Dumper docking system and refuse vehicle push-out reminder information transmission method

Abstract

Embodiments of the present disclosure disclose a garbage truck docking system and a garbage truck pushing reminder information sending method. A specific embodiment of the garbage truck docking system includes a garbage collection and transportation vehicle and a server device. The garbage collection and transportation vehicle includes a garbage collection and transportation vehicle body, a front-end control device, a total control device, a positioning device, and a communication device. The total control device is configured to control the positioning device to position the garbage collection and transportation vehicle, obtain garbage collection and transportation vehicle position information, and control the communication device to send the garbage collection and transportation vehicle position information to the server device. The server device is configured to, in response to receiving the garbage collection and transportation vehicle position information, determine a collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identification, determine next station docking point user information and a next station reminding time, and send target garbage truck pushing reminder information to a terminal corresponding to the next station docking point user information. This embodiment can improve the quality of life of residents, thereby improving the life experience of residents and reducing air pollution.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of garbage collection and transportation vehicles, in particular to a barrel truck docking system and a garbage truck pushing-out reminding information sending method. BACKGROUND

[0002] Garbage collection and transportation vehicles are commonly used cleaning vehicles in urban garbage transfer. Currently, when garbage is collected and transported by garbage collection and transportation vehicles, the commonly used method is that the property personnel of a community pushes the garbage barrels in the garbage house to the designated docking point at the set barrel pushing time point (for example, 12 o'clock at night), the garbage collection and transportation vehicle transports away the garbage in the garbage barrels after reaching the docking point, and then the property personnel of the community withdraws the garbage barrels back to the garbage house at the set barrel withdrawing time point (for example, around 8 o'clock in the morning).

[0003] However, the inventors have found that when the above method is used to collect and transport garbage, the following technical problems often exist:

[0004] Firstly, the docking point is often on the sidewalk or bicycle lane or auxiliary road on both sides of the public road at the community entrance. If the garbage collection and transportation vehicle does not transport away the garbage in the garbage barrels for a long time, the garbage will produce an odor at high temperature, affecting the quality of life of the community residents, leading to poor living experience of the residents, and causing air pollution.

[0005] Secondly, there is a deviation in the time when the garbage collection and transportation vehicle reaches the docking point. When the garbage collection and transportation vehicle reaches the docking point to collect and transport the garbage early, and the property staff does not quickly withdraw the garbage barrels, the garbage barrels stay on the roadside for a long time, affecting road traffic, being not conducive to the travel of residents, and leading to low road safety.

[0006] Thirdly, manual movement of the garbage barrels or vehicles is needed to enable the lifting gripper to grab the garbage barrels, leading to low efficiency of garbage collection and transportation, and the weight of the garbage already carried by the garbage collection and transportation vehicle and the weight of the garbage in the garbage barrels to be collected and transported are not obtained in real time to determine whether the garbage collection and transportation vehicle can continue to carry and transport the garbage in the garbage barrels, which is easy to cause the garbage collection and transportation vehicle to be overloaded, leading to low safety of the garbage collection and transportation vehicle.

[0007] The above information disclosed in the background section is only intended to enhance the understanding of the background of the present inventive concept, and therefore, it can include information that does not form the prior art known to those of ordinary skill in the art in the country. SUMMARY

[0008] The summary section is provided to introduce briefly in a simplified form the concepts that will be described in detail in the specific embodiments section. The summary section is not intended to identify key or essential features of the claimed technology nor is it intended to be used to limit the scope of the claimed technology.

[0009] Some embodiments of the present disclosure propose a barrel truck docking system and a garbage truck pushing-out reminding information sending method to solve one or more of the technical problems mentioned in the background section.

[0010] In a first aspect, some embodiments of the present disclosure provide a barrel truck docking system, comprising: a garbage collection and transportation truck and a server device, wherein the garbage collection and transportation truck comprises a garbage collection and transportation truck body, a front-end control device, a general control device, a positioning device and a communication device; the front-end control device is arranged in a cab of the garbage collection and transportation truck body, and is in communication connection with the general control device; the front-end control device is configured to send preset control information to the general control device in response to detecting an opening operation acting on the front-end control device, wherein the preset control information comprises positioning opening information; the positioning device, the communication device and the server device are all in communication connection with the general control device; the general control device is configured to control the positioning device to position the garbage collection and transportation truck to obtain garbage collection and transportation truck position information, and control the communication device to send the garbage collection and transportation truck position information to the server device in response to receiving the positioning opening information sent by the front-end control device, wherein the garbage collection and transportation truck position information comprises a garbage collection and transportation truck identifier and a garbage collection and transportation truck position; the server device is configured to determine a collection and transportation path information sequence corresponding to the garbage collection and transportation truck identifier according to the garbage collection and transportation truck identifier included in the received garbage collection and transportation truck position information, determine next station docking point user information and next station reminding time according to the collection and transportation path information sequence and the garbage collection and transportation truck position included in the received garbage collection and transportation truck position information, and send target garbage truck pushing-out reminding information to a terminal corresponding to the next station docking point user information according to the next station reminding time in response to receiving the garbage collection and transportation truck position information.

[0011] Optionally, the garbage collection and transportation truck further comprises a camera device, wherein the camera device comprises at least one camera, each of the at least one camera is arranged on the outside of the garbage collection and transportation truck body; the preset control information further comprises camera opening information; the camera device is in communication connection with the general control device; the general control device is further configured to control the camera device to take pictures of garbage cans to obtain garbage can images and send the garbage can images to the server device in response to receiving the camera opening information sent by the front-end control device.

[0012] Optionally, the at least one camera comprises a camera arranged on the right outside of the cab and a camera arranged on the left outside of the cab.

[0013] Optionally, the garbage collection and transportation vehicle body is provided with a lifting gripper, a lifting gripper opening device and a card reader, and the lifting gripper, the lifting gripper opening device and the card reader are in communication connection with the general control device; the lifting gripper opening device is configured to send preset lifting gripper opening information to the general control device in response to detecting an opening operation acting on the lifting gripper opening device; the general control device is further configured to control the lifting gripper to perform a dumping operation on the garbage can to pour the contents in the garbage can into the garbage collection and transportation vehicle body in response to receiving the preset lifting gripper opening information; the card reader is configured to read a label on the garbage can to obtain garbage can information, and send the garbage can information to the general control device, wherein the garbage can information includes a garbage can identifier; and the general control device is further configured to control the communication device to send the received garbage can information to the server device in response to receiving the garbage can information.

[0014] Optionally, the garbage collection and transportation vehicle further comprises an external power supply device, which is in electrical connection with the general control device, and is configured to supply power to the general control device, the positioning device and the communication device.

[0015] Optionally, the front-end control device is a control button, and the front-end control device is arranged on one side of a steering wheel in a cab of the garbage collection and transportation vehicle body.

