Garbage can automatic transfer integrated system and transfer method

Abstract

The invention discloses a garbage can automatic transfer integrated system which comprises a sewage production device used for discharging garbage into a garbage can; the wagon balance is arranged below the garbage can and used for monitoring the weight of the garbage can in real time; the center console is in communication connection with the wagon balance, the pollution production equipment, the AGV cluster and the automatic cover turning device, and is used for receiving data and sending a control instruction; the AGV cluster comprises at least two AGVs which are respectively used for transferring full-load garbage cans and supplying no-load garbage cans, and the two AGVs are respectively an AGV1 and an AGV2; and the automatic cover turning device is arranged at the preset point position. And through full-process automatic control, time waste of manual transfer is eliminated, seamless connection of garbage transfer is achieved, and compared with a traditional manual transfer mode, the transfer efficiency is greatly improved. Intelligent management is achieved, a center console conducts centralized control and data interaction on all equipment, real-time monitoring and intelligent management on the whole garbage transfer process are achieved, and problems can be conveniently found in time and adjusted and optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage removal and transportation, and in particular to an integrated system and method for automatically transferring garbage cans. Background Art

[0002] In traditional sewage treatment plants, the transfer of garbage bins often relies on manual operation, which has the following problems:

[0003] Inefficiency: Manually transferring trash bins consumes a lot of time and manpower, resulting in low overall operational efficiency.

[0004] Safety hazards: Due to the bad odor environment on site and the potential safety hazards such as improper operation and equipment failure during manual transportation, the physical and mental health of the staff may be affected.

[0005] Environmental pollution: During the transfer of garbage bins, garbage may be dropped and water may accumulate in some areas, which may cause secondary pollution and have adverse effects on the environment. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of the above-mentioned background technology and to provide an integrated system and method for automatic transfer of garbage bins.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An integrated system for automatic transfer of garbage cans includes a waste-generating device for discharging garbage into the garbage cans;

[0009] A floor scale is installed under the trash can to monitor the weight of the trash can in real time;

[0010] The central console is connected to the scale, waste-producing equipment, AGV cluster and automatic cover device to receive data and send control instructions;

[0011] An AGV cluster includes at least two AGVs, one for transferring full trash cans and the other for replenishing empty trash cans. The two AGVs are AGV1 and AGV2.

[0012] Automatic lid-opening device, set at a preset point, used to open or close the trash can lid according to the instructions from the center console;

[0013] Electric doors, located at the entrances to the full and empty barrel areas, controlled from the center console;

[0014] Automatic charging station, used to provide charging services for AGV clusters.

[0015] As a further solution of the present invention: the AGV cluster adopts a spatiotemporal collaborative scheduling algorithm, including:

[0016] Establish a spatiotemporal trajectory prediction model for AGV1 (full barrel transportation) and AGV2 (empty barrel replenishment);

[0017] Through the dynamic time window conflict monitoring mechanism, the AGV's staggered traffic path in narrow channels is planned.

[0018] As a further solution of the present invention: the automatic flip cover device includes:

[0019] Sensor module, used to detect when the AGV reaches a preset point;

[0020] The mechanical actuator responds to the command from the center console to complete the opening and / or closing operation of the trash can lid.

[0021] As a further solution of the present invention: the control method of the central console includes:

[0022] According to the weight data fed back by the scale, the start-stop interlock of the pollution-producing equipment is triggered;

[0023] Dynamically assign task priorities to AGV clusters and adjust path planning in real time.

[0024] As a further solution of the present invention: the interlocking control between the weighing scale and the pollution-producing equipment includes:

[0025] When the weight of the trash can reaches the preset threshold, the scale sends a stop signal to the central console;

[0026] The central console controls the pollution-producing equipment to suspend operation and starts AGV1 for transfer.

[0027] As a further solution of the present invention: the automatic charging station includes:

[0028] Wireless charging module for automatic docking and charging of AGV;

[0029] The status monitoring module provides real-time feedback of the AGV's power information to the central console.

[0030] As a further solution of the present invention: the control logic of the electric door includes:

[0031] After the AGV identity is verified through the central console, the access control of the corresponding area is automatically opened;

[0032] After the AGV completes entry and exit, the electric door automatically closes and the status is fed back to the center console.

