A safe material grabbing method, device, equipment and storage medium for a garbage grab bucket

Abstract

This application discloses a safe material grabbing method, apparatus, equipment, and storage medium for a garbage grabber. The method includes: determining a target area; dividing the target area into multiple sub-areas; determining each edge sub-area; calculating the garbage height in each edge sub-area; determining the maximum drop of garbage in the target area; for each pair of symmetrical edge sub-areas, calculating the regional height difference of garbage height between the two edge sub-areas; if the regional height difference between any pair of symmetrical edge sub-areas is less than a tilt difference threshold, and the maximum drop of garbage is less than a drop threshold, then the garbage is grabbed in the target area; otherwise, the target area is determined as an ungrabable area. Therefore, by monitoring the height of the area edges, the maximum drop of garbage, and the height difference between each pair of edge sub-areas, the flatness of the area is determined, thereby determining whether there is a risk of tipping over during grabbing within the area and preventing the garbage grabber from tipping over during grabbing.

Description

Technical Field

[0001] This application relates to the field of waste safety treatment technology, and more specifically, to a safe material grabbing method, device, equipment, and storage medium for waste grabbing buckets. Background Technology

[0002] In the field of waste incineration, the waste grab bucket, as the core equipment for material handling within the waste storage pit, is of paramount importance for operational safety. However, the waste storage pit contains a complex composition, including mixed municipal solid waste, bulky foreign objects, and wet waste, and the terrain is uneven, which makes the grab bucket face a high risk of tipping over when grabbing materials. Once a tipping occurs, it not only affects incineration efficiency but may also endanger personnel safety, leading to a series of problems such as equipment damage, downtime for maintenance, increased operating costs, and a serious threat to the continuous and stable operation of the waste incineration plant.

[0003] Traditional garbage grab operations lack precise anti-tipping strategies, making it difficult to effectively cope with the complex material distribution and terrain changes within garbage dumps. In existing technologies, grab operations mainly rely on the operator's observation experience, making it impossible to accurately assess the safety of the grab area in real time, thus limiting the effectiveness of tipping risk prevention.

[0004] Therefore, there is an urgent need for a technical solution that can accurately determine the grabbing area based on the actual conditions of the waste storage facility, in order to prevent the waste grab from tipping over during grabbing and to improve the safety and stability of the operation. Summary of the Invention

[0005] In view of the above problems, this application provides a safe material grabbing method, device, equipment and storage medium for garbage grabbing to prevent the garbage grabbing from tipping over during material grabbing.

[0006] To achieve the above objectives, the following specific solutions are proposed:

[0007] A safe material grabbing method for a garbage grab bucket includes:

[0008] The garbage grab bucket is to be moved to the target area for grabbing, and the target area is a centrally symmetrical area;

[0009] The target region is divided into multiple sub-regions, and each edge sub-region within the target region is determined.

[0010] Calculate the height of the waste material in each of the edge sub-regions, determine the highest and lowest waste material heights in each of the edge sub-regions, and take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0011] Each pair of symmetrical edge sub-regions is determined, and each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry.

[0012] For each pair of symmetrical edge sub-regions, the height of the waste material in the two edge sub-regions in the symmetrical edge sub-regions is calculated, and the difference between the two waste material heights is taken as the region height difference of the symmetrical edge sub-regions.

[0013] If the target area simultaneously meets the first condition and the second condition, the garbage grabber is driven to grab garbage in the target area; otherwise, the target area is determined to be an ungrabable area. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the area is less than the drop threshold.

[0014] Optionally, calculating the height of the waste material in each of the edge sub-regions includes:

[0015] Obtain the height value of each pixel in each of the said edge sub-regions;

[0016] The average height of each pixel in each edge sub-region is calculated to obtain the waste material height of that edge sub-region.

[0017] Optionally, the method further includes:

[0018] Obtain images of the garbage within the target area;

[0019] Wet waste information is extracted from the waste image, including the percentage content of wet waste in the waste in the target area and the viscosity index value of the wet waste;

[0020] The tilt difference threshold and the drop threshold are adjusted based on the percentage content of the wet waste and the viscosity index value of the wet waste.

