A special garbage disposal method and device

Abstract

The application provides a special garbage treatment method and device. In the application, at least one logical block and its volume of each special garbage pile are obtained by dividing the special garbage piles of each garbage category. On this basis, according to at least one target garbage category to be mixed and the mixing proportion of the special garbage corresponding to each target garbage category, the number of logical blocks required by the special garbage of each target garbage category can be determined respectively, and the gripper is controlled to grab the special garbage with a volume corresponding to the required logical block from the special garbage pile of the corresponding garbage category and mix it, so that the category and proportion of the special garbage that needs to be mixed and incinerated can be reasonably controlled, the damage to the incineration equipment caused by the inappropriate proportion of various special garbage mixed and incinerated can be reduced, and the reliability of the operation of the incineration equipment can be improved, and the safety of the collaborative treatment of special garbage and household garbage can be improved.

Description

Technical Field

[0001] This application relates to the field of waste treatment technology, and more specifically, to a special waste treatment method and apparatus. Background Technology

[0002] With the implementation of waste sorting and the large-scale construction of municipal solid waste incineration facilities, significant progress has been made in the treatment of municipal solid waste, resulting in surplus treatment capacity in these facilities. However, special waste (such as general industrial organic solid waste and sludge) faces problems such as insufficient treatment capacity and high disposal costs.

[0003] To address the insufficient capacity for treating special waste, a co-processing solution for household waste and special waste has been proposed. This co-processing solution involves mixing special waste with household waste, then incinerating the mixture. This not only reduces transportation costs, saves money and land resources, but also makes full use of the remaining waste processing capacity of household waste incineration facilities.

[0004] However, during the incineration of municipal solid waste mixed with special waste, the waste incineration equipment is often damaged due to the inappropriate type and proportion of special waste mixed in with the municipal solid waste. This affects the stable operation of the waste incineration equipment and may even pose a safety risk. Summary of the Invention

[0005] This application provides a special waste treatment method and apparatus that can reasonably control the type and proportion of mixed special waste, reduce safety problems caused by inappropriate types and proportions of mixed special waste, and improve the stability of waste incineration equipment.

[0006] On the one hand, this application provides a special waste disposal method, including:

[0007] Determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area, wherein the waste categories of different special waste piles are different;

[0008] For each special waste pile, based on the volume of the special waste pile, at least one logical block is determined from which the special waste pile is logically divided, and the volume of the logical block is obtained, wherein the volumes of different logical blocks from which the special waste pile is divided are the same;

[0009] Determine at least one target waste category to be mixed and the mixing ratio of special waste corresponding to each target waste category;

[0010] Based on the mixing ratio of special waste corresponding to each target waste category and the volume of the logic block corresponding to each target waste category, determine the target number of logic blocks required for the special waste of each target waste category;

[0011] For each target waste category, the mechanical gripper is controlled to grab special waste corresponding to the target number of logic blocks from the special waste pile of the target waste category, and place the grabbed special waste into the waste mixing area.

[0012] In one possible implementation, for each specific garbage heap, after determining that the specific garbage heap is logically divided into at least one logical block, the method further includes:

[0013] At least one logical block defined by the special waste pile is marked with a color corresponding to the waste category of the special waste pile;

[0014] After placing the collected special waste into the waste mixing area, the process also includes:

[0015] The mechanical gripper is controlled to mix the waste in the waste mixing zone;

[0016] During the process of the mechanical gripper mixing the waste in the waste mixing zone, a simulated waste mixing model view is constructed according to the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing zone. The waste mixing model view is used to present the mixing effect diagram of logic blocks of various target waste categories.

[0017] Based on the color distribution of each logic block in the waste mixing model view, the mechanical gripper is controlled to perform mixing operations on the waste in the waste mixing zone.

[0018] In another possible implementation, the operation of controlling the mechanical gripper to mix the waste in the waste mixing zone based on the color distribution of each logical block in the waste mixing model view includes:

[0019] After the color distribution of each logic block in the waste mixing model view is uniform, the mechanical gripper is controlled to stop mixing the waste in the waste mixing area;

[0020] After the mechanical gripper finishes mixing the waste in the waste mixing zone, the method further includes:

[0021] The mechanical gripper is controlled to grab the waste from the waste mixing zone and put it into the incinerator.

[0022] In another possible implementation, after placing the captured special waste into the waste mixing area, the method further includes:

[0023] For each target waste category, determine the volume of waste that has been grabbed and placed into the waste mixing zone from the specific waste pile of that target waste category;

[0024] Based on the already captured volume of special waste corresponding to the target waste category, update the remaining volume of special waste corresponding to the target waste category in the database.