[0033] A method for transporting garbage bins with integrated automatic transport, comprising the following steps:

[0034] Garbage collection stage: The waste-generating equipment at the workstation discharges the garbage into the opened trash can. The weighing scale monitors the weight of the trash can in real time and sends a stop command to the central console when the preset full load weight is reached.

[0035] Pollution-producing equipment stopping stage: After receiving the stop command, the central control console controls the pollution-producing equipment to suspend operation and receives the stop signal fed back by it;

[0036] Fully loaded trash bin transfer phase: The central console sends a transfer command to AGV1. AGV1 departs from the automatic charging station, navigates along the preset path to the pollution-generating station, picks up the fully loaded trash bin pallet, drives to the automatic lid-opening point, triggers the lid to close, then enters the full bin area to unload and returns to charge.

[0037] Empty trash bin replenishment phase: The central console sends a command to AGV2, which departs from the automatic charging station, enters the empty bin area, picks up an empty trash bin tray, triggers the lid-opening device, and then transports the bin to the waste-producing station and returns to recharge.

[0038] Work reset phase: The central console restarts the pollution-producing equipment, and the scale continuously monitors the weight of the new trash can to start the next cycle.

[0039] As a further solution of the present invention: During the transfer phase of the fully loaded garbage bin: after receiving the feedback signal that the pollution-producing equipment stops working, the central console sends a transfer instruction to the AGV1;

[0040] AGV1 starts from the automatic charging station and uses the autonomous navigation system to drive along the preset path to the station where the pollution-producing equipment is located;

[0041] After arriving at the workstation, AGV1 picks up the pallet carrying the full trash can and drives to the automatic trash can cover opening point;

[0042] After arriving at this point, AGV1 triggers the automatic trash can lid flipping device, flipping the lid of the fully loaded trash can from an open state to a closed state;

[0043] After completing the flipping operation, AGV1 continues to move forward to the entrance of the full barrel area. The central console opens the electric door through command transmission. AGV1 enters the full barrel area, puts down the forked pallet and the full trash can, and then returns to the automatic charging station for charging.

[0044] As a further solution of the present invention: During the empty trash bin replenishment phase: while AGV1 is departing from the automatic charging station and heading for the pollutant-producing equipment station, the central console sends a command to AGV2;

[0045] AGV2 starts from the automatic charging station and reaches the entrance of the empty barrel area through autonomous navigation. The central console transmits instructions to open the electric door, and AGV2 enters the empty barrel area;

[0046] AGV2 picks up the pallet and the empty trash can on the pallet in the empty trash can area, and then drives to the automatic trash can cover opening point;

[0047] After arriving at this point, AGV2 triggers the automatic trash can lid flipping device to flip the lid of the empty trash can from the closed state to the open state;

[0048] AGV2 then transfers the pallet and empty trash can to the waste-producing equipment station and places them down. After completion, it returns to the automatic charging station for charging.

[0049] Beneficial effects of the present invention:

[0050] Improve transfer efficiency: Through full-process automated control, the time waste of manual transfer is eliminated, and seamless connection of garbage transfer is achieved. Compared with traditional manual transfer methods, the transfer efficiency is greatly improved.

[0051] Reduce labor costs: Reduce reliance on large amounts of manual handling, reduce labor intensity, save labor costs, and reduce transportation delays and errors caused by human factors.

[0052] Improve personnel safety: Unmanned systems can avoid safety hazards caused by manual operation, reduce personnel exposure to hazardous waste, and ensure the safety of staff.

[0053] Improve environmental protection level: The automatic opening and closing of the trash can lid during the transportation process effectively reduces the spillage of garbage and the emission of odor, reduces the risk of environmental pollution, and improves the overall environmental protection operation level.

[0054] Intelligent management: The central console’s centralized control and data interaction of each device enables real-time monitoring and intelligent management of the entire garbage transfer process, making it easier to identify problems and make adjustments and optimizations in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will be further described below with reference to the accompanying drawings.

[0056] Figure 1 It is a system flow chart of the present invention;

[0057] Figure 2 and Figure 3 It is a schematic diagram of two workstations of the present invention;

[0058] Figure 4 This is the process flow of the transport method of the present invention.

