Garbage crane automatic control algorithm based on microwave radar

Abstract

The invention relates to the technical field of garbage crane control, and discloses a garbage crane automatic control algorithm based on microwave radar, comprising the following steps: S1, acquiring garbage information data of a target area through a microwave radar module; s2, dividing the target area into a plurality of area units; s3, setting grabbing coordinates of a garbage crane for each area unit; s4, acquiring thermal red image information data of the target area; s5, acquiring environment information data of the target area; s6, obtaining a regional unit safety risk index through an analysis module according to the junk information data, the thermal red image information data and the environment information data; s7, determining a target area unit; s8, the garbage crane moves to the grabbing coordinates of the target area unit for grabbing; s9, the grabbed garbage is put into the incinerator to be incinerated, and the step S4 is executed again; garbage in the area unit with the maximum safety risk is grabbed preferentially, potential safety hazards are reduced, and the probability of fire disasters is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage crane control, and in particular to an automatic control algorithm for a garbage crane based on microwave radar. Background Art

[0002] A garbage crane is a type of crane equipment used in waste incineration power plants. It can use a grab bucket to retrieve, transport, feed, and weigh materials. In a waste incineration power plant, the main function of a garbage crane is to grab garbage from a garbage pit, transport it to a weighing platform for weighing, and then feed it into the incinerator for incineration.

[0003] Before being sent to the garbage pit, the garbage should be sorted and processed to reduce the production of harmful substances during the incineration process, and then the moisture in the garbage should be removed to increase the calorific value and combustion efficiency of the garbage; the dehydrated garbage should then be put into the garbage pit, and then grabbed by the garbage crane and put into the incinerator.

[0004] However, the above technology still has major flaws, such as: in the above technology, the classification and processing of garbage is generally carried out in the garbage stations of each community. Since residents have uneven awareness of garbage classification and do not know how to properly dispose of garbage, the garbage in the garbage stations is not completely classified; garbage trucks drag the garbage from the garbage stations into the incineration plant and dump it into the garbage pit without further classification. Therefore, the garbage in the garbage pit may contain flammable and explosive hazardous waste. In the hot summer, under high temperature conditions, the temperature in the garbage pit is too high. These flammable and explosive hazardous wastes are easily exploded after a long period of friction and collision in the high-temperature garbage pit, thereby causing major safety accidents. Summary of the Invention

[0005] The purpose of the present invention is to provide a garbage crane automatic control algorithm based on microwave radar to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A microwave radar-based garbage crane automation control algorithm includes the following steps:

[0008] S1: Obtain spam data in the target area through the microwave radar module;

[0009] S2: Divide the target area into several area units through the division module;

[0010] S3: Set the grabbing coordinates of the garbage crane for each area unit through the grabbing and positioning module;

[0011] S4: Acquire thermal red image information data of the target area through the thermal red image acquisition module;

[0012] S5: Acquire environmental information data of the target area through the environment acquisition module;

[0013] S6: Analyzing the spam data, the thermal image data, and the environmental information data through an analysis module to obtain a regional unit security risk index for assessing the security risk of each regional unit;

[0014] S7: Analyze the regional unit safety risk index through the analysis module to determine the target regional unit;

[0015] S8: Control the garbage crane to move to the grabbing coordinates of the target area unit through the control module and grab the garbage in the target area unit;

[0016] S9: The grabbed garbage is transported to the weighing platform, the garbage on the weighing platform is weighed, and the garbage is put into the incinerator for incineration, and then the process returns to step S4.

[0017] As a further solution of the present invention: the microwave radar is set directly above the target area; the garbage information data includes the coordinates of the metal garbage and the volume of the metal garbage; the environmental information data includes the environmental humidity and the environmental temperature; and the hot red oak information data includes the garbage temperature.

[0018] As a further solution of the present invention: the area of ​​the regional unit is smaller than the preset maximum area of ​​the garbage crane.

[0019] As a further solution of the present invention: in step S9, after the grabbed garbage is transported to the weighing platform, the microwave radar module is used to obtain whether there is metal garbage in the garbage on the weighing platform. If there is metal garbage, the location of the metal garbage is obtained. The staff recycles the metal garbage and then weighs the garbage on the weighing platform. If there is no metal garbage, it is directly weighed.

[0020] As a further solution of the present invention: the process of obtaining the regional unit safety risk index includes the following steps:

[0021] S10: Obtaining the coordinates and volume of metal waste in the target area through the microwave radar module;

[0022] S20: Analyzing the coordinates of the metal waste to obtain the coordinates of the metal waste and the volume of the metal waste in each regional unit;

[0023] S30: Acquire thermal red oak image data in each area unit through a thermal red oak image acquisition module;

[0024] S40: Acquire the ambient humidity and ambient temperature of the target area through the environment acquisition module; and analyze the ambient humidity and ambient temperature to obtain an environmental adjustment coefficient for adjusting the preset temperature;

[0025] S50: Obtain a regional unit safety risk index for each regional unit by analyzing the thermal red oak image data, the coordinates of the metal waste in each regional unit, the volume of the metal waste, and the environmental adjustment coefficient.