[0025] In another possible implementation, before determining the waste category and volume corresponding to each of the at least one special waste pile in the special waste unloading area, the method further includes:

[0026] Obtain the identification information of the vehicles transporting waste;

[0027] Using the identification information, a query is made from the database to determine whether the waste being transported by the transport vehicle is special waste;

[0028] If the waste being transported by the transport vehicle is special waste, the waste category of the special waste being transported by the transport vehicle is retrieved from the database;

[0029] Based on the waste category of the special waste, the transport vehicle is instructed to unload the transported special waste into the area of ​​the special waste unloading zone that corresponds to the waste category of the special waste.

[0030] In another possible implementation, after retrieving the waste category of the special waste transported by the transport vehicle from the database, the method further includes:

[0031] Determine the volume of the special waste transported by the transport vehicle;

[0032] Based on the volume of the waste, update the volume of special waste corresponding to a specific waste category in the database, where the specific waste category is the waste category corresponding to the special waste transported by the transport vehicle.

[0033] In another possible implementation, determining the volume of each of at least one special waste pile in the special waste unloading area includes:

[0034] The volume of at least one special waste pile in the special waste unloading area is measured using lidar, and the volume measurement information of each special waste pile is obtained.

[0035] For each special waste pile, the volume of the special waste pile is determined by combining the volume measurement information of the special waste pile.

[0036] Furthermore, this application also provides a special waste disposal device, comprising:

[0037] The waste identification unit is used to determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area, wherein the waste categories of different special waste piles are different;

[0038] A waste partitioning unit is used to determine, for each special waste pile, at least one logical block logically divided from the special waste pile based on the volume of the special waste pile, and obtain the volume of the logical block, wherein the volumes of different logical blocks divided from the special waste pile are the same;

[0039] The proportion determination unit is used to determine at least one target waste category to be mixed and the mixing proportion corresponding to the special waste of each target waste category;

[0040] The quantity determination unit is used to determine the target number of logic blocks required for each target waste category based on the mixing ratio of special waste corresponding to each target waste category and the volume of the logic block corresponding to each target waste category.

[0041] The waste grabbing unit is used to control the mechanical gripper to grab special waste corresponding to a target number of logic blocks from the special waste pile of each target waste category, and place the grabbed special waste into the waste mixing area.

[0042] One possible implementation also includes:

[0043] The color marking unit is used to mark the at least one logical block of the special waste pile with a color corresponding to the waste category of the special waste pile, after the waste classification unit determines that the special waste pile is logically divided into at least one logical block.

[0044] The waste mixing unit is used to control the mechanical gripper to mix the waste in the waste mixing zone after the waste grabbing unit places the grabbed special waste into the waste mixing zone;

[0045] The model building unit is used to construct a simulated waste mixing model view based on the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing area during the process of the mechanical gripper mixing waste in the waste mixing area. The waste mixing model view is used to present the mixing effect diagram of logic blocks of various target waste categories.

[0046] The gripper control unit is used to control the mechanical gripper to mix the waste in the waste mixing zone based on the color distribution of each logic block in the waste mixing model view.

[0047] In yet another possible implementation, the gripper control unit includes:

[0048] The gripper control subunit is used to control the mechanical gripper to stop mixing the waste in the waste mixing zone after the color distribution of each logic block in the waste mixing model view is uniform.

[0049] The special waste disposal device also includes:

[0050] The pre-incineration unit is used to control the mechanical gripper to grab the waste in the waste mixing zone and put it into the incinerator after the gripper control subunit controls the mechanical gripper to finish mixing the waste in the waste mixing zone.

[0051] As can be seen from the above, in this embodiment of the application, by dividing the special waste piles of each waste category, at least one logical block and its volume can be obtained from each special waste pile. Based on this, according to the at least one target waste category to be mixed and the mixing ratio of special waste corresponding to each target waste category, the number of logical blocks required for special waste of each target waste category can be determined, and the gripper can be controlled to grab special waste of the corresponding volume of the required logical block from the special waste pile of the corresponding waste category and mix it. This allows for reasonable control of the categories and proportions of special waste that need to be mixed for incineration, reducing the damage to the incineration equipment caused by inappropriate proportions of various special wastes to be mixed for incineration. Consequently, the reliability of the incineration equipment operation can be improved, and the safety of co-processing special waste and domestic waste can be enhanced. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0053] Figure 1 This invention provides a schematic flowchart of a special waste disposal method according to an embodiment of the present application.

[0054] Figure 2 This invention provides a schematic diagram of the structure of a special waste disposal system according to an embodiment of the present application.

[0055] Figure 3 This illustration shows another schematic flowchart of a special waste disposal method provided in an embodiment of this application;

[0056] Figure 4This illustration shows a structural schematic diagram of a special waste disposal device provided in an embodiment of this application. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0058] The following is a description of a special waste disposal method provided in the embodiments of this application.