[0059] In the picture: 1. Pallet; 2. Automatic flip device; 3. Floor scale; 4. Center console; 5. AGV cluster; 6. Waste-producing equipment; 7. Electric door; 8. Full barrel area; 9. Empty barrel area; 10. Automatic charging station; 301. Trash can. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0061] For example 1, please refer to Figure 1-3 As shown, the present invention is an integrated system for automatic transfer of garbage cans, including a waste-generating device 6 for discharging garbage into a garbage can 301;

[0062] A floor scale 3 is provided below the trash can 301 and is used to monitor the weight of the trash can in real time;

[0063] The central control console 4 is connected to the scale 3, the waste-generating equipment 6, the AGV cluster 5 and the automatic cover device 2 to receive data and send control instructions;

[0064] AGV cluster 5, including at least two AGVs, used for transferring full trash cans and replenishing empty trash cans, respectively. The two AGVs are AGV1 and AGV2;

[0065] Automatic lid-opening device 2, set at a preset point, used to open or close the trash can lid according to the command of the central console;

[0066] Electric doors 7, set at the entrances of the full barrel area 8 and the empty barrel area 9, controlled by the central console 4;

[0067] The automatic charging station 10 is used to provide charging services for the AGV cluster 5.

[0068] For example 2, please refer to Figure 1-3 As shown, the present invention is an integrated system for automatic transfer of garbage cans, including a waste-generating device 6 for discharging garbage into a garbage can 301;

[0069] A floor scale 3 is provided below the trash can 301 and is used to monitor the weight of the trash can in real time;

[0070] The central control console 4 is connected to the scale 3, the waste-generating equipment 6, the AGV cluster 5 and the automatic cover device 2 to receive data and send control instructions;

[0071] The control method of the central console 4 includes:

[0072] According to the weight data fed back by the scale 3, the start-stop interlock of the pollution-generating equipment 6 is triggered;

[0073] The interlocking control between the weighbridge 3 and the pollution-generating equipment 6 includes:

[0074] When the weight of the trash can reaches a preset threshold, the scale 3 sends a stop signal to the central console 4;

[0075] The central control console 4 controls the pollution-generating equipment 6 to suspend operation and starts the AGV 1 for transfer.

[0076] Dynamically assign task priorities to AGV cluster 5 and adjust path planning in real time.

[0077] AGV cluster 5, including at least two AGVs, used for transferring full trash cans and replenishing empty trash cans, respectively. The two AGVs are AGV1 and AGV2;

[0078] The AGV cluster 5 adopts a spatiotemporal collaborative scheduling algorithm, including:

[0079] Establish a spatiotemporal trajectory prediction model for AGV1's full bucket transportation and AGV2's empty bucket replenishment;

[0080] Through the dynamic time window conflict detection mechanism, the AGV's staggered traffic path in narrow channels is planned.

[0081] The automatic lid-turning device 2 is set at a preset point and is used to open or close the trash can lid according to the instructions of the central console; the automatic lid-turning device 2 includes:

[0082] Sensor module, used to detect when the AGV reaches a preset point;

[0083] The mechanical actuator responds to the command of the central console 4 to complete the opening and / or closing operation of the trash can lid.

[0084] Electric doors 7, set at the entrances of the full barrel area 8 and the empty barrel area 9, controlled by the central console 4;

[0085] The control logic of the electric door 7 includes:

[0086] After the AGV identity is verified through the central console 4, the access control of the corresponding area is automatically opened;

[0087] After the AGV completes its entry and exit, the electric door 7 automatically closes and the status is fed back to the center console 4.

[0088] The automatic charging station 10 is used to provide charging services for the AGV cluster 5.

[0089] The automatic charging station 10 comprises:

[0090] Wireless charging module for automatic docking and charging of AGV;

[0091] The status monitoring module feeds back the AGV's power information to the central console 4 in real time.

[0092] For example three, please refer to Figure 1-4As shown, a method for transporting garbage bins with integrated automatic transport includes the following steps:

[0093] Garbage collection stage: The waste-generating equipment 6 at the workstation discharges the garbage into the garbage bin 301 with the lid opened. The weighbridge 3 monitors the weight of the garbage bin 301 in real time and sends a stop command to the central console 4 when the preset full load weight is reached.

[0094] Pollutant-producing equipment 6 stop phase: after receiving the stop command, the central control console 4 controls the pollutant-producing equipment 6 to suspend operation and receives the stop signal fed back from it;

[0095] Transfer phase for a fully loaded trash bin 301: The central console 4 sends a transfer instruction to the AGV 1. The AGV 1 departs from the automatic charging station 10, navigates along the preset path to the polluting station, picks up the fully loaded trash bin pallet 1, drives to the automatic lid-turning point, triggers the lid to close, then enters the full bin area 8 to unload and returns to charge.

