A garbage recycling box bag separation control method and control system

Abstract

The present invention discloses a garbage recycling box bag separation control method and control system, comprising an identification module, a control module, a data processing module, a sensing module and a data storage module; wherein the identification module is used to obtain target garbage information and store the obtained target garbage information in the data storage module; the target garbage information in the data storage module is processed by the data processing module to establish a three-dimensional model of the target garbage. The garbage recycling box bag separation control method and control system obtains the shape information of the target garbage, determines the separation end and the target garbage positioning end of the target garbage, facilitates the clamping of the garbage and the separation of the garbage bags, and in the process of clamping the target garbage, effectively reduces the garbage retention in the garbage bag by using the setting of the first clamp and the second clamp, and effectively improves the separation rate of the target garbage bags.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage recycling, and in particular to a garbage recycling box bag separation control method and control system. Background Art

[0002] Garbage is solid or fluid material that is not needed or useful. In cities, as the population increases, the amount of garbage generated also increases. Garbage can be roughly divided into recyclable garbage, non-recyclable garbage and kitchen waste. Garbage recycling bins are centralized garbage recycling points for unified garbage placement, which facilitates subsequent unified garbage treatment.

[0003] When users put garbage into the garbage disposal box, in order to facilitate the placement of sorted garbage, they will put the garbage in a garbage bag and tie the mouth of the garbage bag into a knot. However, the garbage bag tied into a knot is difficult to open, making it difficult to separate the garbage from the bag. In the process of separating the garbage from the bag, the bottom support of the garbage bag mostly adopts a double-layer design, which brings certain inconveniences to the removal of the garbage bag. In addition, some garbage bags have protruding corners, and garbage residues are easily generated at the corners, which brings certain inconveniences to the subsequent separation of the bag.

[0004] In response to existing problems, it is urgent to innovate on the original basis. Summary of the invention

[0005] The object of the present invention is to provide a control method and control system for separating objects from bags in a garbage recycling box, so as to solve the problem raised in the above background technology that when users put garbage into a garbage disposal box, in order to facilitate the placement of classified garbage, they will put the garbage in a garbage bag and tie the bag mouth into a knot. However, the garbage bag tied into a knot is difficult to open due to the bag mouth, and it is difficult to separate the garbage from the bag. In the process of separating the garbage from the bag, the bottom support of the garbage bag mostly adopts a double-layer design, which brings certain inconveniences to the removal of the garbage bag. In addition, some garbage bags have protruding corners, and garbage residues are easily generated at the corners, which brings certain inconveniences to the subsequent separation of objects from bags.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a garbage recycling box bag separation control method and control system, including an identification module, a control module, a data processing module, a sensing module and a data storage module;

[0007] The identification module is used to obtain the target junk information and store the obtained target junk information in the data storage module;

[0008] The target garbage information in the data storage module is processed by the data processing module to establish a three-dimensional model of the target garbage;

[0009] According to the three-dimensional model information of the target garbage, the control module controls the clamping mechanism to execute the clamping strategy for the target garbage;

[0010] By acquiring the status information of the clamping mechanism, a target garbage bag separation strategy is executed according to the status information of the clamping mechanism.

[0011] As an optional solution of the garbage collection box bag separation control method and control system of the present invention, the establishment of the target garbage three-dimensional model:

[0012] The appearance information of the target garbage is acquired by using the photographing device on the recognition module;

[0013] According to the acquired shape information of the target garbage, three-dimensional modeling of the target garbage is performed;

[0014] A three-dimensional coordinate system is established with the initial position of the clamping mechanism as the origin;

[0015] The three-dimensional coordinate information of the target garbage is acquired through a position acquisition device, and the three-dimensional coordinate information of the target garbage and the three-dimensional modeling of the target garbage are integrated to produce a three-dimensional model of the target garbage.

[0016] As an optional solution of the garbage collection box bag separation control method and control system of the present invention, wherein: according to the three-dimensional model of the target garbage, the three-dimensional coordinates of the target garbage and the shape information of the target garbage are obtained;

[0017] The data processing module integrates and processes the shape information of the target garbage to determine the target garbage positioning end and the target garbage separation end;

[0018] Among them, the determination of the target garbage positioning end and the target garbage separation end includes:

[0019] Obtaining the appearance information of the target garbage;

[0020] The sealing end of the target garbage is set as the target garbage separation end;

[0021] The end opposite to the sealing end of the target garbage is set as the target garbage positioning end.

