Method and apparatus for recycling waste

Abstract

The application provides a waste recycling method and device, wherein the method comprises the following steps: obtaining video data of a target area shot by a camera; identifying whether the video data contains a target color; if the video data contains the target color, identifying whether an object corresponding to the target color is a moving object through time-lapse detection; if the object corresponding to the target color is not a moving object, generating a waste recycling sheet; selecting an automatic navigation vehicle closest to a waste storage area position corresponding to the waste recycling sheet as a target automatic navigation vehicle according to the waste storage area position and the position of an idle automatic navigation vehicle; sending the waste storage area position to the target automatic navigation vehicle and controlling the target automatic navigation vehicle to drive to the waste storage area position to carry waste. The application generates a waste recycling sheet by identifying a target color in video data, solves the technical problem that a waste recycling sheet needs to be manually generated in the prior art, and has the technical effect of improving efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and in particular to a method and apparatus for recycling waste. Background Technology

[0002] During the operation of the packaging workshop, a large amount of waste is generated, so it is necessary to collect the waste regularly. In the existing technology, it is necessary to manually decide when to collect the waste generated in the production process, which affects the recycling efficiency and the accuracy of the frequency of waste collection statistics. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide at least one method and apparatus for recycling waste. This application generates a waste recycling slip by recognizing the target color in video data, which solves the technical problem of needing to manually generate waste recycling slips in the prior art and achieves the technical effect of improving efficiency.

[0004] This application mainly includes the following aspects:

[0005] In a first aspect, embodiments of this application provide a method for recycling waste, the method comprising: acquiring video data of a target area captured by a camera; the target area refers to the waste storage area of ​​a waste recycling station corresponding to the camera; identifying whether the video data contains a target color; if the video data contains a target color, identifying whether the object corresponding to the target color is a moving object through delay detection; if the object corresponding to the target color is not a moving object, generating a waste recycling order; the waste recycling order includes the location of the waste storage area of ​​the waste recycling station; acquiring the location of an idle automated guided vehicle (AGV); selecting the AAV closest to the waste storage area location based on the waste storage area location corresponding to the waste recycling order and the location of the idle AAV, and determining it as the target AAV; sending the waste storage area location to the target AAV, controlling the target AAV to drive to the waste storage area location to pick up the waste, and transporting the waste to the waste recycling workshop.

[0006] Optionally, before obtaining the location of an idle automated guided vehicle (AGV), the method further includes: determining whether there are any unexecuted waste recycling orders based on a first preset time interval; if there are unexecuted waste recycling orders, determining whether there are any idle AGVs based on the time sequence of the waste recycling orders; if there are any idle AGVs, obtaining the location of the idle AGV.

[0007] Optionally, based on the location of the waste storage area corresponding to the waste recycling order and the location of the idle automated guided vehicles (AGVs), the AAV closest to the waste storage area is selected as the target AAV. This includes: obtaining the battery level of the idle AAV and determining whether the battery level is greater than a battery threshold; calculating the distance difference between the waste storage area and the location of the AAV with a battery level greater than the battery threshold; and selecting the AAV with the smallest distance difference as the target AAV.

[0008] Optionally, sending the location of the waste storage area to the target automated guided vehicle (AGV), controlling the target AGV to drive to the waste storage area to pick up the waste, and transporting the waste to the waste recycling workshop includes: sending the location of the waste storage area to the target AGV, controlling the target AGV to drive to the waste storage area; locating the pallet insertion hole for picking up the waste at the waste storage area; controlling the forks of the target AGV to align with the pallet insertion hole, picking up the pallet and transporting it to the waste recycling workshop.

[0009] Optionally, after obtaining the location of an idle automated guided vehicle, the method further includes: identifying whether the number of currently executed waste recycling orders is less than a preset number; if the number of currently executed waste recycling orders is less than the preset number, randomly selecting a waste recycling station other than the waste recycling station corresponding to the currently executed waste recycling order as the target waste recycling station; generating a waste recycling order including the location of the waste storage area corresponding to the target waste recycling station; and controlling the target automated guided vehicle to travel to the waste storage area location corresponding to the waste recycling order.

[0010] Optionally, controlling the target automated guided vehicle (AGV) to travel to the waste storage area corresponding to the waste recycling order includes: starting the timer from the moment the target AGV arrives at the waste storage area, and determining the timer result as the waiting time; identifying whether the weight on the forks of the target AGV exceeds a weight threshold; if the weight on the forks of the target AGV exceeds the weight threshold, transporting the waste to the waste recycling workshop; if the weight on the forks of the target AGV is less than or equal to the weight threshold, determining whether the waiting time exceeds a second preset time interval; if the waiting time exceeds the second preset time interval, controlling the target AGV to return to the garage.

