Intelligent collection and transportation monitoring method and system for industrial solid waste based on the Internet of Things

Abstract

This invention relates to the field of industrial solid waste monitoring technology, specifically to an intelligent collection and monitoring method and system for industrial solid waste based on the Internet of Things (IoT). It includes a signal monitoring unit, a monitoring space unit, and a positioning and recycling unit. The monitoring space unit receives commands from a distance judgment module. An internal infrared ray sensor emits infrared rays. When the internal infrared rays encounter an industrial solid waste marker (marked as a collision point), the collision points are connected to form a polygon shape. The coordinates of the collision points are captured, and the area of ​​the polygon is monitored based on these coordinates. The monitored polygon area is used to determine the amount of wasted space inside the industrial waste bin. By monitoring the amount of wasted space in the industrial waste bin, it is possible to understand whether the space inside the bin is being fully utilized, thus reducing wasted space.

Description

Technical Field

[0001] The present invention relates to the field of space monitoring technology, and in particular to an industrial solid waste intelligent collection and transportation monitoring method and system based on the Internet of Things. Background Art

[0002] According to statistics from more than 190 large and medium-sized cities, my country generated about 1.38 billion tons of general industrial solid waste in 2019. According to the classification of general solid waste in my country, it mainly includes: waste generated during the processing of textiles, leather, paper products, rubber and plastics. The amount of this type of solid waste accounts for about 10% of the total solid waste. This type of solid waste has a high calorific value and contains organic components, and has a certain recycling value. This type of industrial solid waste has certain similarities with the characteristics of domestic waste, but due to the large output of industrial solid waste, the lagging recycling system, the weak supervision of laws and regulations, and the backward comprehensive utilization technology, my country's industrial solid waste utilization rate has always lagged behind. Compared with other industrial powers, the accumulation of large amounts of solid waste not only causes a waste of resources, but more seriously brings about serious environmental pollution, which has a bad impact on my country's natural environment. Therefore, the placement points of special industrial waste boxes are distributed in various parks. By timely obtaining the space usage of special industrial waste boxes, when industrial solid waste is thrown into the special industrial waste boxes, the irregular shape of the industrial solid waste occupies the space in the middle part of the special industrial waste box, which leads to the waste of the space on the side of the special industrial waste box, reducing the utilization rate of the space of the special industrial waste box. Therefore, we provide an intelligent collection and transportation monitoring method and system for industrial solid waste based on the Internet of Things. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent collection and transportation monitoring method and system for industrial solid waste based on the Internet of Things to solve the problems raised in the above background technology.

[0004] To achieve the above objectives, one of the objectives of the present invention is to provide an intelligent collection and transportation monitoring method for industrial solid waste based on the Internet of Things, comprising the following method steps:

[0005] S1. The signal monitoring unit captures the sound signal of touching the industrial waste box, triggers the infrared ray sensor to emit infrared rays to the bottom of the industrial waste box and records the emission angle, monitors the distance according to the emission angle, and then determines the space situation in the industrial waste box;

[0006] S2. The monitoring space unit triggers the infrared ray sensor inside the industrial waste box according to the data in the signal monitoring unit, and emits infrared rays at 180 degrees to form a polygonal shape, and then monitors the area of ​​the polygon, and uses the monitored polygonal area to determine the waste of the internal space of the industrial waste box;

[0007] S3. The signal monitoring unit triggers the infrared ray sensor to emit infrared rays diagonally to the bottom of the industrial waste special box according to the data in the monitoring space unit, and monitors the distance from the industrial solid waste to the upper infrared ray sensor again, and uses the re-monitored distance and the monitored polygon area to determine whether the industrial waste special box full space warning is triggered;

[0008] S4. The positioning and recycling unit regards the placement point of the industrial waste special box as a sensor node according to the data in the signal monitoring unit, obtains the location information of the node, and then forms a recycling driving path according to the location information of the node.

[0009] The second object of the present invention is to provide an industrial solid waste intelligent collection and transportation monitoring system based on the Internet of Things for operating the above method, including a signal monitoring unit, a monitoring space unit, and a positioning recovery unit;

[0010] The signal monitoring unit captures the sound signal of touching the special box for industrial waste, determines that the sound signal is the sound of throwing industrial solid waste, triggers the infrared ray sensor to emit infrared rays to the bottom of the special box for industrial waste, and records the angle of emission, monitors the distance according to the angle of emission, and uses the monitored distance to determine the space situation in the special box for industrial waste;

[0011] The monitoring space unit is used to receive data from the signal monitoring unit, trigger the infrared ray sensor inside the industrial waste box and emit infrared rays at 180 degrees, then mark the place where the ray collides with the industrial solid waste as the collision point, and record the coordinates of the collision point, connect them into a polygonal shape, and then monitor the polygonal area, and use the monitored polygonal area to judge the waste of the internal space of the industrial waste box, and judge the waste of the internal space of the industrial waste box caused by the irregular shape of the industrial solid waste;

[0012] The signal monitoring unit receives the data in the monitoring space unit, uses the infrared ray sensor to emit infrared rays to the diagonal of the bottom of the industrial waste special box, monitors the distance from the industrial solid waste to the upper infrared ray sensor again, and uses the re-monitored distance and the monitored polygon area to determine whether the industrial waste special box full space warning is triggered;

[0013] The positioning and recycling unit is used to receive data from the signal monitoring unit, regard the placement point of the industrial waste special box as a sensor node, form a wireless sensor network based on the nodes, and then use the wireless sensor network to obtain the node's location information, and then locate according to the node's location information to form a recycling driving path.

