A garbage collection bin, collection station and recycling system based on digital twin

Abstract

The present invention relates to the field of waste treatment, and discloses a garbage recycling bin, a collection station and a recycling system based on digital twin. The garbage recycling bin includes a box body, and further includes a target recognition module, a drive control module and an information acquisition and upload module provided on the box body, and a virtual garbage recycling bin is established in the cloud module; the garbage collection station includes a cabinet body, a first core control board is arranged in the cabinet body, and a double-slide rod garbage compression device, an exhaust gas filtration and discharge fan, a first 4G module, a dry-wet separation cabin, an automatic lifting and dumping garbage device, a comprehensive information dynamic display screen, a first sensor group and a push-pull type waste liquid collection box which are all electrically connected to the first core control board, and a virtual garbage collection station is established in the cloud module. By constructing the virtual garbage bins and collection stations, mapping the corresponding physical garbage bins and collection stations, the present invention realizes the automatic recycling control and management of garbage, realizes the visualization of the garbage recycling process, and improves the garbage treatment efficiency and the intelligent level.

Description

Technical Field

[0001] The present invention relates to the technical field of waste treatment, and particularly to a garbage recycling bin, a collection station and a recycling system based on digital twin. Background Art

[0002] Currently, the structures and functions of trash cans on the market are diverse. In addition to ordinary trash cans, there are classified trash cans, compression trash cans, and intelligent trash cans on the market. Classified trash cans can achieve classified recycling of different types of garbage through multiple compartments; compression trash cans are equipped with built-in compressors that can compress garbage into a smaller volume, thereby reducing the frequency of trash can replacement and the cost of garbage collection and transportation; intelligent trash cans have functions such as automatically identifying the type of garbage, measuring the amount of garbage, and reminding of garbage cleaning.

[0003] Garbage collection and transportation management is an important part of a green city and plays a pivotal role between the management of urban domestic waste disposal and the reduction of waste gas emissions. The generation amount of domestic waste is random, which may cause untimely garbage collection and transportation, and thus lead to negative environmental effects. Therefore, it is imperative to improve the efficiency of garbage collection and transportation, increase the degree of automation of garbage collection, and reduce the cost of garbage collection.

[0004] The following problems exist in the current existing technologies:

[0005] (1) Currently, there is a lack of mature research results on the garbage transportation link between automated garbage bins and garbage collection stations in semi-closed scenarios such as park scenic spots, hospitals, campuses, and residential communities. The degree of automation of garbage recycling in this scenario is low, resulting in waste of time and resources.

[0006] (2) Currently, the garbage collection and transportation in semi-closed scenarios such as park scenic spots, hospitals, campuses, and residential communities are completed manually. The garbage collection and transportation routes are single, the timeliness is not strong, the real-time dynamic information cannot be effectively grasped, and there is a lack of garbage recycling data monitoring means and intelligent monitoring platforms.

[0007] Digital twin technology refers to creating a virtual entity corresponding to an actual physical entity or system through mathematical models and simulation technologies to accurately simulate and reflect the behavior, performance, and state of the real entity. Currently, it has been widely applied in the fields of manufacturing, urban planning, energy, medical care, and aerospace. With the continuous progress of computing power and data collection technologies, digital twin technology will play an important role in more fields such as the technical field of waste treatment, bringing more innovations and values. Applying digital twin technology to garbage collection and transportation management and adopting the twin management technology of virtual mapping entities is the application direction for improving the efficient management of garbage. Summary of the Invention

[0008] To overcome the above technical problems, the object of the present invention is to provide a digital twin garbage recycling bin, recycling station and recycling system. The recycling system includes an active garbage recycling bin based on binocular camera target recognition and GPS positioning technology, and a garbage collection station that establishes information fusion based on multi-sensors including the garbage active recycling bin. When the garbage recycling bin detects that the garbage inside the bin is full, it uploads information to the cloud through a 4G module for planning the shortest path, and uses automatic navigation technology to autonomously drive to the garbage collection station; it also includes a cloud module located in the upper computer. The garbage collection station uploads various information data such as capacity, temperature and humidity, geographical location, power consumption, etc. to the cloud module through the integrated treatment of garbage collection, compression, solid-liquid separation, waste liquid filtration and recovery, and waste gas treatment. Through the cloud module, a digital twin garbage recycling system is simulated, and the specific garbage recycling bin, recycling station and recycling vehicle are automatically controlled in the visualization window, and efficient automated recycling control management and intelligent scheduling operation of garbage are carried out.