[0021] Optionally, the method further includes:

[0022] The historical overturning data of the garbage grab in the target area is obtained. The historical overturning data includes the maximum drop of garbage material in the area each time the garbage grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grabs garbage in the target area and overturns, and the tilt difference threshold and the drop threshold each time the garbage grab grabs garbage in the target area and overturns.

[0023] Based on the historical rollover data, adjust the tilt difference threshold and the drop threshold.

[0024] A safety grabbing device for a garbage grabber includes:

[0025] The target area determination unit is used to determine the target area to which the garbage grab bucket is to be moved for grabbing, wherein the target area is a centrally symmetrical area;

[0026] A sub-region division unit is used to divide the target region into multiple sub-regions and determine each edge sub-region within the target region;

[0027] A regional waste height calculation unit is used to calculate the waste height of each of the said edge sub-regions;

[0028] The maximum drop determination unit is used to determine the highest and lowest waste material heights among the waste material heights of each edge sub-region, and to take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0029] An edge sub-region determination unit is used to determine each pair of symmetrical edge sub-regions. Each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry.

[0030] The regional height difference calculation unit is used to calculate the height of the waste material in the two edge sub-regions of each pair of symmetrical edge sub-regions, and to take the difference between the two waste material heights as the regional height difference of the symmetrical edge sub-regions.

[0031] A region property determination unit is used to drive the garbage grabber to grab garbage in the target region if the target region simultaneously meets a first condition and a second condition; otherwise, the target region is determined to be an ungrabable region. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the region is less than the drop threshold.

[0032] Optionally, the regional waste height calculation unit includes:

[0033] A pixel height value acquisition unit is used to acquire the height value of each pixel in each of the edge sub-regions;

[0034] The average value calculation unit is used to calculate the average height value of each pixel in each edge sub-region to obtain the waste height of the edge sub-region.

[0035] Optionally, the device may also include:

[0036] Image acquisition unit, used to acquire garbage images of garbage within the target area;

[0037] A wet waste information extraction unit is used to extract wet waste information from the waste image. The wet waste information includes the percentage content of wet waste in the waste in the target area and the viscosity index value of the wet waste.

[0038] The first threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold according to the percentage content of the wet waste and the viscosity index value of the wet waste.

[0039] Optionally, the device may also include:

[0040] The historical overturning data acquisition unit is used to acquire historical overturning data of the garbage grab in the target area. The historical overturning data includes the maximum drop of garbage material in the area each time the garbage grab grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grab grabs garbage in the target area and overturns, and the tilt difference threshold and the drop threshold each time the garbage grab grab grabs garbage in the target area and overturns.

[0041] The second threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold based on the historical rollover data.

[0042] A safe material handling device for a garbage grab bucket includes a memory and a processor;

[0043] The memory is used to store programs;

[0044] The processor is used to execute the program to implement the various steps of the safe material grabbing method of the garbage grab bucket as described above.

[0045] A storage medium having a computer program stored thereon, which, when executed by a processor, implements the various steps of the safe material grabbing method for a garbage grabber as described above.

[0046] By employing the aforementioned technical solution, this application determines the target area to which the garbage grab bucket will move for grabbing, divides the target area into multiple sub-areas, identifies each edge sub-area within the target area, calculates the garbage height in each edge sub-area, determines the maximum drop of garbage in the target area, identifies each pair of symmetrical edge sub-areas, and for each pair of symmetrical edge sub-areas, calculates the garbage height of the two edge sub-areas within the symmetrical edge sub-area, and uses the difference between the two garbage heights as the regional height difference of the symmetrical edge sub-areas. If the target area simultaneously meets the first and second conditions, the garbage grab bucket is driven to grab garbage in the target area; otherwise, the target area is determined as an ungrabable area. The first condition is that the regional height difference of any pair of symmetrical edge sub-areas is less than a tilt difference threshold, and the second condition is that the maximum drop of garbage in the area is less than a drop threshold. Therefore, by monitoring the height of the area's edges, the maximum drop of garbage in the area, and the height difference of each pair of edge sub-areas, the flatness of the area is determined, thereby determining whether there is a risk of tipping over during grabbing within the area, preventing the garbage grab bucket from tipping over during grabbing, and improving the safety and stability of the operation. Attached Figure Description

[0047] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0048] Figure 1 This is a schematic diagram illustrating a process for safely grabbing waste using a grab bucket, as provided in an embodiment of this application.

