An integrated site system and smart solid waste transfer station for solid waste treatment

Abstract

The application provides an integrated site system and an intelligent solid waste transfer station for solid waste treatment, the system comprising a plurality of functional areas, the plurality of functional areas comprising a collection vehicle barrel unloading area, a garbage can processing waiting area, a garbage can processing area, and a garbage can loading waiting area; a garbage can intelligent self-walking part driving an intelligent garbage can; an automatic centralized monitoring system in communication connection with the garbage can intelligent self-walking part, used for centralized control, supervision and coordination of work between parts, the automatic centralized monitoring system being configured to manage and monitor the state of the collection vehicle barrel unloading area, the garbage can loading waiting area and the garbage can processing waiting area, and used for state identification and control of the intelligent garbage can in the control area of the collection vehicle barrel unloading area, the garbage can loading waiting area and the garbage can processing waiting area. According to the technical scheme of the application, the automatic centralized monitoring system participates in the whole process of garbage can unloading and movement flow control, and ensures that the garbage can transfer process is stable and controllable.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage transfer, and in particular to an integrated site system and an intelligent solid waste transfer station for solid waste treatment. Background Art

[0002] In traditional waste transfer station operations, waste is first deposited into standard trash cans at various collection points. Trucks carrying trash cans then transport the waste to the transfer station. At the transfer station, the waste is compressed and then transported to final disposal facilities such as landfills or incineration plants.

[0003] Traditional waste transfer stations have a low level of automation and rely heavily on manual labor, which is primarily categorized into three types: bucket pushing, equipment operation, and bucket washing. Bucket pushing specifically involves pushing standard trash cans to the loading area, hanging and unloading trash cans from waste handling equipment, and pushing them to the washing area. Equipment operation refers to the operation and control of processing equipment. Bucket washing involves cleaning trash cans and pushing them to the collection truck loading area. Traditional waste transfer stations suffer from overall low efficiency, and are plagued by significant issues such as the high physical intensity of manual labor and the long-term exposure of workers to the odorous garbage environment, which can negatively impact their health.

[0004] Traditional systems typically use a single queue approach to manage waiting areas. This approach struggles to meet the demands of a high density of simultaneous trash can robots, often leading to congestion in the waiting area, wasting resources, and limiting system throughput. Lack of effective collaborative planning of the trash can robots' routes within the transfer station can lead to path conflicts. This not only reduces efficiency but may also require manual intervention to adjust, increasing operating costs and potentially creating additional safety risks.

[0005] To this end, a technical solution is needed to replace manual operations in the transfer process with automated equipment to achieve fully automated operations, improve overall operational efficiency, improve the working environment of staff and reduce their physical labor intensity. Summary of the Invention

[0006] This application aims to provide an integrated site system and intelligent solid waste transfer station for solid waste treatment, which replaces manual operations in the transfer process with automated equipment, and realizes efficient collaborative operation of multiple garbage bin robots through grid control area management, dynamic filling algorithm and dual-channel path planning, thereby improving overall operational efficiency.

[0007] According to one aspect of the present application, there is provided an integrated site system for solid waste treatment, the system comprising:

[0008] Multiple functional areas, including a collection truck unloading area, a garbage bin processing waiting area, a garbage bin processing area, and a garbage bin loading waiting area, wherein the garbage bin processing area includes a garbage bin turning area and a garbage bin washing and placing area;

[0009] The intelligent self-propelled part of the trash can drives the intelligent trash can to automatically move from the collection vehicle unloading area to the trash can processing waiting area for neat placement, drives the intelligent trash can to automatically move to the trash can turning area, and automatically moves from the trash can washing and placing area to the trash can loading waiting area;

[0010] An automated centralized monitoring system is communicatively connected to the intelligent self-propelled part of the trash can and is used for centralized control, supervision and coordination of work between the various parts. The automated centralized monitoring system is configured to manage and monitor the status of the collection vehicle unloading area, the trash can loading waiting area and the trash can processing waiting area, and is used for status identification and control of the intelligent trash cans in the control areas of the collection vehicle unloading area, the trash can loading waiting area and the trash can processing waiting area.

[0011] According to some embodiments, the barrel unloading area of ​​the collection vehicle includes a barrel placement area in the collection vehicle compartment and a barrel placement area on the collection vehicle tailgate, wherein:

[0012] The tailgate bin area includes a row of multiple columns of tailgate control areas, each of which includes two front and rear smart trash can berths;

[0013] The barrel placing area in the carriage of the collection vehicle includes a carriage control area with multiple rows and columns, and the carriage control area with multiple rows and columns includes multiple tailgate control areas with one row and multiple columns. Each tailgate control area with one row and multiple columns in the barrel placing area of ​​the collection vehicle corresponds to a control area with one row and multiple columns in the tailgate barrel placing area of ​​the collection vehicle.

[0014] According to some embodiments, the collection vehicle tailgate bin area includes a first control area, a second control area, and a third control area in a row and three columns, and the collection vehicle tailgate bin area includes six smart trash can berths;

[0015] The bucket placement area in the collection vehicle compartment includes nine control areas in three rows and three columns. Each control area contains two smart trash can berths in the front and rear. The bucket placement area in the collection vehicle compartment unloads the trash cans to the bucket placement area on the tailgate of the collection vehicle in the order of the first control area to the ninth control area.