[0009] The present invention provides the following technical solutions:

[0010] First aspect:

[0011] The present invention provides a garbage recycling bin based on digital twin, which includes a box body, and also includes a target recognition module, a drive control module and an information collection and upload module arranged on the box body.

[0012] The target recognition module is used to collect the surrounding environment image of the box body, and perform target recognition and tracking of the garbage recycling point and garbage collection station in the area according to the collected environment image.

[0013] The drive control module is used to control the box body to move to the garbage collection station for active garbage delivery according to the garbage capacity information in the box body and the surrounding environment image collected by the target recognition module.

[0014] The information collection and upload module is used to collect the GPS positioning information, garbage bin capacity information, and battery power information of the box body, and wirelessly upload them to the cloud module.

[0015] The cloud module establishes a virtual garbage recycling bin about the garbage recycling bin according to the collected information, and controls the entity of the physical garbage recycling bin through the control of the virtual garbage recycling bin.

[0016] According to some embodiments, the target recognition module includes a binocular camera (208) arranged on the box body.

[0017] The driving control module includes a second core control board (204) provided at the bottom of the box body, as well as a hydraulic push rod mechanism (201) and a crawler chassis (206) both electrically connected to the second core control board (204). The hydraulic push rod mechanism (201) is used to push the garbage in the garbage collection box (202) in the box body out; the crawler chassis (206) is used to move according to the control travel instruction sent by the second core control board (204).

[0018] The information collection and upload module includes a GPS positioning module (205), a second 4G module (207) and a second sensor group (203). The second sensor group (203) collects the garbage capacity information and battery power information in the box; the second 4G module (207) sends the real-time GPS positioning information of the garbage collection bin collected by the GPS positioning module (205) and the information of the recycling bin collected by the second sensor group (203) to the cloud module.

[0019] According to some embodiments, the second sensor group (203) includes an ultrasonic sensor and a voltage sensor. The ultrasonic sensor is used to detect the garbage capacity information in the box, and the voltage sensor is used to detect the battery power information.

[0020] Second aspect:

[0021] The present invention provides a garbage collection station based on digital twin, which includes a cabinet body, and is characterized in that: a first core control board (106) is provided in the cabinet body, and a double-slider garbage compression device (104), an exhaust gas filtration and discharge fan (103), a first 4G module (101), a dry-wet separation cabin (105), an automatic lifting and dumping garbage device (107), a comprehensive information dynamic display screen (102), a first sensor group (108) and a push-pull type waste liquid collection box (109) which are all electrically connected to the first core control board (106);

[0022] The first core control board (106) is used to control garbage lifting and dumping, dry-wet separation, solid garbage compression and exhaust gas filtration and discharge; the automatic lifting and dumping garbage device (107) dumps the garbage in the garbage collection bin into the dry-wet separation cabin (105) in the cabinet body according to the instruction of the first core control board (106); the dry-wet separation cabin (105) separates the collected garbage into solid and liquid according to the instruction of the first core control board (106), and the separated liquid is stored by the push-pull type waste liquid collection box (109); the double-slider garbage compression device (104) compresses the solid garbage in the dry-wet separation cabin (105) according to the instruction of the first core control board (106); the exhaust gas filtration and discharge fan (103) filters and discharges the exhaust gas generated by the garbage according to the instruction of the first core control board (106);

[0023] The cabinet body is also provided with a comprehensive information dynamic display screen (102), a first 4G module (101), and a first sensor group (203). The first sensor group (203) is used to collect the battery power information, geographical location information, in-station garbage capacity information, temperature and humidity information, and pH information of the garbage collection station. The comprehensive information dynamic display screen is used to display the battery power information, in-station garbage capacity information, temperature and humidity information, and pH information of the garbage collection station. The first 4G module (101) is used to transmit the collected information to the cloud module;

[0024] The cloud module establishes a virtual garbage collection station for the garbage collection station according to the collected information, and controls the entity of the physical garbage collection station by controlling the virtual garbage collection station.