[0096] Empty trash can 301 replenishment phase: The central console 4 sends a command to AGV 2, which starts from the automatic charging station 10, enters the empty bin area 9, picks up the empty trash can tray 1, triggers the flip device to open the trash can lid, and then transfers it to the waste production station and returns to charge.

[0097] Work reset phase: the central console 4 restarts the pollution-generating equipment 6, and the weighing scale 3 continuously monitors the weight of the new trash can 301 to start the next cycle.

[0098] Example 4, supplement to Example 3:

[0099] Garbage collection stage: The waste-generating equipment 6 on the workstation discharges garbage into the opened garbage bin 301 at irregular intervals. The weighbridge 3 monitors the weight of the garbage bin 301 in real time. When the preset full load weight is reached, the weighbridge 3 transmits a stop command to the central console 4.

[0100] Pollution-producing equipment 6 stop phase: After receiving the stop command from the scale 3, the central console 4 automatically transmits the stop command to the pollution-producing equipment 6. After the pollution-producing equipment 6 receives the command and stops working, it transmits the stop signal back to the central console 4.

[0101] Transfer stage of fully loaded trash can 301: After receiving the feedback signal that the waste-generating equipment 6 has stopped working, the central console 4 sends a transfer instruction to AGV1. AGV1 starts from the automatic charging seat 10 and drives along the preset path to the workstation where the waste-generating equipment 6 is located through the autonomous navigation system. After arriving at the workstation, AGV1 forks the pallet 1 carrying the fully loaded trash can 301 on the workstation, and then drives to the automatic trash can flip-up point. After arriving at this point, AGV1 triggers the automatic trash can flip-up device to flip the trash can lid of the fully loaded trash can 301 from an open state to a closed state. After completing the flip-up operation, AGV1 continues to move forward to the entrance of the full bucket area 8. The central console 4 opens the electric door 7 through command transmission. AGV1 enters the full bucket area 8, puts down the forked pallet 1 and the fully loaded trash can 301, and then returns to the automatic charging seat 10 for charging.

[0102] Empty trash can 301 replenishment phase: While AGV1 is departing from the automatic charging station 10 and heading for the polluting equipment 6 station, the central console 4 sends instructions to AGV2. AGV2 departs from the automatic charging station 10 and reaches the entrance of the empty bin area 9 through autonomous navigation. The central console 4 transmits instructions to open the electric door 7, and AGV2 enters the empty bin area 9. In the empty bin area 9, AGV2 forks the pallet 1 and the empty trash can 301 on the pallet 1, and then drives to the position of the automatic flip device 2. After arriving at this position, AGV2 triggers the automatic flip device 2, flipping the trash can lid of the empty trash can 301 from the closed state to the open state. Then AGV2 transfers the pallet 1 and the empty trash can 301 to the polluting equipment 6 station and puts them down. After completion, it returns to the automatic charging station 10 for charging.

[0103] Working reset stage: After AGV2 completes placing the empty trash can at the point, the central console 4 sends a command to the pollution-producing equipment 6, and the pollution-producing equipment 6 starts normal pollution-producing work. The floor scale 3 continues to monitor the weight of the new trash can and enters the next cycle.

[0104] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A garbage bin automatic transfer integrated system, characterized in that: Includes waste-generating equipment for discharging waste into trash cans; A floor scale is installed under the trash can to monitor the weight of the trash can in real time; The central console is connected to the scale, waste-producing equipment, AGV cluster and automatic cover device to receive data and send control instructions; An AGV cluster includes at least two AGVs, one for transferring full trash cans and the other for replenishing empty trash cans. The two AGVs are AGV1 and AGV2. Automatic lid-opening device, set at a preset point, used to open or close the trash can lid according to the instructions from the center console; Electric doors, located at the entrances to the full and empty barrel areas, controlled from the center console; Automatic charging station, used to provide charging services for AGV clusters.

2. The integrated system for automatic transfer of garbage cans according to claim 1 is characterized in that: The AGV cluster adopts a spatiotemporal collaborative scheduling algorithm, including: Establish a spatiotemporal trajectory prediction model for AGV1 and AGV2; Through the dynamic time window conflict monitoring mechanism, the AGV's staggered traffic path in narrow channels is planned.