[0022] As an optional solution of the garbage collection box bag separation control method and control system described in the present invention, the target garbage clamping strategy includes:

[0023] Obtaining location information of a target garbage separation end and a target garbage positioning end;

[0024] The control module is used to control the clamping mechanism to clamp and position the target garbage positioning end;

[0025] Wherein, the clamping mechanism comprises a first clamping jaw and a second clamping jaw;

[0026] Using the first clamp and the second clamp to clamp the target garbage positioning end;

[0027] Obtain the clamping value of the first clamping jaw and the clamping value of the second clamping jaw;

[0028] Calculate the clamping value of the clamping mechanism for the target garbage according to the clamping value of the first clamping jaw and the clamping value of the second clamping jaw;

[0029] The clamping value of the clamping mechanism = the clamping value of the first clamping jaw + the clamping value of the second clamping jaw;

[0030] According to the clamping value of the clamping mechanism, the target garbage swinging strategy is executed.

[0031] As an optional solution of the garbage collection box bag separation control method and control system described in the present invention, the target garbage swing strategy includes:

[0032] Obtain the clamping value of the clamping mechanism for the target garbage, the clamping mechanism state information and the target garbage information;

[0033] The clamping mechanism state information includes the clamping mechanism position, swing angle and obstruction factor;

[0034] According to the target garbage information, determine the inclined trajectory of the target garbage;

[0035] The tilt trajectory determination of the target garbage includes:

[0036] Obtain target garbage location end information and target garbage separation end information;

[0037] Determine the positioning midpoint and the separation midpoint according to the target garbage positioning end information and the target garbage separation end information;

[0038] Draw a straight line trajectory with the positioning midpoint and the separation midpoint as endpoints;

[0039] The straight line trajectory is the inclined trajectory of the target garbage;

[0040] Draw a trajectory line perpendicular to the horizontal plane at the target garbage positioning end. The angle between the inclined trajectory of the target garbage and the trajectory line perpendicular to the horizontal plane is the swing angle.

[0041] The control module acquires the swing angle and controls the clamping mechanism to swing the target garbage, and the swing amplitude is the swing angle value.

[0042] As an optional solution of the garbage collection box bag separation control method and control system of the present invention, wherein: when the clamping mechanism performs the swinging process of the target garbage, the clamping mechanism obstruction factor is calculated according to the clamping value of the target garbage;

[0043] The calculation of the clamping mechanism obstruction factor includes:

[0044] Obtain the clamping value and swing angle of the clamping mechanism;

[0045] Set the initial blocking factor to 3 / 4 of the target garbage clamping value;

[0046] By obtaining the swing speed of the target garbage separation end in real time and subtracting the swing speed of the target garbage separation end between two detection intervals before and after, the swing growth range of the target garbage separation end is determined;

[0047] And compare the swing increase of the target garbage separation end with the threshold value;

[0048] If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the clamping mechanism swings the target garbage normally;

[0049] If the swing amplitude increase at the target garbage separation end does not fall within the threshold, the clamping mechanism compensation strategy is executed.

[0050] As an optional solution of the garbage recycling box bag separation control method and control system of the present invention, the clamping mechanism compensation strategy includes:

[0051] S1. Obtain the initial obstacle factor value when the target garbage executes the swing strategy;

[0052] S2, set 1 / 20 of the initial obstacle factor value as the compensation factor;

[0053] S3. Calculate the compensation obstacle factor according to the initial obstacle factor and the compensation factor;

[0054] S4, where the compensation barrier factor = initial barrier factor + compensation factor;

[0055] S5, overwriting the value of the obstacle factor with the value of the compensation obstacle factor, and re-obtaining the increase range of the swing amplitude at the target garbage separation end;

[0056] If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the subsequent clamping mechanism swings the target garbage normally;

[0057] If the amplitude increase of the target garbage separation end does not fall within the threshold, steps S1-S5 are repeated until the amplitude increase of the target garbage separation end falls within the threshold.