[0016] According to some embodiments, after the automated centralized monitoring system obtains an operation command from the collection vehicle unloading area, it allows the smart trash cans in the collection vehicle compartment unloading area to travel sequentially to the berths in the collection vehicle tailgate control area;

[0017] After receiving the unloading signal, the automated centralized monitoring system releases the intelligent trash cans on the berths of the collection vehicle tailgate control area, and the intelligent trash cans are driven out of the collection vehicle tailgate control area in the order of the front berth of the first control area, the rear berth of the first control area, the front berth of the second control area, the rear berth of the second control area, the front berth of the third control area, and the rear berth of the third control area, and enter the garbage processing waiting area;

[0018] After the intelligent trash can on the collection vehicle tailgate control area is unloaded, the collection vehicle tailgate is operated to rise, and the operation command is continued to be obtained, and the above unloading operation is repeated until the intelligent trash can in the collection vehicle unloading area is unloaded.

[0019] According to some embodiments, the trash can processing waiting area includes multiple waiting processing control areas, and the multiple waiting processing control areas include two rows and multiple columns of waiting processing control areas. Each of the waiting processing control areas includes three smart trash can berths: front berth, middle berth, and rear berth.

[0020] According to some embodiments, the smart trash can drives out from the first row waiting for processing control area. When the three smart trash cans in the first row control area of ​​the same column have all driven out, the three smart trash cans in the second row control area of ​​the same column move forward in the order of front, middle and back, and fill the three smart trash can berths in the first row control area.

[0021] According to some embodiments, the trash can loading waiting area includes multiple waiting control areas, and the multiple waiting control areas include two rows and multiple columns of waiting control areas. Each of the waiting control areas includes three smart trash can berths: front berth, middle berth, and rear berth.

[0022] According to some embodiments, the smart trash can drives out of the first row waiting for boarding control area. When the three smart trash cans in the first row control area of ​​the same column have all driven out, the three smart trash cans in the second row control area of ​​the same column move forward in the order of front, middle and back, and fill the three smart trash can berths in the first row control area.

[0023] According to some embodiments, the intelligent self-propelled part of the trash can is an intelligent trash can with an intelligent driving device. The intelligent trash can has the functions of intelligent automatic driving, weighing, automatic charging, and real-time positioning, and collects garbage weight, temperature and / or trash can inclination information.

[0024] According to another aspect of the present application, there is provided an intelligent solid waste transfer station, comprising: a system as described in any one of the above items.

[0025] According to the embodiments of the present application, the integrated site system for solid waste treatment is divided into multiple functional areas, and the responsibilities of each functional area are clearly defined, which helps to simplify the operating process and improve efficiency. The intelligent trash cans are driven to automatically move from the collection truck unloading area to the trash can processing waiting area for neat placement, the intelligent trash cans are driven to automatically move to the trash can turning area, and the trash cans are automatically moved from the trash can washing and placing area to the trash can loading waiting area. Different types of operations are performed in different areas, which reduces mutual interference and improves safety. Through the communication connection between the automated centralized monitoring system and the intelligent self-propelled unit of the trash can, the working status of each functional area can be grasped in real time, and a quick response can be made according to the actual situation to ensure the continuity and stability of the system operation. Reasonable planning of each functional area can maximize the use of limited space resources and avoid congestion.

[0026] According to some embodiments, the unloading area of ​​a collection truck is divided into a carriage area and a tailgate area. By setting up a tailgate control zone, a carriage control zone, a waiting area for processing, and a waiting area for boarding, and combining it with the precise scheduling and control mechanism of an automated centralized monitoring system, the orderly, efficient, and safe unloading and sequential shifting of intelligent trash can robots in high-density environments is achieved. The automated centralized monitoring system fully controls the unloading process, allowing the intelligent trash cans to be transferred from the carriage and then driven out in sequence. This avoids congestion or path conflicts caused by multiple trash cans being discharged simultaneously, achieving a continuous and stable output rhythm, maximizing the number of trash cans unloaded per unit time, reducing waiting time, and improving the overall system processing capacity.

[0027] According to some embodiments, smart trash cans equipped with positioning and weighing functions, as well as wireless network communication capabilities, offer a new solution for urban waste sorting and traceability management. By real-time monitoring of the location and weight of smart trash cans during the collection process, real-time statistics can be generated for the amount of waste at each collection point (residential area), the amount carried by collection vehicles, and the amount processed by treatment stations. This significantly simplifies the intermediate process of urban waste sorting and traceability management and improves the level of refined traceability management.

[0028] According to some embodiments, in view of the low level of automation in the original traditional garbage transfer stations, heavy reliance on manual transfer operations of garbage bins, and the fact that the operating equipment is basically in manual operation mode, the present invention comprehensively upgrades the garbage bin transfer, garbage disposal and bin washing operations within the station to a fully automated operation mode, thereby improving operating efficiency, reducing labor costs, and improving the operating environment of the entire transfer station.

[0029] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments.

[0031] Figure 1 A schematic diagram illustrating control areas of an integrated site system for solid waste treatment according to some embodiments.

[0032] Figure 2 A schematic diagram illustrating transfers between functional areas of an integrated site system for solid waste treatment according to an example embodiment is shown.

[0033] Figure 3 A schematic diagram illustrating the composition of an automated centralized monitoring system according to some embodiments is shown.

[0034] Figure 4 A schematic diagram illustrating the scheduling of control areas by an automated centralized monitoring system according to some embodiments is shown.

[0035] Figure 5 A schematic diagram of transport scheduling for each functional area by an automated centralized monitoring system according to an example embodiment is shown.

[0036] Figure 6 A flow chart illustrating a method for solid waste treatment scheduling control according to an example embodiment is shown.