[0025] According to some embodiments, the first sensor group (108) includes a voltage sensor, an ultrasonic sensor, a GPS module, a temperature sensor, a humidity sensor, and a pH electrode sensor.

[0026] Third aspect:

[0027] The present invention also provides a garbage recycling system based on digital twin, which is characterized in that it includes a plurality of garbage recycling bins according to claim 1 and a garbage collection station according to claim 4, and further includes a recycling vehicle for sending the garbage of the garbage collection station to an external garbage recycling yard.

[0028] According to some embodiments, the cloud module includes a first cloud module and a second cloud module. The first cloud module is used to establish a virtual garbage recycling bin to simulate and control the operation of the physical garbage recycling bin. The second cloud module is used to establish a virtual garbage collection station to simulate and control the operation of the physical garbage collection station.

[0029] According to some embodiments, the first cloud module includes a garbage recycling bin twin system module, a display module, and a recycling simulation scenario module;

[0030] The garbage recycling bin twin system module is used to perform data operations on the data information received from the garbage recycling bin and establish a virtual garbage recycling bin;

[0031] The display module includes displaying the running state of the recycling vehicle, the real-time dynamic parameter list of the garbage recycling bin, and the three-dimensional model of the garbage recycling bin.

[0032] The recycling simulation scenario module is used to display the overall simulation status of garbage recycling in a semi-closed scenario and real-time display the running path of the garbage recycling bin;

[0033] The second cloud module includes a garbage collection station digital twin system module, a background comprehensive big data analysis module, and a GIS real-time information collection and path planning module;

[0034] The garbage collection station digital twin system module is used to perform data operations on the data information received from the garbage collection station and establish a virtual garbage collection station;

[0035] The background comprehensive big data analysis module includes a recycling data analysis module and a scheduling plan interface module. The recycling data analysis module analyzes the recycling frequency trends in different regions and makes reasonable management adjustments to the placement locations and quantities of the garbage recycling bins; the scheduling plan module displays the generated garbage collection and transportation scheduling plan;

[0036] The GIS real-time information collection and path planning module visualizes the recycling data and the scheduling plan through the background comprehensive big data analysis module and displays the ideal operation path and departure time of the recycling vehicle.

[0037] According to some embodiments, the display module includes a recycling vehicle status management module and a garbage recycling system status management module. The recycling vehicle status management module is used to display the dynamic parameters of the garbage recycling bins and the collection and transportation information of the recycling vehicle; the garbage recycling system status management module is used to display the list of dynamic parameters of the garbage recycling bins and their digital three-dimensional models.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The present invention provides a digital twin-based garbage recycling bin with a binocular camera and a GPS positioning module that operates intelligently and automatically. It actively and real-time monitors and automatically identifies the garbage capacity in the garbage recycling bin, locates the geographical position of the garbage collection station, automatically runs to the garbage collection station for garbage dumping, solves the problem of automatic garbage collection in the garbage transportation link between the automated garbage bins and the garbage collection station in semi-closed scenarios such as park scenic areas, hospitals, campuses, and residential communities, and transmits the temperature, humidity, and position information collected by the sensor group to the cloud module for simulation of the data twin garbage recycling bin.

[0040] 2. The present invention provides a garbage collection station that uses multi-sensor information collection and fusion. It can independently and automatically recycle the garbage transported by the garbage recycling bins, and perform integrated processing of garbage collection, compression, solid-liquid separation, and waste gas filtration. At the same time, it transmits the comprehensive information collected by the sensor group to the cloud module of the host computer for simulation of the data twin garbage collection station.

[0041] 3. The recycling system based on digital twin provided by the present invention includes a garbage recycling bin, a garbage collection station, a recycling vehicle, and a cloud module. The cloud module simulates virtual garbage recycling bins and virtual garbage collection stations of digital twins through the comprehensive parameters collected from the garbage recycling bins and the garbage collection station, and can conveniently master the real-time operation status of the actual garbage recycling bins and stations through the digital twin garbage recycling bins and stations, facilitating the cloud module to perform efficient automated recycling control management and intelligent scheduling operation on garbage in the entire garbage recycling system. Description of the Drawings

[0042] Figure 1 It is an exploded view of the garbage recycling bin provided in the first embodiment of the present invention.