[0049] Figure 2 A schematic diagram illustrating edge region division provided in an embodiment of this application;

[0050] Figure 3 A schematic diagram illustrating another edge region division provided in an embodiment of this application;

[0051] Figure 4 This application provides a schematic diagram of a device for safely grabbing waste materials using a grab bucket.

[0052] Figure 5 This is a structural schematic diagram of a device for safely grabbing waste materials using a grab bucket, provided as an embodiment of this application. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] The proposed solution can be implemented based on a terminal with data processing capabilities. This terminal can be a waste storage monitoring system, which can be equipped with multiple monitoring devices to acquire waste storage information. These monitoring devices may include a lidar scanner.

[0055] Next, combined Figure 1 The safe material grabbing method of the garbage grab bucket of this application may include the following steps:

[0056] Step S110: Determine the target area to be moved to by the garbage grabber.

[0057] Specifically, the target area can be a centrally symmetrical region.

[0058] For example, the target area can be a 3m*3m square area.

[0059] Step S120: Divide the target region into multiple sub-regions and determine each edge sub-region in the target region.

[0060] Specifically, such as Figure 2 As shown, the target area can be divided into 5*5 sub-regions, so that a 3m*3m square area is divided into 25 sub-regions of 0.6m*0.6m each. The edge sub-regions are a, b, c, d, e, f, g, h, H, G, F, E, D, C, B, and A, a total of 16. Simultaneously, each sub-region can be defined using coordinates, for example, using... Figure 2 The sub-region with the center marked "0" is taken as the origin (0,0) and the sub-region has a side length of 1. Then the edge sub-region is a(-2,2) and the edge sub-region is A(2,-2).

[0061] Step S130: Calculate the height of the waste material in each edge sub-region, determine the highest and lowest waste material heights in each edge sub-region, and take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0062] Specifically, when calculating the height of waste material in each edge sub-region, each edge sub-region can be further subdivided, such as... Figure 3As shown, the 16 edge sub-regions are further divided into 4 smaller regions. The waste height of the edge sub-regions can be obtained by calculating the average waste height of these regions.

[0063] Understandably, the maximum drop in the area of ​​waste material in the target region can reflect the overall flatness of the waste material distribution within that region. The smaller the maximum drop in the area of ​​waste material in the target region, the flatter the waste material distribution within that region; conversely, the larger the maximum drop in the area of ​​waste material in the target region, the steeper the waste material distribution within that region.

[0064] Step S140: Determine each pair of symmetrical edge sub-regions.

[0065] Each pair of symmetrical edge sub-regions may include one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as its center of symmetry.

[0066] For example Figure 2 Taking the center sub-region "0" of the target region as the center of symmetry, the edge sub-region symmetrical to edge sub-region A is a, and A and a form a pair of symmetrical edge sub-regions; the edge sub-region symmetrical to edge sub-region B is b, and B and b form a pair of symmetrical edge sub-regions; and so on. Meanwhile, when represented by coordinates, if the coordinates of the center sub-region "0" of the target region are the origin (0,0), then the coordinates of the two edge sub-regions in each pair of symmetrical edge sub-regions are symmetrical about the origin.

[0067] Step S150: For each pair of symmetrical edge sub-regions, calculate the height of the waste material in the two edge sub-regions of the symmetrical edge sub-regions, and take the difference between the two waste material heights as the regional height difference of the symmetrical edge sub-regions.

[0068] Understandably, the height difference between each pair of symmetrical edge sub-regions can represent the degree of inclination of the waste distribution along a straight line (such as line Aa) passing through the center of the target area. The higher the height difference between the symmetrical edge sub-regions, the greater the inclination angle of the waste distribution along that straight line; the smaller the height difference between the symmetrical edge sub-regions, the smaller the inclination angle of the waste distribution along that straight line, and the flatter the distribution along that straight line.