[0014] As a further improvement of the technical solution, the signal monitoring unit includes a signal capture module, a distance monitoring module and a distance judgment module;

[0015] The signal capture module uses a sound sensor to capture the sound signal of touching the industrial waste box, records the length of the sound signal, and obtains historical data at the same time, performs frequency analysis on the captured sound signal through the PSD algorithm, and uses the analyzed frequency and the set frequency threshold to judge whether the sound is the sound of throwing industrial solid waste or the sound of accidentally touching the industrial waste box or the sound of intentionally touching the industrial waste box;

[0016] The historical data includes the distance from the infrared sensor to the CCD detector;

[0017] The set frequency threshold includes a set frequency threshold a and a set frequency threshold b;

[0018] The implementation principle of using the PSD algorithm to analyze the captured sound signal frequency:

[0019] Collect the captured sound signal x and the sound signal length T to calculate the frequency. The calculated frequency is the analyzed frequency Pl. The specific algorithm formula is:

[0020]

[0021] Where x(n) refers to the nth captured sound signal x, j is the imaginary unit, π is the circumference of a circle, and e is the number of circumferences. -jπfn / T Refers to a complex exponential function, used to represent a complex exponential signal with a frequency of f;

[0022] Specific judgment situations include:

[0023] Case ①: When the analyzed frequency Pl> the set frequency threshold a, the sound is judged to be the sound of throwing industrial solid waste, thereby triggering the infrared ray sensor above the industrial waste special box;

[0024] Case ②: When the analyzed frequency Pl is less than the set frequency threshold b, the sound is judged to be the sound of accidentally touching the industrial waste box, and the infrared ray sensor is not triggered;

[0025] Case ③: When the set frequency threshold b < analyzed frequency Pl < set frequency threshold a, the sound is judged to be the sound of intentionally touching the industrial waste box, and the infrared ray sensor is not triggered;

[0026] The monitoring distance module is used to receive the command of the infrared ray sensor at the upper position of the industrial waste special box in the capture signal module. The infrared ray sensor above the industrial waste special box emits infrared rays to the diagonal of the bottom of the industrial waste special box and records the emission angle. When the upper ray hits the industrial solid waste, it is emitted back at a certain angle. The reflected ray is captured by the CCD calibrator, and the reflection angle is recorded at the same time. The offset angle is calculated according to the emission angle and the reflection angle, and then the distance from the industrial solid waste to the upper infrared ray sensor is monitored according to the calculated offset angle and the emission angle. Monitoring the distance of the industrial solid waste can improve the judgment of the utilization of the space, and the monitored distance is transmitted to the distance judgment module;

[0027] Calculation principle of offset angle:

[0028] Collect the emitted angle θ and the reflected angle α to calculate the offset angle, and get the calculated offset angle Δζ. The specific algorithm formula is:

[0029] Δζ=α-θ;

[0030] As a further improvement of the technical solution, the distance monitoring module monitors the distance between industrial solid waste and the upper infrared ray sensor to achieve the following principle:

[0031] The calculated offset angle Δζ and the emitted angle θ are collected to calculate the distance from the industrial solid waste to the upper infrared ray sensor. The calculated distance from the industrial solid waste to the upper infrared ray sensor is the distance d from the monitored industrial solid waste to the upper infrared ray sensor.

[0032]

[0033] Among them, h refers to the distance from the infrared sensor to the CCD calibrator, and 2 is used to correct the influence of the offset angle on the emission angle. This formula can accurately measure the distance from the industrial solid waste to the upper infrared sensor by calculating the distance from the industrial solid waste to the upper infrared sensor, which is convenient for judging the remaining available space.

[0034] As a further improvement of the present technical solution, the distance judgment module is used to receive the distance monitored in the monitoring distance module, and use the monitored distance and the set standard distance to judge whether to trigger the infrared sensor inside the special box for industrial waste. Since 4 infrared sensors are set inside the special box for industrial waste, 2 internal infrared sensors are arranged at the left and right positions of the front of the special box for industrial waste, the right internal infrared sensor is arranged at 8 cm from the right corner of the special box for industrial waste, and the left is arranged at 8 cm from the left corner of the special box for industrial waste, and the internal infrared sensor is 20 cm away from the opening of the special box for industrial waste. The other two internal infrared sensors are arranged in the same way as the previous ones. The specific judgment situation is:

[0035] Case 1: When the monitored distance is greater than the set standard distance, it means that there is enough space in the industrial waste box, and the infrared ray sensor inside the industrial waste box will not be triggered;

[0036] Case 2: When the monitored distance is less than the set standard distance, the infrared ray sensor inside the industrial waste box is triggered.