[0037] Figure 7 A block diagram of a computing device is shown according to an exemplary embodiment. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the drawings represent like or similar parts, and thus repetitive description thereof will be omitted.

[0039] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0040] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0041] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0042] It should be understood that although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Thus, the first component discussed below could be referred to as the second component without departing from the teachings of the present invention. As used herein, the term "and / or" includes any one and all combinations of one or more of the associated listed items.

[0043] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0044] Those skilled in the art will understand that the drawings are merely schematic diagrams of example embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing the present application, and therefore cannot be used to limit the scope of protection of the present application.

[0045] Waste transfer centers are a crucial component of urban sanitation systems, playing an indispensable role in improving the urban environment and handling daily waste. Waste transfer stations are a crucial component of the municipal solid waste management system, primarily responsible for concentrating and compressing collected waste before transferring it to final disposal sites such as landfills or incineration plants.

[0046] With the rapid development of smart factory technology, fully automated intelligent solid waste transfer stations have become the development trend of future garbage transfer stations. Intelligent solid waste transfer stations use intelligent trash can robots to replace traditional trash cans, realizing automatic driving operations of trash cans in transfer stations. Due to the large number of trash can robots, the collaborative scheduling of high-density trash can robots in transfer stations has the following defects: low efficiency in waiting area management, the traditional system adopts a single queue management, which cannot adapt to the collaborative needs of high-density trash can robots, resulting in congestion in the waiting area and waste of resources; the filling mechanism is not flexible, and the filling operation lacks dynamic response capabilities, which can easily lead to idle workstations and waste, affecting the overall efficiency of the system; path conflicts are frequent, and the driving paths of the trash can robots lack collaborative planning. Path conflicts are frequent, requiring manual intervention and adjustment, which increases operating costs.

[0047] To this end, the present application proposes an integrated site system for solid waste treatment, an intelligent solid waste transfer station, and computing equipment. By replacing manual operations in the transfer process with automated equipment, efficient collaborative operations can be achieved during the simultaneous transfer of multiple trash cans, improving overall efficiency, improving the working environment of workers, and reducing their physical labor intensity. According to an embodiment, by designing the intelligent trash can, the automatic movement of the trash can is achieved to complete the transfer of garbage. Compared with manual transfer in the prior art, this reduces the costs and safety issues brought about by manual transfer, saves costs, and greatly improves transfer efficiency. In conjunction with an automated centralized monitoring system for precise control and operation monitoring, the fully automated operation of the transfer station is achieved while greatly improving overall operating efficiency.

[0048] The exemplary embodiments of the present application are described below with reference to the accompanying drawings.

[0049] Figure 1 A schematic diagram illustrating various control zones of a system for solid waste treatment according to some embodiments.

[0050] See also Figure 1 According to an example embodiment, an integrated site system for solid waste treatment includes multiple functional areas, including a collection vehicle unloading area 100, a garbage bin processing waiting area 200, a garbage bin processing area, and a garbage bin loading waiting area 700, wherein the garbage bin processing area includes a garbage bin turning area 300 and a garbage bin washing and placing area 600. The intelligent self-propelled garbage bin unit drives the intelligent garbage bin to automatically move from the collection vehicle unloading area to the garbage bin processing waiting area to be neatly arranged, drives the intelligent garbage bin to automatically move to the garbage bin turning area, and automatically moves from the garbage bin washing and placing area to the garbage bin loading waiting area. An automated centralized monitoring system is connected to the intelligent self-propelled garbage bin unit for centralized control, supervision, and coordination of work between various units. For a schematic diagram of transportation between functional areas, see Figure 2 .

[0051] According to some embodiments, the automated centralized monitoring system is configured to manage and monitor the status of the collection vehicle unloading area, the garbage bin loading waiting area, and the garbage bin processing waiting area, and is used for status identification and control of smart garbage bins in the control areas of the collection vehicle unloading area, the garbage bin loading waiting area, and the garbage bin processing waiting area, as well as management and control of the garbage processing area, and garbage bin status identification and control.

[0052] According to some embodiments, the collection vehicle unloading area includes a collection vehicle compartment bucket placement area and a collection vehicle tailgate bucket placement area, the collection vehicle tailgate bucket placement area includes a row of multiple columns of tailgate control areas, each of the control areas includes two front and rear smart trash can parking positions; the collection vehicle compartment bucket placement area includes multiple rows and columns of compartment control areas, the multiple rows and columns of compartment control areas are multiple rows and multiple columns of tailgate control areas, each row and multiple columns of tailgate control areas in the collection vehicle compartment bucket placement area corresponds to a row and multiple columns of control areas in the collection vehicle tailgate bucket placement area.

[0053] According to some embodiments, in the trash can processing waiting area, the trash can processing waiting area includes multiple waiting processing control areas, and the multiple waiting processing control areas include two rows and multiple columns of waiting control areas, and each of the waiting control areas includes three berths: front berth, middle berth, and rear berth.

[0054] According to some embodiments, the trash can loading waiting area includes multiple waiting control areas, and the multiple waiting control areas include two rows and multiple columns of waiting control areas. Each of the waiting control areas includes three smart trash can berths: front berth, middle berth, and rear berth.

[0055] In some embodiments, the smart trash can is used to load trash and obtain loading information, such as trash weight and type, and transmits it to an automated centralized monitoring system. Residents or staff place trash into the smart trash can. The smart trash can obtains the loading information and transmits it to the automated centralized monitoring system via a network. In some practical scenarios, the smart trash cans can be distributed at trash collection points around transfer stations to facilitate trash placement by residents or staff.