[0058] As an optional solution of the garbage collection box bag separation control method and control system described in the present invention, the target garbage separation strategy includes:

[0059] Obtaining target garbage clamping mechanism position information and target garbage separation end position information;

[0060] The control module controls the cutting device to cut the target garbage separation end to separate the target garbage bags;

[0061] Obtaining a first clamping jaw displacement clamping displacement spacing and a second clamping jaw displacement spacing;

[0062] By comparing the first clamping jaw displacement spacing and the second clamping jaw displacement spacing;

[0063] If the first clamping displacement interval is greater than the second clamping displacement interval, the second clamping jaw is first controlled to perform a separation operation, and the first clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw;

[0064] If the clamping displacement spacing of the first clamping jaw is smaller than the clamping displacement spacing of the second clamping jaw, the first clamping jaw is first controlled to perform a separation operation, and the second clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw;

[0065] If the clamping displacement spacing of the first clamping jaw is equal to the clamping displacement spacing of the second clamping jaw, the second clamping jaw is first controlled to perform the separation operation, and the first clamping jaw is transported to the bag recovery location to perform the first clamping jaw separation operation.

[0066] A method for controlling the separation of bags in a garbage recycling box, comprising the following steps:

[0067] By obtaining the target garbage position, the clamping mechanism is controlled to clamp and position the target garbage positioning end;

[0068] Determine the target garbage swing angle according to the target garbage clamping value and the target garbage tilt trajectory;

[0069] Determine the separation position of the target garbage bag according to the target garbage swing angle;

[0070] And by comparing the clamping distance of the first clamping jaw and the clamping distance of the second clamping jaw, the release order of the first clamping jaw and the second clamping jaw is determined.

[0071] As an optional solution of the garbage recycling box bag separation control method and control system of the present invention, it includes:

[0072] processor;

[0073] a memory for storing processor-executable instructions;

[0074] Wherein, the processor is configured to implement the garbage recycling box bag separation control system when executing the executable instructions.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] 1. A garbage recycling box bag separation control method and control system obtains the shape information of the target garbage to determine the separation end and the target garbage positioning end, which is convenient for clamping the garbage and separating the garbage bags. In the process of clamping the target garbage, the first clamp and the second clamp are used to effectively reduce the amount of garbage retained in the garbage bag and effectively improve the separation rate of the target garbage bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a schematic diagram of the garbage separation process of the present invention;

[0078] Figure 2 It is a schematic diagram of the target garbage clamping structure of the present invention. DETAILED DESCRIPTION

[0079] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0080] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0081] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0082] Example 1. For this example, please refer to Figure 1 to Figure 2 ,The present invention provides a technical solution: a garbage recycling box bag separation control method and control system, including the following steps: including an identification module, a control module, a data processing module, a sensing module and a data storage module;

[0083] The identification module is used to obtain the target junk information and store the obtained target junk information in the data storage module;

[0084] The target garbage information in the data storage module is processed by the data processing module to establish a three-dimensional model of the target garbage;

[0085] According to the three-dimensional model information of the target garbage, the control module controls the clamping mechanism to execute the clamping strategy for the target garbage;

[0086] By acquiring the status information of the clamping mechanism, a target garbage bag separation strategy is executed according to the status information of the clamping mechanism.

[0087] Establishment of target garbage 3D model:

[0088] The appearance information of the target garbage is acquired by using the photographing device on the recognition module;

[0089] According to the acquired shape information of the target garbage, three-dimensional modeling of the target garbage is performed;

[0090] A three-dimensional coordinate system is established with the initial position of the clamping mechanism as the origin;

[0091] The three-dimensional coordinate information of the target garbage is acquired through a position acquisition device, and the three-dimensional coordinate information of the target garbage and the three-dimensional modeling of the target garbage are integrated to produce a three-dimensional model of the target garbage.

[0092] According to the three-dimensional model of the target garbage, the three-dimensional coordinates of the target garbage and the shape information of the target garbage are obtained;

[0093] The data processing module integrates and processes the shape information of the target garbage to determine the target garbage positioning end and the target garbage separation end;

[0094] Among them, the determination of the target garbage positioning end and the target garbage separation end includes:

[0095] Obtaining the appearance information of the target garbage;

[0096] The sealing end of the target garbage is set as the target garbage separation end;

[0097] The end opposite to the sealing end of the target garbage is set as the target garbage positioning end.