[0016] In a second aspect, some embodiments of the present disclosure provide a garbage truck pushing-out reminder information sending method applied to the barrel truck docking system as described in any of the implementations of the first aspect, wherein the barrel truck docking system comprises a garbage collection and transportation vehicle and a server device, the garbage collection and transportation vehicle comprises a garbage collection and transportation vehicle body, a front-end control device, a general control device, a positioning device and a communication device; and the method comprises: positioning the garbage collection and transportation vehicle by the positioning device to obtain garbage collection and transportation vehicle position information, wherein the garbage collection and transportation vehicle position information comprises a garbage collection and transportation vehicle identifier and a garbage collection and transportation vehicle position; determining a collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identifier according to the garbage collection and transportation vehicle identifier included in the garbage collection and transportation vehicle position information; determining a next station docking point user information and a next station reminding time according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position; and sending a target garbage truck pushing-out reminder information to a terminal corresponding to the next station docking point user information according to the next station reminding time.

[0017] Optionally, the garbage collection and transportation vehicle further comprises a camera device; and the method further comprises: capturing the garbage can by the camera device to obtain a garbage can image; performing image preprocessing on the garbage can image to obtain a garbage can image after image preprocessing; performing object recognition processing on the garbage can image after image preprocessing to obtain object recognition information, wherein the object recognition information indicates that there is an object in the garbage can or there is no object in the garbage can; in response to determining that the object recognition information indicates that there is no object in the garbage can, determining current docking point user information according to the garbage collection and transportation vehicle position; and sending preset garbage can removal information to a terminal corresponding to the current docking point user information.

[0018] Optionally, the garbage collection and transportation vehicle position information comprises a garbage collection and transportation vehicle identifier, and the determination of the collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identifier comprises: in response to determining that the object recognition information indicates that there is an object in the garbage can, determining the collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identifier included in the garbage collection and transportation vehicle position information.

[0019] Optionally, each collection and transportation path information in the collection and transportation path information sequence comprises preceding docking point position information and following docking point position information corresponding to two adjacent docking points; and the determination of the next docking point user information and the next docking point reminding time according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position comprises: determining the collection and transportation path information in which the preceding docking point position information is the same as the garbage collection and transportation vehicle position as target collection and transportation path information; determining the following docking point position information included in the target collection and transportation path information as the next docking point position information; determining the docking point user information corresponding to the next docking point position information; determining the docking point user information as the next docking point user information; generating a target collection and transportation vehicle driving duration according to the target collection and transportation path information; generating a predicted next docking point arrival time according to the current time and the target collection and transportation vehicle driving duration; and generating a next docking point reminding time according to the predicted next docking point arrival time.

[0020] Optionally, the generation of the target collection and transportation vehicle driving duration according to the target collection and transportation path information comprises: obtaining road condition information and current weather information corresponding to the target collection and transportation path information; determining date type information corresponding to the current date according to the current date; and generating a target collection and transportation vehicle driving duration according to the current time point, the road condition information, the current weather information, the date type information, and the target collection and transportation path information.

[0021] Optionally, the garbage collection and transportation vehicle body is provided with a lifting gripper, a lifting gripper opening device and a card reader, and the lifting gripper is provided with a weighing sensor; and the method further comprises: in response to detecting an opening operation on the lifting gripper opening device, controlling the camera to capture the target environment to obtain a target environment image; performing grayscale processing on the target environment image to obtain a target environment grayscale image; performing filtering processing on the target environment grayscale image to obtain a target environment filtered image; performing edge extraction processing on the target environment filtered image to obtain a target environment edge image; performing identification code extraction processing on the target environment edge image to obtain at least one identification code information; determining the garbage can pose information corresponding to each identification code information in the at least one identification code information according to the identification code information; generating a sequence of movement path information corresponding to the lifting gripper according to the determined garbage can pose information; according to each movement path information in the sequence of movement path information, the following steps are performed: controlling the lifting gripper to move to the garbage can position corresponding to the movement path information; reading the label corresponding to the garbage can position through the card reader to obtain garbage can information, wherein the garbage can information includes garbage can identification; controlling the lifting gripper to grasp the garbage can corresponding to the garbage can position; weighing the garbage can corresponding to the garbage can position through the weighing sensor to obtain the garbage can weight; determining the garbage can type corresponding to the garbage can identification according to the garbage can identification; determining the stored garbage weight corresponding to the garbage can type according to the garbage collection and transportation vehicle identification and the garbage can type; determining the total garbage weight as the sum of the garbage can weight and the stored garbage weight; in response to determining that the total garbage weight meets the preset weight condition, controlling the lifting gripper to perform a dumping operation to pour the contents in the garbage can into the garbage collection and transportation vehicle body; updating the stored garbage weight corresponding to the garbage can type according to the total garbage weight.

[0022] The various embodiments disclosed above have the following beneficial effects: the garbage truck docking system of some embodiments of this disclosure can improve residents' living experience and reduce air pollution. Specifically, the reasons for residents' poor living experience and air pollution are: the docking points are often located on the sidewalks, bicycle lanes, or auxiliary roads on both sides of the public roads at the entrance of the community. If the garbage trucks do not remove the garbage from the garbage bins for a long time, the garbage will produce odors when the temperature is high, affecting the quality of life of the community residents. Based on this, some embodiments of the garbage truck docking system disclosed herein include: a garbage collection truck and a server device. The garbage collection truck includes a garbage collection truck body, a front-end control device, a central control device, a positioning device, and a communication device. The front-end control device is located in the driver's cab of the garbage collection truck body and is communicatively connected to the central control device. The front-end control device is configured to send preset control information to the central control device in response to detecting an opening operation performed on the front-end control device. The preset control information includes positioning opening information. The positioning device, the communication device, and the server device are all communicatively connected to the central control device. The central control device is configured to control the positioning device in response to receiving the positioning opening information sent by the front-end control device. The positioning device locates the aforementioned garbage collection vehicle to obtain its location information, and controls the communication device to send the location information to the server device. The location information includes a garbage collection vehicle identifier and its location. The server device is configured to, in response to receiving the garbage collection vehicle location information, determine the collection route information sequence corresponding to the garbage collection vehicle identifier based on the identifier included in the received location information, determine the next-stop docking point user information and the next-stop reminder time based on the collection route information sequence and the garbage collection vehicle location included in the received location information, and send a target garbage truck pushback reminder message to the terminal corresponding to the next-stop docking point user information based on the next-stop reminder time. After obtaining the location information of the garbage collection vehicle, the collection route information sequence is determined. Based on this sequence, the contact information of the property management personnel at the next docking point of the garbage collection vehicle is determined, and the time to remind them to remove the garbage bins is also determined. Because the garbage bins can be removed at the reminded time, they can be removed just before the garbage collection vehicle arrives at the docking point, rather than at a fixed time. This reduces the time the garbage bins stay at the docking point, thereby shortening the impact time of the garbage. As a result, residents' quality of life can be improved, their living experience can be enhanced, and air pollution can be reduced. Attached Figure Description

[0023] The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by describing in detail some embodiments thereof with reference to the annexed drawings in which: like reference numerals refer to like elements throughout. The annexed drawings are schematic and are not intended to accurately depict the proportions or relative positions of elements.