[0011] Optionally, if the video data contains a target color, then identifying whether the object corresponding to the target color is a moving object through delayed detection includes: if the video data contains a target color, then identifying whether the area containing the target color in the video data is larger than a region threshold; if the area containing the target color in the video data is larger than the region threshold, then identifying whether the object corresponding to the target color is a moving object through delayed detection.

[0012] Secondly, embodiments of this application provide a waste recycling device, which includes: a first acquisition module for acquiring video data of a target area captured by a camera; the target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera; a first identification module for identifying whether the video data contains a target color; a second identification module for identifying whether the object corresponding to the target color is a moving object through delayed detection if the video data contains the target color; a generation module for generating a waste recycling slip if the object corresponding to the target color is not a moving object; the waste recycling slip includes the location of the waste storage area of ​​the waste recycling station; a second acquisition module for acquiring the location of an idle automated guided vehicle (AGV); a determination module for selecting the AAV closest to the waste storage area location based on the waste storage area location corresponding to the waste recycling slip and the location of the idle AAV, and determining it as the target AAV; and a control module for sending the waste storage area location to the target AAV, controlling the target AAV to drive to the waste storage area location to pick up the waste, and transporting the waste to the waste recycling workshop.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. The machine-readable instructions are executed by the processor to perform the steps of the waste recycling method in the first aspect or any possible implementation of the first aspect.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the waste recycling steps in the first aspect or any possible implementation of the first aspect.

[0015] This application provides a waste recycling method and apparatus. The method includes: acquiring video data of a target area captured by a camera; the target area refers to the waste storage area of ​​a waste recycling station corresponding to the camera; identifying whether the video data contains a target color; if the video data contains a target color, identifying whether the object corresponding to the target color is a moving object through delay detection; if the object corresponding to the target color is not a moving object, generating a waste recycling slip; the waste recycling slip includes the location of the waste storage area of ​​the waste recycling station; acquiring the location of an idle automated guided vehicle (AGV); selecting the AAV closest to the waste storage area location based on the waste storage area location corresponding to the waste recycling slip and the location of the idle AAV, and determining it as the target AAV; sending the waste storage area location to the target AAV, controlling the target AAV to drive to the waste storage area location to pick up the waste, and transporting the waste to the waste recycling workshop. This application generates waste recycling slips by identifying the target color in the video data, solving the technical problem of needing to manually generate waste recycling slips in the prior art, and achieving the technical effect of improving efficiency.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a waste recycling method provided in an embodiment of this application is shown.

[0019] Figure 2 A flowchart of another waste recycling method provided in an embodiment of this application is shown.

[0020] Figure 3 This diagram illustrates a functional block diagram of a waste recycling device provided in an embodiment of this application.

[0021] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0023] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] In existing technologies, it is necessary to manually decide when to recycle waste generated during the production process, which affects recycling efficiency and the accuracy of statistics on the frequency of waste recycling.

[0025] Based on this, the present application provides a method and apparatus for recycling waste. This application generates a waste recycling slip by recognizing the target color in video data, solving the technical problem of requiring manual generation of waste recycling slips in the prior art, thus improving efficiency. Specifically, as follows:

[0026] Please see Figure 1 , Figure 1 This is a flowchart illustrating a waste recycling method provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the waste recycling method includes the following steps:

[0027] S101. Acquire video data of the target area captured by the camera.

[0028] The target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera.

[0029] S102. Identify whether the video data contains the target color.

[0030] In practical applications, the waste storage area has pallets where users place a certain amount of waste. The pallets are yellow, and the waste is stored in waste bags, which are dark green. Therefore, the target color can be set to dark green, and thus it is only necessary to identify whether there is dark green in the video data.

[0031] S103. Through delay detection, identify whether the object corresponding to the target color is a moving object.

[0032] If the video data contains the target color, a delayed detection process is used to identify whether the object corresponding to the target color is a moving object. This includes: if the video data contains the target color, identifying whether the area containing the target color in the video data is larger than a region threshold; if the area containing the target color in the video data is larger than the region threshold, a delayed detection process is used to identify whether the object corresponding to the target color is a moving object. In other words, if a moving object with the same target color appears in the waste storage area, and the area containing the target color is larger than the region threshold, then the video data is considered to contain waste, and the amount of waste reaches a certain level.

