A classification garbage can based on visual recognition and a classification method thereof

Abstract

The application provides a classification garbage can based on visual recognition and a classification method thereof. The classification garbage can comprises a feeding box, a feeding opening is arranged at the top of the feeding box, the feeding opening is provided with a moving seat, the moving seat is moved through a moving mechanism, a camera and a grabbing mechanism are arranged on the moving seat, the camera is electrically connected with a controller, the controller controls the actions of the moving mechanism and the grabbing mechanism, a plurality of groups of feeding plates are arranged below the grabbing mechanism, the feeding plates and the side wall of the feeding box form feeding bins, a telescopic mechanism is arranged between the feeding plates and the bottom of the feeding box, the side wall of the feeding box is provided with garbage classification openings corresponding to the feeding plates, the feeding opening of the classification garbage can corresponds to the garbage classification opening, and a fan is arranged in the classification garbage can relative to the garbage classification opening. The classification garbage can and the classification method thereof can classify and collect single or multiple pieces of garbage, and improve the classification efficiency.

Description

Technical Field

[0001] This invention relates to the field of waste sorting equipment, and in particular to a visual recognition-based waste sorting bin and its sorting method. Background Technology

[0002] Chinese patent document CN 113060441A, published on July 2, 2021, discloses a waste sorting and disposal system and method. The system includes a frame and a housing located outside the frame. A rotating platform is activated by a rotating shaft and bearings. Once the corresponding waste bin is rotated to the designated position, the disposal port dumps the waste, achieving automatic waste sorting. Its advantages include: with a sufficiently large database, it can quickly identify and classify individual waste items; its structure is simple and efficient; it is fully automated, saving time and maintaining hygiene. Its disadvantages are: it cannot simultaneously identify and classify multiple types of waste, especially tangled or mixed waste, thus limiting its market applicability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a visual recognition-based sorting trash can and its sorting method, which can sort and collect various types of trash.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a visual recognition-based classified garbage bin, including a feeding box, a feeding port on the top of the feeding box, a movable seat on the feeding port, the movable seat being moved by a moving mechanism, a camera and a gripping mechanism on the movable seat, the camera being electrically connected to a controller, the controller controlling the movement of the moving mechanism and the gripping mechanism, several sets of feeding plates below the gripping mechanism, the feeding plates and the side wall of the feeding box forming a feeding bin, a telescopic mechanism between the feeding plates and the bottom of the feeding box, a garbage sorting port corresponding to the feeding plates on the side wall of the feeding box, the feeding port of the classified garbage bin corresponding to the garbage sorting port, and a fan inside the classified garbage bin opposite the garbage sorting port.

[0005] In a preferred embodiment, the moving mechanism includes two sets of longitudinal sliding tracks mounted on the top of the feeding box. A transverse slide has pulleys at both ends that cooperate with the sliding tracks. A first and second rotating motor are mounted at the same-direction ends of the two sets of longitudinal sliding tracks, and a third and fourth rotating motor are mounted at the other ends. Each of the first, second, third, and fourth rotating motors has a pulley at its output end. A set of limiting shafts is mounted on both sides of the transverse slide, with two shafts in each set, positioned at both ends of the transverse slide. The conveyor belt sequentially passes over the pulleys on the first rotating motor, one set of limiting shafts, the pulleys on the second and fourth rotating motors, the other set of limiting shafts, and the pulleys on the third rotating motor to form a closed loop. A buckle box is fastened to the conveyor belt and connected to the moving seat.

[0006] In a preferred embodiment, the gripping mechanism includes a hydraulic cylinder disposed at the bottom of the movable seat, an upper base plate disposed on the hydraulic cylinder, the upper base plate being connected to the gripper connecting plate via a connecting rod, the gripper connecting plate being configured in multiple ways, the gripper being hinged between two gripper connecting plates, the upper end of the gripper being hinged to the mounting seat, and the lower end of the piston rod of the hydraulic cylinder being connected to the mounting seat.