[0024] Figure 1 is a structural schematic diagram of some embodiments of a barrel car docking system according to the present disclosure;

[0025] Figure 2 is a structural schematic diagram of some embodiments of a barrel car docking system including a camera device according to the present disclosure

[0026] Figure 3 is a flowchart of some embodiments of a garbage truck push-out reminder information sending method according to the present disclosure. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure will be described in more detail with reference to the drawings. While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the present disclosure to the particular embodiments disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure. Like numbers refer to like elements throughout the description of the figures.

[0028] It should also be further noted that only parts related to the application are shown in the drawings for the purpose of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0029] It should be noted that the terms "first", "second", and the like in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0030] It should be noted that the terms "one", "multiple" in the present disclosure are illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0031] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0032] The collection, storage, and use of user personal information (e.g., next station docking point user information) involved in the present disclosure are subject to the obligations of the relevant organization or individual before performing the corresponding operation, including conducting a personal information security impact assessment, informing the personal information subject of the obligations, and obtaining the prior authorization consent of the personal information subject.

[0033] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0034] Figure 1 is a structural schematic diagram of some embodiments of the barrel car docking system according to the present disclosure. Figure 1 It includes a server device 1, a front-end control device 2, a general control device 3, a positioning device 4, and a communication device 5.

[0035] Figure 2 is a structural schematic diagram of some embodiments of the barrel car docking system according to the present disclosure including a camera device. Figure 2 It includes a server device 1, a front-end control device 2, a general control device 3, a positioning device 4, a communication device 5, and a camera device 6.

[0036] In some embodiments, the barrel car docking system described above can include a garbage collection and transportation vehicle and a server device. The server device described above can be a server in communication connection with the general control device on the garbage collection and transportation vehicle and the terminal of each property personnel. The garbage collection and transportation vehicle described above can include a garbage collection and transportation vehicle body, a front-end control device, a general control device, a positioning device, and a communication device. The front-end control device described above can be a device for activating the positioning device. For example, the front-end control device described above can be a button. The front-end control device described above can be arranged in the cab of the garbage collection and transportation vehicle body. The front-end control device described above can be in communication connection with the general control device described above. The general control device described above can be a microchip for processing various information. For example, the general control device described above can be a central processing unit. The positioning device described above can be a device for positioning the garbage collection and transportation vehicle. For example, the positioning device described above can be a Beidou positioning module. The communication device described above can be a mobile communication module for remotely transmitting information. For example, the communication device described above can be a 3G / 4G / 5G module.

[0037] In some embodiments, the front-end control device described above can be configured to send preset control information to the general control device in response to detecting an opening operation acting on the front-end control device. The preset control information described above can include positioning opening information. As an example, in response to detecting that a user presses the opening operation of the front-end control device, the front-end control device described above can send preset control information to the general control device. The preset control information described above can be information representing the opening of positioning. The preset control information described above can be information carried by current.

[0038] In some embodiments, the positioning device, the communication device and the server device can be communicatively connected with the general control device. In practice, the positioning device and the communication device can be connected with the general control device by wires. The server device can be wirelessly connected with the general control device through the communication device.

[0039] In some embodiments, the general control device can be configured to, in response to receiving the positioning start information sent by the front-end control device, control the positioning device to position the garbage collection and transportation vehicle to obtain garbage collection and transportation vehicle position information, and control the communication device to send the garbage collection and transportation vehicle position information to the server device. The garbage collection and transportation vehicle position information can include a garbage collection and transportation vehicle identifier and a garbage collection and transportation vehicle position. The garbage collection and transportation vehicle identifier can uniquely represent the garbage collection and transportation vehicle. The garbage collection and transportation vehicle position can be represented by a name of a location where the garbage collection and transportation vehicle is located. For example, the garbage collection and transportation vehicle position can be represented by a name of a cell where the garbage collection and transportation vehicle is located.

[0040] In some embodiments, the server device can be configured to, in response to receiving the garbage truck location information, determine a collection route information sequence corresponding to the garbage truck identifier included in the received garbage truck location information. The collection route information sequence can represent each collection route of the garbage truck. For example, each collection route information in the collection route information sequence can represent a path between two adjacent docking points. Specifically, the collection route information can include preceding docking point location information and following docking point location information corresponding to two adjacent docking points. In practice, in response to receiving the garbage truck location information, the server device can obtain the collection route information sequence corresponding to the garbage truck identifier from a preset garbage truck management system. The preset garbage truck management system can be a system for storing pre-set running paths of each garbage truck. The server device can determine the next docking point user information and the next docking point reminding time according to the collection route information sequence and the garbage truck location included in the received garbage truck location information. The next docking point user information can be information representing the contact information of the property personnel of the docking point. For example, the next docking point user information can be the mobile phone number or user account of the property personnel of the docking point. The next docking point reminding time can be a time point representing sending information to remind the property personnel to push the garbage bin. In practice, the server device can determine the next docking point user information and the next docking point reminding time in various ways according to the collection route information sequence and the garbage truck location included in the received garbage truck location information. The server device can send the target garbage truck pushing reminder information to the terminal corresponding to the next docking point user information according to the next docking point reminding time. The target garbage truck pushing reminder information can be information reminding the property personnel to push the garbage bin to the docking point. In practice, in response to the current time being the next docking point reminding time, the server device can send the target garbage truck pushing reminder information to the terminal corresponding to the next docking point user information.

[0041] Optionally, the garbage truck can further include a camera device. The camera device can be a device for taking pictures or videos. The camera device can include at least one camera. Each camera in the at least one camera can be disposed on the outside of the garbage truck body. The preset control information can further include camera opening information. The camera opening information can be information representing that the camera is turned on. The camera device can be in communication connection with the general control device. The general control device can be further configured to, in response to receiving the camera opening information sent by the front-end control device, control the camera device to take pictures of the garbage bin to obtain a garbage bin image. The garbage bin can be located on one side of the garbage truck. The garbage bin image can be sent to the server device.

[0042] Optionally, the at least one camera can include a camera disposed on the right outer side of the cab and a camera disposed on the left outer side of the cab. The camera disposed on the right outer side of the cab can be used to take a picture of the garbage can located on the right side of the garbage collection vehicle. The camera disposed on the left outer side of the cab can be used to take a picture of the garbage can located on the left side of the garbage collection vehicle.

