Intelligent garbage sorting and packaging device capable of achieving visual recognition

Abstract

The invention discloses an intelligent garbage sorting and packaging device capable of achieving visual recognition, and belongs to the technical field of mechatronics. The top end of the rack is provided with a garbage inlet; a sorting module, a storage module, a visual identification module and a storage and packaging module are arranged on the rack; the sorting module comprises a manipulator capable of being opened and closed, and the manipulator is movably arranged on the rack and used for compressing and sorting garbage; the storage module comprises an inverted bucket, the inverted bucket is located below the mechanical arm and right faces the garbage inlet, and the inverted bucket is controlled to turn over through a rotary steering engine assembly to complete dumping of different kinds of garbage. The visual identification module is used for identifying garbage in the inverted bucket; the storage and packaging module is located below the inverted bucket and comprises a set of unit storage boxes and sensing equipment used for monitoring the garbage storage amount in the unit storage boxes. The mechanical and electrical integration technology is combined, garbage of different shapes and types can be automatically sorted and automatically classified into specified frames, and the garbage in the frames is packaged when the frames are almost full of the garbage.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechatronics, and in particular relates to an intelligent garbage sorting and packaging device for realizing visual recognition. Background Art

[0002] Intelligent garbage classification is the current trend of resource recycling development. It refers to the use of intelligent technologies such as intelligent software and hardware, the Internet of Things, and big data to achieve refined, dynamic, and visual management of all aspects of garbage classification, improve the intelligent analysis and decision-making and automated operation execution capabilities of garbage classification, and improve the efficiency of resource recycling. Modern logistics model.

[0003] Therefore, it is extremely important to automate the classification of resource recycling processes. Otherwise, the manual participation rate in each link will be greatly increased, resulting in labor costs and unstable classification results, requiring workers to pick up and classify.

[0004] In the existing related technology, Chinese patent CN220786938U discloses an intelligent trash can, including a box body and a main control device box. The main control device box includes a main controller, an infrared pair tube module, a pressure sensor module and a communication module. The main controller is electrically connected to the infrared pair tube module, the pressure sensor module and the communication module and transmits and receives one or more signals. The infrared pair tube module receives the detection signal sent by the main controller, and emits or detects the infrared radiation signal according to the detection signal to obtain the overflow signal in the box body. The pressure sensor module detects the object to be measured through the resistance value change signal to output a weak signal to the main control device box to generate or change the overflow signal. After the communication module receives the overflow signal sent by the main control device box, it sends a prompt signal to the remote electronic terminal through the antenna. In this document, no sorting device is used, and it is impossible to sort the input garbage according to a certain logical relationship.

[0005] Chinese patent CN117842563A relates to the field of trash cans, especially to smart trash cans. The smart trash can includes a trash can body, a smart flip cover, a disinfection spray component, a stable moving component, a display screen, a placement cover, a built-in partition module and a waste liquid storage module; the built-in partition module and the trash can body cooperate with the smart flip cover to form a triple partition to prevent odor overflow, and the disinfection spray component is used to perform regular and fixed-point disinfection operations, and the four corners of the garbage bag are pre-distributed and hung on the directional hook, and then the steering controller drives the rotating sleeve to drive the directional hook to swing and adjust, so that the garbage bag gradually opens the operating expansion range, which is convenient for throwing in garbage. In this document, a series of improvements are made for the cleaning of the trash can, and it is impossible to sort the thrown in garbage with a certain logical relationship.

[0006] Therefore, there is a need for an intelligent garbage sorting device with visual recognition that can sort and pack any type of garbage. Summary of the invention

[0007] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide an intelligent garbage sorting and packaging device that realizes visual recognition, which combines mechatronics technology, can automatically sort garbage of various shapes and types, automatically classify them into designated boxes, and pack the garbage in the box when it is almost full.