[0069] Step S160: If the target area simultaneously meets the first condition and the second condition, then drive the garbage grabber to grab garbage in the target area; otherwise, determine the target area as an ungrabable area.

[0070] The first condition can be that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold. The second condition can be that the maximum drop of the waste material in the region is less than the drop threshold.

[0071] The tilt difference threshold represents the critical value at which the garbage grab bucket tilts and overturns due to the height difference between symmetrical edge sub-regions when grabbing garbage within the target area. The drop threshold represents the critical value at which the garbage grab bucket overturns due to the maximum drop of garbage material within the target area, indicating that the overall target area has reached an uneven standard.

[0072] Understandably, when the overall unevenness of the waste distribution within the target area exceeds a certain limit, or when the tilt of the waste distribution along any straight line passing through the center of the target area exceeds a certain limit, it indicates that the waste grab bucket is at risk of tipping over while grabbing waste within that target area. Therefore, the target area must be designated as an ungrabable area to prevent the waste grab bucket from tipping over. Conversely, if the overall unevenness of the waste distribution within the target area is within the limit, and the tilt of the waste distribution along any straight line passing through the center of the target area is also within the corresponding limit, it indicates that the waste grab bucket can safely grab waste within the target area without the risk of tipping over. In this case, the waste grab bucket can be driven to grab waste within the target area.

[0073] The safe material grabbing method for a garbage grab provided in this embodiment involves determining the target area to which the garbage grab will be moved for grabbing, dividing the target area into multiple sub-areas, identifying each edge sub-area within the target area, calculating the garbage height in each edge sub-area, determining the maximum drop of garbage in the target area, identifying each pair of symmetrical edge sub-areas, and for each pair of symmetrical edge sub-areas, calculating the garbage height of the two edge sub-areas within the symmetrical edge sub-area, and using the difference between the two garbage heights as the area height difference of the symmetrical edge sub-areas. If the target area simultaneously meets the first and second conditions, the garbage grab is driven to grab garbage in the target area; otherwise, the target area is determined as an ungrabable area. The first condition is that the area height difference between any pair of symmetrical edge sub-areas is less than a tilt difference threshold, and the second condition is that the maximum drop of garbage in the area is less than a drop threshold. Therefore, by monitoring the height of the area edges, the maximum drop of garbage in the area, and the height difference of each pair of edge sub-areas to determine the flatness of the area, it is possible to determine whether there is a risk of tipping over during grabbing within the area, thus preventing the garbage grab from tipping over during grabbing and improving the safety and stability of the operation.

[0074] In some embodiments of this application, the process of calculating the height of the waste material in each edge sub-region mentioned in the above embodiments is described, and the process may include:

[0075] S1. Obtain the height value of each pixel in each edge sub-region.

[0076] Specifically, after the waste storage monitoring system scans the waste storage area, it can construct a 3D model of the waste storage area based on the 3D data. This 3D model contains the height information of each pixel. Therefore, after dividing and determining the edge sub-regions, the height value information of the corresponding pixels can be obtained from the 3D model of the waste storage area based on the position of the pixels within those sub-regions.

[0077] S2. Calculate the average height of each pixel in each edge sub-region to obtain the height of the waste material in that edge sub-region.

[0078] It is understandable that there may be height deviations in the distribution of garbage within the edge sub-region. Therefore, the average height value of each pixel within the edge sub-region can be calculated and used as the height of the garbage in the edge sub-region.

[0079] Considering that the risk of the garbage grabber tipping over when grabbing garbage is related to the state of the garbage itself, in some embodiments of this application, the tilt difference threshold and drop threshold can be adjusted according to the state of the garbage, specifically including:

[0080] S1. Obtain images of the garbage within the target area.

[0081] Specifically, images of the garbage in the target area can be taken from multiple angles within the garbage storage facility to obtain images of the garbage.

[0082] S2. Extract wet waste information from the garbage image.