[0007] In a preferred embodiment, the gripper includes a gripper arm, a gripper forearm, and gripper fingers. One end of the gripper arm is hinged to a hinged connecting rod, the other end is hinged to the gripper fingers, and the middle part is hinged to a gripper connecting plate. The other end of the hinged connecting rod is hinged to a mounting base. One end of the gripper forearm is hinged to the gripper connecting plate, and the other end is hinged to the middle part of the gripper fingers.

[0008] In a preferred embodiment, the lower part of the feeding box is provided with a partition plate to divide the feeding box into several feeding chambers, and feeding plates are set in the feeding chambers, with the feeding chambers corresponding to the classified waste bins.

[0009] In a preferred embodiment, the air inlet of the fan is provided with a baffle plate, and the baffle plate is provided with air passage holes.

[0010] In a preferred embodiment, the bottom of the feeding box is provided with a drainage hole.

[0011] In a preferred embodiment, the telescopic mechanism is a hydraulic cylinder or an electric push rod.

[0012] This invention also provides a method for classifying trash cans based on visual recognition, comprising the following steps:

[0013] S1. After the garbage is poured out of the feeding port, the moving mechanism drives the moving base and the grabbing mechanism to move. The camera stays on the garbage to be identified and identifies the garbage in the feeding bin.

[0014] S2. The grabbing mechanism starts to grab the identified waste. The moving mechanism moves the grabbing mechanism and the waste to the upper part of the feeding plate corresponding to the classified waste bin. The grabbing mechanism releases its grip on the waste.

[0015] S3. After moving the different types of waste in the feeding bin to the upper side of the corresponding feeding plate, the telescopic mechanism of one of the feeding plates lowers the feeding plate to the waste sorting port position. The fan in the corresponding sorting waste bin starts and sucks the waste on the feeding plate into the sorting waste bin. Then the telescopic mechanism resets and the above steps are repeated. Then the waste on the upper side of the other feeding plates is sucked into the sorting waste bin in turn.

[0016] In the preferred embodiment, in S1 and S2, the first rotary motor, the second rotary motor, the third rotary motor, and the fourth rotary motor work together to drive the conveyor belt to move, drive the buckle box to move left and right, drive the transverse slide to move along the longitudinal sliding track, and drive the moving seat and the gripping mechanism to move laterally and longitudinally.

[0017] This invention provides a vision-based sorting trash can that can classify single or multiple pieces of trash, improving sorting efficiency. When trash is tangled, it hinders sorting; the gripper mechanism separates the tangled trash, facilitating the sorting of large quantities, especially tangled trash. The invention has a relatively simple structure, making it easy for maintenance personnel to repair. For trash thrown into the trash can in its bag, the gripping mechanism can also break the bag open before sorting the trash accordingly. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0019] Figure 1 This is a cross-sectional view of the present invention;

[0020] Figure 2 This is a structural diagram of a recycling bin.

[0021] Figure 3 This is a top view of the present invention;

[0022] Figure 4 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 5 This is a schematic diagram of the gripping mechanism installation.

[0024] Figure 6 A schematic diagram showing the installation of the gripping mechanism from another angle;

[0025] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0026] In the diagram: 1. Feeding box; 2. Moving seat; 3. Camera; 4. Feeding plate; 5. Telescopic mechanism; 6. Sorting garbage bin; 7. Fan; 8. Longitudinal sliding track; 9. Transverse sliding table; 10. Pulley; 11. First rotating motor; 12. Second rotating motor; 13. Third rotating motor; 14. Fourth rotating motor; 15. Limiting shaft; 16. Conveying belt; 17. Buckle box; 18. Hydraulic cylinder; 19. Upper base plate; 20. Connecting rod; 21. Gripper connecting plate; 22. Gripper; 23. Mounting base; 24. Divider plate; 25. Material baffle plate; 101. Feeding port; 102. Garbage sorting port; 103. Feeding chamber; 104. Drain hole; 105. Feed bin; 601. Feed inlet; 2201. Gripper arm; 2202. Gripper finger; 2203. Hinge connecting rod; 2204. Detailed Implementation