[0059] like Figure 1 This document illustrates a flowchart of a special waste treatment method provided in an embodiment of this application. This application can be applied to computer equipment for controlling waste incineration, such as various robotic arms that transfer or grab waste during the waste incineration process, as well as incineration equipment, without limitation.

[0060] The method in this embodiment includes:

[0061] Step S100: Determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area.

[0062] The special waste unloading area refers to the area used for storing special waste. Understandably, due to the large variety of special waste categories, this special waste unloading area allows for the categorization and storage of special waste according to its type, ensuring easier retrieval of the required special waste later.

[0063] Since special waste is stored separately in the special waste unloading area, there is at least one special waste pile in the special waste unloading area. The volumes of different special waste piles can be the same or different, but the types of special waste in each special waste pile are different.

[0064] There are several possible ways to determine the type and volume of each special waste pile. For example, if the relevant information of each special waste pile is recorded in the database, the information of each special waste pile can be found in the database. This information may include the location of each special waste pile in the special waste unloading area, the type of waste, the volume, etc.

[0065] Understandably, in order to query the database for the type and volume of special waste stored in each special waste pile, it is necessary to obtain the type and volume of the special waste pile in advance and then store them in the database. For example, after manually allocating areas in the special waste unloading area, different types of special waste piles can be stored in different areas of the special waste unloading area. Based on this, the waste type of each special waste pile can be stored in the database, and at the same time, information such as the volume of each special waste pile can be recorded in the database.

[0066] Understandably, when determining the volume of a special waste dump, in addition to querying the volume of the special waste dump from the database, the volume of the special waste dump can also be measured in real time without any restrictions.

[0067] Whether the volume of a special waste dump is predetermined or measured in real time, there are several possible ways to determine its volume.

[0068] For example, in one implementation, for each special waste pile in the special waste unloading area, the volume of the special waste pile can be measured using lidar to obtain the volume measurement information of the special waste pile. Based on the volume measurement information, the volume of the special waste pile is determined. The volume measurement information may include the height of the special waste pile and other relevant data required to measure its volume. In this application, there are various possibilities for the volume measurement information, and no limitation is imposed.

[0069] Since each special type of waste pile is not a regular geometric shape, general volume calculation methods are not suitable for calculating the volume of special waste piles. However, with the increasing maturity of lidar technology for measuring irregular volumes, lidar can be used to measure the volume of special waste piles. For example, the 3D point cloud method in lidar acquires the 3D spatial coordinates within the field of view. By emitting a laser beam onto the object being measured, the true distance information of the object is calculated based on the laser's return time, thereby obtaining the 3D coordinate data of the object's surface, which can then be used for various measurements or to build a 3D model. Algorithms for calculating volume using 3D point cloud methods include: convex hull algorithm, model reconstruction algorithm, and slicing method.

[0070] Step S110: For each special waste pile, based on the volume of the special waste pile, determine at least one logical block that the special waste pile is logically divided into, and obtain the volume of the logical block.

[0071] After obtaining the volume of each special waste pile, each special waste pile can be divided into at least one logical block. By dividing the special waste pile into logical blocks, the number of logical blocks required to meet the incineration requirements of special waste can be calculated more conveniently and reasonably, so that special waste can be grabbed based on the correspondence between logical blocks and special waste piles.

[0072] The division of special waste heaps involves creating and dividing virtual special waste heaps that are identical to real ones using a computer simulation; it does not involve dividing real special waste heaps. Understandably, there is a correspondence between the virtual and real special waste heaps. This correspondence means that every coordinate point in the virtual waste heap uniquely corresponds to a point in the real special waste heap. Therefore, based on this correspondence, we can determine the region in the real special waste heap that any area (such as a logical block) in the virtual waste heap maps to. Of course, the constructed virtual special waste heap and the special waste heap also share the same waste categories. Based on this, each divided logical block also has the same correspondence with the real special waste heap.

[0073] It is understandable that logical blocks divided from the same special garbage heap have the same volume, while logical blocks divided from different special garbage heaps can have the same or different volumes.

[0074] For example, both Category A and Category B special waste piles can be divided according to a rule that each logical block is 3 cubic meters. Accordingly, the two simulated special waste piles can be divided on a computer to obtain multiple logical blocks logically divided from each special waste pile.

[0075] Step S120: Determine at least one target waste category to be mixed and the mixing ratio of special waste corresponding to each target waste category.

[0076] The categories and mixing ratios of one or more special types of waste requiring co-incineration can be preset as needed, or manually input into a computer system in real time. This allows the computer system to determine the required mix ratio for each type of waste. The mix ratio refers to the proportion of each type of special waste in the total waste to be co-incinerated.