[0043] Optionally, the garbage collection vehicle body can be provided with a lifting gripper, a lifting gripper opening device, and a card reader. The lifting gripper can be a device for grabbing and dumping a garbage can. For example, the lifting gripper can be a mechanical hand. The lifting gripper can be on one side of the garbage collection vehicle. The lifting gripper opening device can be a device for controlling the opening and stopping of the lifting gripper. For example, the lifting gripper opening device can be a push button switch. The card reader can be an instrument for identifying information in a tag. For example, the card reader can be an RFID (Radio Frequency Identification) card reader. The lifting gripper, the lifting gripper opening device, and the card reader can all be in communication with the general control device. The lifting gripper opening device can be configured to send preset lifting gripper opening information to the general control device in response to detecting an opening operation on the lifting gripper opening device. The general control device can also be configured to control the lifting gripper to perform a dumping operation on the garbage can to pour the contents of the garbage can into the garbage collection vehicle body in response to receiving the preset lifting gripper opening information. The card reader can be configured to read the tag on the garbage can to obtain garbage can information. The card reader can also be configured to send the garbage can information to the general control device. The garbage can information can include garbage can identification. The general control device can also be configured to control the communication device to send the received garbage can information to the server device in response to receiving the garbage can information.

[0044] Optionally, the garbage collection vehicle can also include an external power supply device. The external power supply device can be a battery. The external power supply device can be electrically connected to the general control device. The external power supply device can be configured to power the general control device, the positioning device, and the communication device.

[0045] Optionally, the front end control device can be a control button. The front end control device can be disposed on one side of the steering wheel in the cab of the garbage collection vehicle body.

[0046] The above various embodiments of the present disclosure have the following beneficial effects: the docking system of the garbage truck of some embodiments of the present disclosure can improve the living experience of residents. Specifically, the reason why the living experience of residents is poor is that the docking point is usually on the sidewalk or bicycle lane or auxiliary road on both sides of the public road at the entrance of the community, and the garbage truck does not take away the garbage in the garbage can for a long time. When the temperature is high, the garbage will produce an odor, affecting the quality of life of the residents of the community. Based on this, the docking system of the garbage truck of some embodiments of the present disclosure includes a garbage truck and a server device, the garbage truck includes a garbage truck body, a front-end control device, a total control device, a positioning device, and a communication device, wherein the front-end control device is arranged in the cab of the garbage truck body, and the front-end control device is in communication connection with the total control device; the front-end control device is configured to send preset control information to the total control device in response to detecting an opening operation acting on the front-end control device, wherein the preset control information includes positioning opening information; the positioning device, the communication device, and the server device are all in communication connection with the total control device; the total control device is configured to control the positioning device to position the garbage truck and obtain garbage truck location information, and control the communication device to send the garbage truck location information to the server device in response to receiving the positioning opening information sent by the front-end control device, wherein the garbage truck location information includes a garbage truck identifier and a garbage truck location; the server device is configured to determine a collection and transportation path information sequence corresponding to the garbage truck identifier according to the garbage truck identifier included in the received garbage truck location information, determine the next station docking point user information and the next station reminding time according to the collection and transportation path information sequence and the garbage truck location included in the received garbage truck location information, and send target garbage truck push-out reminding information to the terminal corresponding to the next station docking point user information according to the next station reminding time. Because the position information of the collection and transportation truck is obtained, the collection and transportation path information sequence is determined, so that the contact information of the property personnel of the next station docking point of the collection and transportation truck and the time point of reminding the property personnel to push out the garbage can are determined according to the collection and transportation path information sequence. Also, the property personnel can be reminded to push out the garbage can at the reminding time point, so that the garbage can can be pushed out before the garbage collection and transportation truck arrives at the docking point, instead of being pushed out in advance, thereby reducing the residence time of the garbage can at the docking point, and shortening the influence time of the garbage. Therefore, the quality of life of residents can be improved, thereby improving the living experience of residents.

[0047] With reference to Figure 3 , some embodiments of a garbage truck push-out reminding information sending method according to the present disclosure are shown in flowchart 300. The garbage truck push-out reminding information sending method includes the following steps:

[0048] In step 301, the garbage collection vehicle is positioned by the positioning device to obtain garbage collection vehicle position information.

[0049] In some embodiments, the execution subject of the garbage truck push-out reminding information sending method (for example Figure 1 The barrel truck docking system shown) can position the garbage collection vehicle by the positioning device to obtain garbage collection vehicle position information. The garbage collection vehicle position information can include garbage collection vehicle identification and garbage collection vehicle position. The garbage collection vehicle identification can uniquely represent the garbage collection vehicle.

[0050] In step 302, according to the garbage collection vehicle identification included in the garbage collection vehicle position information, the collection and transportation path information sequence corresponding to the garbage collection vehicle identification is determined.

[0051] In some embodiments, the execution subject can determine the collection and transportation path information sequence corresponding to the garbage collection vehicle identification according to the garbage collection vehicle identification included in the garbage collection vehicle position information. The collection and transportation path information sequence can represent each collection and transportation path of the garbage collection vehicle. For example, each collection and transportation path information in the collection and transportation path information sequence can represent the path between every two adjacent docking points. Specifically, the collection and transportation path information can include the preceding docking point position information and the following docking point position information corresponding to the adjacent two docking points, and the collection and transportation vehicle driving time between the adjacent two docking points. In practice, in response to receiving the garbage collection vehicle position information, the execution subject can obtain the collection and transportation path information sequence corresponding to the garbage collection vehicle identification from a preset collection and transportation vehicle management system. The preset collection and transportation vehicle management system can be a system that includes the running paths of each garbage collection vehicle.

[0052] Optionally, the garbage collection vehicle can further include a camera device.

[0053] Optionally, the execution subject can perform the following steps:

[0054] First, the garbage can is photographed by the camera device to obtain a garbage can image.

[0055] Second, the garbage can image is image pre-processed to obtain an image pre-processed garbage can image. In practice, the execution subject can image pre-process the garbage can image by various image pre-processing methods to obtain an image pre-processed garbage can image. As an example, the various image pre-processing methods can include but are not limited to at least one of the following: histogram equalization, median filter processing, smoothing processing, and grayscale processing.