[0083] The wet waste information may include the percentage of wet waste in the waste within the target area, as well as the viscosity index value of the wet waste.

[0084] Specifically, images of waste can be input into a pre-established wet waste identification model, which will then output the identified wet waste information and the viscosity index value for each piece of wet waste. The wet waste identification model can be trained using multiple waste images labeled with wet waste tags and viscosity index value tags.

[0085] S3. Adjust the tilt difference threshold and drop threshold according to the percentage content of wet waste and the viscosity index value of wet waste.

[0086] Understandably, wet waste itself adds to the weight of the waste, increasing the force exerted on the grabber during lifting. Therefore, a greater tilt angle further increases the risk of the grabber tipping over. A higher viscosity index value for wet waste indicates stronger adhesion. When grabbing highly viscous wet waste, the grabber is more likely to attract other waste, effectively increasing the weight of the wet waste and the force exerted on the grabber during lifting. Thus, a greater tilt angle further increases the risk of the grabber tipping over. Therefore, if the percentage of wet waste is higher or the viscosity index value is higher, the tilt difference threshold and drop difference threshold need to be lowered, and vice versa.

[0087] Considering that the garbage grab may have tipped over multiple times, some embodiments of this application can use historical data on multiple tipping overs of the garbage grab to optimize the tilt difference threshold and drop threshold, specifically including:

[0088] S1. Obtain historical data on the side rollover of the garbage grab in the target area.

[0089] Among them, the historical overturning data may include the maximum drop of garbage material in the area each time the garbage grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grabs garbage in the target area and overturns, and the tilt difference threshold and drop threshold each time the garbage grab grabs garbage in the target area and overturns.

[0090] S2. Based on historical rollover data, adjust the tilt difference threshold and drop threshold.

[0091] For example, in n historical rollover events, the first lower limit of the maximum drop and the second lower limit of the maximum regional height difference are statistically calculated. The drop threshold is corrected by the first lower limit and the first correction coefficient X1(n), and the tilt difference threshold is corrected by the second lower limit and the second correction coefficient X2(n).

[0092] The following describes the apparatus for safely grabbing materials with a garbage grab bucket provided in the embodiments of this application. The apparatus for safely grabbing materials with a garbage grab bucket described below can be referred to in correspondence with the method for safely grabbing materials with a garbage grab bucket described above.

[0093] See Figure 4 , Figure 4 This is a schematic diagram of a device for safely grabbing waste using a grab bucket, as disclosed in an embodiment of this application.

[0094] like Figure 4 As shown, the device may include:

[0095] The target area determination unit 11 is used to determine the target area to which the garbage grab bucket is to be moved for grabbing, wherein the target area is a centrally symmetrical area;

[0096] The sub-region division unit 12 is used to divide the target region into multiple sub-regions and determine each edge sub-region in the target region;

[0097] The regional waste height calculation unit 13 is used to calculate the waste height of each of the edge sub-regions;

[0098] The maximum drop determination unit 14 is used to determine the highest and lowest waste material heights among the waste material heights of each edge sub-region, and to take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0099] Edge sub-region determination unit 15 is used to determine each pair of symmetrical edge sub-regions. Each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry.

[0100] The area height difference calculation unit 16 is used to calculate the height of the waste material in the two edge sub-regions of the symmetrical edge sub-regions for each pair of symmetrical edge sub-regions, and to take the difference between the two waste material heights as the area height difference of the symmetrical edge sub-regions.

[0101] The area property determination unit 17 is used to drive the garbage grabber to grab garbage in the target area if the target area simultaneously meets the first condition and the second condition; otherwise, the target area is determined to be an ungrabable area. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the area is less than the drop threshold.

[0102] Optionally, the regional waste height calculation unit includes:

[0103] A pixel height value acquisition unit is used to acquire the height value of each pixel in each of the edge sub-regions;

[0104] The average value calculation unit is used to calculate the average height value of each pixel in each edge sub-region to obtain the waste height of the edge sub-region.