[0077] For example, one possible approach is to include the proportion of each category of special waste as well as the proportion of general waste. For instance, assuming that the proportion of general waste, category A special waste, and category B special waste is determined to be 1:1:2 based on the mixing ratio, then when 1 ton of general waste is needed, it can be calculated that 1 ton of category A special waste and 2 tons of category B special waste are required.

[0078] Step S130: Determine the target number of logic blocks required for each target waste category based on the mixing ratio of special waste for each target waste category and the volume of the logic block corresponding to each target waste category.

[0079] For example, after determining at least one target waste category to be mixed and the corresponding mixing ratio of special waste within each target waste category, the required volume of each special waste category can be determined. Based on this, and combined with the volume of the logical blocks divided for each special waste category, the target number of logical blocks required for each special waste category can be calculated.

[0080] For example: Based on the required categories and mixing ratios of special waste, it is determined that 3 tons of Category A special waste and 2 tons of Category B special waste are needed. The logical block volume for Category A special waste is 3 cubic meters, and the logical block volume for Category B special waste is 2 cubic meters. Assuming the density of the special waste is the same as that of water (since 1 ton of water equals 1 cubic meter of water), the target quantity of logical blocks for Category A special waste can be calculated to be 3, and the target quantity of logical blocks for Category B special waste is 2.

[0081] Step S140: For each target waste category, control the mechanical gripper to grab the special waste corresponding to the target number of logic blocks from the special waste pile of the target waste category, and place the grabbed special waste into the waste mixing area.

[0082] As previously described, the correspondence between logical blocks and real special garbage heaps is one-to-one; that is, there is a one-to-one correspondence between logical blocks in the virtual garbage heap and garbage in the real special garbage heap. Based on this, when a logical block in the virtual garbage heap is obtained, a mechanical gripper can be used to grab the special garbage in the real garbage heap that corresponds to the same location range as the logical block and has the same volume.

[0083] The mechanical gripper is used to grab special waste from the special waste unloading area and place it into the waste mixing area. The gripper can control the amount of special waste it grabs; for example, if its capacity is for special waste corresponding to 10 logic blocks, it can grab special waste from a pile corresponding to 10 logic blocks, or it can grab special waste from a pile corresponding to 5 logic blocks. The waste mixing area is used to mix various special wastes with household waste.

[0084] For example: Area 2 in the special waste unloading area stores Category B special waste. If Category B special waste corresponding to 3 logic blocks is needed, the mechanical gripper can be controlled to grab the Category B special waste corresponding to the 3 logic blocks in Area 2.

[0085] Understandably, after each type of special waste is grabbed and placed in the waste mixing area, the volume of each type of special waste that has been grabbed can be determined. Based on this, this application can also update the database with the remaining volume of special waste corresponding to the category of grabbed special waste, so that staff can know the remaining amount of each type of special waste in the database.

[0086] In this embodiment, by dividing the special waste piles for each type of waste, at least one logical block and its volume can be obtained for each special waste pile. Based on this, according to the at least one target waste type to be mixed and the mixing ratio of special waste corresponding to each target waste type, the number of logical blocks required for special waste of each target waste type can be determined. The gripper is then controlled to grab special waste of the corresponding volume of the required logical block from the special waste pile of the corresponding waste type and mix it. This allows for reasonable control of the types and proportions of special waste to be mixed for incineration, reducing the possibility of damage to the incineration equipment due to inappropriate proportions of various special wastes to be mixed for incineration. Consequently, the reliability of the incineration equipment operation can be improved, and the safety of co-processing special waste and municipal solid waste can be enhanced.

[0087] Understandably, in order to more conveniently control waste incineration through the solution of this application, this application can also control the unloading of waste from the transport vehicles, so that the transport vehicles correctly unload the special waste into the corresponding area in the special waste unloading zone. For ease of understanding, the special waste treatment system in this application will be described below.

[0088] like Figure 2The diagram shows the structure of a special waste treatment system. 1 is a truck scale (usually used to weigh trucks to determine their tonnage); 2 is a camera; 3 is the unloading hall; 4 is the special waste unloading gate; 5 is the special waste unloading area; 6 is the waste mixing area; 7 is a mechanical gripper; 8 is a trolley (used to slide the mechanical gripper); 9 is a lidar sensor; and 10 is the hopper (the feed inlet of the incineration equipment).

[0089] Combination Figure 2 The structural diagram illustrates the process of controlling the unloading of garbage from transport vehicles and storing information related to special garbage transported by transport vehicles in this application.

[0090] First, camera 2 can be used to obtain the identification information of the garbage transport vehicles. This identification information is used to uniquely identify the transport vehicles, such as license plates. There are several ways to obtain this identification information using a camera, such as taking a picture with the camera and then identifying the license plate information of the transport vehicle based on license plate image recognition technology.