[0008] The present invention provides the following technical solutions: an intelligent garbage sorting and packaging device for realizing visual recognition, comprising a frame, a garbage entrance is arranged at the top of the frame; a sorting module, a storage module, a visual recognition module and a storage and packaging module are arranged on the frame; the sorting module comprises an openable and closable manipulator, the manipulator is movably arranged on the frame, and is used for compressing and sorting garbage; the storage module comprises a bucket, the bucket is located below the manipulator and is arranged opposite to the garbage entrance, the bucket is controlled to flip by a rotating servo assembly to complete the dumping of different garbage; the visual recognition module is used to identify the garbage in the bucket; the storage and packaging module is located below the bucket, and comprises a group of unit storage boxes and a sensor device for monitoring the garbage storage amount in the unit storage boxes.

[0009] Furthermore, the frame is provided with a central crossbeam, which can move longitudinally along the frame; the central crossbeam is provided with an up and down moving motor, which can move laterally along the central crossbeam; the output end of the up and down moving motor is connected to a rotating servo, and the output end of the rotating servo is connected to the clamping claw of the manipulator through a transmission mechanism to control the opening and closing of the clamping claw.

[0010] Furthermore, the frame is provided with left and right linear drive motors and front and rear linear drive motors. The output ends of the left and right drive motors are connected with the up and down moving motors through a belt transmission mechanism, driving the up and down moving motors to move horizontally along the central beam; the front and rear linear drive motors are connected with the middle processing beam connecting device through a belt transmission mechanism to drive the central beam to move longitudinally.

[0011] Furthermore, an opening and closing gate structure is provided on the side of the bucket; a rotating steering gear assembly is provided on the frame at the lower part of the bucket, and the output end of the rotating steering gear assembly is connected to the bottom of the bucket to control the dumping of the bucket.

[0012] Furthermore, the rotary servo assembly includes a horizontal servo for controlling horizontal rotation and a tilting servo for controlling forward and backward rotation.

[0013] Furthermore, the group of unit storage boxes are arranged corresponding to the gates in various directions of the bucket, and each unit storage box is equipped with an electric packaging device.

[0014] Furthermore, the sensing device on the unit storage box is an infrared sensor, which is used to monitor the overflow value of the garbage in the corresponding unit storage box. When the overflow value reaches a set threshold, a feedback signal is given to the central processor to control the electric packing device set on the unit storage box to perform automatic packing.

[0015] Furthermore, the visual recognition module is located above the bucket and is used to identify the type and volume of garbage in the bucket, feed back the recognition signal to the central processor, and control the robot to perform corresponding sorting or squeezing operations.

[0016] By adopting the above technology, compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1) The present invention is based on the structural design of the manipulator, which is convenient for picking up garbage of different types, shapes and sizes. The device uses the structural advantages of the stepping motor and the mechanism to achieve three-degree-of-freedom picking. The speed of picking up and sorting garbage exceeds the speed of manually picking up the same amount of garbage, thereby improving the sorting efficiency;

[0018] 2) The design of the present invention utilizes the gravity characteristics of the garbage itself, allowing the garbage to slide and fall, and adopts the tilting method of the storage module to imitate the process of manually dumping garbage. The rotation of the dual central steering gear can achieve the directional tilting of the storage module. Compared with the mechanical claw or manual classification method, it greatly improves the work efficiency;

[0019] 3) In the present invention, based on the setting of the visual recognition module, garbage type recognition is realized, and with the structural design of the manipulator, different types of garbage can be sorted or squeezed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the sorting module of the present invention;

[0022] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0023] Figure 4 It is a schematic diagram of the storage module structure of the present invention;

[0024] Figure 5 It is a schematic diagram of the storage structure of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments of the specification. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details.

[0027] See also Figure 1-5 An intelligent garbage sorting and packaging device that realizes visual recognition can realize garbage classification and packaging. The device comprises a frame 1 on which a storage module, a sorting module, a visual recognition module and a storage and packaging module are arranged.

[0028] Specifically, a baffle 101 is provided at the bottom of the frame 1 , and a garbage inlet is provided on the baffle 101 .