[0098] Targeted trash containment strategies include:

[0099] Obtaining location information of a target garbage separation end and a target garbage positioning end;

[0100] The control module is used to control the clamping mechanism to clamp and position the target garbage positioning end;

[0101] Wherein, the clamping mechanism comprises a first clamping jaw and a second clamping jaw;

[0102] Using the first clamping claw and the second clamping claw to clamp the target garbage positioning end;

[0103] Obtain the clamping value of the first clamping jaw and the clamping value of the second clamping jaw;

[0104] Calculate the clamping value of the clamping mechanism for the target garbage according to the clamping value of the first clamping jaw and the clamping value of the second clamping jaw;

[0105] The clamping value of the clamping mechanism = the clamping value of the first clamping jaw + the clamping value of the second clamping jaw;

[0106] According to the clamping value of the clamping mechanism, the target garbage swinging strategy is executed;

[0107] The appearance information of the target garbage is acquired by using the photographing device on the recognition module. The technicians in this field can select the photographing device according to the actual needs, and the appearance information of the target garbage can be acquired. After the appearance information of the target garbage is integrated and acquired, a three-dimensional model of the target garbage is established, so that the subsequent picking device can clamp the target garbage according to the three-dimensional model of the target garbage.

[0108] In the process of obtaining the target garbage position information, a three-dimensional coordinate system is established with the initial position of the clamping mechanism as the origin. The target acquisition device can be a distance sensor, which uses the distance sensor to detect and acquire the target distance to be detected, and integrates the detected values ​​and draws them into the three-dimensional coordinate system, so that the position of the target garbage can be quickly and accurately acquired by acquiring the three-dimensional coordinates in the later stage, which is convenient for the subsequent clamping operation of the target;

[0109] By identifying the shape of the target garbage, the target garbage is set as the target garbage separation end and the target garbage clamping end, wherein the target garbage separation end is the subsequent garbage dumping outlet, and is also the position where the target garbage is subsequently cut by a cutter. The target garbage clamping end is the clamping position for the target garbage, and is the position where the target garbage is clamped and positioned by a clamping mechanism. The clamping mechanism is provided with a first clamping jaw and a second clamping jaw. The clamping value of the clamping mechanism is determined by superimposing the clamping values ​​of the first clamping jaw and the second clamping jaw. The clamping value of the clamping mechanism is also the weight of the target garbage. According to the weight of the target garbage, it is convenient to adjust the subsequent flipping strategy.

[0110] Each unit or each step of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0111] Example 2. For this example, please refer to Figure 1 to Figure 2 , target trash swing strategies include:

[0112] Obtain the clamping value of the clamping mechanism for the target garbage, the clamping mechanism state information and the target garbage information;

[0113] The clamping mechanism state information includes the clamping mechanism position, swing angle and obstruction factor;

[0114] According to the target garbage information, determine the inclined trajectory of the target garbage;

[0115] The tilt trajectory determination of the target garbage includes:

[0116] Obtain target garbage location end information and target garbage separation end information;

[0117] Determine the positioning midpoint and the separation midpoint according to the target garbage positioning end information and the target garbage separation end information;

[0118] Draw a straight line trajectory with the positioning midpoint and the separation midpoint as endpoints;

[0119] The straight line trajectory is the inclined trajectory of the target garbage;

[0120] Draw a trajectory line perpendicular to the horizontal plane at the target garbage positioning end. The angle between the inclined trajectory of the target garbage and the trajectory line perpendicular to the horizontal plane is the swing angle.

[0121] The control module acquires the swing angle and controls the clamping mechanism to swing the target garbage, and the swing amplitude is the swing angle value.

[0122] When the clamping mechanism performs the swinging process of the target garbage, the clamping mechanism obstruction factor is calculated according to the clamping value of the target garbage;

[0123] The calculation of the clamping mechanism obstruction factor includes:

[0124] Obtain the clamping value and swing angle of the clamping mechanism;

[0125] Set the initial blocking factor to 3 / 4 of the target garbage clamping value;

[0126] By obtaining the swing speed of the target garbage separation end in real time and subtracting the swing speed of the target garbage separation end between two detection intervals before and after, the swing growth range of the target garbage separation end is determined;

[0127] And compare the swing increase of the target garbage separation end with the threshold value;

[0128] If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the clamping mechanism swings the target garbage normally;

[0129] If the swing amplitude increase at the target garbage separation end does not fall within the threshold, the clamping mechanism compensation strategy is executed.