[0027] like Figures 1-4 As shown, a visual recognition-based waste sorting bin includes a feeding box 1. The feeding box 1 has a feeding port 101 on its top. The feeding port 101 has a movable seat 2, which moves via a moving mechanism. The movable seat 2 is equipped with a camera 3 and a gripping mechanism. The camera 3 is mounted on the movable seat 2 via a connecting seat and is electrically connected to a controller. The controller controls the movement of the moving mechanism and the gripping mechanism. Several sets of feeding plates 4 are provided below the gripping mechanism. In this embodiment, there are four feeding plates 4. The feeding plates 4 and the side wall of the feeding box 1 form a feeding bin 105. A telescopic mechanism 5 is provided between the feeding plates 4 and the bottom of the feeding box 1. Each set of feeding plates 4 is equipped with a telescopic mechanism 5 below it. The telescopic mechanism 5 can be a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. The telescopic mechanism 5 can drive the feeding plates 4 to move up and down. The feeding plates 4 can be moved up and down separately under control.

[0028] The side wall of the feeding box 1 is provided with a garbage sorting port 102 corresponding to the feeding plate 4. The garbage sorting port 102 is located below the feeding plate 4. The inlet 601 of the sorting garbage bin 6 corresponds to the garbage sorting port 102. Inside the sorting garbage bin 6, a fan 7 is provided opposite the garbage sorting port 102. The installation height of the fan 7 is the same as the height of the garbage sorting port 102. When the feeding plate 4 moves downward, it moves the garbage to the garbage sorting port 102. The fan 7 sucks the garbage into the sorting garbage bin 6.

[0029] The recycling bins have hinged doors on the outside for easy cleaning by sanitation workers.

[0030] Preferred, such as Figures 2-3 As shown, the moving mechanism includes two sets of longitudinal sliding tracks 8 set on the top of the feeding box 1. The transverse slide 9 is provided with pulleys 10 at both ends that cooperate with the sliding tracks 8. The transverse slide 9 is set perpendicular to the longitudinal sliding tracks 8. The same-direction ends of the two sets of longitudinal sliding tracks 8 are respectively provided with a first rotating motor 11 and a second rotating motor 12, and the other ends are respectively provided with a third rotating motor 13 and a fourth rotating motor 14. The output ends of the first rotating motor 11, the second rotating motor 12, the third rotating motor 13 and the fourth rotating motor 14 are all provided with pulleys. The two sides of the transverse slide 9 are respectively provided with a set of limiting shafts 15. There are two limiting shafts 15 in each set, which are respectively set at both ends of the transverse slide 9. The conveyor belt 16 passes through the pulley on the first rotating motor 11, one set of limiting shafts 15, the pulley on the second rotating motor 12, the pulley on the fourth rotating motor 14, the other set of limiting shafts 15 and the pulley on the third rotating motor 13 in sequence to form a closed loop. The buckle box 17 is fastened to the conveyor belt 16 and is connected to the moving seat 2.

[0031] In practical use, the first rotary motor 11 rotates, and the second, third, and fourth rotary motors 12, 13, and 14 rotate synchronously, causing the conveyor belt 16 to move. This allows the movable seat 2 to move to the left, and the transverse slide 9 to move towards the first rotary motor 11. When the second rotary motor 12 rotates, the first, third, and fourth rotary motors 11, 13, and 14 rotate synchronously, causing the movable seat 2 to move to the right, and the transverse slide 9 to move towards the second rotary motor 12. When the third rotary motor 13 rotates, the movable seat 2 moves to the left, and the transverse slide 9 moves towards the third rotary motor 13. Finally, when the fourth rotary motor 14 rotates, the movable seat 2 moves to the right, and the transverse slide 9 moves towards the fourth rotary motor 14. This allows the movable seat 2 to move freely.