[0056] According to some embodiments, an automated centralized monitoring system is used to monitor data, centrally control, and supervise and coordinate the work of various components of the entire integrated system. The automated centralized monitoring system monitors the operating status of the entire system in real time to ensure coordinated operation of various components. Through data analysis and intelligent algorithms, the efficiency of waste transfer and processing is optimized. Based on the collected information, the automated centralized monitoring system transfers smart waste bins to the waste processing unit or automatic waste washing unit via the waste bin hanging rail transfer unit. The waste bin hanging rail transfer unit, in response to instructions, transfers the smart waste bins to designated functional areas.

[0057] Figure 3 A schematic diagram illustrating the composition of an automated centralized monitoring system according to some embodiments is shown.

[0058] According to some embodiments, the automated centralized monitoring system includes a central dispatch module, a grid control area management module, a dynamic filling algorithm module and a path collaborative dispatch control module. The central dispatch module is responsible for controlling the priority management unit, the chain control unit and the task allocation unit, and is used for global task allocation, priority management and chain control, and is also used for the division and definition of garbage bin transfer functional areas. Chain control includes obtaining the working status of other equipment and chain instruction information. Preferably, the central dispatch module uses a reinforcement learning algorithm to optimize task allocation, for example, to define the state space, including the control area occupancy status, the length of the smart garbage bin task queue, and the path conflict probability; to define the action space, including the task allocation priority, path selection strategy, and filling trigger conditions; and to design a reward function, which is dynamically adjusted based on system throughput, task completion time, and the number of path conflicts.

[0059] The automated centralized monitoring system performs dynamic filling scheduling. When the number of smart trash cans in the previous row control area of ​​the same column reaches the threshold, the smart trash cans in the next row control area are triggered to move forward to fill the position.

[0060] Figure 4 A schematic diagram illustrating the scheduling of control areas by an automated centralized monitoring system according to some embodiments is shown.

[0061] According to some embodiments, the grid control area management module in the automated centralized monitoring system is divided into a control area management unit and a status monitoring unit, which are responsible for control area management and control area status monitoring. The layout rules of the grid control area management module are shown in Figure 4 The first row of control areas are numbered 1 to 4, and the second row is numbered 5 to 8. Smart trash cans enter from the back of the control area and are filled in a cycle of 1 to 8. When smart trash cans exit, they are released from the previous row of control areas (numbers 1 to 4) in the order of front to middle to back. Preferably, the grid-based control area management module also monitors the status of the control areas, collects the occupancy status of the smart trash can berths in each control area in real time, dynamically adjusts the functional attributes of the control areas according to task requirements, and performs control area switching logic, such as entry area, exit area, and buffer area.

[0062] The dynamic filling algorithm module controls the execution of the filling trigger condition detection unit, the filling path planning unit, and the filling priority management unit. When the number of smart trash cans in the control area of ​​the previous row in the same column reaches a threshold, it triggers the smart trash cans in the second row of control areas to move forward to fill the position. Preferably, the dynamic filling algorithm module performs filling priority management, dynamically adjusts the filling order based on the urgency of the smart trash can task, battery power, and path conflict probability, and optimizes the filling path, such as using Bezier curves to plan the filling path to ensure smoothness and safety.

[0063] The path collaborative control module adopts a dual-channel design, including a dedicated channel for filling in the position and a workstation docking channel. The dedicated channel for filling in the position is used to connect the control area of ​​the second row in the same column, and the workstation docking channel is equipped with a laser guidance and visual correction device.

[0064] Figure 5 A schematic diagram of transport scheduling for each functional area by an automated centralized monitoring system according to an example embodiment is shown.

[0065] According to some embodiments, the collection vehicle tailgate bucket area includes a first control area, a second control area, and a third control area in one row and three columns, the collection vehicle tailgate bucket area contains 6 smart trash can berths, the collection vehicle compartment bucket area includes nine control areas in three rows and three columns, each of the control areas contains two smart trash can berths in the front and rear, and the collection vehicle compartment bucket area unloads trash cans to the collection vehicle tailgate bucket area in the order of the first control area to the ninth control area.

[0066] After the automated centralized monitoring system receives an operation command from the collection vehicle unloading area, it allows the intelligent trash cans in the collection vehicle's compartment to sequentially drive to the berths in the collection vehicle's tailgate control area. After receiving the unloading signal, the automated centralized monitoring system allows the intelligent trash cans in the berths in the collection vehicle's tailgate control area to sequentially exit the collection vehicle's tailgate control area and enter the garbage processing waiting area in the order of the front berth of the first control area, the rear berth of the first control area, the front berth of the second control area, the rear berth of the second control area, the front berth of the third control area, and the rear berth of the third control area. After the intelligent trash cans in the collection vehicle's tailgate control area have completed unloading, the collection vehicle's tailgate is operated to rise, and the operation command is continued to be received. The above unloading operation is repeated until the intelligent trash cans in the collection vehicle's unloading area have completed unloading.