[0056] Thirdly, the image pre-processed garbage can image is subjected to an item recognition process to obtain item recognition information. The item recognition information can represent the presence of an item in the garbage can or the absence of an item in the garbage can. In practice, the execution subject can perform the item recognition process on the image pre-processed garbage can image to obtain the item recognition information by the following steps:

[0057] Firstly, the image pre-processed garbage can image is subjected to a lid recognition process to obtain garbage can lid region information. The garbage can lid region information can be information representing the region of the garbage can lid. The garbage can lid region information can be represented by a coordinate pair. In practice, the execution subject can input the image pre-processed garbage can image into a pre-trained garbage can lid region information generation model to obtain the garbage can lid region information. The pre-trained garbage can lid region information generation model can be a neural network model that takes the image pre-processed garbage can image as input and outputs the garbage can lid region information. For example, the garbage can lid region information generation model can be a convolutional neural network model.

[0058] Secondly, the image pre-processed garbage can image is subjected to a cutting process according to the garbage can lid region information to obtain a garbage can lid image. In practice, the execution subject cuts the region corresponding to the garbage can lid region information in the image pre-processed garbage can image to obtain the garbage can lid image.

[0059] Thirdly, the similarity between the garbage can lid image and a preset empty can lid image is determined. The preset empty can lid image can represent the image of the lid of an empty garbage can. In practice, the execution subject can determine the similarity between the garbage can lid image and the preset empty can lid image by a cosine similarity algorithm.

[0060] Fourthly, the item recognition information is determined according to the similarity. In practice, in response to the similarity being greater than or equal to a preset similarity threshold, a preset information representing the absence of an item in the garbage can is determined as the item recognition information. In response to the similarity being less than the preset similarity threshold, a preset information representing the presence of an item in the garbage can is determined as the item recognition information.

[0061] In the fourth step, in response to determining that the above-mentioned article identification information represents that there is no article in the garbage can, the current docking point user information is determined according to the above-mentioned garbage collection vehicle position. The current docking point user information can be the contact information of the property personnel of the community where the current garbage collection vehicle is located. In practice, the above-mentioned execution subject can determine the current docking point user information according to the preset docking point user configuration information set and the above-mentioned garbage collection vehicle position. Each preset docking point user configuration information in the preset docking point user configuration information set includes a preset garbage collection vehicle position and preset docking point user information. As an example, first, the preset docking point user configuration information including the preset garbage collection vehicle position in the preset docking point user configuration information set that is the same as the above-mentioned garbage collection vehicle position is determined as target docking point user configuration information. Then, the preset docking point user information included in the above-mentioned target docking point user configuration information is determined as the current docking point user information.

[0062] In the fifth step, the preset garbage can removal information is sent to the terminal corresponding to the above-mentioned current docking point user information. The preset garbage can removal information can be information set in advance to remind the property personnel to remove the garbage can from the garbage house.

[0063] The above-mentioned related content is one of the invention points of the embodiments of the present disclosure, and solves the second technical problem mentioned in the background that the arrival time of the garbage collection and transportation vehicle at the docking point is deviated, and when the garbage collection and transportation vehicle arrives at the docking point earlier to collect and transport garbage, the property staff does not quickly remove the garbage can, and the garbage can stays on the road for a long time, affecting road traffic, being not conducive to the travel of residents, and resulting in low road safety. The reason for the low road safety is as follows: the arrival time of the garbage collection and transportation vehicle at the docking point is deviated, and when the garbage collection and transportation vehicle arrives at the docking point earlier to collect and transport garbage, the property staff does not quickly remove the garbage can, and the garbage can stays on the road for a long time, affecting road traffic, being not conducive to the travel of residents. If this problem is solved, the road safety can be improved. In order to achieve this effect, the garbage collection and transportation vehicle further comprises a camera device; and the method further comprises: capturing the garbage can by the camera device to obtain a garbage can image; performing image preprocessing on the garbage can image to obtain an image-processed garbage can image; performing object recognition processing on the image-processed garbage can image to obtain object recognition information, wherein the object recognition information represents that there is an object in the garbage can or there is no object in the garbage can; in response to determining that the object recognition information represents that there is no object in the garbage can, determining current docking point user information according to the garbage collection and transportation vehicle position; and sending preset can removal information to a terminal corresponding to the current docking point user information. Because it can be determined from the image of the garbage can obtained by shooting whether there is garbage in the garbage can, the contact information of the property staff can be determined according to the position when there is no garbage in the garbage can, and then the property staff is reminded to remove the garbage can. Thus, the garbage can can be quickly removed, the time of the garbage can staying on the road is reduced, and the road safety is improved.

[0064] In some other implementations of some embodiments, according to the garbage collection and transportation vehicle identifier included in the garbage collection and transportation vehicle position information, the execution subject can determine the collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identifier by the following steps: in response to determining that the object recognition information represents that there is an object in the garbage can, determining the collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identifier according to the garbage collection and transportation vehicle identifier included in the garbage collection and transportation vehicle position information.

[0065] Optionally, the garbage collection and transportation vehicle subject can be provided with a lifting gripper, a lifting gripper opening device and a card reader. The lifting gripper can be provided with a weighing sensor.

[0066] Optionally, the execution subject can perform the following steps:

[0067] In a first step, in response to detecting an opening operation acting on the lifting gripper opening device, the camera device is controlled to capture an image of a target environment. The target environment can be an image within the camera device's field of view. As an example, in response to a user pressing the lifting gripper opening device, the execution body can control the camera device to capture an image of a target environment.

[0068] In a second step, the target environment image is subjected to grayscale processing to obtain a target environment grayscale image. In practice, the execution body can perform grayscale processing on the target environment image using the average value method to obtain a target environment grayscale image.

[0069] In a third step, the target environment grayscale image is subjected to filtering processing to obtain a target environment filtered image. In practice, the execution body can perform filtering processing on the target environment grayscale image using median filtering to obtain a target environment filtered image.

[0070] In a fourth step, the target environment filtered image is subjected to edge extraction processing to obtain a target environment edge image. In practice, the execution body can perform edge extraction processing on the target environment filtered image using the Canny edge detection algorithm to obtain a target environment edge image.

[0071] In a fifth step, the target environment edge image is subjected to identification code extraction processing to obtain at least one identification code information. The identification code information can be information representing an identification code on a garbage can. The identification code on the garbage can can be a pre-set pattern on the garbage can. For example, the pattern can be a square. In practice, the execution body inputs the target environment edge image into a pre-trained identification code information generation model to obtain at least one identification code information. The identification code information generation model can be a neural network model that takes a target environment edge image as input and outputs at least one identification code information. For example, the identification code information generation model can be a convolutional neural network model.

[0072] In a sixth step, according to each identification code information in the at least one identification code information, the garbage can pose information corresponding to the identification code information is determined. The garbage can pose information can be information representing the position and attitude of the garbage can. Specifically, the garbage can pose information can be represented in coordinates. In practice, the execution body can input the identification code information into a pre-trained garbage can pose information generation model to obtain the garbage can pose information. The garbage can pose information generation model can be a neural network model that takes identification code information as input and outputs garbage can pose information. For example, the garbage can pose information generation model can be a convolutional neural network model.