[0130] Gripping mechanism compensation strategies include:

[0131] S1. Obtain the initial obstacle factor value when the target garbage executes the swing strategy;

[0132] S2, set 1 / 20 of the initial obstacle factor value as the compensation factor;

[0133] S3. Calculate the compensation obstacle factor according to the initial obstacle factor and the compensation factor;

[0134] S4, where the compensation barrier factor = initial barrier factor + compensation factor;

[0135] S5, overwriting the value of the obstacle factor with the value of the compensation obstacle factor, and re-obtaining the increase range of the swing amplitude at the target garbage separation end;

[0136] If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the subsequent clamping mechanism swings the target garbage normally;

[0137] If the amplitude increase of the target garbage separation end does not fall within the threshold, steps S1-S5 are repeated until the amplitude increase of the target garbage separation end falls within the threshold.

[0138] The clamping value of the clamping mechanism is obtained by using the clamping value of the first clamping jaw and the clamping value of the second clamping jaw, and the inclination of the target garbage clamped on the clamping mechanism is obtained. The midpoint of the target garbage separation end and the target garbage positioning end is selected, and the two midpoints are connected by a straight line to determine the inclination trajectory of the target garbage. According to the inclination trajectory of the target garbage, the swing angle required to rotate when the target garbage separation end faces downward is determined, and the swing strategy is executed on the target garbage according to the obtained swing angle;

[0139] During the swinging process of the target garbage, as the weight of the target garbage increases and the swing angle of the target garbage increases, the swing inertia of the target garbage will also increase. At this time, the friction between the first clamp and the second clamp is likely to increase, causing the packaging bag of the target garbage to be damaged and slipped off, which will affect the subsequent separation of the bags of the target garbage. By obtaining the weight and swing angle of the target garbage, an obstacle factor is pre-superimposed during the swinging process of the target, and the obstacle factor is used to reduce the situation where the target garbage packaging bag is damaged and slipped due to the high swing speed during the swinging process. The obstacle factor is adaptively changed according to the weight of the target garbage, while ensuring the integrity of the target garbage packaging bag, the efficiency of the separation of the target garbage bags is improved;

[0140] And in the process of executing the strategy for the target garbage, it is necessary to monitor the swing speed of the target garbage, determine the swing amplitude of the target garbage according to the swing speed before and after the target garbage, and compare the calculated swing growth rate with the threshold. If it falls within the threshold, the swing of the target garbage is executed normally. If it does not fall within the threshold, it is necessary to recalculate the obstacle factor and correct the swing of the target garbage to avoid the situation where the initial obstacle factor is difficult to meet the obstacle to the swing of the target garbage, resulting in an increase in the subsequent swing of the target garbage. It should be noted that the threshold can be 0-3, and technical personnel in this field can select it according to actual needs.

[0141] Targeted waste separation strategies include:

[0142] Obtaining target garbage clamping mechanism position information and target garbage separation end position information;

[0143] The control module controls the cutting device to cut the target garbage separation end to separate the target garbage bags;

[0144] Obtaining a first clamping jaw displacement clamping displacement spacing and a second clamping jaw displacement spacing;

[0145] By comparing the first clamping jaw displacement spacing and the second clamping jaw displacement spacing;

[0146] If the first clamping displacement interval is greater than the second clamping displacement interval, the second clamping jaw is first controlled to perform a separation operation, and the first clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw;

[0147] If the clamping displacement spacing of the first clamping jaw is smaller than the clamping displacement spacing of the second clamping jaw, the first clamping jaw is first controlled to perform a separation operation, and the second clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw;

[0148] If the first gripper displacement interval is equal to the second gripper displacement interval, the second gripper is first controlled to perform a separation operation, and the first gripper is transported to the bag recovery location to perform a separation operation of the first gripper;

[0149] When the separation end of the target garbage is directly below, the packaging bag of the target garbage is cut by controlling the cutting device. At this time, the garbage in the packaging bag of the target garbage will slip out of the packaging bag, and the bag separation of the target garbage will be achieved. Due to the clamping of the target garbage by the clamping mechanism, it will be difficult to separate the garbage at the garbage clamping position from the bag. By adopting the first clamping jaw and the second clamping jaw to clamp and position the two diagonal corners of the clamping end of the target garbage, the garbage retention amount caused by clamping is effectively reduced compared with a single clamping mechanism, and the clamping displacement spacing value of the first clamping jaw and the second clamping jaw is obtained. The larger the clamping displacement spacing, the smaller the amount of garbage grasped by the clamping jaw. By comparing the clamping spacing values ​​of the first clamping jaw and the second clamping jaw, the clamping jaw corresponding to the smaller clamping displacement spacing is loosened, and the separation rate of the target garbage bag is further improved in this way.