[0105] Optionally, the device may also include:

[0106] Image acquisition unit, used to acquire garbage images of garbage within the target area;

[0107] A wet waste information extraction unit is used to extract wet waste information from the waste image. The wet waste information includes the percentage content of wet waste in the waste in the target area and the viscosity index value of the wet waste.

[0108] The first threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold according to the percentage content of the wet waste and the viscosity index value of the wet waste.

[0109] Optionally, the device may also include:

[0110] The historical overturning data acquisition unit is used to acquire historical overturning data of the garbage grab in the target area. The historical overturning data includes the maximum drop of garbage material in the area each time the garbage grab grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grab grabs garbage in the target area and overturns, and the tilt difference threshold and the drop threshold each time the garbage grab grab grabs garbage in the target area and overturns.

[0111] The second threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold based on the historical rollover data.

[0112] The safe material-grabbing device for garbage grabbers provided in this application embodiment can be applied to equipment for the safe material-grabbing of garbage grabbers, such as garbage storage monitoring systems. Optionally, Figure 5 This diagram shows the hardware structure of a device for safely grabbing materials using a garbage grabber. (Refer to...) Figure 5 The hardware structure of the safe material grabbing device for garbage grabbing may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0113] In this embodiment of the application, the number of processor 1, communication interface 2, memory 3, and communication bus 4 is at least one, and processor 1, communication interface 2, and memory 3 communicate with each other through communication bus 4;

[0114] Processor 1 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0115] Memory 3 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0116] The memory stores a program, which the processor can call. The program is used for:

[0117] The garbage grab bucket is to be moved to the target area for grabbing, and the target area is a centrally symmetrical area;

[0118] The target region is divided into multiple sub-regions, and each edge sub-region within the target region is determined.

[0119] Calculate the height of the waste material in each of the edge sub-regions, determine the highest and lowest waste material heights in each of the edge sub-regions, and take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0120] Each pair of symmetrical edge sub-regions is determined, and each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry.

[0121] For each pair of symmetrical edge sub-regions, the height of the waste material in the two edge sub-regions in the symmetrical edge sub-regions is calculated, and the difference between the two waste material heights is taken as the region height difference of the symmetrical edge sub-regions.

[0122] If the target area simultaneously meets the first condition and the second condition, the garbage grabber is driven to grab garbage in the target area; otherwise, the target area is determined to be an ungrabable area. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the area is less than the drop threshold.

[0123] Optionally, the refined and extended functions of the program can be found in the description above.

[0124] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor, the program being used for:

[0125] The garbage grab bucket is to be moved to the target area for grabbing, and the target area is a centrally symmetrical area;

[0126] The target region is divided into multiple sub-regions, and each edge sub-region within the target region is determined.

[0127] Calculate the height of the waste material in each of the edge sub-regions, determine the highest and lowest waste material heights in each of the edge sub-regions, and take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area.

[0128] Each pair of symmetrical edge sub-regions is determined, and each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry.

[0129] For each pair of symmetrical edge sub-regions, the height of the waste material in the two edge sub-regions in the symmetrical edge sub-regions is calculated, and the difference between the two waste material heights is taken as the region height difference of the symmetrical edge sub-regions.

[0130] If the target area simultaneously meets the first condition and the second condition, the garbage grabber is driven to grab garbage in the target area; otherwise, the target area is determined to be an ungrabable area. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the area is less than the drop threshold.

[0131] Optionally, the refined and extended functions of the program can be found in the description above.

[0132] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0133] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0134] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A safe material grabbing method for a garbage grab bucket, characterized in that, include: The garbage grab bucket is to be moved to the target area for grabbing, and the target area is a centrally symmetrical area; The target region is divided into multiple sub-regions, and each edge sub-region within the target region is determined. Calculate the height of the waste material in each of the edge sub-regions, determine the highest and lowest waste material heights in each of the edge sub-regions, and take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area. Each pair of symmetrical edge sub-regions is determined, and each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry. For each pair of symmetrical edge sub-regions, the height of the waste material in the two edge sub-regions in the symmetrical edge sub-regions is calculated, and the difference between the two waste material heights is taken as the region height difference of the symmetrical edge sub-regions. If the target area simultaneously meets the first condition and the second condition, the garbage grabber is driven to grab garbage in the target area; otherwise, the target area is determined to be an ungrabable area. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage material in the area is less than the drop threshold. The method also includes: The historical overturning data of the garbage grab in the target area is obtained. The historical overturning data includes the maximum drop of garbage material in the area each time the garbage grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grabs garbage in the target area and overturns, and the tilt difference threshold and the drop threshold each time the garbage grab grabs garbage in the target area and overturns. Based on the historical rollover data, adjust the tilt difference threshold and the drop threshold.