[0026] As a further solution of the present invention: by formula:

[0027] Calculate the regional unit safety risk index R of any regional unit i ;

[0028] Where i is any regional unit; f(X) is the judgment function, when X>0, f(X)=X; when X≤0, f(X)=0; K is the amount of metal waste in the regional unit; V k is the volume of the kth metal waste in the regional unit; T max is the maximum temperature value of the garbage in the regional unit; θ0 is the environmental adjustment coefficient; T0 is the preset temperature; α1 is the first weight coefficient; α2 is the second weight coefficient; α3 is the third weight coefficient; C1 is the first preset constant; C2 is the second preset constant; C3 is the third preset constant; R0 is the basic safety risk index.

[0029] As a further solution of the present invention: by formula:

[0030] Calculate the environmental adjustment coefficient θ0;

[0031] Among them, S s is the current ambient humidity; S0 is the preset ambient humidity; E s is the current ambient temperature; E0 is the preset ambient temperature; λ1 is the first adjustment weight coefficient; λ2 is the second adjustment weight coefficient; D1 is the first adjustment preset constant; D2 is the second adjustment preset constant.

[0032] As a further solution of the present invention: the target area unit is the area unit corresponding to the largest area unit safety risk index.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) The present invention first obtains garbage information data of the target area through a microwave radar module; then divides the target area into several area units through a division module; then sets the grabbing coordinates of the garbage crane for each area unit through a grabbing and positioning module; then obtains the thermal red image information data of the target area through a thermal red image acquisition module; then obtains the environmental information data of the target area through an environment acquisition module; then analyzes the garbage information data, thermal red image information data and environmental information data through an analysis module to obtain a regional unit safety risk index for evaluating the safety risk of each regional unit; then analyzes the regional unit safety risk index through an analysis module to determine the target regional unit; then controls the garbage crane to move to the grabbing coordinates of the target regional unit and grabs the garbage in the target regional unit through a control module; transports the grabbed garbage to a weighing platform, weighs the garbage on the weighing platform, and puts it into an incinerator for incineration; the regional unit safety risk index intuitively shows the safety risk degree of more regional units, determines the regional unit with the safety risk index as the target regional unit, and gives priority to grabbing garbage in the regional unit with the greatest safety risk, thereby reducing safety hazards and the probability of fire.

[0035] (2) After the captured garbage is transported to the weighing platform, the present invention uses a microwave radar module to determine whether there is metal garbage in the garbage on the weighing platform. If there is metal garbage, the location of the metal garbage is obtained. The microwave radar module can quickly identify and locate the metal garbage on the weighing platform, so that the staff can quickly recycle the metal garbage, thereby improving the efficiency of recycling metal garbage. Recycling metal garbage avoids wasting resources and environmental pollution caused by incineration of metal garbage.

[0036] (3) The present invention uses the environmental adjustment coefficient θ0 to evaluate the environment in which the metal waste is located according to the current environmental humidity and ambient temperature. If the current environment is likely to cause a high probability of safety accidents involving metal waste, the temperature threshold is lowered to make the risk assessment of each regional unit more accurate, so that the garbage crane prioritizes processing the garbage in the regional units with safety hazards to avoid safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings.

[0038] Figure 1 This is a system module framework diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0040] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0041] See also Figure 1 As shown, in one embodiment, a microwave radar-based garbage crane automation control algorithm is provided, and the control algorithm includes the following steps:

[0042] S1: Obtain spam data in the target area through the microwave radar module;

[0043] S2: Divide the target area into a number of area units through a division module; the area of ​​the area unit is smaller than the preset maximum area of ​​the garbage crane.

[0044] S3: Set the grabbing coordinates of the garbage crane for each area unit through the grabbing and positioning module;

[0045] S4: Acquire thermal red image information data of the target area through the thermal red image acquisition module;

[0046] S5: Acquire environmental information data of the target area through the environment acquisition module;

[0047] S6: Analyzing the spam data, the thermal image data, and the environmental information data through an analysis module to obtain a regional unit security risk index for assessing the security risk of each regional unit;

[0048] S7: Analyze the regional unit safety risk index through the analysis module to determine the target regional unit;

[0049] S8: Control the garbage crane to move to the grabbing coordinates of the target area unit through the control module and grab the garbage in the target area unit;

[0050] S9: The captured garbage is transported to a weighing platform, the garbage on the weighing platform is weighed, and the garbage is put into an incinerator for incineration, and the process returns to step S4;

[0051] Through the above technical solution, this embodiment first obtains garbage information data of the target area through the microwave radar module; then divides the target area into several area units through the division module; then sets the grabbing coordinates of the garbage crane for each area unit through the grabbing and positioning module; then obtains the thermal red image information data of the target area through the thermal red image acquisition module; then obtains the environmental information data of the target area through the environment acquisition module; then analyzes the garbage information data, thermal red image information data and environmental information data through the analysis module to obtain the area unit safety risk index for evaluating the safety risk of each area unit; then analyzes the area unit safety risk index through the analysis module to determine the target area unit; then controls the garbage crane to move to the grabbing coordinates of the target area unit and grabs the garbage in the target area unit through the control module; transports the grabbed garbage to the weighing platform, weighs the garbage on the weighing platform, and puts it into the incinerator for incineration; the area unit safety risk index intuitively shows the safety risk level of the more area units, determines the area unit safety risk index as the target area unit, and gives priority to grabbing the garbage in the area unit with the highest safety risk, thereby reducing safety hazards and reducing the probability of fire.