[0091] It is understandable that this example only illustrates the use of cameras to obtain vehicle identification information. In practical applications, scanners can also be used to scan tags containing identification information on transport vehicles to obtain the vehicle's identification information. Of course, there are other ways to obtain vehicle identification information, and this is not a limitation.

[0092] Secondly, using this identification information, the database is queried to determine whether the waste transported by the vehicle is special waste. If it is special waste, the waste category of that special waste is retrieved from the database records. For example, if the vehicle's license plate is identified as M12, and a database query shows that vehicles with license plate M12 have previously transported special waste, then the waste transported by this vehicle this time can be determined to be special waste. Based on this, the category of special waste transported by this vehicle is retrieved from the database.

[0093] Finally, based on the type of special waste, the transport vehicle is instructed to enter unloading hall 3, and then unload the transported special waste into the special waste unloading area 5 corresponding to the type of special waste. For example, if the special waste transported by the transport vehicle is type A, and area three in special waste unloading area 5 corresponds to type A special waste, and area three corresponds to special waste unloading gate 4, then the transport vehicle is instructed to unload the transported type A special waste at special waste unloading gate 4.

[0094] Understandably, in Figure 2 Taking the special waste unloading area in the unloading hall as an example, the specific process is similar for other special waste unloading areas, and will not be repeated here.

[0095] After the special waste is unloaded into the special waste unloading area 5, relevant information about the unloaded special waste, such as volume, calorific value, and composition, can also be stored.

[0096] The following explanation uses the volume of stored special garbage as an example.

[0097] After determining the category of special waste, the weight of the special waste transported by the transport vehicle can be weighed using a weighbridge 1 to obtain the volume of the transported special waste. Then, based on the category and volume of the special waste, the corresponding volume of the special waste of that specific category can be updated in the database, where the specific waste category refers to the type of special waste transported by the transport vehicle.

[0098] In this application, there are multiple possible ways to store information about the special waste that is placed therein, and no restrictions are imposed on this.

[0099] By using the above methods, transported special waste can be stored in the special waste unloading area corresponding to its category, thus avoiding confusion between different types of special waste. In addition, information on newly added special waste is stored to monitor the status and remaining quantity of various special wastes in the waste disposal area.

[0100] Understandably, in combination Figure 2 It can be seen that after special waste is placed in the waste mixing zone 6, if the waste from the waste mixing zone 6 is directly fed into the incinerator, the waste may not be mixed evenly or may not have been mixed at all. This could cause irreversible damage to the incineration equipment and may also lead to safety issues. Therefore, in order to reduce damage to the incineration equipment and improve safety, this application can also control the mixing of the waste to be incinerated before incineration, so that the various types of waste to be incinerated can be mixed evenly. The following is a related analysis... Figure 3 Please provide an explanation.

[0101] like Figure 3 This illustration shows another schematic flowchart of a special waste disposal method provided in an embodiment of this application, the process including the following steps:

[0102] Step S200: Determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area.

[0103] Step S210: For each special waste pile, based on the volume of the special waste pile, determine at least one logical block that the special waste pile is logically divided into, and obtain the volume of the logical block.

[0104] Among them, steps S200-210 correspond to steps S100-110 in the aforementioned embodiments, and are described in detail above, so they will not be repeated here.

[0105] Step S220: For each special waste pile, mark at least one logical block of each special waste pile with a color corresponding to the waste category of that special waste pile.

[0106] To facilitate the logical differentiation and tracking of various special wastes in the mixed waste zone 6, at least one logical block divided from each special waste pile can be color-coded. For example, if a special waste pile of category A is logically divided into 3 logical blocks, all 3 logical blocks can be marked in red; if a special waste pile of category B is logically divided into 6 logical blocks, all 6 logical blocks can be marked in yellow.

[0107] Step S230: Determine at least one target waste category to be mixed and the mixing ratio of special waste corresponding to each target waste category.

[0108] Step S240: Determine the target number of logic blocks required for each target waste category based on the mixing ratio of special waste for each target waste category and the volume of the logic block corresponding to each target waste category.

[0109] Step S250: For each target waste category, control the mechanical gripper to grab the special waste corresponding to the target number of logic blocks from the special waste pile of the target waste category, and place the grabbed special waste into the waste mixing area.

[0110] Steps S230-250 correspond to steps S120-140 in the aforementioned embodiments, and will not be repeated here. Please refer to the foregoing description for details.

[0111] Among them, combined Figure 2 It should be noted that when the mechanical gripper 7 grabs the corresponding special waste from the special waste unloading area 5 according to the target number of logic blocks, the volume of the grabbed special waste may be more or less than the required volume. Therefore, the volume of the special waste in the mechanical gripper can be calculated based on the lidar on the trolley 8 to ensure that the volume of the grabbed special waste corresponds to the required target number of logic blocks. The calculation of the volume of special waste using lidar is described in detail in step S100 and will not be repeated here.