[0029] Specifically, the storage module includes a bucket 3 with a four-way opening and closing gate structure and a rotating steering gear assembly 8. Gates are arranged on all sides of the bucket 3, and the gates are opened and closed by motors; a storage platform is arranged at the bottom of the bucket 3. The rotating steering gear assembly 8 includes a horizontal steering gear 801 fixed on the frame 1 and a flip steering gear 802 fixed on the horizontal steering gear 801, and the output end of the flip steering gear 802 is connected to the bucket 3. The flip steering gear 802 controls the bucket 3 to flip forward and backward, and the horizontal steering gear 801 controls the flip steering gear 802 to move horizontally, thereby driving the bucket 3 to move horizontally.

[0030] Specifically, the sorting module includes a manipulator 2; a central beam 6 is provided on the frame 1, and an up and down moving motor 7, a left and right linear drive motor 9 and a front and rear linear drive motor 10 are provided on the central beam 6; the output end of the up and down moving motor 7 is connected to the clamping claw of the manipulator 2 through a hinge mechanism to control the opening and closing of the clamping claw.

[0031] The central crossbeam 6, the up-and-down moving motor 7, the rotating steering gear 11, the left and right linear drive motors 9, and the front and rear linear drive motors 10 are all provided with pulleys; the output end of the left and right drive motors 9 is connected to the up-and-down moving motor 7 through a belt and a pulley, driving the up-and-down moving motor 7 to move laterally along the central crossbeam 6; the front and rear linear drive motors 10 are connected to the central crossbeam 6 through a belt and a pulley to drive the central crossbeam 6 to move longitudinally. Then the position of the manipulator 2 is driven to move so that it is adjusted to the top of the required position. The output end of the up-and-down moving motor 7 is connected to the rotating steering gear 11, driving the rotating steering gear to move up and down. The output end of the rotating steering gear is provided with a screw, which is connected to the manipulator 2 through a transmission mechanism to drive it to open and close.

[0032] The manipulator 2 includes a main body 201 and claws 202 hingedly arranged on both sides of the main body 201; the transmission mechanism includes a connecting piece 203 located between the claws 202 on both sides, the middle part of the connecting piece 203 is threadedly connected to the screw at the output end of the rotary steering gear 11, and the two sides thereof are respectively hingedly connected with connecting rods 204, and the outer ends of the connecting rods 204 are movably connected to the claws 202 on the corresponding side. When the output end of the rotary steering gear 11 rotates, the connecting piece 203 moves up and down, and drives the claws 202 on both sides to open and close through the connecting rod 204, so as to grab, sort and squeeze the garbage in the bucket 3.

[0033] Specifically, the visual recognition module includes a group of infrared sensors, which are arranged on the frame 1 and are used to identify the category and volume of garbage in the bucket 3, and feed back the identified information to the central processing unit. The central processing unit controls the mechanical claw 2 to perform corresponding actions based on the feedback information.

[0034] Specifically, the storage and packaging module is located below the bucket 3, and includes four unit storage boxes 4 corresponding to the gates on the bucket 3. The unit storage boxes 4 are provided with electric packaging devices 5 and sensing devices. The sensing devices are infrared sensors, which are used to monitor the overflow value of the garbage in the corresponding unit storage boxes 4. When the overflow value reaches the set threshold, the feedback signal is given to the central processor to control the electric packaging device 5 set on the unit storage box 4 to automatically package. A single drive packages one unit storage box 4.

[0035] The specific process of the device in this embodiment is as follows:

[0036] First, pour various amounts of garbage into the bucket 3 from the square opening of the top drop baffle 101 in any manner. After visually identifying the type of garbage, the gate on the corresponding side of the unit storage box 4 of the corresponding type on the bucket 3 will be flipped down and opened, and the left and right linear drive motors 9 and the front and rear linear drive motors 10 drive the central beam 6 to move the mechanical claw 2 to just above the garbage. The output end of the up and down moving motor 7 drives the rotating servo 11 to move up and down, and the output end of the rotating servo 11 rotates, driving the screw to rotate, and then driving the relative distance of the clamping claws 202 on both sides to retract. After grabbing the type of garbage, the up and down moving motor 7, the right linear drive motor 9, and the front and rear linear drive motors 10 drive the central beam 6 to move the mechanical claw 2 to the top of the corresponding unit storage box 4 and put the garbage in.