[0067] See also Figure 5In the collection truck unloading area 100, there are garbage bin parking areas numbered 1 to 9, each with two berths, front and back. The unloading process involves the following: After a collection truck arrives at the station, the central dispatch module obtains the current collection truck's intelligent garbage bin coding information from the automated centralized monitoring system and adds this coding list to the queue of garbage bins to be unloaded. When the collection truck's tailgate opens, the on-site staff presses a button to confirm the "tailgate in place, ready to unload" command, at which point the central dispatch module receives the unloading command. First, the six smart trash cans in the 1st to 3rd trash can parking areas in the collection vehicle unloading area 100 are released and driven to the six berths in the 1st to 3rd tailgate control areas of the collection vehicle tailgate 211 in turn. After parking, the central dispatching module sends a "tailgate entry completed" signal to the automated centralized monitoring system, and displays it through the on-site indicator light to prompt the staff to lower the tailgate. The on-site staff presses the button again to confirm the "tailgate lowered to the ground in place" signal. After receiving the signal, the central dispatching module releases the smart trash cans on the collection vehicle tailgate 211 in turn, and enters the trash can processing waiting area 200 in turn. After the trash cans on the tailgate are unloaded, the on-site staff operates the collection vehicle tailgate to rise, and then continues to confirm the "tailgate in place, can unload" command by pressing the button, and performs the unloading operations in the 4th to 6th trash can parking areas and the 7th to 9th trash can parking areas in turn until the unloading is completed.

[0068] The dynamic filling algorithm module of the automated centralized monitoring system performs the following steps in the garbage bin processing waiting area, where the garbage bin loading waiting area includes 8 control areas, and the 8 control areas are divided into a first row control area and a second row control area. The first row control area includes a first numbered control area, a second numbered control area, a third numbered control area and a fourth numbered control area, and the second row control area includes a fifth numbered control area, a sixth numbered control area, a seventh numbered control area and an eighth numbered control area, wherein, in the same column, the fifth numbered control area of ​​the second row control area corresponds to the first numbered control area of ​​the first row control area, the sixth numbered control area of ​​the second row control area corresponds to the second numbered control area of ​​the first row control area, the seventh numbered control area of ​​the second row control area corresponds to the third numbered control area of ​​the first row control area, and the eighth numbered control area of ​​the second row control area corresponds to the fourth numbered control area of ​​the first row control area.

[0069] The smart trash cans are driven out of the first row of the waiting control area. When all three smart trash cans in the first row of the same column have driven out, the three smart trash cans in the second row of the same column move forward in the order of front, middle, and back to fill the three berths in the first row of the control area. This is to check whether the cumulative number of smart trash cans that have left the previous row of the control area is greater than or equal to 3. If the cumulative number of smart trash cans that have left the previous row of the control area is greater than or equal to 3, smart trash cans are sequentially drawn from the second row of the same column and moved forward in the order of back, middle, and front to fill the vacancies, triggering the second row of the control area to receive the newly entered smart trash can.

[0070] See also Figure 5 The garbage bin loading waiting area includes 8 control areas, which are divided into a first row control area and a second row control area. The first row control area includes a first numbered control area, a second numbered control area, a third numbered control area and a fourth numbered control area, and the second row control area includes a fifth numbered control area, a sixth numbered control area, a seventh numbered control area and an eighth numbered control area. In the same column, the fifth numbered control area of ​​the second row control area corresponds to the first numbered control area of ​​the first row control area, the sixth numbered control area of ​​the second row control area corresponds to the second numbered control area of ​​the first row control area, the seventh numbered control area of ​​the second row control area corresponds to the third numbered control area of ​​the first row control area, and the eighth numbered control area of ​​the second row control area corresponds to the fourth numbered control area of ​​the first row control area.

[0071] The smart trash cans drive out from the first row control area of ​​the trash can boarding waiting area in the order of the first numbered control area, the second numbered control area, the third numbered control area and the fourth numbered control area. When the three smart trash cans in the first row control area of ​​the same column have all driven out, the three smart trash cans in the second row control area of ​​the same column move forward in the order of front-middle-back and fill the three berths in the first row control area.

[0072] That is, in the garbage bin loading waiting area 700, the waiting area is divided into two control areas, wherein the first control area is numbered 1 to 4, and the second control area is numbered 5 to 8, and each control area numbered area is divided into three berths: front, middle, and back.

[0073] In the garbage bin loading waiting area 700, the garbage bin moves from the garbage bin washing and placing area 600 into the garbage bin loading waiting area 700, and then moves out of the garbage bin loading waiting area 700 and moves to the collection vehicle. Figure 5 In the process, the smart trash cans will be driven out from the control areas No. 1 to No. 4 in the first row in priority, in the order of front-middle-back of No. 1, front-middle-back of No. 2, front-middle-back of No. 3 and front-middle-back of No. 4. When the three smart trash cans in the preceding control area of ​​the same column are driven out, the three smart trash cans in the second row control area of ​​the same column will move forward in the order of front-middle-back and fill their positions in the first row control area. For example, if the front-middle-back berths of the first row control area No. 1 are idle, the three trash cans in the second row control area No. 5 will fill their positions in the first row control area No. 1. Correspondingly, the three trash cans in the second row control area No. 6 will fill their positions in the first row control area No. 2, the three trash cans in the second row control area No. 7 will fill their positions in the first row control area No. 3, and the three trash cans in the second row control area No. 8 will fill their positions in the first row control area No. 4.

[0074] According to some embodiments, the automated centralized monitoring system may further include an exception handling module and a data storage and analysis module. The exception handling module is responsible for deadlock detection and recovery and positioning failure recovery. The deadlock detection and recovery process is to build a resource allocation graph (RAG) every 5 minutes and trigger task rollback when a circular wait is found; positioning failure recovery is achieved by fusing UWB (Decawave DWM3000) and visual SLAM data, and recalibration is initiated when the positioning error is greater than 10cm.

[0075] The data storage and analysis module is responsible for storing task log records and generating performance analysis reports, storing the task allocation, path planning, and exception handling information of each smart trash can, and generating statistical reports on system throughput, task completion time, and number of path conflicts.