[0073] In the seventh step, a sequence of movement path information corresponding to the lifting gripper is generated according to the determined position information of each garbage can. In practice, the execution subject can input the position information of each garbage can into a pre-trained sequence of movement path information generation model to obtain the sequence of movement path information. The sequence of movement path information generation model can be a neural network model that takes movement path information as input and outputs a sequence of movement path information. For example, the sequence of movement path information generation model can be a convolutional neural network model.

[0074] In the eighth step, the following steps are performed according to each movement path information in the sequence of movement path information:

[0075] In the first sub-step, the lifting gripper is controlled to move to the position of the garbage can corresponding to the movement path information. In practice, the execution subject can control the lifting gripper to move along the path corresponding to the movement path information.

[0076] In the second sub-step, the label corresponding to the position of the garbage can is read by the card reader to obtain garbage can information. The garbage can information can include a garbage can identifier.

[0077] In the third sub-step, the lifting gripper is controlled to grasp the garbage can corresponding to the position of the garbage can.

[0078] In the fourth sub-step, the garbage can corresponding to the position of the garbage can is weighed by the weighing sensor to obtain the weight of the garbage can. In practice, the execution subject can determine the weight collected by the weighing sensor as the weight of the garbage can.

[0079] In the fifth sub-step, the garbage can type corresponding to the garbage can identifier is determined according to the garbage can identifier. In practice, the execution subject can determine the garbage can type corresponding to the garbage can identifier according to a pre-configured set of garbage can type configuration information and the garbage can identifier. Each pre-configured garbage can type configuration information in the pre-configured set of garbage can type configuration information includes a pre-configured garbage can type position and a pre-configured garbage can identifier. As an example, first, the pre-configured garbage can type configuration information in the pre-configured set of garbage can type configuration information that has the same pre-configured garbage can identifier as the garbage can identifier is determined as the target garbage can type configuration information. Then, the pre-configured garbage can type information included in the target garbage can type configuration information is determined as the garbage can type.

[0080] A sixth sub-step of determining a stored garbage weight corresponding to the garbage can type according to the garbage collection and transportation vehicle identifier and the garbage can type. The stored garbage weight can be the weight of the garbage corresponding to the garbage can type on the garbage collection and transportation vehicle. In practice, the execution subject can determine the stored garbage weight corresponding to the garbage can type stored in advance.

[0081] A seventh sub-step of determining a total garbage weight as a sum of the garbage can weight and the stored garbage weight.

[0082] An eighth sub-step of controlling the lifting gripper to perform a dumping operation to pour the contents in the garbage can into the garbage collection and transportation vehicle body in response to determining that the total garbage weight meets a preset weight condition. The preset weight condition can be that the total garbage weight is less than a preset weight threshold. The preset weight threshold can be a weight of garbage that the garbage collection and transportation vehicle can carry, which is set in advance.

[0083] A ninth sub-step of updating the stored garbage weight corresponding to the garbage can type according to the total garbage weight. In practice, the execution subject can determine the total garbage weight as the updated stored garbage weight. Further, the execution subject can store the updated stored garbage weight.

[0084] The above-mentioned related content is one of the application points of the embodiments of the present disclosure, and solves the third technical problem mentioned in the background art. The third technical problem is that the garbage collection and transportation efficiency is low, and the weight of the garbage carried by the garbage collection and transportation vehicle and the weight of the garbage in the garbage can to be collected and transported are not obtained in real time to determine whether the garbage collection and transportation vehicle can continue to carry the garbage in the garbage can, which easily causes the garbage collection and transportation vehicle to be overloaded, and the safety of the garbage collection and transportation vehicle is low. The reasons for the low efficiency of garbage collection and transportation and the low safety of the garbage collection and transportation vehicle are as follows: manual movement of the garbage can or the vehicle is required to enable the lifting gripper to grasp the garbage can, and the weight of the garbage carried by the garbage collection and transportation vehicle and the weight of the garbage in the garbage can to be collected and transported are not obtained in real time to determine whether the garbage collection and transportation vehicle can continue to carry the garbage in the garbage can, which easily causes the garbage collection and transportation vehicle to be overloaded. If this problem is solved, the efficiency of garbage collection and transportation and the safety of the garbage collection and transportation vehicle can be improved.In order to achieve this effect, the garbage collection and transportation vehicle body of the present disclosure is provided with a lifting gripper, a lifting gripper opening device and a card reader, the lifting gripper is provided with a weighing sensor; and the method further comprises: in response to detecting the opening operation of the lifting gripper opening device, controlling the camera to shoot the target environment to obtain a target environment image; performing grayscale processing on the target environment image to obtain a target environment grayscale image; performing filtering processing on the target environment grayscale image to obtain a target environment filtering image; performing edge extraction processing on the target environment filtering image to obtain a target environment edge image; performing identification code extraction processing on the target environment edge image to obtain at least one identification code information; according to each identification code information in the at least one identification code information, determining the garbage can pose information corresponding to the identification code information; according to the determined garbage can pose information, generating a sequence of moving path information corresponding to the lifting gripper; for each moving path information in the sequence of moving path information, the following steps are executed: control the lifting gripper to move to the garbage can position corresponding to the moving path information; read the label corresponding to the garbage can position through the card reader to obtain garbage can information, wherein the garbage can information includes garbage can identification; control the lifting gripper to grab the garbage can corresponding to the garbage can position; weigh the garbage can corresponding to the garbage can position through the weighing sensor to obtain the garbage can weight; according to the garbage can identification, determine the garbage can type corresponding to the garbage can identification; according to the garbage collection and transportation vehicle identification and the garbage can type, determine the stored garbage weight corresponding to the garbage can type; determine the sum of the garbage can weight and the stored garbage weight as the total garbage weight; in response to determining that the total garbage weight meets the preset weight condition, control the lifting gripper to perform a dumping operation to pour the contents of the garbage can into the garbage collection and transportation vehicle body; update the stored garbage weight corresponding to the garbage can type according to the total garbage weight. Because the identification code of the garbage can can be identified according to the environment image obtained by shooting, the pose information of the garbage can can be determined according to the identification code. Also, according to the pose information, the moving path of the lifting gripper can be determined, and then the lifting gripper can be automatically controlled to grab the garbage can according to the moving path, improving the accuracy of the lifting gripper grabbing the garbage can, without the need for manual movement of the garbage can or the garbage truck, thereby improving the efficiency of the garbage collection and transportation vehicle in collecting and transporting garbage. Also, according to the stored garbage weight of the garbage collection and transportation vehicle and the garbage weight in the garbage can, it can be determined whether the garbage collection and transportation vehicle is overweight, so that the garbage can be transported to the garbage collection and transportation vehicle again when it is determined that the total weight is not overweight, thereby improving the safety of the garbage collection vehicle.