[0150] It should be noted that when selecting the target garbage separation end and the target garbage clamping end, it is based on the fact that in order to avoid accidental damage to the garbage packaging bags on the market, the thickness of the bottom of the garbage bags will be thickened to a certain extent, thereby increasing the supporting force. Some garbage bags will also have wrinkles at the bottom, which will bring inconvenience to subsequent cutting. Therefore, the normal entrance of the garbage is set as the separation end, and the load-bearing position is the clamping end. This can also avoid the situation where the garbage bag is damaged by the clamping claws to a certain extent.

[0151] It should be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviated as: HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0152] Example 3, please refer to Figure 1 to Figure 2 , a garbage recycling box bag separation control method, comprising the following steps:

[0153] By obtaining the target garbage position, the clamping mechanism is controlled to clamp and position the target garbage positioning end;

[0154] Determine the target garbage swing angle according to the target garbage clamping value and the target garbage tilt trajectory;

[0155] Determine the separation position of the target garbage bag according to the target garbage swing angle;

[0156] And by comparing the clamping distance of the first clamping jaw and the clamping distance of the second clamping jaw, the release order of the first clamping jaw and the second clamping jaw is determined.

[0157] Example 4. For this example, please refer to Figure 1 to Figure 2 , an electronic device, comprising:

[0158] processor;

[0159] a memory for storing processor-executable instructions;

[0160] Among them, the processor is configured to implement the garbage recycling box bag separation control system in Example 1 or Example 2 when executing the executable instructions.

[0161] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device 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, method, article or device.

[0162] Each unit or each step of the present invention can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0163] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A garbage collection box bag separation control system, characterized in that: It includes an identification module, a control module, a data processing module, a sensing module and a data storage module; The identification module is used to obtain the target junk information and store the obtained target junk information in the data storage module; The target garbage information in the data storage module is processed by the data processing module to establish a three-dimensional model of the target garbage; According to the three-dimensional model information of the target garbage, the control module controls the clamping mechanism to execute the clamping strategy for the target garbage; By acquiring the state information of the clamping mechanism, a target garbage bag separation strategy is executed according to the state information of the clamping mechanism; Establishment of target garbage 3D model: The appearance information of the target garbage is acquired by using the photographing device on the recognition module; According to the acquired shape information of the target garbage, three-dimensional modeling of the target garbage is performed; A three-dimensional coordinate system is established with the initial position of the clamping mechanism as the origin; The three-dimensional coordinate information of the target garbage is acquired through the position acquisition device, and the three-dimensional coordinate information of the target garbage and the three-dimensional modeling of the target garbage are integrated to produce a three-dimensional model of the target garbage; According to the three-dimensional model of the target garbage, the three-dimensional coordinates of the target garbage and the shape information of the target garbage are obtained; The data processing module integrates and processes the shape information of the target garbage to determine the target garbage positioning end and the target garbage separation end; Among them, the determination of the target garbage positioning end and the target garbage separation end includes: Obtaining the appearance information of the target garbage; The sealing end of the target garbage is set as the target garbage separation end; The end opposite to the sealing end of the target garbage is set as the target garbage positioning end; Targeted trash containment strategies include: Obtaining location information of a target garbage separation end and a target garbage positioning end; The control module is used to control the clamping mechanism to clamp and position the target garbage positioning end; Wherein, the clamping mechanism comprises a first clamping jaw and a second clamping jaw; Using the first clamp and the second clamp to clamp the target garbage positioning end; Obtain the clamping value of the first clamping jaw and the clamping value of the second clamping jaw; Calculate the clamping value of the clamping mechanism for the target garbage according to the clamping value of the first clamping jaw and the clamping value of the second clamping jaw; The clamping value of the clamping mechanism = the clamping value of the first clamping jaw + the clamping value of the second clamping jaw; According to the clamping value of the clamping mechanism, the target garbage swinging strategy is executed; Targeted trash-swinging strategies include: Obtain the clamping value of the clamping mechanism for the target garbage, the clamping mechanism state information and the target garbage information; The clamping mechanism state information includes the clamping mechanism position, swing angle and obstruction factor; According to the target garbage information, determine the inclined trajectory of the target garbage; The tilt trajectory determination of the target garbage includes: Obtain target garbage location end information and target garbage separation end information; Determine the positioning midpoint and the separation midpoint according to the target garbage positioning end information and the target garbage separation end information; Draw a straight line trajectory with the positioning midpoint and the separation midpoint as endpoints; The straight trajectory is the inclined trajectory of the target garbage; Draw a trajectory line perpendicular to the horizontal plane at the target garbage positioning end. The angle between the inclined trajectory of the target garbage and the trajectory line perpendicular to the horizontal plane is the swing angle. The control module acquires the swing angle and controls the clamping mechanism to swing the target garbage, and the swing amplitude is the swing angle value; Targeted waste separation strategies include: Obtaining target garbage clamping mechanism position information and target garbage separation end position information; The control module controls the cutting device to cut the target garbage separation end to separate the target garbage bags; Obtaining a first clamping jaw displacement clamping displacement spacing and a second clamping jaw displacement spacing; By comparing the first clamping jaw displacement spacing and the second clamping jaw displacement spacing; If the first clamping displacement interval is greater than the second clamping displacement interval, the second clamping jaw is first controlled to perform a separation operation, and the first clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw; If the clamping displacement spacing of the first clamping jaw is smaller than the clamping displacement spacing of the second clamping jaw, the first clamping jaw is first controlled to perform a separation operation, and the second clamping jaw is transported to the bag recovery location to perform a separation operation of the first clamping jaw; If the clamping displacement spacing of the first clamping jaw is equal to the clamping displacement spacing of the second clamping jaw, the second clamping jaw is first controlled to perform the separation operation, and the first clamping jaw is transported to the bag recovery location to perform the first clamping jaw separation operation.