[0043] Figure 2 It is an exploded view of the garbage collection station provided in the second embodiment of the present invention.

[0044] Figure 3 It is a structural block diagram of the garbage recycling system based on digital twin provided in the third embodiment of the present invention.

[0045] Figure 4 It is a structural block diagram of the cloud module provided in the third embodiment of the present invention.

[0046] The reference numerals in the drawings are:

[0047] 101. First 4G module; 102. Comprehensive information dynamic display screen; 103. Exhaust gas filtration and discharge fan; 104. Double slide bar garbage compression device; 105. Dry-wet separation cabin; 106. First core control board; 107. Automatic lifting and dumping garbage device; 108. First sensor group; 109. Push-pull type waste liquid collection box.

[0048] 201. Hydraulic push rod mechanism; 202. Garbage collection box; 203. Second sensor group; 204. Second core control board; 205. GPS positioning module; 206. Crawler chassis; 207. Second 4G module; 208. Binocular camera. Detailed Embodiment

[0049] The present invention will be described in detail below in conjunction with the embodiments and the drawings. However, it should be understood that the embodiments and the drawings are only used for exemplary description of the present invention, and cannot constitute any limitation to the protection scope of the present invention. All reasonable transformations and combinations within the scope of the inventive concept of the present invention fall within the protection scope of the present invention.

[0050] In view of the first technical problem mentioned in the background art, the present invention provides a digital twin-based automatic garbage recycling bin, which is an active garbage recycling bin based on binocular camera target recognition and GPS positioning technology, simply referred to as a garbage recycling bin, to achieve functions such as garbage collection station target tracking, position positioning, and garbage active pushing. The present invention also provides a digital twin-based garbage collection station, which is a fixed garbage collection station based on multi-sensor information fusion technology, simply referred to as a garbage collection station, to achieve linkage with the garbage recycling bin, collect and integrally process the garbage transported by the garbage recycling bin, and notify the recycling vehicle to transport it to an external landfill when the garbage capacity in the bin is about to be full.

[0051] The present invention will be further described below with reference to the accompanying drawings.

[0052] Embodiment 1

[0053] This embodiment provides a digital twin-based garbage recycling bin, which adopts binocular camera target recognition and GPS positioning technology, and includes a target recognition module, a drive control module, and an information acquisition and upload module.

[0054] Its structure is as follows:

[0055] The components of the garbage recycling bin in this embodiment include a garbage collection box 202. The target recognition module includes a binocular camera 208, which realizes target recognition and image processing of garbage recycling points and garbage collection stations in the area by a Raspberry Pi. The drive control module includes a second core control board 204 and a hydraulic push rod mechanism 201 and a crawler chassis 206 that are electrically connected to it. Among them, the second core control board 204 controls the hydraulic push rod mechanism 201 and the crawler chassis 206. The hydraulic push rod mechanism 201 is used to receive instructions from the second core control board 204 and push the garbage in the garbage collection box 202 to a designated location. The crawler chassis 206 enables the garbage recycling bin 2 to move according to the control instructions of the second core control board 204. The information acquisition and upload module includes a GPS positioning module 205, a second 4G module 207, a second sensor group 203 and other components. The second sensor group 206 includes an ultrasonic sensor and a voltage sensor, which are used to collect information on the garbage capacity in the bin and the battery power.

[0056] Through the above modules, functions such as garbage collection station target tracking, garbage active pushing, and data collection required for digital twin are realized.

[0057] Specifically, as Figure 1, the garbage collection bin includes a box body. A crawler chassis 206 for free movement is provided at the bottom of the box body. On the crawler chassis 206, there are a binocular camera 208, a second 4G module 207, a GPS positioning module 205, and a second sensor group 203, all of which are electrically connected to the second core control board 204. As an intermediate layer, above the layer is a box body for accommodating all devices, in which there is a garbage collection box 202 and a hydraulic push rod mechanism 201.

