleaning and transporting vehicle and the x-axis of the geodetic coordinate system in the plane rectangular coordinate system; The total distance calculation module is used to calculate the total distance between the starting point and the target end point of the domestic waste cleaning and transportation vehicle; The turning mode control module is used to determine whether the domestic waste cleaning and transporting vehicle uses an arc turning mode or a straight turning mode at an intermediate garbage collection point during the garbage cleaning process, and to plan the garbage cleaning and transportation path of the domestic waste cleaning and transporting vehicle; The shortest path optimization module is used to optimize the garbage collection and transportation path of the domestic garbage collection and transportation vehicle in the shortest possible manner.

4. An electronic device, comprising a processor and a memory for storing instructions executable by the processor; characterized in that: The processor is configured to call the instructions stored in the memory to execute the method for classifying, cleaning and transporting domestic waste as described in any one of claims 1-2.

5. A computer readable medium having computer program instructions stored thereon, characterized in that The computer program instructions can be executed by one or more processors to implement the method for classifying, cleaning and transporting domestic waste as described in any one of claims 1-2.

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