[0033] If someone wearing clothing of the target color appears in the video data, causing a moving object to appear in the video data, delayed detection will prevent misidentification even if the target color is present in the video data.

[0034] Edge detection can also be used to determine whether the edge shape of an object corresponding to the target color is a person or a car, which is significantly different from the edge shape of a waste bag. In other words, edge detection can also be used to detect whether an object in the video data corresponding to the target color is a waste bag.

[0035] S104. Generate a waste recycling order.

[0036] If the object corresponding to the target color is not a moving object, a waste recycling slip is generated. The waste recycling slip includes the location of the waste storage area at the waste recycling station. It also includes the time the waste recycling slip was generated, allowing for statistical tracking of the generation time. Each waste recycling slip corresponds to a specific waste storage area location at a waste recycling station.

[0037] That is, if the object corresponding to the target color is not a moving object, then the waste storage area corresponding to the video data is considered to contain waste.

[0038] Before generating a waste recycling order, the method further includes: identifying whether the number of waste recycling orders being executed is greater than or equal to the number of preset tasks (where the number of preset tasks can be the number of automated guided vehicles). If the number of waste recycling orders being executed is greater than or equal to the number of preset tasks, no waste recycling order is generated; if the number of waste recycling orders being executed is less than the number of preset tasks, a waste recycling order is generated.

[0039] S105. Obtain the location of an available automated guided vehicle.

[0040] Automated Guided Vehicle (AGV) refers to a small AGV vehicle.

[0041] Idle automated guided vehicles (AGVs) refer to AGVs that have not yet completed a waste collection order.

[0042] S106. Based on the location of the waste storage area corresponding to the waste recycling order and the location of the available automated guided vehicles, select the automated guided vehicle closest to the waste storage area and determine it as the target automated guided vehicle.

[0043] Calculate the difference between the location of the waste storage area corresponding to the waste recycling order and the location of the idle automated guided vehicle (AGV), and select the AGV with the smallest difference as the target AGV.

[0044] S107. Send the location of the waste storage area to the target automated guided vehicle, control the target automated guided vehicle to drive to the waste storage area to pick up the waste, and transport the waste to the waste recycling workshop.

[0045] Sending the location of the waste storage area to the target automated guided vehicle (AGV), controlling the target AGV to travel to the waste storage area to pick up the waste, and transporting the waste to the waste recycling workshop includes: sending the location of the waste storage area to the target AGV, controlling the target AGV to travel to the waste storage area; locating the pallet insertion hole for picking up waste at the waste storage area; controlling the forks of the target AGV to align with the pallet insertion hole, picking up the pallet and transporting it to the waste recycling workshop.

[0046] Please see Figure 2 , Figure 2 A flowchart illustrating another waste recycling method provided in an embodiment of this application. Figure 2 As shown in the embodiment of this application, another waste recycling method includes the following steps:

[0047] S201. Based on the first preset time interval, determine whether there are any unexecuted waste recycling orders.

[0048] The first preset time interval is set to two seconds, and every two seconds it checks whether there are any unexecuted waste recycling orders. Waste recycling orders can be generated from recognized video data or generated by the user.

[0049] S202. Based on the time sequence of the waste recycling order, determine whether there are any idle automated guided vehicles.

[0050] If there are any unexecuted waste recycling orders, determine whether there are any idle automated guided vehicles based on the time sequence of the waste recycling orders. If there are no unexecuted waste recycling orders, continue to determine whether there are any unexecuted waste recycling orders according to the first preset time interval.

[0051] S203. Obtain the location of available automated guided vehicles.

[0052] If an available automated guided vehicle (AGV) is available, its location is obtained. If no available AGV is available, the system waits until an available AGV becomes available.

[0053] S204. Obtain the battery level of the idle automated navigation vehicle and determine whether the battery level is greater than the battery threshold.

[0054] If the battery level is less than or equal to the battery threshold, wait until an available automated guided vehicle with a battery level greater than the battery threshold is found.

[0055] S205. Calculate the distance difference between the location of the waste storage area and the location of the automated guided vehicle with a power level greater than the power threshold.

[0056] If the battery level is greater than the battery threshold, calculate the distance difference between the location of the waste storage area corresponding to the waste recycling station and the location of the automated guided vehicle with a battery level greater than the battery threshold.