[0058] The operation instructions are as follows:

[0059] During the movement of the garbage collection bin, the target recognition module gives the traveling speed information of the left and right crawler chassis 206 by analyzing the position and size of the following target in the image, and transmits the command information to the movement of the crawler chassis 206 of the drive control module through UART communication, so as to realize the effects of straight running, turning, etc. of the crawler chassis in real time according to the target position, and thus realize target tracking. After reaching the positioning point, the automatic pushing of the garbage in the box is realized through the hydraulic push rod mechanism 201 of the drive control module.

[0060] Embodiment 2

[0061] This embodiment provides a garbage collection station based on digital twin, which adopts multi-sensor information fusion technology to facilitate data collection in the digital twin process. The mechanical part is composed of a first sensor group 108, a double-slide rod garbage compression device 104, an exhaust gas filtration and discharge fan 103, an automatic lifting and dumping garbage device 107, a dry-wet separation cabin 105, a push-pull type waste liquid collection box 109, etc. The linkage of the mechanical part is realized through the first core control board 106 to realize the integrated automatic recycling of garbage.

[0062] The structure description is as follows:

[0063] As Figure 2, this embodiment provides an explosion schematic diagram of a garbage collection station based on digital twin. The garbage collection station includes a cabinet body, in which a first core control board 106 is arranged, and a double-slide garbage compression device 104, an exhaust gas filtration and discharge fan 103, a first 4G module 101, a dry-wet separation cabin 105, an automatic lifting and dumping garbage device 107, a comprehensive information dynamic display screen 102, a first sensor group 108, and a push-pull type waste liquid collection box 109, all of which are electrically connected to it. Among them, the double-slide garbage compression device 104 is used for garbage compression, the exhaust gas filtration and discharge fan 103 is used for exhaust gas discharge, the dry-wet separation cabin 105 is used for simple solid-liquid separation, and the separated liquid is stored by the push-pull type waste liquid collection box 109 below it. In addition, the first 4G module 101 and the first sensor group 108 are used for data collection required by digital twin technology. The automatic lifting and dumping garbage device 107 is used for collecting the garbage pushed out by the garbage recycling bin; the first sensor group 108 includes a voltage sensor, an ultrasonic sensor, a GPS module, a temperature sensor, a humidity sensor, and a pH electrode sensor, and is used for collecting the capacity information, temperature and humidity information, geographical location information, and power information of the garbage collection station; the comprehensive information dynamic display screen 102 is used for displaying the battery power information, the in-station garbage capacity information, the temperature and humidity information, and the pH information of the garbage collection station; the first 4G module 101 is used for transmitting the collected information to the cloud module of the upper computer.

[0064] Through the above structure and connection method, functions such as exhaust gas filtration, solid-liquid separation, automatic garbage recycling, compression and treatment are realized, and at the same time, the comprehensive data is uploaded to the cloud module of the upper computer in real time.

[0065] The operation description is as follows:

[0066] When the garbage collection bin detects that the garbage inside is full, it uploads information to the cloud through the second 4G module 207. The cloud can plan the shortest path, and using the automatic navigation technology, the garbage collection bin autonomously drives to the garbage collection station; the garbage collection bin completes positioning through the target image recognition positioning point. When the automatic lifting and dumping garbage device 107 senses that garbage is pushed in, its drive control module controls the hydraulic push rod mechanism 201 to control the garbage collection box 202 to be lifted to a specified position, and dumps the garbage into the dry-wet separation chamber 105 of the garbage collection station; after the automatic lifting and dumping garbage device 107 completes the garbage dumping action, the first core control board 106 controls the double-slide bar garbage compression device 104 to compress the garbage, and separates the liquid in the garbage through the dry-wet separation chamber 105 to improve the space utilization rate; the dry-wet separation chamber 105 uniformly collects the separated liquid through the lower funnel, and recycles and processes the waste liquid through the push-pull type waste liquid collection box 109; after the compression is completed, the waste gas filtration and discharge fan 103 filters and discharges the waste gas in the station; after the integrated garbage treatment is completed, the first core control board 106 uploads data such as the capacity information, temperature and humidity information, geographical location information, and power information of the garbage collection station collected by the first sensor group 108 to the cloud through the first 4G module 101.

[0067] Embodiment 3

[0068] As Figure 3 , this embodiment provides a garbage recycling system based on digital twin, which includes the garbage collection bin and the garbage collection station provided in Embodiment 1 and Embodiment 2, and also includes several recycling vehicles for sending the garbage in the garbage collection station to the external urban garbage recycling yard and a cloud module for overall controlling and operating the garbage recycling process.