[0037] As a further improvement of the present technical solution, the monitoring space unit is used to receive a command in the distance judgment module to trigger the infrared sensor inside the special box for industrial waste. The four internal infrared sensors simultaneously emit infrared rays at 180 degrees. When the four internal infrared rays hit the industrial solid waste, they are marked as collision points. At the same time, the four collision points are connected into a polygonal shape. The coordinates of the four collision points are captured simultaneously by the CCD calibrator, and then the polygonal area is monitored according to the coordinates of the collision points using the Gaussian area formula. The monitored polygonal area and the set polygonal area are used to judge the waste of space inside the special box for industrial waste. By monitoring the space utilization of the special box for industrial waste, it is possible to understand whether the space in the special box for industrial waste is fully utilized, thereby reducing the space waste of the special box for industrial waste. At the same time, it is avoided that the irregular shape of the industrial solid waste occupies the space in the middle part of the special box for industrial waste, resulting in the false triggering of the full space warning of the special box for industrial waste.

[0038] As a further improvement of the technical solution, the implementation principle of using the Gaussian area formula to calculate the polygon area in the monitoring space unit is:

[0039] Collect the coordinates (x, y) of the collision point. The coordinates (x, y) of the collision point include (x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、(x 4,y 4 ), according to (x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、(x 4 ,y 4 ) to calculate the polygon area, the calculated polygon area is the monitored polygon area S, the specific algorithm formula is:

[0040]

[0041] Among them, the determinant of the matrix composed of coordinates actually calculates a "double area" value, that is, it contains twice the area of ​​the polygon. Therefore, in order to obtain the actual area value, it needs to be divided by 2. This formula is used to calculate the area of ​​the polygon. By calculating the area of ​​the polygon, the actual available space inside the industrial waste box can be accurately evaluated, and the actual utilization of the internal space can be understood to ensure that the space is not wasted;

[0042] Specific circumstances include:

[0043] Case 1: When the monitored polygon area is larger than the set polygon area, it is judged that the internal space utilization rate of the industrial waste special box is high, indicating that there is no wasted space inside the industrial waste special box, and the high utilization rate command is transmitted to the monitoring distance module;

[0044] Case 2: When the monitored polygon area is smaller than the set polygon area, it is judged that the internal space utilization rate of the industrial waste box is low. Due to the irregular shape of industrial solid waste, the internal space of the industrial waste box is wasted.

[0045] As a further improvement of the present technical solution, the monitoring distance module receives a command with a high utilization rate in the monitoring space unit, and uses the infrared ray sensor at the upper position of the industrial waste special box to emit infrared rays diagonally to the bottom of the industrial waste special box. The operating principle is the same as the above-mentioned monitoring distance module, and the distance from the industrial solid waste to the upper infrared ray sensor is monitored again, and the re-monitored distance is transmitted to the distance judgment module. The distance judgment module receives the re-monitored distance in the monitoring distance module and the result of the judgment in the monitoring space unit, and uses the re-monitored distance and the set standard distance to judge whether to trigger the full space warning of the industrial waste special box. The specific judgment situations include:

[0046] Case A: When the monitored distance is less than the set standard distance and the monitored polygon area is larger than the set polygon area, it means that the industrial waste special box is full, and the industrial waste special box full space warning is triggered;

[0047] Case B: When the monitored distance is greater than the set standard distance and the monitored polygon area is smaller than the set polygon area, the full space warning of the industrial waste special box will not be triggered;

[0048] Case C: When the monitored distance is greater than the set standard distance and the monitored polygon area is greater than the set polygon area, the full space warning of the industrial waste special box will not be triggered;

[0049] Case D: When the monitored distance is smaller than the set standard distance and the monitored polygon area is smaller than the set polygon area, the full space warning of the industrial waste box will not be triggered.

[0050] As a further improvement of the technical solution, the positioning recovery unit includes a node taking module and a driving recovery module;

[0051] The node acquisition module is used to receive the command of triggering the full space warning of the industrial waste special box in the distance judgment module. The industrial waste special box placement points are distributed in various parks. The industrial waste special box placement points are regarded as sensor nodes, and the nodes are used to form a wireless sensor network. Then, the beacon nodes with known positions in the wireless sensor network are used to acquire the position information of the nodes, and the wireless sensor network positioning technology is adopted;

[0052] The driving recovery module is used to receive the location information of the nodes in the node module, locate according to the location information of the nodes, form a driving path, and send the driving route to the intelligent transfer vehicle. The intelligent transfer vehicle finds the full-space industrial waste special box according to the driving path, and then promptly recycles the industrial solid waste in the full-space industrial waste special box, which can avoid secondary pollution caused by the industrial waste special box being full of industrial solid waste. At the same time, accurate node location information can avoid invalid collection and transportation routes, thereby saving manpower and material resources.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] In the method and system for intelligent collection and transportation monitoring of industrial solid waste based on the Internet of Things, the monitoring space unit is used to receive a command in the distance judgment module to trigger an infrared sensor inside the special box for industrial waste. The internal infrared sensor simultaneously emits infrared rays at 180 degrees. When the internal infrared rays hit the industrial solid waste, they are marked as collision points. At the same time, the collision points are connected into a polygonal shape, the coordinates of the collision points are captured, and then the polygonal area is monitored according to the coordinates of the collision points. The monitored polygonal area is used to judge the waste of space inside the special box for industrial waste. By monitoring the space utilization of the special box for industrial waste, it can be understood whether the space inside the special box for industrial waste is fully utilized, thereby reducing the space waste of the special box for industrial waste and improving the space utilization rate inside the special box for industrial waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is the overall step diagram of the present invention;

[0056] Figure 2 is an overall block diagram of the present invention;

[0057] Figure 3 is a block diagram of a signal monitoring unit of the present invention;

[0058] Figure 4 It is a block diagram of the positioning recovery unit of the present invention.