[0057] S206. Select the automated guided vehicle with the smallest distance difference and determine it as the target automated guided vehicle.

[0058] The automated guided vehicle with the smallest distance difference is identified as the target automated guided vehicle.

[0059] S207. Send the location of the waste storage area to the target automated guided vehicle and control the target automated guided vehicle to drive to the waste storage area.

[0060] The location of the waste storage area is sent to the target automated guided vehicle, which is then controlled to drive to the waste storage area.

[0061] S208, a tray insertion hole for picking up waste materials at the location of the waste storage area.

[0062] After the target automated guided vehicle arrives at the waste storage area, it locates the tray insertion hole for loading waste at the waste storage area location.

[0063] S209. The forks of the controlled target automated guided vehicle are aligned with the pallet insertion holes, the pallet is picked up and transported to the waste recycling workshop.

[0064] The control system aligns the forks of the target automated guided vehicle with the pallet slots for picking up waste materials, picks up the pallets, and transports them to the waste recycling workshop.

[0065] After obtaining the location of available automated guided vehicles, the method also includes:

[0066] The system identifies whether the number of ongoing waste recycling orders is less than a preset number. If the number of ongoing waste recycling orders is less than the preset number, it randomly selects a waste recycling station other than the one corresponding to the ongoing waste recycling order as the target waste recycling station. It then generates a waste recycling order that includes the location of the waste storage area corresponding to the target waste recycling station and controls the target automated guided vehicle to travel to the waste storage area location corresponding to the waste recycling order.

[0067] In other words, when the number of waste recycling orders being executed is less than the preset number, a waste recycling station without a corresponding waste recycling order is randomly selected as the target waste recycling station; a waste recycling order is generated that includes the location of the waste storage area corresponding to the target waste recycling station; the location of an idle electric navigation vehicle is obtained, and the automatic navigation vehicle closest to the waste storage area is selected as the target automatic navigation vehicle; the target automatic navigation vehicle is controlled to travel to the waste storage area location corresponding to the waste recycling order.

[0068] If the number of waste recycling orders being executed is greater than or equal to the preset number, the generated waste recycling orders will be executed normally.

[0069] For example, a predetermined time can be set to identify whether the number of waste recycling orders being executed is less than a preset quantity; for example, if the predetermined time is set to 4 hours and the preset quantity is set to 4, then the number of waste recycling orders being executed will be identified every 4 hours to see if it is less than 4.

[0070] Specifically, after the target automated guided vehicle (AGV) travels to the waste storage area corresponding to the waste recycling order, the method further includes: upon arrival at the waste storage area, the AGV's navigation system recognizes that it has reached the waste storage area, and the AGV emits a prompt sound to inform the user that it has arrived at the waste storage area; simultaneously, upon hearing the prompt sound, the user places the waste on the pallet in the waste storage area and presses the start button on the AGV. Responding to the start signal corresponding to the start button, the AGV locates the pallet slot for loading waste in the waste storage area, controls the AGV's forks to align with the pallet slot, loads the pallet containing the waste, and transports the waste to the waste recycling workshop.

[0071] Controlling the target automated guided vehicle (AGV) to travel to the waste storage area corresponding to the waste recycling order includes: starting the timer from the moment the AGV arrives at the waste storage area, and determining the timer result as the waiting time; identifying whether the weight on the AGV's forks exceeds a weight threshold; if the weight on the AGV's forks exceeds the weight threshold, transporting the waste to the waste recycling workshop; if the weight on the AGV's forks is less than or equal to the weight threshold, determining whether the waiting time exceeds a second preset time interval; if the waiting time exceeds the second preset time interval, controlling the AGV to return to the garage.

[0072] The weight threshold is set to the weight of the pallet. Timing begins when the target Automated Guided Vehicle (AVR) arrives at the waste storage area, and the timing result is determined as the waiting time. The AVR also checks if the weight on its forks is greater than the weight of the pallet. If the weight on the forks is greater than the pallet, the pallet is considered to contain waste, and the waste is transported to the waste recycling workshop. If the weight on the forks is less than or equal to the pallet's weight, the pallet is considered to contain no waste, and the waiting time is checked to see if it exceeds a second preset time interval (which can be set to two minutes). If the waiting time exceeds the second preset time interval, the AVR is controlled to return to the garage. Alternatively, if the waiting time exceeds the second preset time interval, a waste recycling station other than the one currently being processed is randomly selected, a waste recycling order including the location of the waste storage area corresponding to the target waste recycling station is generated, and the AVR is controlled to travel to the waste storage area. If the waiting time is less than or equal to the second preset time interval, timing continues.