[0069] As Figure 4 , the cloud module includes two parts. The first cloud module is for the active garbage recycling in a semi-closed scenario, that is, for the digital twin application between the garbage collection bin and the garbage collection station, including the garbage collection bin twin system module, the display module, and the recycling simulation scenario module; the second part is the digital twin application module of the garbage collection station on the urban map, including the garbage collection station twin system module, the background comprehensive big data analysis module, and the GIS real-time information collection and path planning module.

[0070] Among them, in the first cloud module, the garbage collection bin twin system module is used to perform data operations on the data received through the second 4G module 207 and establish a digital virtual body of the garbage collection bin; the display module includes a collection vehicle status management module and a garbage collection system status management module; the collection vehicle status management module is used to display the dynamic parameters of the garbage collection bin and the collection and transportation information of the garbage collection vehicle; the garbage collection system status management module is used to display the dynamic parameter list of the garbage collection bin and its digital three-dimensional model; the collection simulation scenario module is used to display the overall simulation status of active garbage collection in a semi-closed scenario, and real-time display the running path of the garbage collection bin, which is convenient for supervision.

[0071] In the second cloud module, the garbage collection station twin system module is used to perform data operations on the data received through the first 4G module 101 and establish a digital virtual body of the garbage collection station; the background comprehensive big data analysis module includes a recycling data analysis module and a scheduling plan module. The recycling data analysis module uses line charts to analyze the recycling frequency trends in different regions, rationally adjust the placement location and quantity of the garbage collection bins, compare the energy-saving benefits of recycling data analysis through bar charts, use pie charts to display the proportion of trash cans of each capacity, and analyze the proportion of trash cans that need to be collected and transported currently; the scheduling plan module can display the generated garbage collection and transportation scheduling plan. The background uses a path planning algorithm, which can recalculate the garbage collection bins that meet the recycling conditions newly emerging around the path according to the weight, and analyze in combination with information such as the current position of the collection vehicle and the collection threshold. Update the path and adjust the scheduling plan if necessary; the GIS real-time information collection and path planning module visualizes the recycling data and the scheduling plan with the help of the background comprehensive big data analysis module, displays the ideal running path and departure time of the garbage collection vehicle, which is convenient for control and supervision.

[0072] In the semi-closed scenario, the garbage collection system can monitor the status of the garbage collection bins in real time through the above components, process and analyze data information, judge the recycling demand, calculate the shortest path, and generate the optimal recycling strategy.

[0073] When the number threshold of the garbage collection bins that meet the recycling conditions is reached, the host computer will obtain the positions of the garbage collection bins that need to be recycled currently and the general situation information of the garbage collection station, display them in real time and mark them on the scenario map in the form of icons, display the system status in real time on the PC side, generate a recycling scheduling plan containing the optimal path through the background path planning algorithm, and display it in the collection simulation scenario module. The status information of each garbage collection bin is entered through the serial port communication of the second sensor group 203 by the second core control board 204 and transmitted to the cloud module through the second 4G module 207. The status information of the garbage collection station is entered through the serial port communication of the first sensor group 108 by the first core control board 106 and transmitted to the cloud module through the first 4G module 101.

[0074] Example 4

[0075] In this example, an experimental verification of the digital twin-based garbage collection system provided in Example 3 is carried out in a semi-closed scenario.

[0076] (1) Experimental purpose: To verify the practicality of this project in the actual scene.

[0077] (2) Experimental environment: An equal-proportion physical model is designed and built to conduct actual scene experiments. The experimental parameters for garbage collection in the xx area are shown in Table 1.

[0078] Table 1 Experimental parameters for garbage collection in the xx area

[0079]

[0080] (3) Brief description of experimental steps:

[0081] ① Investigate and record the data of garbage disposal amounts in different areas of the school within a day, record the area, total number of garbage bins, average total amount of disposed garbage, average moisture content of disposed garbage, and at the same time record the location and capacity of each garbage bin; record information such as the recycling distance, total recycling time, number of recycling times, and moisture content after garbage treatment of the traditional manual collection method during this period.