2. The method according to claim 1, characterized in that, The calculation of the waste height in each of the edge sub-regions includes: Obtain the height value of each pixel in each of the said edge sub-regions; The average height of each pixel in each edge sub-region is calculated to obtain the waste material height of that edge sub-region.

3. The method according to claim 1, characterized in that, Also includes: Obtain images of the garbage within the target area; Wet waste information is extracted from the waste image, including the percentage content of wet waste in the waste in the target area and the viscosity index value of the wet waste; The tilt difference threshold and the drop threshold are adjusted based on the percentage content of the wet waste and the viscosity index value of the wet waste.

4. A safe material grabbing device for a garbage grab bucket, characterized in that, include: The target area determination unit is used to determine the target area to which the garbage grab bucket is to be moved for grabbing, wherein the target area is a centrally symmetrical area; A sub-region division unit is used to divide the target region into multiple sub-regions and determine each edge sub-region within the target region; A regional waste height calculation unit is used to calculate the waste height of each of the said edge sub-regions; The maximum drop determination unit is used to determine the highest and lowest waste material heights among the waste material heights of each edge sub-region, and to take the difference between the highest and lowest waste material heights as the maximum drop of waste material in the target area. An edge sub-region determination unit is used to determine each pair of symmetrical edge sub-regions. Each pair of symmetrical edge sub-regions includes one edge sub-region and an edge sub-region that is symmetrical to the edge sub-region with the center of the target region as the center of symmetry. The regional height difference calculation unit is used to calculate the height of the waste material in the two edge sub-regions of each pair of symmetrical edge sub-regions, and to take the difference between the two waste material heights as the regional height difference of the symmetrical edge sub-regions. A region property determination unit is used to drive the garbage grabber to grab garbage in the target region if the target region simultaneously meets the first condition and the second condition; otherwise, the target region is determined to be an ungrabable region. The first condition is that the height difference between any pair of symmetrical edge sub-regions is less than the tilt difference threshold, and the second condition is that the maximum drop of the garbage in the region is less than the drop threshold. The historical overturning data acquisition unit is used to acquire historical overturning data of the garbage grab in the target area. The historical overturning data includes the maximum drop of garbage material in the area each time the garbage grab grab grabs garbage in the target area and overturns, the regional height difference of each pair of symmetrical edge sub-regions each time the garbage grab grab grabs garbage in the target area and overturns, and the tilt difference threshold and the drop threshold each time the garbage grab grab grabs garbage in the target area and overturns. The second threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold based on the historical rollover data.

5. The apparatus according to claim 4, characterized in that, The regional waste height calculation unit includes: A pixel height value acquisition unit is used to acquire the height value of each pixel in each of the edge sub-regions; The average value calculation unit is used to calculate the average height value of each pixel in each edge sub-region to obtain the waste height of the edge sub-region.

6. The apparatus according to claim 4, characterized in that, Also includes: Image acquisition unit, used to acquire garbage images of garbage within the target area; A wet waste information extraction unit is used to extract wet waste information from the waste image. The wet waste information includes the percentage content of wet waste in the waste in the target area and the viscosity index value of the wet waste. The first threshold adjustment unit is used to adjust the tilt difference threshold and the drop threshold according to the percentage content of the wet waste and the viscosity index value of the wet waste.

7. A safe material handling device for a garbage grab bucket, characterized in that, Including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the safe material grabbing method of the garbage grabber as described in any one of claims 1-3.

8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements each step of the safe material grabbing method for the garbage grab bucket as described in any one of claims 1-3.

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