3. The integrated system for automatic transfer of garbage cans according to claim 1 is characterized in that: The automatic cover-turning device comprises: Sensor module, used to detect when the AGV reaches a preset point; The mechanical actuator responds to the command from the center console to complete the opening and / or closing operation of the trash can lid.

4. The integrated system for automatic transfer of garbage cans according to claim 1 is characterized in that: The control method of the central console includes: According to the weight data fed back by the scale, the start-stop interlock of the pollution-producing equipment is triggered; Dynamically assign task priorities to AGV clusters and adjust path planning in real time.

5. The integrated system for automatic transfer of garbage cans according to claim 4 is characterized in that: The interlocking control between the weighbridge and the pollution-producing equipment includes: When the weight of the trash can reaches the preset threshold, the scale sends a stop signal to the central console; The central console controls the pollution-producing equipment to suspend operation and starts AGV1 for transfer.

6. The integrated system for automatic transfer of garbage cans according to claim 1 is characterized in that: The automatic charging station comprises: Wireless charging module for automatic docking and charging of AGV; The status monitoring module provides real-time feedback of the AGV's power information to the central console.

7. The integrated system for automatic transfer of garbage cans according to claim 1 is characterized in that: The control logic of the electric door includes: After the AGV identity is verified through the central console, the access control of the corresponding area is automatically opened; After the AGV completes entry and exit, the electric door automatically closes and the status is fed back to the center console.

8. A method for transporting garbage bins with integrated automatic transport, characterized in that: The following steps are involved: Garbage collection stage: The waste-generating equipment at the workstation discharges the garbage into the opened trash can. The weighing scale monitors the weight of the trash can in real time and sends a stop command to the central console when the preset full load weight is reached. Pollution-producing equipment stopping stage: After receiving the stop command, the central control console controls the pollution-producing equipment to suspend operation and receives the stop signal fed back by it; Fully loaded trash bin transfer phase: The central console sends a transfer command to AGV1. AGV1 departs from the automatic charging station, navigates along the preset path to the pollution-generating station, picks up the fully loaded trash bin pallet, drives to the automatic lid-opening point, triggers the lid to close, then enters the full bin area to unload and returns to charge. Empty trash bin replenishment phase: The central console sends a command to AGV2, which departs from the automatic charging station, enters the empty bin area, picks up an empty trash bin tray, triggers the lid-opening device, and then transports the bin to the waste-producing station and returns to recharge. Work reset phase: The central console restarts the pollution-producing equipment, and the scale continuously monitors the weight of the new trash can to start the next cycle.

9. The method for integrating automatic transfer of garbage bins according to claim 8, characterized in that: Transfer stage of fully loaded garbage bins: After receiving the feedback signal that the waste-generating equipment has stopped working, the central console sends a transfer instruction to AGV1; AGV1 starts from the automatic charging station and uses the autonomous navigation system to drive along the preset path to the station where the pollution-producing equipment is located; After arriving at the workstation, AGV1 picks up the pallet carrying the full trash can and drives to the automatic trash can cover opening point; After arriving at this point, AGV1 triggers the automatic trash can lid flipping device, flipping the lid of the fully loaded trash can from an open state to a closed state; After completing the flipping operation, AGV1 continues to move forward to the entrance of the full barrel area. The central console opens the electric door through command transmission. AGV1 enters the full barrel area, puts down the forked pallet and the full trash can, and then returns to the automatic charging station for charging.

10. The method for integrating automatic transfer of garbage bins according to claim 8, characterized in that: Empty trash bin replenishment phase: While AGV1 is moving from the automatic charging station to the waste-generating equipment station, the central console sends instructions to AGV2; AGV2 starts from the automatic charging station and reaches the entrance of the empty barrel area through autonomous navigation. The central console transmits instructions to open the electric door, and AGV2 enters the empty barrel area; AGV2 picks up the pallet and the empty trash can on the pallet in the empty trash can area, and then drives to the automatic trash can cover opening point; After arriving at this point, AGV2 triggers the automatic trash can lid flipping device to flip the lid of the empty trash can from the closed state to the open state; AGV2 then transfers the pallet and empty trash can to the waste-producing equipment station and places them down. After completion, it returns to the automatic charging station for charging.

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