[0059] The meaning of each number in the figure is:

[0060] 1. Signal monitoring unit; 11. Signal capture module; 12. Distance monitoring module; 13. Distance judgment module;

[0061] 2. Monitoring space unit; 3. Positioning recovery unit; 31. Taking node module; 32. Driving recovery module. DETAILED DESCRIPTION

[0062] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Example 1

[0064] See also Figure 1-Figure 4 As shown, one of the purposes of this embodiment is to provide an intelligent collection and transportation monitoring method for industrial solid waste based on the Internet of Things, including the following method steps:

[0065] S1, the signal monitoring unit 1 captures the sound signal of touching the special box for industrial waste, triggers the infrared ray sensor to emit infrared rays to the bottom of the special box for industrial waste and records the angle of emission, monitors the distance according to the angle of emission, and then determines the space situation in the special box for industrial waste;

[0066] S2, the monitoring space unit 2 triggers the infrared ray sensor inside the industrial waste box according to the data in the signal monitoring unit 1, and emits infrared rays at 180 degrees to form a polygonal shape, and then monitors the area of ​​the polygon, and uses the monitored polygonal area to determine the waste of the internal space of the industrial waste box;

[0067] S3, the signal monitoring unit 1 triggers the infrared ray sensor to emit infrared rays diagonally to the bottom of the industrial waste special box according to the data in the monitoring space unit 2, and again monitors the distance from the industrial solid waste to the upper infrared ray sensor, and uses the re-monitored distance and the monitored polygon area to determine whether the industrial waste special box full space warning is triggered;

[0068] S4. The positioning and recycling unit 3 regards the placement point of the industrial waste special box as a sensor node according to the data in the signal monitoring unit 1, obtains the location information of the node, and then forms a recycling driving path according to the location information of the node.

[0069] The second object of the present invention is to provide an industrial solid waste intelligent collection and transportation monitoring system based on the Internet of Things for operating the above method, comprising a signal monitoring unit 1, a monitoring space unit 2, and a positioning recovery unit 3;

[0070] The signal monitoring unit 1 captures the sound signal of touching the special box for industrial waste, determines that the sound signal is the sound of throwing industrial solid waste, triggers the infrared ray sensor to emit infrared rays to the bottom of the special box for industrial waste, and records the angle of emission, monitors the distance according to the angle of emission, and uses the monitored distance to determine the space situation in the special box for industrial waste;

[0071] The monitoring space unit 2 is used to receive data from the signal monitoring unit 1, trigger the infrared ray sensor inside the industrial waste box and emit infrared rays at 180 degrees, then mark the place where the ray collides with the industrial solid waste as the collision point, and record the coordinates of the collision point, connect them into a polygonal shape, and then monitor the polygonal area, and use the monitored polygonal area to judge the waste of the internal space of the industrial waste box, and judge whether the waste of the internal space of the industrial waste box is caused by the irregular shape of the industrial solid waste;

[0072] The signal monitoring unit 1 receives the data in the monitoring space unit 2, uses the infrared ray sensor to emit infrared rays to the diagonal of the bottom of the industrial waste special box, monitors the distance from the industrial solid waste to the upper infrared ray sensor again, and uses the re-monitored distance and the monitored polygon area to determine whether the industrial waste special box full space warning is triggered;

[0073] The positioning and recycling unit 3 is used to receive data from the signal monitoring unit 1, regard the placement point of the industrial waste special box as a sensor node, form a wireless sensor network based on the nodes, and then use the wireless sensor network to obtain the node's location information, and then locate according to the node's location information to form a recycling driving path.

[0074] The following is a refinement of the above units, see Figure 2-Figure 4 ;

[0075] The signal monitoring unit 1 includes a signal capturing module 11, a distance monitoring module 12 and a distance judging module 13;

[0076] The signal capture module 11 uses a sound sensor to capture the sound signal of touching the industrial waste box, records the length of the sound signal, and obtains historical data at the same time, performs frequency analysis on the captured sound signal through the PSD algorithm, and uses the analyzed frequency and the set frequency threshold to judge whether the sound is the sound of throwing industrial solid waste or the sound of accidentally touching the industrial waste box or the sound of intentionally touching the industrial waste box;

[0077] The historical data includes the distance from the infrared sensor to the CCD detector;

[0078] The set frequency threshold includes a set frequency threshold a and a set frequency threshold b;

[0079] The implementation principle of using the PSD algorithm to analyze the captured sound signal frequency:

[0080] Collect the captured sound signal x and the sound signal length T to calculate the frequency. The calculated frequency is the analyzed frequency Pl. The specific algorithm formula is:

[0081]

[0082] Where x(n) refers to the nth captured sound signal x, j is the imaginary unit, π is the circumference of a circle, and e is the number of circumferences. -jπfn / T Refers to a complex exponential function, used to represent a complex exponential signal with a frequency of f;

[0083] Specific judgment situations include:

[0084] Case ①: When the analyzed frequency Pl> the set frequency threshold a, the sound is judged to be the sound of throwing industrial solid waste, thereby triggering the infrared ray sensor above the industrial waste special box;

[0085] Case ②: When the analyzed frequency Pl is less than the set frequency threshold b, the sound is judged to be the sound of accidentally touching the industrial waste box, and the infrared ray sensor is not triggered;

[0086] Case ③: When the set frequency threshold b < analyzed frequency Pl < set frequency threshold a, the sound is judged to be the sound of intentionally touching the industrial waste box, and the infrared ray sensor is not triggered;

[0087] The monitoring distance module 12 is used to receive the command of the infrared ray sensor at the upper position of the industrial waste special box in the capture signal module 11. The infrared ray sensor above the industrial waste special box emits infrared rays to the diagonal of the bottom of the industrial waste special box and records the emission angle. When the upper ray hits the industrial solid waste, it is emitted back at a certain angle. The reflected ray is captured by the CCD calibrator, and the reflection angle is recorded at the same time. The offset angle is calculated according to the emission angle and the reflection angle, and then the distance from the industrial solid waste to the upper infrared ray sensor is monitored according to the calculated offset angle and the emission angle. Monitoring the distance of the industrial solid waste can improve the judgment of the utilization of the space, and the monitored distance is transmitted to the distance judgment module 13;

[0088] Calculation principle of offset angle:

[0089] Collect the emitted angle θ and the reflected angle α to calculate the offset angle, and get the calculated offset angle Δζ. The specific algorithm formula is:

[0090] Δζ=α-θ;

[0091] The monitoring distance module 12 monitors the distance between industrial solid waste and the upper infrared ray sensor to achieve the following principle:

[0092] The calculated offset angle Δζ and the emitted angle θ are collected to calculate the distance from the industrial solid waste to the upper infrared ray sensor. The calculated distance from the industrial solid waste to the upper infrared ray sensor is the distance d from the monitored industrial solid waste to the upper infrared ray sensor.

[0093]

[0094] Among them, h refers to the distance from the infrared sensor to the CCD calibrator, and 2 is used to correct the influence of the offset angle on the emission angle. This formula can accurately measure the distance from the industrial solid waste to the upper infrared sensor by calculating the distance from the industrial solid waste to the upper infrared sensor, which is convenient for judging the remaining available space;

[0095] The distance judgment module 13 is used to receive the distance monitored by the monitoring distance module 12, and use the monitored distance and the set standard distance to judge whether to trigger the infrared ray sensor inside the special box for industrial waste. Since four infrared ray sensors are set inside the special box for industrial waste, two internal infrared ray sensors are arranged at the left and right positions of the front of the special box for industrial waste, the right internal infrared ray sensor is arranged at 8 cm from the right corner of the special box for industrial waste, and the left is arranged at 8 cm from the left corner of the special box for industrial waste, and the internal infrared ray sensor is 20 cm away from the opening of the special box for industrial waste. The other two internal infrared ray sensors are arranged in the same way as the previous ones. The specific judgment situation is:

[0096] Case 1: When the monitored distance is greater than the set standard distance, it means that there is enough space in the industrial waste box, and the infrared ray sensor inside the industrial waste box will not be triggered;

[0097] Case 2: When the monitored distance is less than the set standard distance, the infrared ray sensor inside the industrial waste box is triggered;

[0098] The monitoring space unit 2 is used to receive the command of the distance judgment module 13 to trigger the infrared ray sensor inside the special box for industrial waste. The four infrared ray sensors inside emit infrared rays at 180 degrees at the same time. When the four infrared rays inside hit the industrial solid waste, they are marked as collision points. At the same time, the four collision points are connected into a polygonal shape. The coordinates of the four collision points are captured simultaneously by the CCD calibrator. Then, the polygonal area is monitored according to the coordinates of the collision points using the Gaussian area formula. The monitored polygonal area and the set polygonal area are used to judge the waste of space inside the special box for industrial waste. By monitoring the space utilization of the special box for industrial waste, it can be understood whether the space inside the special box for industrial waste is fully utilized, thereby reducing the space waste of the special box for industrial waste. At the same time, it is avoided that the irregular shape of the industrial solid waste occupies the space in the middle part of the special box for industrial waste, and the false triggering of the full space warning of the special box for industrial waste is generated;

[0099] The implementation principle of using Gaussian area formula to calculate polygon area in the monitoring space unit 2 is:

[0100] Collect the coordinates (x, y) of the collision point. The coordinates (x, y) of the collision point include (x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、(x 4 ,y 4 ), according to (x1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、(x 4 ,y 4 ) to calculate the polygon area, the calculated polygon area is the monitored polygon area S, the specific algorithm formula is:

[0101]

[0102] Among them, the determinant of the matrix composed of coordinates actually calculates a "double area" value, that is, it contains twice the area of ​​the polygon. Therefore, in order to obtain the actual area value, it needs to be divided by 2. This formula is used to calculate the area of ​​the polygon. By calculating the area of ​​the polygon, the actual available space inside the industrial waste box can be accurately evaluated, and the actual utilization of the internal space can be understood to ensure that the space is not wasted;

[0103] Specific circumstances include:

[0104] Case 1: When the monitored polygon area is larger than the set polygon area, it is judged that the internal space utilization rate of the industrial waste special box is high, indicating that there is no wasted space inside the industrial waste special box, and the high utilization rate command is transmitted to the monitoring distance module 12;

[0105] Case 2: When the monitored polygon area is smaller than the set polygon area, it is judged that the internal space utilization rate of the industrial waste special box is low, and the internal space of the industrial waste special box is wasted due to the irregular shape of industrial solid waste;

[0106] The monitoring distance module 12 receives the command of high utilization rate in the monitoring space unit 2, and uses the infrared ray sensor at the upper position of the industrial waste special box to emit infrared rays diagonally to the bottom of the industrial waste special box. The operating principle is the same as the above-mentioned monitoring distance module 12, and the distance from the industrial solid waste to the upper infrared ray sensor is monitored again, and the re-monitored distance is transmitted to the distance judgment module 13. The distance judgment module 13 receives the re-monitored distance in the monitoring distance module 12 and the judgment result in the monitoring space unit 2, and uses the re-monitored distance and the set standard distance to judge whether to trigger the full space warning of the industrial waste special box. The specific judgment conditions include:

[0107] Case A: When the monitored distance is less than the set standard distance and the monitored polygon area is larger than the set polygon area, it means that the industrial waste special box is full, and the industrial waste special box full space warning is triggered;

[0108] Case B: When the monitored distance is greater than the set standard distance and the monitored polygon area is smaller than the set polygon area, the full space warning of the industrial waste special box will not be triggered;

[0109] Case C: When the monitored distance is greater than the set standard distance and the monitored polygon area is greater than the set polygon area, the full space warning of the industrial waste special box will not be triggered;

[0110] Case D: When the monitored distance is less than the set standard distance and the monitored polygon area is less than the set polygon area, the full space warning of the industrial waste special box will not be triggered;

[0111] The positioning recovery unit 3 includes a node taking module 31 and a driving recovery module 32;

[0112] The node acquisition module 31 is used to receive the command of triggering the full space warning of the industrial waste special box in the distance judgment module 13. The industrial waste special box placement points are distributed in various parks. The industrial waste special box placement points are regarded as sensor nodes, and the nodes are used to form a wireless sensor network. Then, the beacon nodes with known positions in the wireless sensor network are used to acquire the position information of the nodes, and the wireless sensor network positioning technology is adopted;

[0113] The driving recovery module 32 is used to receive the position information of the node in the node module 31, locate according to the position information of the node, form a driving path, and send the driving route to the intelligent transfer vehicle. The intelligent transfer vehicle finds the full-space industrial waste special box according to the driving path, and then promptly recycles the industrial solid waste in the full-space industrial waste special box, which can avoid secondary pollution caused by the industrial waste special box after it is full of industrial solid waste. At the same time, accurate node location information can avoid invalid collection and transportation routes, thereby saving manpower and material resources.

[0114] Usage process:

[0115] The monitoring space unit 2 is used to receive the command of the distance judgment module 13 to trigger the infrared sensor inside the special box for industrial waste. The infrared sensor emits infrared rays at 180 degrees. When the infrared rays hit the industrial solid waste, it is marked as a collision point. The collision point is connected into a polygon shape, and the coordinates of the collision point are captured by the CCD calibrator. Then the Gaussian area formula is used to monitor the polygon area according to the coordinates of the collision point. The monitored polygon area and the set polygon area are used to judge the waste of the internal space of the special box for industrial waste. When the monitored polygon area is greater than the set polygon area, it is judged that the internal space utilization rate of the special box for industrial waste is high, indicating that there is no waste space inside the special box for industrial waste, and the high utilization rate command is transmitted to the monitoring space unit 2. In the distance measuring module 12, the monitoring distance module 12 receives the command with high utilization rate in the monitoring space unit 2, and uses the infrared ray sensor at the upper position of the industrial waste special box to emit infrared rays to the diagonal of the bottom of the industrial waste special box, and monitors the distance from the industrial solid waste to the upper infrared ray sensor again, and transmits the re-monitored distance to the distance judgment module 13. The distance judgment module 13 receives the re-monitored distance in the monitoring distance module 12 and the result of the judgment in the monitoring space unit 2, and uses the re-monitored distance and the set standard distance for judgment. When the monitored distance is less than the set standard distance and the monitored polygon area is greater than the set polygon area, it means that the space of the industrial waste special box is full, and the industrial waste special box full space warning is triggered.