[0085] Step 303, according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position, determine the next station docking point user information and the next station reminding time.

[0086] In some embodiments, the execution subject can determine the next docking point user information and the next docking point reminding time according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position. The next docking point user information can be the contact information of the property personnel of the docking point. For example, the next docking point user information can be the mobile phone number or application account of the property personnel of the docking point. The next docking point reminding time can be the time point of sending information to remind the property personnel to push the barrel. In practice, the execution subject can determine the next docking point user information and the next docking point reminding time by various ways according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position information.

[0087] Optionally, each collection and transportation path information in the collection and transportation path information sequence can include the preceding docking point position information and the following docking point position information corresponding to the adjacent two docking points.

[0088] In some other implementations of some embodiments, the execution subject can determine the next docking point user information and the next docking point reminding time according to the collection and transportation path information sequence and the garbage collection and transportation vehicle position by the following steps:

[0089] Firstly, the execution subject determines the collection and transportation path information in the collection and transportation path information sequence as the target collection and transportation path information, which includes the preceding docking point position information same as the garbage collection and transportation vehicle position.

[0090] Secondly, the execution subject determines the following docking point position information included in the target collection and transportation path information as the next docking point position information.

[0091] Thirdly, the execution subject determines the docking point user information corresponding to the next docking point position information. Here, the specific steps of determining the docking point user information corresponding to the next docking point position information are the same as those of determining the current docking point user information, which will not be repeated here.

[0092] Fourthly, the execution subject determines the docking point user information as the next docking point user information.

[0093] Fifthly, the execution subject generates the target garbage collection and transportation vehicle driving time length according to the target collection and transportation path information. The target collection and transportation path information can include the collection and transportation vehicle driving time between the adjacent two docking points. In practice, the execution subject can determine the collection and transportation vehicle driving time included in the target collection and transportation path information as the target garbage collection and transportation vehicle driving time length.

[0094] Sixthly, the execution subject generates the predicted next docking point arrival time according to the current time and the target garbage collection and transportation vehicle driving time length. In practice, the execution subject can determine the sum of the current time and the target garbage collection and transportation vehicle driving time length as the predicted next docking point arrival time.

[0095] In the seventh step, the next station reminding time is generated according to the predicted next station arrival time. In practice, the execution subject can determine the difference between the predicted next station arrival time and the preset time difference as the next station reminding time.

[0096] In some other implementations of some embodiments, the execution subject can generate the target collection and transportation vehicle driving duration according to the target collection and transportation path information by the following steps:

[0097] In the first step, the road condition information corresponding to the target collection and transportation path information and the current weather information are obtained. The road condition information can be information representing the road condition of the driving section between the front docking point position information and the rear docking point position information. For example, the current road condition information can be any one of the following: congestion, jam, and smooth. The current weather information can be information representing the current weather condition. For example, the current weather information can be any one of the following: sunny, rainy, and cloudy. In practice, the execution subject can obtain the road condition information corresponding to the target collection and transportation path information from a road condition monitoring system. Then, the current weather information can be obtained from a weather monitoring system.

[0098] In the second step, the date type information corresponding to the current date is determined according to the current date. The date type information can represent whether the current date is a weekday or a weekend.

[0099] In the third step, the target collection and transportation vehicle driving duration is generated according to the current time point, the road condition information, the current weather information, the date type information, and the target collection and transportation path information. In practice, the execution subject can input the current time point, the road condition information, the current weather information, and the date type information into a pre-trained target collection and transportation vehicle driving duration generation model to obtain the target collection and transportation vehicle driving duration. The target collection and transportation vehicle driving duration generation model can be a neural network model taking the current time point, the road condition information, the current weather information, the date type information, and the target collection and transportation path information as input and taking the target collection and transportation vehicle driving duration as output. For example, the target collection and transportation vehicle driving duration generation model can be a hidden Markov model or a decision tree model.

[0100] In step 304, the target garbage truck pushing-out reminding information is sent to the terminal corresponding to the next station docking point user information according to the next station reminding time.

[0101] In some embodiments, the execution subject can send the target garbage truck pushing-out reminding information to the terminal corresponding to the docking point user information of the lower station according to the lower station reminding time. The target garbage truck pushing-out reminding information can be information indicating that the property personnel pushes the garbage can to the docking point. In practice, the execution subject can send the target garbage truck pushing-out reminding information to the terminal corresponding to the docking point user information of the lower station in response to the time reaching the lower station reminding time. Further, the target garbage truck pushing-out reminding information can be obtained by splicing the predicted lower station arrival time and a preset garbage truck pushing-out reminding information template. As an example, the preset garbage truck pushing-out reminding information template can be "The garbage collection and transportation vehicle will arrive soon. Please push the garbage can out in time". The horizontal line can be used to fill in the predicted lower station arrival time.

[0102] The various embodiments of the present disclosure have the following beneficial effects: the garbage truck pushing-out reminding information sending method of some embodiments of the present disclosure can improve the life experience of residents. Specifically, the reason why the life experience of residents is poor is that the docking point is usually on the sidewalk or bicycle lane or auxiliary road on both sides of the public road at the community entrance, and the garbage collection and transportation vehicle does not take away the garbage in the garbage can for a long time, which affects the quality of life of community residents when the garbage produces odor at high temperature. Based on this, the garbage truck pushing-out reminding information sending method of some embodiments of the present disclosure includes: positioning the garbage collection and transportation vehicle by the positioning device to obtain garbage collection and transportation vehicle position information. The garbage collection and transportation vehicle position information includes garbage collection and transportation vehicle identification and garbage collection and transportation vehicle position. According to the garbage collection and transportation vehicle identification included in the garbage collection and transportation vehicle position information, the collection and transportation path information sequence corresponding to the garbage collection and transportation vehicle identification is determined. According to the collection and transportation path information sequence and the garbage collection and transportation vehicle position, the docking point user information of the lower station and the lower station reminding time are determined. According to the lower station reminding time, the target garbage truck pushing-out reminding information is sent to the terminal corresponding to the docking point user information of the lower station. Because the position information of the collection and transportation vehicle is obtained, the collection and transportation path information sequence is determined, so that the contact information of the property personnel of the docking point of the lower station of the collection and transportation vehicle and the time point of reminding the property personnel to push out the garbage can are determined according to the collection and transportation path information sequence, and the property personnel can be reminded to push out the garbage can at the time point of reminding, so that the garbage can can be pushed out before the collection and transportation vehicle arrives at the docking point, instead of being pushed out in advance, thereby reducing the residence time of the garbage can at the docking point, and shortening the influence time of the garbage, thereby improving the quality of life of residents, and improving the life experience of residents.