[0073] In other words, the target automated guided vehicle not only picks up waste and transports it to the waste recycling workshop according to the user's start button, but also determines whether there is waste on the pallet by recognizing the weight on the forks. If it believes there is waste on the pallet, it picks up the waste and transports it to the waste recycling workshop.

[0074] Based on the same application concept, this application also provides a waste recycling device corresponding to the waste recycling method provided in the above embodiments. Since the principle of the device in this application is similar to the waste recycling method in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0075] Figure 3 This is a functional block diagram of a waste recycling device provided in an embodiment of this application. The waste recycling device 10 includes: a first acquisition module 101, a first identification module 102, a second identification module 103, a generation module 104, a second acquisition module 105, a determination module 106, and a control module 107; the first acquisition module 101 is used to acquire video data of a target area captured by a camera; the target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera; the first identification module 102 is used to identify whether the video data contains a target color; the second identification module 103 is used to identify whether the object corresponding to the target color is a moving object through delayed detection if the video data contains the target color; the generation module 105... 4. If the object corresponding to the target color is not a moving object, a waste recycling order is generated; the waste recycling order includes the location of the waste storage area of ​​the waste recycling station; the second acquisition module 105 is used to acquire the location of an idle automated guided vehicle; the determination module 106 is used to select the automated guided vehicle closest to the waste storage area location based on the waste storage area location corresponding to the waste recycling order and the location of the idle automated guided vehicle, and determine it as the target automated guided vehicle; the control module 107 is used to send the waste storage area location to the target automated guided vehicle, control the target automated guided vehicle to drive to the waste storage area location to pick up the waste, and transport the waste to the waste recycling workshop.

[0076] Based on the same application concept, see [link / reference] Figure 4The diagram shown is a structural schematic of an electronic device 20 provided in an embodiment of this application, including: a processor 201, a memory 202 and a bus 203. The memory 202 stores machine-readable instructions that can be executed by the processor 201. When the electronic device 200 is running, the processor 201 and the memory 202 communicate through the bus 203. The machine-readable instructions are executed by the processor 201 to perform the steps of any of the waste recycling methods in the above embodiments. Specifically, when the machine-readable instructions are executed by the processor 201, the following processing can be performed: acquiring video data of the target area captured by the camera; the target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera; identifying whether the video data contains a target color; if the video data contains a target color, then identifying whether the object corresponding to the target color is a moving object through delay detection; if the object corresponding to the target color is not a moving object, then generating a waste recycling order; the waste recycling order includes the location of the waste storage area of ​​the waste recycling station; acquiring the location of an idle automated guided vehicle (AGV); selecting the AAV closest to the waste storage area location based on the waste storage area location corresponding to the waste recycling order and the location of the idle AAV, and determining it as the target AAV; sending the waste storage area location to the target AAV, controlling the target AAV to drive to the waste storage area location to pick up the waste, and transporting the waste to the waste recycling workshop.

[0077] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the waste recycling method provided in the above embodiments.

[0078] Specifically, the storage medium can be a general-purpose storage medium, such as a portable disk or hard drive. When the computer program on the storage medium is run, it can execute the above-mentioned waste recycling method. By recognizing the target color in the video data, a waste recycling form is generated, which solves the technical problem of needing to manually generate waste recycling forms in the prior art and achieves the technical effect of improving efficiency.

[0079] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0080] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0082] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for recycling waste materials, characterized in that, The method includes: Acquire video data of the target area captured by the camera; the target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera; Identify whether the video data contains a target color, the target color being used to indicate the color corresponding to the waste bag; If the video data contains a target color, a time-delay detection is used to identify whether the object corresponding to the target color is a moving object. If the object corresponding to the target color is not a moving object, a waste recycling slip is generated. The waste recycling slip includes the location of the waste storage area at the waste recycling station. Alternatively, if the video data contains a target color, edge detection is performed on the edge shape of the object corresponding to the target color to determine whether the object corresponding to the target color is waste, and a waste recycling order is generated when the object corresponding to the target color is waste. Obtain the location of available automated guided vehicles; Based on the location of the waste storage area corresponding to the waste recycling order and the location of the idle automated guided vehicle, select the automated guided vehicle closest to the waste storage area and determine it as the target automated guided vehicle; The location of the waste storage area is sent to the target automated guided vehicle, which then drives to the waste storage area to pick up the waste and transports it to the waste recycling workshop.