[0076] According to some embodiments, the present invention's design scheme uses an automated centralized monitoring system to comprehensively control the transfer process, optimizing the process through data analysis and improving resource utilization. The use of intelligent trash cans in conjunction with a trash can cabinet transfer system reduces manual labor and improves efficiency. Automatic cleaning of the intelligent trash cans ensures sanitation and reduces the spread of germs. By applying the present invention's system, efficient, intelligent, and environmentally friendly solid waste treatment can be achieved, reducing manual labor and related costs and improving efficiency.

[0077] According to some embodiments, the smart trash can features intelligent automatic driving, weighing, automatic charging, and real-time positioning, and collects information on trash weight, temperature, and the trash can's inclination. The smart trash can comprises a trash storage chamber, drive wheels and their self-propelled mechanism, a temperature sensor, a weight sensor, an inclination sensor, a camera, and a communication module. It communicates with an automated centralized monitoring system, receiving driving and route planning instructions and providing real-time feedback on video footage, temperature, trash can inclination, and location. Upon receiving the operating instructions, the smart trash can automatically moves to the designated location and awaits the next operating instruction. The smart trash can can achieve autonomous movement in both indoor and outdoor environments through its built-in sensor module and navigation system. For example, ultrasonic sensors can be used to detect surrounding obstacles, combined with GPS or Beidou positioning systems for route planning, ensuring safe and efficient movement to the desired location in public places such as parks and streets. When the trash can is full, it can automatically proceed to a designated location for dumping, reducing the need for human intervention. Smart trash cans are equipped with internal weighing devices that can accurately measure the weight of each trash drop and upload the data to a cloud server. This helps management departments understand the amount of trash generated in each area and optimize collection routes and service frequencies. It also provides intuitive feedback to residents, encouraging them to reduce unnecessary waste generation. In addition, the specific weight of kitchen waste can be recorded through pressure sensors, helping city managers evaluate the effectiveness of classification and take appropriate measures. To ensure long-term stable operation, smart trash cans are usually equipped with automatic charging functions. Solar panels can also be used as an auxiliary power source to power the device under sunlight conditions; when the battery is low, it will automatically find the nearest charging station for rapid replenishment, effectively extending the device's working cycle and reducing maintenance costs.

[0078] In some implementations, smart trash cans can also monitor internal environmental parameters, such as temperature fluctuations and tilt angle. The former is crucial for preventing safety hazards caused by high temperatures, while the latter is used to detect whether the trash can is improperly placed or tipped over, promptly issuing an alarm to notify relevant personnel to address the problem. All of this information can be transmitted to an automated centralized monitoring system via a wireless communication module, facilitating precise source control.

[0079] Figure 6 A flow chart illustrating a method for solid waste treatment scheduling control according to an example embodiment is shown.

[0080] In S101, the central dispatch module obtains the coding information of the current intelligent trash bin of the collection vehicle from the automated centralized monitoring system.

[0081] According to some embodiments, after the garbage collection truck enters the station, the central dispatch module obtains the current collection truck's intelligent garbage bin coding information from the automated centralized monitoring system, and adds the coding list to the queue of garbage bins to be unloaded. When the collection truck's tailgate is opened, the on-site staff confirms the "tailgate in place, bin can be unloaded" command by pressing a button.

[0082] See also Figure 5 After the central dispatching module obtains the unloading operation command, it releases the 6 smart trash cans in the collection truck unloading area 100 to drive to the 6 berths of the 1st to 3rd control areas of the collection truck tailgate 211 in turn. After parking, the central dispatching module sends a "tailgate into the bucket completed" signal to the automated centralized monitoring system, and displays it through the on-site indicator light to prompt the staff to lower the tailgate. The on-site staff confirms the "tailgate lowered to the ground in place" signal again by pressing the button. After the central dispatching module receives the signal, the smart trash cans on the collection truck tailgate 211 are controlled from 1st to 3rd, and each control area is driven out of the collection truck tailgate 211 in turn in the front-to-back order and enter the trash can processing waiting area 200. After the trash cans on the tailgate are unloaded, the on-site staff operates the collection truck tailgate to rise, and then continues to confirm the "tailgate in place, can unload" command by pressing the button, and repeats the above unloading operation until the unloading is completed.

[0083] In S103, the networked control area management module controls the trash cans to enter the trash can processing waiting area in sequence.

[0084] According to some embodiments, the networked control area management module controls the trash can to enter from the rear of the trash can processing waiting area 200, and enter the front-middle-rear berths of control areas 1 to 8 in sequence. The control areas of the first row of the trash can processing waiting area 200 are numbered 1 to 4. The smart trash can drives out of the waiting area from the front, and drives out of the waiting area, giving priority to driving out from the control areas numbered 1 to 4 in the previous row. After the three smart trash cans in the previous row of control areas in the same column have driven out, the three smart trash cans in the second row of control areas in the same column move forward in the order of front-middle-rear, and fill the positions in the previous row of control areas.

[0085] In S105, the central dispatch module obtains the empty bin status information in the trash bin turning area through the automated centralized monitoring system.

[0086] According to some embodiments, two smart trash cans in the trash can turning area 300 are grabbed by the intelligent solid waste transfer station's hanging rail grabbing mechanism and then turned over to dump garbage and wash the trash cans. The central dispatching module obtains the "trash can turning area empty" status information through the automated centralized monitoring system. The central dispatching module releases the two smart trash cans from the trash can processing waiting area 200 and enters berths 1-2 of the trash can turning area 300 in turn. After the two smart trash cans enter the trash can turning area 300, the central dispatching module sends the "trash can turning area full" status information to the automated centralized monitoring system.