[0032] Preferred, such as Figures 5-7 As shown, the gripping mechanism includes a hydraulic cylinder 18 disposed at the bottom of the movable seat 2. An upper base plate 19 is disposed on the hydraulic cylinder 18. The upper base plate 19 is fixedly connected to the base of the hydraulic cylinder 18. The upper base plate 19 is connected to the gripper connecting plate 21 through a connecting rod 20. Multiple gripper connecting plates 21 are provided. The number of gripper connecting plates 21 is the same as the number of grippers 22. The grippers 22 are hinged between two gripper connecting plates 21. In this embodiment, the number of gripper connecting plates 21 and grippers 22 is five. The upper end of the gripper 22 is hinged to the mounting base 23. The lower end of the piston rod of the hydraulic cylinder 18 is connected to the mounting base 23.

[0033] The gripper 22 includes a gripper arm 2201, a gripper arm 2202, and a gripper finger 2203. One end of the gripper arm 2201 is hinged to the hinged connecting rod 2204, the other end is hinged to the gripper finger 2203, and the middle part is hinged to the gripper connecting plate 21. The other end of the hinged connecting rod 2204 is hinged to the mounting base 23. One end of the gripper arm 2202 is hinged to the gripper connecting plate 21, and the other end is hinged to the middle part of the gripper finger 2203.

[0034] The hydraulic cylinder 18 extends and retracts, causing the mounting base 23 to move up and down, which in turn drives the hinge link 2204 to rotate, which in turn drives the gripper arm 2201 to rotate, thereby driving the gripper fingers 2203 to rotate synchronously. Under the pulling action of the gripper arm 2202, the gripper fingers 2203 open or close to grab the garbage and facilitate the movement of the garbage.

[0035] In practical use, the lower end of the gripper finger 2203 is designed with a pointed structure to facilitate bag breaking.

[0036] Preferably, the lower part of the feeding box 1 is provided with a partition plate 24 to divide the feeding box 1 into several feeding chambers 103. The feeding plate 4 is set in the feeding chamber 103. The feeding chamber 103 is set in the corresponding classified garbage bin 6. The feeding chamber 103 limits the up and down movement of the feeding plate 4.

[0037] Preferably, the air inlet of the blower 7 is provided with a baffle plate 25, and the baffle plate 25 is provided with air passage holes. By setting the baffle plate 25, small pieces of garbage are prevented from entering the air inlet of the blower 7 when the blower 7 is drawing air.

[0038] Preferably, the bottom of the feeding box 1 is provided with a drainage hole 104. If the collected waste is wet waste, the liquid can be discharged from the drainage hole 104 to prevent it from accumulating in the feeding box 1.

[0039] A method for classifying trash cans based on visual recognition includes the following steps:

[0040] S1. After the waste is dumped from the feeding port 101, the moving mechanism drives the moving seat 2 and the gripping mechanism to move. The camera 3 stays on the identified waste and identifies the waste in the feeding bin 105. The first rotating motor 11, the second rotating motor 12, the third rotating motor 13, and the fourth rotating motor 14 work together to drive the conveyor belt 16 to move, drive the buckle box 17 to move left and right, and drive the transverse slide 9 to move along the longitudinal sliding track 8, thereby driving the moving seat 2 and the gripping mechanism to move laterally and longitudinally.

[0041] The first rotary motor 11 rotates, and the second rotary motor 12, the third rotary motor 13, and the fourth rotary motor 14 rotate synchronously, causing the conveyor belt 16 to move. This allows the movable seat 2 to move to the left, and the transverse slide 9 to move towards the first rotary motor 11. The second rotary motor 12 rotates, and the first rotary motor 11, the third rotary motor 13, and the fourth rotary motor 14 rotate synchronously, allowing the movable seat 2 to move to the right, and the transverse slide 9 to move towards the second rotary motor 12. The third rotary motor 13 rotates, allowing the movable seat 2 to move to the left, and the transverse slide 9 to move towards the third rotary motor 13. The fourth rotary motor 14 rotates, allowing the movable seat 2 to move to the right, and the transverse slide 9 to move towards the fourth rotary motor 14. This enables the movable seat 2 to move freely.