[0112] Step S260: Control the mechanical gripper to mix the waste in the waste mixing zone.

[0113] After the special waste is placed in the waste mixing area, a mechanical gripper can be used to mix the waste in the mixing area so that the fermented domestic waste and the special waste to be co-incinerated can be mixed together.

[0114] Step S270: During the process of the mechanical gripper mixing the waste in the waste mixing zone, a simulated waste mixing model view is constructed according to the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing zone.

[0115] When the mechanical gripper mixes the waste in the waste mixing zone, a waste mixing model view can be constructed. This waste mixing model view corresponds to the waste mixing zone, so the mixing status of the waste in the waste mixing zone can be dynamically monitored using this waste mixing model view.

[0116] Constructing a waste mixing model view requires understanding the motion characteristics of the robotic gripper mixing waste. These characteristics can be the amplitude or frequency of the gripper's flipping motion during waste mixing. For example, a virtual robotic gripper can be simulated in this waste mixing model view to represent the motion of a real robotic gripper. When an actual robotic gripper flips 20 times per minute in the waste mixing area, the virtual robotic gripper in the waste mixing model view performs the same frequency of motion.

[0117] Furthermore, this waste mixing model view can also present a mixed effect diagram of logical blocks for various target waste categories based on the color characteristics of each identified logical block. In this application, there are multiple possible ways to establish the waste mixing model view, and no limitation is imposed on this approach.

[0118] Step S280: Based on the color distribution of each logical block in the waste mixing model view, control the mechanical gripper to perform the operation of mixing the waste in the waste mixing area.

[0119] The color distribution of each logic block in the waste mixing model view can be monitored based on the color of its marker. The mechanical gripper is then controlled to mix the waste based on this color distribution. When the color distribution in the waste mixing model view is uniform, it indicates that the special waste and household waste in the mixing area are fully and evenly mixed. At this point, the mechanical gripper can be controlled to stop mixing. If the color distribution in the waste mixing model view is uneven, it indicates that the waste in the mixing area is not yet evenly mixed, and the mechanical gripper can be controlled to continue mixing.

[0120] Among them, combined Figure 2 The following explanation is provided. After confirming that the waste in the waste mixing zone 6 is evenly mixed, the mixing operation of the mechanical gripper 7 is stopped, and the evenly mixed waste is then grabbed into the hopper 10 in preparation for incineration.

[0121] In order to ensure that the waste added to the hopper 10 is the same as the pre-set special waste category and mixing ratio, the volume of the waste can be calculated based on the lidar on the trolley 8 after the uniformly mixed waste is grabbed into the hopper 10.

[0122] Where the required household waste is N and special waste is M, if the evenly mixed waste is fed into hopper 10 in n batches, and the volume of each batch can be calculated using laser radar as Ni, where i represents the nth batch, then using the formula... The mixing ratio can then be calculated.

[0123] For example, when the ratio of household waste to Category A special waste is 1:5, the required amount of household waste is 1 ton and special waste is 5 tons. After mixing 5 tons of Category A special waste with 1 ton of household waste, the mixture is added to hopper 10 in two batches using a mechanical gripper. The first batch contains 2 tons of waste, and the second batch contains 4 tons. Therefore, the calculated mixing ratio is 5:6, meaning the ratio of the volume of special waste to the total volume of the mixed waste is 5:6.

[0124] In this embodiment, after ensuring that the household waste and special waste are evenly mixed, the evenly mixed waste is placed into the incinerator for incineration. This method ensures that the incinerated waste is evenly mixed, which can effectively reduce damage to the incineration equipment and ensure the stable operation of the incineration equipment.

[0125] The following describes a special waste treatment device provided in the embodiments of this application. The special waste treatment device described below can be referred to in correspondence with the special waste treatment method described above.

[0126] like Figure 4 This application describes a special waste disposal device that may include:

[0127] Waste determination unit 300 is used to determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area, wherein the waste categories of different special waste piles are different;

[0128] The waste partitioning unit 310 is used to determine, for each special waste pile, at least one logical block logically divided from the special waste pile based on the volume of the special waste pile, and obtain the volume of the logical block, wherein the volumes of different logical blocks divided from the special waste pile are the same.

[0129] The proportion determination unit 320 is used to determine at least one target waste category to be mixed and the mixing proportion corresponding to the special waste of each target waste category;

[0130] The quantity determination unit 330 is used to determine the target number of logic blocks required for each type of special waste according to the mixing ratio of special waste for each type of target waste and the volume of logic blocks for each type of target waste.