[0082] ② Create the same environmental parameters in the school area according to the survey data, and build an equal-proportion physical model including 3 movable garbage collection bins and 1 garbage compression and dry-wet separation garbage collection station. The 3 movable garbage collection bins replace the fixed garbage bins in the regional manual collection method, and 1 garbage collection station replaces the garbage bags carried by manual collection in the regional manual collection method.

[0083] ③ Set three scheduling conditions: a. Do not twin the garbage collection bins, and manually clean the garbage collection bins at regular intervals; b. Use the twin system module of the garbage collection bins to achieve automatic garbage collection, and at this time the garbage collection bins do not use the path planning algorithm; c. On the basis of using the twin system module of the garbage collection bins, use the path planning algorithm to optimize the recycling path, that is, use the background comprehensive big data analysis module and the GIS real-time information collection and path planning module.

[0084] ④ Under the same environmental parameters created in the school area, test the recycling situations of these three scheduling conditions. The recycling process is as follows: When the garbage loading amount in the garbage collection bin reaches 80% of the capacity, it autonomously chooses to move to the garbage compression and dry-wet separation garbage collection system under the scheduling of the host computer. The garbage collection bin pushes the garbage loaded in the bin into the garbage box of the garbage collection station, and the garbage collection station automatically completes steps such as garbage dumping, compression, and dry-wet separation.

[0085] ⑤ Record and calculate the average recycling distance, the total average recycling time, the average number of recycling times, and the water content of the garbage after treatment within one day in the school area under three conditions.

[0086] (4) The experimental results are shown in Table 2 and the conclusions are as follows:

[0087] Table 2 Comparison of recycling benefits under three scheduling conditions

[0088] Scheduling conditions Average recycling distance Average total recycling time Average recycling frequency Average moisture content of garbage after treatment a \ 5.0 min 30 22.5％ b 284m 16.4 min 16 13.1％ c 241m 15.3 min 13 12.9％

[0089] Compared with the manual regular garbage recycling, the active garbage recycling achieved by using the garbage recycling bin twin system module can greatly reduce the number of recycling times and lower the labor cost. In addition, on the basis of using the garbage recycling bin twin system module, by using the background comprehensive big data analysis module and the GIS real-time information collection and path planning module, the average recycling distance is reduced, the average recycling time is reduced, and the average number of recycling times is reduced, thus improving the recycling efficiency. After the recycling and treatment in this project, the average water content of the garbage is reduced compared with that before treatment. Therefore, the automatic operation of this garbage recycling system can solve the two technical problems raised in the background technology.

[0090] The above embodiments are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, the improvements and refinements should also be regarded as within the protection scope of the present invention.