[0116] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent collection and transportation monitoring method for industrial solid waste based on the Internet of Things, characterized by: The method comprises the following steps: S1, the signal monitoring unit (1) captures the sound signal of touching the special industrial waste box, triggers the infrared ray sensor to emit infrared rays to the bottom of the special industrial waste box and records the emission angle, monitors the distance according to the emission angle, and then determines the space condition in the special industrial waste box; The signal monitoring unit (1) comprises a signal capturing module (11), a distance monitoring module (12) and a distance judging module (13); The signal capture module (11) uses a sound sensor to capture a sound signal of touching the industrial waste box, records the length of the sound signal, and simultaneously obtains historical data, performs frequency analysis on the captured sound signal through a PSD algorithm, and uses the analyzed frequency and a set frequency threshold to determine whether the sound is the sound of throwing industrial solid waste, the sound of accidentally touching the industrial waste box, or the sound of intentionally touching the industrial waste box; The historical data includes the distance from the infrared ray sensor to the CCD calibrator; the set frequency threshold includes the set frequency threshold a and the set frequency threshold b; The monitoring distance module (12) is used to receive a command from the capture signal module (11) to trigger an infrared ray sensor located above the industrial waste box. The infrared ray sensor located above the industrial waste box emits infrared rays diagonally to the bottom of the industrial waste box and records the emission angle. When the rays from above hit the industrial solid waste, the reflected rays are captured by a CCD detector and the reflection angle is recorded. The offset angle is calculated based on the emission angle and the reflection angle, and the distance from the industrial solid waste to the infrared ray sensor located above is monitored based on the calculated offset angle and the emission angle. The monitoring distance module (12) monitors the distance between industrial solid waste and the upper infrared ray sensor to achieve the following principle: The calculated offset angle Δζ and the emitted angle θ are collected to calculate the distance from the industrial solid waste to the upper infrared ray sensor. The calculated distance from the industrial solid waste to the upper infrared ray sensor is the distance d from the monitored industrial solid waste to the upper infrared ray sensor. Wherein, h refers to the distance from the infrared sensor to the CCD detector, and 2 is used to correct the effect of the offset angle on the emission angle; S2, the monitoring space unit (2) triggers the infrared ray sensor inside the industrial waste box according to the data in the signal monitoring unit (1), and emits infrared rays at 180 degrees to form a polygonal shape, and then monitors the area of ​​the polygon, and uses the monitored polygonal area to determine the waste of the space inside the industrial waste box; S3, the signal monitoring unit (1) triggers the infrared ray sensor to emit infrared rays diagonally to the bottom of the industrial waste special box according to the data in the monitoring space unit (2), and again monitors the distance from the industrial solid waste to the upper infrared ray sensor, and uses the re-monitored distance and the monitored polygon area to determine whether the industrial waste special box full space warning is triggered; The monitoring distance module (12) receives the command with high utilization rate in the monitoring space unit (2), uses the infrared ray sensor located above the industrial waste special box to emit infrared rays diagonally to the bottom of the industrial waste special box, and again monitors the distance from the industrial solid waste to the upper infrared ray sensor; The distance judgment module (13) receives the distance monitored again in the monitoring distance module (12) and the judgment result in the monitoring space unit (2), and uses the distance monitored again and the set standard distance to judge whether to trigger the industrial waste special box full space warning situation. When the monitored distance is less than the set standard distance and the monitored polygon area is greater than the set polygon area, it means that the industrial waste special box space is full, and the industrial waste special box full space warning is triggered, and the command to trigger the industrial waste special box full space warning is transmitted to the positioning recovery unit (3); S4. The positioning and recycling unit (3) regards the placement point of the industrial waste special box as a sensor node based on the data in the signal monitoring unit (1), obtains the location information of the node, and then forms a recycling driving path based on the location information of the node.

2. An industrial solid waste intelligent collection and transportation monitoring system based on the Internet of Things for operating the method in claim 1, characterized in that: It comprises a signal monitoring unit (1), a monitoring space unit (2), and a positioning recovery unit (3); The signal monitoring unit (1) captures the sound signal of touching the special industrial waste box, determines that the sound signal is the sound of throwing industrial solid waste, triggers the infrared ray sensor to emit infrared rays to the bottom of the special industrial waste box, and records the emission angle, monitors the distance according to the emission angle, and uses the monitored distance to determine the space situation in the special industrial waste box; The signal monitoring unit (1) comprises a signal capturing module (11), a distance monitoring module (12) and a distance judging module (13); The signal capture module (11) uses a sound sensor to capture a sound signal of touching the industrial waste box, records the length of the sound signal, and simultaneously obtains historical data, performs frequency analysis on the captured sound signal through a PSD algorithm, and uses the analyzed frequency and a set frequency threshold to determine whether the sound is the sound of throwing industrial solid waste, the sound of accidentally touching the industrial waste box, or the sound of intentionally touching the industrial waste box; The historical data includes the distance from the infrared ray sensor to the CCD calibrator; the set frequency threshold includes the set frequency threshold a and the set frequency threshold b; The monitoring distance module (12) is used to receive a command from the capture signal module (11) to trigger an infrared ray sensor located above the industrial waste box. The infrared ray sensor located above the industrial waste box emits infrared rays diagonally to the bottom of the industrial waste box and records the emission angle. When the rays from above hit the industrial solid waste, the reflected rays are captured by a CCD detector and the reflection angle is recorded. The offset angle is calculated based on the emission angle and the reflection angle, and the distance from the industrial solid waste to the infrared ray sensor located above is monitored based on the calculated offset angle and the emission angle. The monitoring distance module (12) monitors the distance between industrial solid waste and the upper infrared ray sensor to achieve the following principle: The calculated offset angle Δζ and the emitted angle θ are collected to calculate the distance from the industrial solid waste to the upper infrared ray sensor. The calculated distance from the industrial solid waste to the upper infrared ray sensor is the distance d from the monitored industrial solid waste to the upper infrared ray sensor. Wherein, h refers to the distance from the infrared sensor to the CCD detector, and 2 is used to correct the effect of the offset angle on the emission angle; The monitoring space unit (2) is used to receive data from the signal monitoring unit (1), trigger the infrared ray sensor inside the industrial waste box and emit infrared rays at 180 degrees, then mark the place where the ray collides with the industrial solid waste as the collision point, and record the coordinates of the collision point, connect them into a polygon shape, and then monitor the polygon area, and use the monitored polygon area to judge the waste of the internal space of the industrial waste box, and judge whether the waste of the internal space of the industrial waste box is caused by the irregular shape of the industrial solid waste; The signal monitoring unit (1) receives data from the monitoring space unit (2), uses an infrared ray sensor to emit infrared rays diagonally to the bottom of the industrial waste special box, monitors the distance from the industrial solid waste to the upper infrared ray sensor again, and uses the re-monitored distance and the monitored polygon area to determine whether a full space warning of the industrial waste special box is triggered; The monitoring distance module (12) receives the command with high utilization rate in the monitoring space unit (2), uses the infrared ray sensor located above the industrial waste special box to emit infrared rays diagonally to the bottom of the industrial waste special box, and again monitors the distance from the industrial solid waste to the upper infrared ray sensor; The distance judgment module (13) receives the distance monitored again in the monitoring distance module (12) and the judgment result in the monitoring space unit (2), and uses the distance monitored again and the set standard distance to judge whether to trigger the industrial waste special box full space warning situation. When the monitored distance is less than the set standard distance and the monitored polygon area is greater than the set polygon area, it means that the industrial waste special box space is full, and the industrial waste special box full space warning is triggered, and the command to trigger the industrial waste special box full space warning is transmitted to the positioning recovery unit (3); The positioning and recycling unit (3) is used to receive data from the signal monitoring unit (1), regard the placement point of the industrial waste special box as a sensor node, form a wireless sensor network based on the nodes, and then use the wireless sensor network to obtain the node's location information, and then perform positioning based on the node's location information to form a recycling driving path.