[0131] The waste grabbing unit 340 is used to control the mechanical grabber to grab special waste corresponding to the target number of logic blocks from the special waste pile of each target waste category, and place the grabbed special waste into the waste mixing area.

[0132] Optionally, the special waste disposal device of this application may also include:

[0133] The color marking unit is used to mark the at least one logical block of the special waste pile with a color corresponding to the waste category of the special waste pile after the waste sorting unit determines that the special waste pile is logically divided into at least one logical block.

[0134] The waste mixing unit is used to control the mechanical gripper to mix the waste in the waste mixing zone after the waste grabbing unit places the special waste it grabs into the waste mixing zone;

[0135] The model building unit is used to construct a simulated waste mixing model view during the process of the mechanical gripper mixing waste in the waste mixing zone, based on the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing zone. The waste mixing model view is used to present the mixing effect diagram of logic blocks of various target waste categories.

[0136] The gripper control unit is used to control the mechanical gripper to mix the waste in the waste mixing zone based on the color distribution of each logic block in the waste mixing model view.

[0137] Optionally, the gripper control unit of this application may include:

[0138] The gripper control subunit is used to control the mechanical gripper to end the mixing of waste in the waste mixing zone after the color distribution of each logic block in the waste mixing model view is uniform.

[0139] This special waste disposal device also includes:

[0140] The pre-incineration unit is used to control the mechanical gripper to grab the waste in the waste mixing zone and put it into the incinerator after the gripper control subunit controls the mechanical gripper to finish mixing the waste in the waste mixing zone.

[0141] Optionally, the special waste disposal device of this application may also include:

[0142] The grabbed volume determination unit is used to determine the grabbed volume of special waste in the target waste category and placed in the waste mixing area after the waste grabbing unit places the grabbed special waste into the waste mixing area.

[0143] The remaining volume update unit is used to update the remaining volume of special waste corresponding to the target waste category in the database based on the already captured volume of special waste corresponding to the target waste category.

[0144] Optionally, the special waste disposal device of this application may also include:

[0145] The identification acquisition unit is used to acquire the identification information of the transport vehicle transporting the waste before the waste identification unit determines the waste category and volume corresponding to at least one special waste pile in the special waste unloading area.

[0146] The information query unit is used to query the database using identification information to determine whether the waste transported by the transport vehicle is special waste;

[0147] The category determination unit is used to query the database to determine the category of special waste transported by the transport vehicle if it is determined that the waste transported by the transport vehicle is special waste.

[0148] The instruction unit is used to instruct transport vehicles to unload the transported special waste into the special waste unloading area corresponding to the special waste category, based on the waste category of the special waste.

[0149] Optionally, the special waste disposal device of this application may also include:

[0150] The waste volume determination unit is used to determine the volume of the special waste transported by the transport vehicle after the category determination unit determines that the waste transported by the transport vehicle is special waste, and after querying the waste category of the special waste transported by the transport vehicle from the database.

[0151] A new volume update unit has been added to update the volume of special waste of a specific waste category in the database based on the waste volume. The specific waste category is the waste category corresponding to special waste transported by transport vehicles.

[0152] Optionally, the waste determination unit of the special waste treatment device of this application may include:

[0153] The information measurement unit is used to measure the volume of at least one special waste pile in the special waste unloading area using lidar, and to obtain the volume measurement information of each special waste pile.

[0154] The volume determination unit is used to determine the volume of each special waste pile by combining the volume measurement information of the special waste pile.

[0155] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Furthermore, the features described in the various embodiments of this specification can be substituted or combined with each other, enabling those skilled in the art to implement or use this application. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0156] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0157] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0158] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A special waste disposal method, characterized by, include: Determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area, wherein the waste categories of different special waste piles are different; For each special waste pile, based on the volume of the special waste pile, at least one logical block is determined from which the special waste pile is logically divided, and the volume of the logical block is obtained, wherein the volumes of different logical blocks from which the special waste pile is divided are the same; Determine at least one target waste category to be mixed and the mixing ratio of special waste corresponding to each target waste category; Based on the mixing ratio of special waste for each target waste category and the volume of the logic block corresponding to each target waste category, determine the target number of logic blocks required for the special waste for each target waste category; For each target waste category, the mechanical gripper is controlled to grab special waste corresponding to the target number of logic blocks from the special waste pile of the target waste category, and place the grabbed special waste into the waste mixing area.