[0037] When only garbage of the same type remains in the bucket 3, the central processor drives the horizontal servo 801 and the flip servo 802 in the rotary servo assembly 8 to rotate jointly to tilt the bucket 3 and dump the garbage into the unit storage box 4 corresponding to the garbage of this type, thereby realizing efficient automatic garbage classification.

[0038] When the visual recognition sensor identifies cans and other garbage that is large in volume and can be compressed, the up-and-down motor 7 drives the clamps 202 on both sides to retract relative distances, so that the garbage can be irreversibly reduced in volume, and the amount of garbage that can be accommodated in the storage box is increased to improve the packaging efficiency. When the garbage falls into the unit storage box 4 at the bottom, the infrared sensor installed in the box continuously feeds back and detects 80% of the overflow, the central processor will drive the electric packaging device 5 to drive the drawstring garbage bag to realize garbage packaging.

[0039] During the entire process, workers only need to pour the garbage into the square dump box to complete the garbage identification and automatic classification and packaging.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent garbage sorting and packaging device for realizing visual recognition, comprising a frame (1), wherein a garbage inlet is provided at the top of the frame (1); characterized in that: The frame (1) is provided with a sorting module, a storage module, a visual recognition module and a storage and packaging module; the sorting module comprises an openable and closable manipulator (2), the manipulator (2) being movably arranged on the frame (1) and being used for compressing and sorting garbage; the storage module comprises a bucket (3), the bucket (3) being located below the manipulator (2) and facing the garbage entrance and being used for storing garbage; the visual recognition module is used for identifying the garbage in the bucket (3); the storage and packaging module is located below the bucket (3), and comprises a group of unit storage boxes (4) and a sensor device for monitoring the amount of garbage stored in the unit storage boxes (4).

2. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 1, characterized in that: The frame (1) is provided with a central crossbeam (6), and the central crossbeam (6) can move longitudinally along the frame (1); the central crossbeam (6) is provided with an up-and-down moving motor (7), and the up-and-down moving motor (7) can move laterally along the central crossbeam (6); the output end of the up-and-down moving motor (7) is connected to a rotary steering gear, and the output end of the rotary steering gear is connected to a clamping claw (202) of a manipulator (2) through a transmission mechanism to control the opening and closing of the clamping claw (202).

3. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 2 is characterized in that: The frame (1) is provided with left and right linear drive motors (9) and front and rear linear drive motors (10); the output ends of the left and right drive motors (9) are connected to the up and down moving motors (7) through a belt transmission mechanism, driving the up and down moving motors (7) to move laterally along the central beam (6); the output ends of the front and rear linear drive motors (10) are connected to the middle processing beam connection device (6) through a belt transmission mechanism, driving the central beam (6) to move longitudinally.

4. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 1, characterized in that: The side of the bucket (3) is provided with an opening and closing gate structure; the frame (1) is provided with a rotary steering gear assembly (8) at the lower part of the bucket (3); the output end of the rotary steering gear assembly (8) is connected to the bottom of the bucket (3) to control the dumping of the bucket (3).

5. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 4, characterized in that: The rotary steering gear assembly (8) comprises a horizontal steering gear (801) for controlling horizontal rotation and a tilting steering gear (802) for controlling forward and backward rotation.

6. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 4, characterized in that: A group of the unit storage boxes (4) are arranged in one-to-one correspondence with the gates in each direction of the bucket (3), and each unit storage box (4) is equipped with an electric packaging device (5).

7. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 6, characterized in that: The sensing device on the unit storage box (4) is an infrared sensor, which is used to monitor the overflow value of the garbage in the corresponding unit storage box (4). When the overflow value reaches a set threshold, a feedback signal is sent to the central processor to control the electric packaging device (5) arranged on the unit storage box (4) to automatically pack.

8. The intelligent garbage sorting and packaging device for realizing visual recognition according to claim 1, characterized in that: The visual recognition module is located above the bucket (3) and is used to identify the type and volume of garbage in the bucket (3), feed back the recognition signal to the central processor, and control the manipulator (2) to perform corresponding sorting or squeezing operations.

Images