2. The method according to claim 1, characterized in that, Before obtaining the location of the available automated guided vehicle, the method further includes: Based on the first preset time interval, determine whether there are any unexecuted waste recycling orders; If there are unexecuted waste recycling orders, determine whether there are any idle automated guided vehicles based on the time sequence of the waste recycling orders; If there are available autonomous vehicles, obtain their locations.

3. The method according to claim 1, characterized in that, The step of selecting the automated guided vehicle (AGV) closest to the waste storage area location based on the waste recycling order location and the location of the available AAV, and determining it as the target AAV, includes: Obtain the battery level of the idle automated navigation vehicle and determine whether the battery level is greater than a battery threshold. Calculate the distance difference between the location of the waste storage area and the location of the automated guided vehicle with a battery level greater than the battery threshold; The automated guided vehicle with the smallest distance difference is selected as the target automated guided vehicle.

4. The method according to claim 1, characterized in that, The step of sending the location of the waste storage area to the target automated guided vehicle (AGV), controlling the target AAV to travel to the waste storage area to pick up the waste, and transporting the waste to the waste recycling workshop includes: The location of the waste storage area is sent to the target automated guided vehicle, which is then controlled to travel to the waste storage area. Position the tray insertion hole for loading and unloading waste at the location of the waste storage area; The forks of the target automated guided vehicle are aligned with the pallet slots to pick up the pallet and transport it to the waste recycling workshop.

5. The method according to claim 1, characterized in that, After obtaining the location of the available automated guided vehicle, the method further includes: Identify whether the number of waste recycling orders being executed is less than the preset quantity; If the number of waste recycling orders being executed is less than the preset number, a waste recycling station other than the one corresponding to the currently executing waste recycling order will be randomly selected as the target waste recycling station. Generate a waste recycling order that includes the location of the waste storage area corresponding to the target waste recycling station; Control the target automated guided vehicle to travel to the waste storage area corresponding to the waste recycling order.

6. The method according to claim 5, characterized in that, Controlling the target automated guided vehicle to travel to the waste storage area corresponding to the waste recycling order includes: The timing begins when the target automated guided vehicle arrives at the waste storage area, and the timing result is determined as the waiting time. Identify whether the weight on the forks of the target automated guided vehicle exceeds a weight threshold; If the weight on the forks of the target automated guided vehicle exceeds the weight threshold, the waste will be transported to the waste recycling workshop. If the weight on the forks of the target automated guided vehicle is less than or equal to the weight threshold, then it is determined whether the waiting time is greater than the second preset time interval. If the waiting time is greater than the second preset time interval, the target automated guided vehicle is controlled to return to the garage.

7. The method according to claim 1, characterized in that, If the video data contains a target color, then identifying whether the object corresponding to the target color is a moving object through delayed detection includes: If the video data contains a target color, then identify whether the area containing the target color in the video data is larger than a region threshold; If the area containing the target color in the video data is larger than the area threshold, then a delayed detection is used to identify whether the object corresponding to the target color is a moving object.

8. A waste recycling device, characterized in that, The device includes: The first acquisition module is used to acquire video data of the target area captured by the camera; the target area refers to the waste storage area of ​​the waste recycling station corresponding to the camera. The first identification module is used to identify whether the video data contains a target color, wherein the target color is used to indicate the color corresponding to the waste bag; The second recognition module is used to identify whether the object corresponding to the target color is a moving object by delay detection if the video data contains a target color. The generation module is used to generate a waste recycling order when the object corresponding to the target color is not a moving object. The waste recycling order includes the location of the waste storage area of ​​the waste recycling station. Alternatively, the second recognition module is used to determine whether the object corresponding to the target color is waste by performing edge detection on the edge shape of the object corresponding to the target color if the video data contains a target color; Alternatively, the generation module is used to generate a waste recycling order when the object corresponding to the target color is waste. The second acquisition module is used to acquire the location of available automated guided vehicles; The determination module is used to select the automated guided vehicle (AGV) closest to the waste storage area location based on the location of the waste storage area corresponding to the waste recycling order and the location of the idle AGV, and determine it as the target AGV. The control module is used to send the location of the waste storage area to the target automated guided vehicle, control the target automated guided vehicle to drive to the waste storage area to pick up the waste, and transport the waste to the waste recycling workshop.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the waste recycling method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the waste recycling method as described in any one of claims 1 to 7.

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