2. The method of claim 1, wherein, For each specific waste pile, after determining that the specific waste pile is logically divided into at least one logical block, the method further includes: At least one logical block defined by the special waste pile is marked with a color corresponding to the waste category of the special waste pile; After placing the collected special waste into the waste mixing area, the process also includes: The mechanical gripper is controlled to mix the waste in the waste mixing zone; During the process of the mechanical gripper mixing the waste in the waste mixing zone, a simulated waste mixing model view is constructed according to the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing zone. The waste mixing model view is used to present the mixing effect diagram of logic blocks of various target waste categories. Based on the color distribution of each logic block in the waste mixing model view, the mechanical gripper is controlled to perform mixing operations on the waste in the waste mixing zone.

3. The method of claim 2, wherein, The operation of controlling the mechanical gripper to mix the waste in the waste mixing zone based on the color distribution of each logical block in the waste mixing model view includes: After the color distribution of each logic block in the waste mixing model view is uniform, the mechanical gripper is controlled to stop mixing the waste in the waste mixing area; After the mechanical gripper finishes mixing the waste in the waste mixing zone, the method further includes: The mechanical gripper is controlled to grab the waste from the waste mixing zone and put it into the incinerator.

4. The method of claim 1, wherein, After placing the collected special waste into the waste mixing area, the process also includes: For each target waste category, determine the volume of waste that has been grabbed and placed into the waste mixing zone from the specific waste pile of that target waste category; Based on the already captured volume of special waste corresponding to the target waste category, update the remaining volume of special waste corresponding to the target waste category in the database.

5. The method of claim 1, wherein, Before determining the waste category and volume corresponding to each of the at least one special waste pile in the special waste unloading area, the method further includes: Obtain the identification information of the vehicles transporting waste; Using the identification information, a query is made from the database to determine whether the waste being transported by the transport vehicle is special waste; If the waste being transported by the transport vehicle is special waste, the waste category of the special waste being transported by the transport vehicle is retrieved from the database; Based on the waste category of the special waste, the transport vehicle is instructed to unload the transported special waste into the area of ​​the special waste unloading zone that corresponds to the waste category of the special waste.

6. The method of claim 5, wherein, After retrieving the waste category of the special waste transported by the transport vehicle from the database, the process also includes: Determine the volume of the special waste transported by the transport vehicle; Based on the volume of the waste, update the volume of special waste corresponding to a specific waste category in the database, where the specific waste category is the waste category corresponding to the special waste transported by the transport vehicle.

7. The method of claim 1, wherein, Determining the volume of at least one special waste pile in the special waste unloading area includes: The volume of at least one special waste pile in the special waste unloading area is measured using lidar, and the volume measurement information of each special waste pile is obtained. For each special waste pile, the volume of the special waste pile is determined by combining the volume measurement information of the special waste pile.

8. A special garbage disposal device, characterized by comprising: include: The waste identification unit is used to determine the waste category and volume corresponding to at least one special waste pile in the special waste unloading area, wherein the waste categories of different special waste piles are different; A waste partitioning unit is used to determine, for each special waste pile, at least one logical block logically divided from the special waste pile based on the volume of the special waste pile, and obtain the volume of the logical block, wherein the volumes of different logical blocks divided from the special waste pile are the same; The proportion determination unit is used to determine at least one target waste category to be mixed and the mixing proportion corresponding to the special waste of each target waste category; The quantity determination unit is used to determine the target number of logic blocks required for each target waste category based on the mixing ratio of special waste corresponding to each target waste category and the volume of the logic block corresponding to each target waste category. The waste grabbing unit is used to control the mechanical gripper to grab special waste corresponding to a target number of logic blocks from the special waste pile of each target waste category, and place the grabbed special waste into the waste mixing area.

9. The apparatus of claim 8, wherein, Also includes: The color marking unit is used to mark the at least one logical block of the special waste pile with a color corresponding to the waste category of the special waste pile, after the waste classification unit determines that the special waste pile is logically divided into at least one logical block. The waste mixing unit is used to control the mechanical gripper to mix the waste in the waste mixing zone after the waste grabbing unit places the grabbed special waste into the waste mixing zone; The model building unit is used to construct a simulated waste mixing model view based on the action characteristics of the mechanical gripper mixing waste and the target number of logic blocks corresponding to each type of special waste in the waste mixing area during the process of the mechanical gripper mixing waste in the waste mixing area. The waste mixing model view is used to present the mixing effect diagram of logic blocks of various target waste categories. The gripper control unit is used to control the mechanical gripper to mix the waste in the waste mixing zone based on the color distribution of each logic block in the waste mixing model view.

10. The apparatus of claim 9, wherein, The gripper control unit includes: The gripper control subunit is used to control the mechanical gripper to stop mixing the waste in the waste mixing zone after the color distribution of each logic block in the waste mixing model view is uniform. The special waste disposal device also includes: The pre-incineration unit is used to control the mechanical gripper to grab the waste in the waste mixing zone and put it into the incinerator after the gripper control subunit controls the mechanical gripper to finish mixing the waste in the waste mixing zone.

Images