[0042] S2. The grabbing mechanism starts and grabs the identified garbage. The moving mechanism moves the grabbing mechanism and the garbage to the upper side of the feeding plate 4 corresponding to the classified garbage bin 6. The grabbing mechanism releases its grip on the garbage.

[0043] The hydraulic cylinder 18 extends and retracts, causing the mounting base 23 to move up and down, which in turn drives the hinge link 2204 to rotate, which in turn drives the gripper arm 2201 to rotate, thereby driving the gripper fingers 2203 to rotate synchronously. Under the pulling action of the gripper arm 2202, the gripper fingers 2203 open or close to grab the garbage.

[0044] When waste from the same batch becomes entangled, the gripper fingers 2203 separate the entangled waste before it is moved. Specifically, the gripper fingers 2203 extend into the entangled waste, and the entangled waste is separated by the cooperation of all the gripper fingers 2203.

[0045] S3. After moving the different types of waste in the feeding bin 1 to the upper side of the corresponding feeding plate 4, the telescopic mechanism 5 corresponding to one of the feeding plates 4 lowers the feeding plate 4 to the position of the waste sorting port 102. The fan 7 in the corresponding sorting waste bin 6 is started to suck the waste on the feeding plate 4 into the sorting waste bin 6. Then the telescopic mechanism 5 is reset, and the above steps are repeated. Then the waste on the upper side of the other feeding plates 4 is sucked into the sorting waste bin 6 in turn.

[0046] In practical use, an infrared transmitter can be installed in the classified garbage bin 6 to detect whether the garbage is full. The infrared transmitter emits infrared light, and when it detects that the garbage bin is full, it notifies the staff to collect it. If the garbage bin is not full, the device will go into hibernation and wait for the next garbage disposal.

Claims

1. A visual recognition-based sorting trash can, characterized in that, The system includes a feeding box (1), a feeding port (101) on the top of the feeding box (1), a moving seat (2) on the feeding port (101), the moving seat (2) being moved by a moving mechanism, a camera (3) and a grabbing mechanism on the moving seat (2), the camera (3) being electrically connected to a controller, the controller controlling the movement of the moving mechanism and the grabbing mechanism, several feeding plates (4) below the grabbing mechanism, the feeding plates (4) and the side wall of the feeding box (1) forming a feeding bin (105), a telescopic mechanism (5) between the feeding plates (4) and the bottom of the feeding box (1), a garbage sorting port (102) corresponding to the feeding plates (4) on the side wall of the feeding box (1), the inlet (601) of the sorting garbage bin (6) corresponding to the garbage sorting port (102), a fan (7) inside the sorting garbage bin (6) relative to the garbage sorting port (102), the fan (7) being started, sucking the garbage on the feeding plates (4) into the sorting garbage bin (6); The lower part of the feeding box (1) is provided with a partition plate (24) to divide the feeding box (1) into several feeding chambers (103). The feeding plate (4) is set in the feeding chamber (103), and the feeding chamber (103) is set in the corresponding classified garbage bin (6). The air inlet of the fan (7) is provided with a baffle plate (25), and the baffle plate (25) is provided with air passage holes; The gripping mechanism includes a hydraulic cylinder (18) located at the bottom of the movable seat (2). The hydraulic cylinder (18) is provided with an upper base plate (19). The upper base plate (19) is connected to the gripper connecting plate (21) via a connecting rod (20). Multiple gripper connecting plates (21) are provided. Grippers (22) are hinged between two gripper connecting plates (21). The upper end of the gripper (22) is hinged to the mounting seat (23). The lower end of the piston rod of the hydraulic cylinder (18) is connected to the mounting seat (23). The gripper (22) includes a gripper arm (2201), a gripper arm (2202), and gripper fingers (2203). One end of the gripper arm (2201) is hinged to the hinged connecting rod (2204), the other end is hinged to the gripper fingers (2203), and the middle part is hinged to the gripper connecting plate (21). The other end of the hinged connecting rod (2204) is hinged to the mounting base (23). One end of the gripper arm (2202) is hinged to the gripper connecting plate (21), and the other end is hinged to the middle part of the gripper fingers (2203). The hydraulic cylinder (18) extends and retracts, causing the mounting base to extend and retract. The seat (23) moves up and down, causing the hinged connecting rod (2204) to rotate, which in turn causes the gripper arm (2201) to rotate, thereby causing the gripper fingers (2203) to rotate synchronously. Under the pulling action of the gripper arm (2202), the gripper fingers (2203) open or close. The lower end of the gripper fingers (2203) is set with a pointed structure, which can break the bag. When the garbage put in the same batch becomes entangled, the gripper fingers (2203) extend into the entangled garbage and separate the entangled garbage with the cooperation of each gripper finger (2203).