2. The garbage collection box bag separation control system according to claim 1, characterized in that: When the clamping mechanism performs the swinging process of the target garbage, the clamping mechanism obstruction factor is calculated according to the clamping value of the target garbage; The calculation of the clamping mechanism obstruction factor includes: Obtain the clamping value and swing angle of the clamping mechanism; Set the initial blocking factor to 3 / 4 of the target garbage clamping value; By obtaining the swing speed of the target garbage separation end in real time and subtracting the swing speed of the target garbage separation end between two detection intervals before and after, the swing growth range of the target garbage separation end is determined; And compare the swing increase of the target garbage separation end with the threshold value; If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the clamping mechanism swings the target garbage normally; If the swing amplitude increase at the target garbage separation end does not fall within the threshold, the clamping mechanism compensation strategy is executed.

3. The garbage collection box bag separation control system according to claim 2, characterized in that: Gripping mechanism compensation strategies include: S1. Obtain the initial obstacle factor value when the target garbage executes the swing strategy; S2, set 1 / 20 of the initial obstacle factor value as the compensation factor; S3. Calculate the compensation obstacle factor according to the initial obstacle factor and the compensation factor; S4, where the compensation barrier factor = initial barrier factor + compensation factor; S5, overwriting the value of the obstacle factor with the value of the compensation obstacle factor, and re-obtaining the increase range of the swing amplitude at the target garbage separation end; If the swing amplitude growth rate of the target garbage separation end falls within the threshold, the subsequent clamping mechanism swings the target garbage normally; If the amplitude increase of the target garbage separation end does not fall within the threshold, steps S1-S5 are repeated until the amplitude increase of the target garbage separation end falls within the threshold.

4. A method for controlling the separation of garbage recycling bin bags, based on the garbage recycling bin bag separation control system according to any one of claims 1 to 3, characterized in that: The steps include: By obtaining the target garbage position, the clamping mechanism is controlled to clamp and position the target garbage positioning end; Determine the target garbage swing angle according to the target garbage clamping value and the target garbage tilt trajectory; Determine the separation position of the target garbage bag according to the target garbage swing angle; And by comparing the clamping distance of the first clamping jaw and the clamping distance of the second clamping jaw, the release order of the first clamping jaw and the second clamping jaw is determined.

5. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the garbage recycling box bag separation control system described in any one of claims 1-3 when executing the executable instructions.

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