[0087] In S107, if there is an empty berth in the garbage bin loading waiting area, the central dispatching module allows the smart garbage bin in the garbage bin washing and placing area to enter the garbage bin loading waiting area.

[0088] According to some embodiments, see Figure 5 If there is an empty berth in the garbage bin loading waiting area 700, the central dispatching module will allow the smart garbage bin in the garbage bin washing and placing area 600 to enter the garbage bin loading waiting area 700. The central dispatching module will send the berth occupancy status information of the garbage bin washing and placing area 600 to the automated centralized monitoring system in real time, thereby controlling the intelligent solid waste transfer station's hanging rail grabbing mechanism to lower the garbage bin to the berth in the garbage bin washing and placing area 600.

[0089] The control area division and entry and exit strategies of the garbage bin loading waiting area 700 are the same as those in step S103.

[0090] In S109, the smart trash cans in the trash loading waiting area drive to the berth on the tailgate of the collection vehicle in turn, and the central dispatching module sends a signal to the automated centralized monitoring system. The central dispatching module adds the trash can code list in the collection vehicle to the queue of the outbound trash cans.

[0091] According to some embodiments, after a garbage collection truck has finished unloading its bins, it needs to load the empty bins and exit the station. When the tailgate of the collection truck is opened, the on-site staff confirms the "tailgate in place, ready to load bins" command by pressing a button. At this point, the central dispatch module receives the bin loading command and releases the six smart garbage bins in the garbage bin loading waiting area 700 to drive sequentially to the six berths in the first to third control zones of the collection truck's tailgate 211. After parking, the central dispatch module sends a "tailgate loading completed" signal to the automated centralized monitoring system. The on-site indicator light displays a prompt to the staff to raise the tailgate. The on-site staff confirms the "tailgate raised in place" signal again by pressing a button. After the central dispatch module receives this signal, the smart garbage bins on the collection truck's tailgate 211, according to the first to third control zones, in a back-to-front order, drive out of the collection truck's tailgate 211 and enter the collection truck's bin unloading area 100. After the trash can on the tailgate has been driven out, the on-site staff operates the collection vehicle's tailgate to lower, and then continues to press the button to confirm the "tailgate in place, ready to load the trash can" command, repeating the above loading operation until the collection vehicle is fully loaded. The central dispatch module then adds the trash can code list in the collection vehicle to the queue of trash cans that have left the station.

[0092] According to some embodiments, in some actual application scenarios, the smart trash can may also be replaced by a single trash can with integrated smart driving related functions, or a combination of a backpack trolley with smart driving function and an ordinary trash can may be used as a replacement, so as to save costs while achieving the design purpose and effect, make the audit plan closer to the actual scene requirements, and facilitate the popularization of functional upgrades and renovations of small garbage transfer stations.

[0093] According to some embodiments, the design scheme of the present invention realizes automatic movement of the trash can and thus completes the garbage transfer work by designing the smart trash can. Compared with manual transfer in the existing technology, it reduces the cost and safety issues brought by manual transfer, saves costs and greatly improves transfer efficiency.

[0094] According to some embodiments, the design of the present invention realizes the fixed-route transfer of garbage bins by applying the garbage bin hanging rail transfer unit. The garbage bin hanging rail transfer unit can also realize the actions of turning over and emptying the garbage bin, horizontal transfer, lifting, lowering, tilting, etc., and highly mechanizedly completes the automatic turning over and emptying of the garbage bin, the washing function, and the automatic transfer function of the garbage bin. Cooperating with the automated centralized monitoring system for fine control and operation monitoring, and the garbage processing unit, automatic barrel cleaning unit, etc. to realize specific processing and cleaning functions, the automated process and workflow of garbage transfer and processing procedures are systematically realized, and the transfer station is fully automated while greatly improving the overall operation efficiency. In addition, the system adds a deodorization system, so that the garbage transfer station optimizes the working environment while realizing full mechanization, changing the dirty, messy and poor characteristics of traditional garbage transfer, creating a superior working environment for workers, solving the problems of random stacking, disposal or processing, and untimely transfer in garbage transfer, and promoting the process of urban beautification.

[0095] Figure 7 A block diagram of a computing device according to an example embodiment of the present application is shown.

[0096] like Figure 7 As shown, computing device 30 includes processor 12 and memory 14. Computing device 30 may also include bus 22, network interface 16, and I / O interface 18. Processor 12, memory 14, network interface 16, and I / O interface 18 may communicate with each other via bus 22.

[0097] The processor 12 may include one or more general-purpose CPUs (Central Processing Units), microprocessors, or application-specific integrated circuits, etc., for executing relevant program instructions. According to some embodiments, the computing device 30 may also include a high-performance graphics card (GPU) 20 for accelerating the processor 12.

[0098] Memory 14 may include machine-readable media in the form of volatile memory, such as random access memory (RAM), read-only memory (ROM), and / or cache memory. Memory 14 is used to store one or more programs containing instructions and data. Processor 12 may read the instructions stored in memory 14 to execute the methods described above according to the embodiments of the present application.

[0099] The computing device 30 may also communicate with one or more networks through the network interface 16. The network interface 16 may be a wireless network interface.

[0100] The bus 22 may include an address bus, a data bus, a control bus, etc. The bus 22 provides a path for exchanging information between various components.

[0101] It should be noted that, in the specific implementation process, the computing device 30 may also include other components necessary for normal operation. In addition, those skilled in the art will understand that the above-mentioned device may also only include components necessary to implement the embodiments of this specification, and does not necessarily include all components shown in the figure.