2. The visual recognition-based sorting trash can according to claim 1, characterized in that, The moving mechanism includes two sets of longitudinal sliding tracks (8) set on the top of the feeding box (1). A transverse slide (9) has pulleys (10) at both ends that cooperate with the sliding tracks (8). The two sets of longitudinal sliding tracks (8) have a first rotating motor (11) and a second rotating motor (12) at their respective ends in the same direction, and a third rotating motor (13) and a fourth rotating motor (14) at their other ends. The output ends of the first rotating motor (11), the second rotating motor (12), the third rotating motor (13), and the fourth rotating motor (14) are all equipped with pulleys. The transverse slide... (9) has a set of limiting shafts (15) on both sides. Each set of limiting shafts (15) consists of two shafts, which are respectively set at both ends of the transverse slide (9). The conveyor belt (16) passes through the pulley on the first rotating motor (11), one set of limiting shafts (15), the pulley on the second rotating motor (12), the pulley on the fourth rotating motor (14), another set of limiting shafts (15), and the pulley on the third rotating motor (13) to form a closed loop. The buckle box (17) is fastened to the conveyor belt (16) and is connected to the moving seat (2).

3. A visual recognition-based waste sorting bin according to claim 1, characterized in that, The bottom of the feeding box (1) is provided with a water leakage hole (104).

4. A visual recognition-based sorting trash can according to claim 1, characterized in that, The telescopic mechanism (5) is a hydraulic cylinder or an electric push rod.

5. The classification method for visual recognition-based waste bins according to claim 2, characterized in that, Includes the following steps: S1. After the garbage is dumped from the feeding port (101), the moving mechanism drives the moving seat (2) and the grabbing mechanism to move. The camera (3) stays on the garbage to be identified. The camera (3) identifies the garbage in the feeding bin (105). S2. The grabbing mechanism starts to grab the identified garbage. The moving mechanism moves the grabbing mechanism and the garbage to the upper side of the feeding plate (4) corresponding to the classified garbage bin (6). The grabbing mechanism releases the grabbing of the garbage. S3. After moving the different types of garbage in the feeding box (1) to the upper side of the corresponding feeding plate (4), the telescopic mechanism (5) corresponding to one of the feeding plates (4) lowers the feeding plate (4) to the garbage sorting port (102) position. The fan (7) in the corresponding sorting garbage bin (6) is started, sucking the garbage on the feeding plate (4) into the sorting garbage bin (6). Then the telescopic mechanism (5) is reset, and the above steps are repeated. Then the garbage on the upper side of the other feeding plates (4) is sucked into the sorting garbage bin (6) in turn.

6. The classification method for visual recognition-based waste bins according to claim 5, characterized in that, In S1 and S2, the first rotating motor (11), the second rotating motor (12), the third rotating motor (13) and the fourth rotating motor (14) work together to drive the conveyor belt (16) to move, drive the buckle box (17) to move left and right, drive the transverse slide (9) to move along the longitudinal sliding track (8), and drive the moving seat (2) and the gripping mechanism to move laterally and longitudinally.

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