3. The intelligent collection and transportation monitoring system for industrial solid waste based on the Internet of Things according to claim 2 is characterized by: The distance judgment module (13) is used to receive the distance monitored by the distance monitoring module (12), and use the monitored distance and the set standard distance to judge whether to trigger the infrared ray sensor inside the industrial waste special box. The specific judgment situation is: Case 1: When the monitored distance is greater than the set standard distance, it means that there is enough space in the industrial waste box, and the infrared ray sensor inside the industrial waste box will not be triggered; Case 2: When the monitored distance is less than the set standard distance, the infrared ray sensor inside the industrial waste box is triggered.

4. The intelligent collection and transportation monitoring system for industrial solid waste based on the Internet of Things according to claim 3 is characterized by: The monitoring space unit (2) is used to receive a command from the distance judgment module (13) to trigger the infrared ray sensor inside the industrial waste special box. The internal infrared ray sensor emits infrared rays at 180 degrees. When the internal infrared rays hit the industrial solid waste, they are marked as collision points. At the same time, the collision points are connected into a polygonal shape. The coordinates of the collision points are captured by a CCD calibrator. The Gaussian area formula is used to monitor the polygonal area according to the coordinates of the collision points. The monitored polygonal area and the set polygonal area are used to judge the waste of space inside the industrial waste special box. The specific situation includes: Case 1: When the monitored polygon area is larger than the set polygon area, it is judged that the internal space utilization rate of the industrial waste special box is high, and there is no wasted space inside the industrial waste special box; Case 2: When the monitored polygon area is smaller than the set polygon area, it is judged that the internal space utilization rate of the industrial waste box is low, and the irregular shape of the industrial solid waste causes waste of the internal space of the industrial waste box.

5. The intelligent collection and transportation monitoring system for industrial solid waste based on the Internet of Things according to claim 4 is characterized by: The implementation principle of using the Gaussian area formula to calculate the polygon area in the monitoring space unit (2) is: Collect the coordinates (x, y) of the collision point. The coordinates (x, y) of the collision point include (x1, y1), (x2, y2), (x3, y3), and (x4, y4). Calculate the polygon area based on (x1, y1), (x2, y2), (x3, y3), and (x4, y4). The calculated polygon area is the monitored polygon area S. The specific algorithm formula is: Among them, the determinant of the matrix composed of coordinates actually calculates a "double area" value, that is, it contains twice the area of ​​the polygon. In order to get the actual area value, it needs to be divided by 2.

6. The intelligent collection and transportation monitoring system for industrial solid waste based on the Internet of Things according to claim 4 is characterized by: The positioning recovery unit (3) comprises a node acquisition module (31) and a travel recovery module (32); The node acquisition module (31) is used to receive the command of triggering the full space warning of the industrial waste special box in the distance judgment module (13), regard the placement point of the industrial waste special box as a sensor node, and use the nodes to form a wireless sensor network, and then use the beacon node with a known position in the wireless sensor network to acquire the node position information; The driving recovery module (32) is used to receive the position information of the node in the node module (31), locate the node according to the position information, form a driving path, and send the driving route to the intelligent transfer vehicle. The intelligent transfer vehicle finds a full-space industrial waste special box according to the driving path, and then promptly recovers the industrial solid waste in the full-space industrial waste special box.

Images