[0102] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above method. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), a network storage device, a cloud storage device, or any type of medium or device suitable for storing instructions and / or data.

[0103] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the methods described in the above method embodiments.

[0104] Those skilled in the art will clearly understand that the technical solutions of this application can be implemented with the aid of software and / or hardware. "Unit" and "module" in this specification refer to software and / or hardware that can independently perform specific functions or cooperate with other components to perform specific functions. Examples of hardware include field programmable gate arrays and integrated circuits.

[0105] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0106] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0108] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0109] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application.

[0111] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] The exemplary embodiments of the present application are specifically shown and described above. It should be understood that the present application is not limited to the detailed structures, configurations or implementations described herein; on the contrary, the present application is intended to cover various modifications and equivalent configurations included within the spirit and scope of the appended clauses.

Claims

1. An integrated site system for solid waste treatment, characterized in that: The system comprises: Multiple functional areas, including a collection truck unloading area, a garbage bin processing waiting area, a garbage bin processing area, and a garbage bin loading waiting area, wherein the garbage bin processing area includes a garbage bin turning area and a garbage bin washing and placing area; The intelligent self-propelled part of the trash can drives the intelligent trash can to automatically move from the collection vehicle unloading area to the trash can processing waiting area for neat placement, drives the intelligent trash can to automatically move to the trash can turning area, and automatically moves from the trash can washing and placing area to the trash can loading waiting area; An automated centralized monitoring system is communicatively connected to the intelligent self-propelled part of the trash can and is used for centralized control, supervision and coordination of work between the various parts. The automated centralized monitoring system is configured to manage and monitor the status of the collection vehicle unloading area, the trash can loading waiting area and the trash can processing waiting area, and is used for status identification and control of the intelligent trash cans in the control areas of the collection vehicle unloading area, the trash can loading waiting area and the trash can processing waiting area.

2. The system according to claim 1, wherein: The barrel unloading area of ​​the collecting vehicle includes the barrel placing area in the collecting vehicle compartment and the barrel placing area on the tailgate of the collecting vehicle, wherein: The tailgate bin area includes a row of multiple columns of tailgate control areas, each of which includes two front and rear smart trash can berths; The barrel placing area in the carriage of the collection vehicle includes a carriage control area with multiple rows and columns, and the carriage control area with multiple rows and columns includes multiple tailgate control areas with one row and multiple columns. Each tailgate control area with one row and multiple columns in the barrel placing area of ​​the collection vehicle corresponds to a control area with one row and multiple columns in the tailgate barrel placing area of ​​the collection vehicle.

3. The system according to claim 2, characterized in that The tailgate bin area of ​​the collection vehicle includes a first control area, a second control area, and a third control area in a row and three columns, and the tailgate bin area of ​​the collection vehicle includes 6 intelligent trash can berths; The bucket placement area in the collection vehicle compartment includes nine control areas in three rows and three columns. Each control area contains two smart trash can berths in the front and rear. The bucket placement area in the collection vehicle compartment unloads the trash cans to the bucket placement area on the tailgate of the collection vehicle in the order of the first control area to the ninth control area.

4. The system according to claim 2, wherein: After the automated centralized monitoring system obtains the operation command from the collection vehicle unloading area, it allows the smart trash cans in the collection vehicle compartment to be driven to the berths in the collection vehicle tailgate control area in sequence; After receiving the unloading signal, the automated centralized monitoring system releases the intelligent trash cans on the berths of the collection vehicle tailgate control area, and the intelligent trash cans are driven out of the collection vehicle tailgate control area in the order of the front berth of the first control area, the rear berth of the first control area, the front berth of the second control area, the rear berth of the second control area, the front berth of the third control area, and the rear berth of the third control area, and enter the garbage processing waiting area; After the intelligent trash can on the collection vehicle tailgate control area is unloaded, the collection vehicle tailgate is operated to rise, and the operation command is continued to be obtained, and the above unloading operation is repeated until the intelligent trash can in the collection vehicle unloading area is unloaded.

5. The system according to claim 1, wherein: The trash bin processing waiting area includes multiple waiting processing control areas, and the multiple waiting processing control areas include two rows and multiple columns of waiting processing control areas. Each of the waiting processing control areas includes three smart trash bin berths: front berth, middle berth, and rear berth.

6. The system according to claim 5, characterized in that The smart trash can drives out from the first row waiting for processing control area. When the three smart trash cans in the first row control area of ​​the same column have all driven out, the three smart trash cans in the second row control area of ​​the same column move forward in the order of front, middle and back, and fill the three smart trash can berths in the first row control area.

7. The system according to claim 1, wherein: The trash can boarding waiting area includes multiple waiting boarding control areas, and the multiple waiting boarding control areas include two rows and multiple columns of waiting boarding control areas. Each of the waiting boarding control areas includes three smart trash can berths: front berth, middle berth, and rear berth.

8. The system according to claim 7, characterized in that The smart trash cans drive out from the first row waiting for boarding control area. When the three smart trash cans in the first row control area of ​​the same column have all driven out, the three smart trash cans in the second row control area of ​​the same column move forward in the order of front, middle and back, and fill the three smart trash can berths in the first row control area.

9. The system according to claim 1, wherein: The intelligent self-propelled part of the trash can is an intelligent trash can with an intelligent driving device. The intelligent trash can has the functions of intelligent automatic driving, weighing, automatic charging, and real-time positioning, and collects garbage weight, temperature and / or trash can inclination information.

10. An intelligent solid waste transfer station, characterized in that: include: A system according to any one of claims 1 to 9.

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