Claims

1. A garbage collection system based on digital twin, characterized in that: It includes several garbage recycling bins, garbage collection stations, and also includes a recycling truck for transporting the garbage from the garbage collection stations to an external garbage recycling yard; The garbage recycling bin includes a box body, a target recognition module, a drive control module, and an information collection and upload module provided on the box body; The target recognition module is used to collect the environmental images around the box body, and perform target recognition and tracking of garbage recycling points and garbage collection stations in the area based on the collected environmental images; the drive control module is used to control the box body to move to the garbage collection station for active garbage delivery according to the garbage capacity information in the box body and the surrounding environmental images collected by the target recognition module; the information collection and upload module is used to collect the GPS positioning information, garbage bin capacity information, and battery power information of the box body, and wirelessly upload them to the cloud module; The cloud module establishes a virtual garbage recycling bin regarding the garbage recycling bin based on the collected information, and controls the entity of the physical garbage recycling bin through the control of the virtual garbage recycling bin; The garbage collection station includes a cabinet body, and a first core control board is provided in the cabinet body, and a double-slider garbage compression device, an exhaust gas filtration and discharge fan, a first 4G module, a dry-wet separation chamber, an automatic lifting and dumping garbage device, a comprehensive information dynamic display screen, a first sensor group, and a push-pull type waste liquid collection box that are all electrically connected to the first core control board; The first core control board is used to control garbage lifting and dumping, dry-wet separation, solid garbage compression, and exhaust gas filtration and discharge; the automatic lifting and dumping garbage device dumps the garbage from the garbage recycling bin into the dry-wet separation chamber in the cabinet body according to the instructions of the first core control board; The dry-wet separation chamber separates the collected garbage into solid and liquid according to the instructions of the first core control board, and stores the separated liquid in the push-pull type waste liquid collection box; the double-slider garbage compression device compresses the solid garbage in the dry-wet separation chamber according to the instructions of the first core control board; the exhaust gas filtration and discharge fan filters and processes the exhaust gas generated by the garbage and discharges it according to the instructions of the first core control board; The cabinet body is also provided with a comprehensive information dynamic display screen, a first 4G module, and a first sensor group. The first sensor group is used to collect the battery power information, geographical location information, in-station garbage capacity information, temperature and humidity information, and pH information of the garbage collection station; The comprehensive information dynamic display screen is used to display the battery power information, in-station garbage capacity information, temperature and humidity information, and pH information of the garbage collection station, and the first 4G module is used to transmit the collected information to the cloud module; The cloud module establishes a virtual garbage collection station regarding the garbage collection station based on the collected information, and controls the entity of the physical garbage collection station through the control of the virtual garbage collection station; The cloud module includes a first cloud module and a second cloud module. The first cloud module is used to establish a virtual garbage recycling bin and simulate and control the operation of the physical garbage recycling bin; the second cloud module is used to establish a virtual garbage collection station and simulate and control the operation of the physical garbage collection station; The first cloud module includes a garbage collection bin digital twin system module, a display module, and a recycling simulation scenario module; The garbage collection bin digital twin system module is used to perform data operations on the data information received from the garbage collection bin and establish a virtual garbage collection bin; The display module includes displaying the operating status of the recycling vehicle, the real-time dynamic parameter list of the garbage collection bin, and the three-dimensional model of the garbage collection bin; The recycling simulation scenario module is used to display the overall simulation status of garbage recycling in a semi-closed scenario and real-time display the operating path of the garbage collection bin; The second cloud module includes a garbage collection station digital twin system module, a background comprehensive big data analysis module, and a GIS real-time information collection and path planning module; The garbage collection station digital twin system module is used to perform data operations on the data information received from the garbage collection station and establish a virtual garbage collection station; The background comprehensive big data analysis module includes a recycling data analysis module and a scheduling plan interface module. The recycling data analysis module analyzes the recycling frequency trends in different regions and makes reasonable management adjustments to the placement location and quantity of the garbage collection bins; the scheduling plan module displays the generated garbage collection and transportation scheduling plan; The GIS real-time information collection and path planning module visualizes the recycling data and the scheduling plan through the background comprehensive big data analysis module and displays the ideal operating path and departure time of the recycling vehicle.

2. The digital twin-based garbage recycling system according to claim 1, wherein: The target recognition module includes a binocular camera provided on the box body; The drive control module includes a second core control board provided at the bottom of the box body, and a hydraulic push rod mechanism and a crawler chassis both electrically connected to the second core control board. The hydraulic push rod mechanism is used to push the garbage in the garbage collection box in the box body out; The crawler chassis is used to move according to the control travel command sent by the second core control board; The information collection and upload module includes a GPS positioning module, a second 4G module, and a second sensor group. The second sensor group collects the garbage capacity information and battery power information in the box; the second 4G module sends the real-time GPS positioning information of the garbage collection bin collected by the GPS positioning module and the recycling bin information collected by the second sensor group to the cloud module.

3. The garbage collection system based on digital twin according to claim 2, wherein: The second sensor group includes an ultrasonic sensor and a voltage sensor. The ultrasonic sensor detects the garbage capacity information in the box, and the voltage sensor detects the battery power information.

4. The garbage collection system based on digital twin according to claim 3, characterized in that: The first sensor group includes a voltage sensor, an ultrasonic sensor, a GPS module, a temperature sensor, a humidity sensor, and a pH electrode sensor.

5. The garbage collection system based on digital twin according to claim 1, characterized in that: The display module includes a recycling vehicle status management module and a garbage recycling system status management module. The recycling vehicle status management module is used to display the dynamic parameters of the garbage collection bin and the collection and transportation information of the recycling vehicle; the garbage recycling system status management module is used to display the dynamic parameter list of the garbage collection bin and its digital three-dimensional model.

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