[0103] The above description is merely exemplary of some of the many possible embodiments of the present disclosure and of the principles thereof. It is to be understood that those skilled in the art will be able to devise various embodiments of the present disclosure without departing from the scope of the present disclosure as disclosed in the above description and attached claims, and that the scope of the present disclosure is not limited to the specific technical features described above. For example, the technical features described above can be replaced with other technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) to form other technical solutions.

Claims

1. A garbage truck docking system, comprising a garbage collection vehicle and a server device, wherein the garbage collection vehicle includes a garbage collection vehicle body, a front-end control device, a central control device, a camera device, a positioning device, and a communication device, wherein, The front-end control device is located in the cab of the main body of the garbage collection vehicle, and the front-end control device is communicatively connected to the main control device; The front-end control device is configured to send preset control information to the main control device in response to detecting an activation operation performed on the front-end control device, wherein the preset control information includes location activation information; The positioning device, the communication device, and the server device are all communicatively connected to the central control device; The main control device is configured to, in response to receiving a positioning activation message sent by the front-end control device, control the positioning device to locate the garbage collection vehicle, obtain the garbage collection vehicle location information, and control the communication device to send the garbage collection vehicle location information to the server device, wherein the garbage collection vehicle location information includes the garbage collection vehicle identifier and the garbage collection vehicle location; The server device is configured to, in response to receiving garbage collection vehicle location information, determine a collection route information sequence corresponding to the garbage collection vehicle identifier based on the garbage collection vehicle identifier included in the received garbage collection vehicle location information; determine the next docking point user information and the next docking reminder time based on the collection route information sequence and the garbage collection vehicle location included in the received garbage collection vehicle location information; and send a target garbage truck pushback reminder message to the terminal corresponding to the next docking point user information based on the next docking reminder time. Each collection route information in the collection route information sequence includes the preceding docking point location information and the following docking point location information corresponding to two adjacent docking points. The step of determining the next docking point user information and the next docking reminder time based on the collection route information sequence and the garbage collection vehicle location included in the received garbage collection vehicle location information includes: determining the collection route information in the collection route information sequence whose preceding docking point location information is the same as the garbage collection vehicle location as the target collection route information. The location information of the subsequent docking point included in the target collection and transportation route information is determined as the location information of the next docking point; Determine the docking point user information corresponding to the location information of the next docking point; The user information at the docking point is determined as the user information at the next docking point. Based on the target collection and transportation route information, the target collection and transportation vehicle travel time is generated; Based on the current time and the travel time of the target collection vehicle, generate the estimated arrival time at the next station; Based on the estimated arrival time at the next station, a reminder time for the next station is generated; The main control unit is configured to perform the following steps: The camera device is used to capture images of the trash can, thus obtaining an image of the trash can. The image of the trash can is preprocessed to obtain a preprocessed image of the trash can. The preprocessed trash can image is subjected to item recognition processing to obtain item recognition information, including: The garbage can image after image preprocessing is subjected to garbage can opening recognition processing to obtain garbage can opening area information, wherein the garbage can opening area information is information representing the area of ​​the garbage can opening; Based on the information about the opening area of ​​the trash can, the preprocessed image of the trash can is cropped to obtain an image of the opening of the trash can; Determine the similarity between the image of the trash can opening and a preset image of the opening of an empty trash can; Based on the similarity, the item identification information is determined; In response to determining that the item identification information indicates that there is no item in the trash can, the current docking point user information is determined based on the location of the garbage collection truck, wherein the current docking point user information is the contact information of the property management personnel of the community where the current garbage collection truck is located; The preset bin removal information is sent to the terminal corresponding to the user information of the current docking point. The preset bin removal information is a pre-set message used to remind property staff to remove the garbage bins back to the garbage room.

2. The barrel truck docking system according to claim 1, wherein, The garbage collection vehicle also includes a camera device, which includes at least one camera, and each of the at least one camera is located on the outside of the main body of the garbage collection vehicle. The preset control information also includes camera activation information, and the camera device is communicatively connected to the main control device; The main control device is also configured to, in response to receiving camera activation information sent by the front-end control device, control the camera device to take a picture of the trash can, obtain an image of the trash can, and send the image of the trash can to the server device.

3. The barrel truck docking system according to claim 2, wherein, The at least one camera includes a camera located on the right outer side of the driver's cab and a camera located on the left outer side of the driver's cab.

4. The barrel truck docking system according to claim 1, wherein, The garbage collection vehicle is equipped with a lifting gripper, a lifting gripper opening device, and a card reader. The lifting gripper, the lifting gripper opening device, and the card reader are all communicatively connected to the main control device. The lifting gripper opening device is configured to send preset lifting gripper opening information to the main control device in response to detecting an opening operation performed on the lifting gripper opening device. The main control device is also configured to, in response to receiving a preset lifting gripper activation information, control the lifting gripper to perform a dumping operation on the garbage bin, so as to pour the items in the garbage bin into the main body of the garbage collection vehicle; The card reader is configured to read the tag on the trash can to obtain trash can information, and to send the trash can information to the central control device, wherein the trash can information includes a trash can identifier; The main control device is also configured to, in response to receiving trash can information, control the communication device to send the received trash can information to the server device.

5. The barrel truck docking system according to claim 1, wherein, The garbage collection vehicle also includes an external power supply device, which is electrically connected to the main control device and configured to supply power to the main control device, the positioning device, and the communication device.

6. The barrel truck docking system according to claim 1, wherein, The front-end control device is a control button, which is located on one side of the steering wheel in the driver's cab of the garbage collection vehicle.

7. A method for sending a garbage truck exit reminder message, applied to the garbage truck docking system as described in any one of claims 1-6, wherein, The garbage truck docking system includes a garbage collection vehicle and a server device. The garbage collection vehicle includes a garbage collection vehicle body, a front-end control device, a central control device, a positioning device, and a communication device. as well as The method includes: The garbage collection vehicle is located using the positioning device to obtain its location information, which includes the garbage collection vehicle's identification and location. Based on the garbage collection vehicle identification included in the garbage collection vehicle location information, determine the collection route information sequence corresponding to the garbage collection vehicle identification; Based on the collection and transportation route information sequence and the location of the garbage collection vehicle, determine the user information at the next docking point and the next docking reminder time; Based on the off-station reminder time, a reminder message for the target garbage truck to be pushed out is sent to the terminal corresponding to the user information at the off-station docking point.

8. The method according to claim 7, wherein, The step of generating the target collection vehicle travel time based on the target collection route information includes: Obtain the road condition information and current weather information corresponding to the target collection and transportation route information; Based on the current date, determine the date type information corresponding to the current date; Based on the current time, the road condition information, the current weather information, the date type information, and the target collection and transportation route information, the target collection and transportation vehicle travel time is generated.

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