[0052] It should be noted that the maximum area that can be grabbed by the garbage crane is a preset value, which is set based on experience and will not be detailed here;

[0053] It should be noted that the area of ​​the regional unit is smaller than the preset maximum area of ​​the garbage crane. The grabbing coordinate is set on the vertical line in the middle of the regional unit so that the garbage crane can grab the garbage in the corresponding regional unit when grabbing.

[0054] As an embodiment of the present invention, the microwave radar is arranged directly above the target area; the garbage information data includes the coordinates of the metal garbage and the volume of the metal garbage; the environmental information data includes the environmental humidity and the environmental temperature; the thermal red oak information data includes the garbage temperature;

[0055] According to the above technical solution, the present embodiment uses microwave radar to detect the position and volume of metal waste in the target area, which is an existing technology and will not be described in detail here.

[0056] As an embodiment of the present invention, in step S9, after the grabbed garbage is transported to the weighing platform, a microwave radar module is used to obtain whether there is metal garbage in the garbage on the weighing platform. If there is metal garbage, the location of the metal garbage is obtained. The staff recycles the metal garbage and then weighs the garbage on the weighing platform. If there is no metal garbage, it is directly weighed.

[0057] Through the above technical solution, after the grabbed garbage is transported to the weighing platform, the microwave radar module is used to determine whether there is metal garbage in the garbage on the weighing platform. If there is metal garbage, the location of the metal garbage is obtained. The microwave radar module can quickly identify and locate the metal garbage on the weighing platform, so that the staff can quickly recycle the metal garbage, improve the work efficiency of recycling metal garbage, and recycle metal garbage to avoid waste of resources and environmental pollution caused by incineration of metal garbage.

[0058] As an embodiment of the present invention, the process of obtaining the regional unit security risk index includes the following steps:

[0059] S10: Obtaining the coordinates and volume of metal waste in the target area through the microwave radar module;

[0060] S20: Analyzing the coordinates of the metal waste to obtain the coordinates of the metal waste and the volume of the metal waste in each regional unit;

[0061] S30: Acquire thermal red oak image data in each area unit through a thermal red oak image acquisition module;

[0062] S40: Acquire the ambient humidity and ambient temperature of the target area through the environment acquisition module; and analyze the ambient humidity and ambient temperature to obtain an environmental adjustment coefficient for adjusting the preset temperature;

[0063] S50: Obtaining a regional unit safety risk index for each regional unit by analyzing the thermal red oak image data, the coordinates of the metal waste in each regional unit, the volume of the metal waste, and the environmental adjustment coefficient;

[0064] Through the above technical solution, this embodiment first obtains the coordinates of metal garbage and the volume of metal garbage in the target area through the microwave radar module; then, by analyzing the coordinates of the metal garbage, the coordinates of the metal garbage and the volume of the metal garbage in each area unit are obtained; then, the thermal red image data in each area unit is obtained through the thermal red image acquisition module; then, the ambient humidity and ambient temperature of the target area are obtained through the environmental acquisition module; and according to the ambient humidity and ambient temperature, an environmental adjustment coefficient for adjusting the preset temperature is obtained; finally, by analyzing the thermal red image data, the coordinates of metal garbage and the volume of metal garbage in each area unit and the environmental adjustment coefficient, the area unit safety risk index of each area unit is obtained; the area unit safety risk index is used to intuitively show the safety risk degree of more area units, and the area unit safety risk index is determined as the target area unit, and the garbage in the area unit with the greatest safety risk is captured first, thereby reducing safety hazards and reducing the probability of fire.

[0065] As an embodiment of the present invention, by formula:

[0066] Calculate the regional unit safety risk index R of any regional unit i ;

[0067] Where i is any regional unit; f(X) is the judgment function, when X>0, f(X)=X; when X≤0, f(X)=0; K is the amount of metal waste in the regional unit; V k is the volume of the kth metal waste in the regional unit; T max is the maximum temperature value of the garbage in the regional unit; θ0 is the environmental adjustment coefficient; T0 is the preset temperature; α1 is the first weight coefficient; α2 is the second weight coefficient; α3 is the third weight coefficient; C1 is the first preset constant; C2 is the second preset constant; C3 is the third preset constant; R0 is the basic safety risk index;

[0068] Through the above technical solution, in this embodiment, the metal waste may contain flammable and explosive substances, such as used batteries, etc., which are very likely to cause fires if they encounter open flames or high temperature environments during the stacking process. In addition, the metal waste may produce flammable gases such as methane during the stacking process. If the gas concentration reaches a certain level, it will also explode when it encounters open flames. Therefore, the larger the amount of metal waste K in the regional unit, the more safety hazards there are and the greater the safety risk. Therefore, the safety risk index R of the regional unit is i The bigger; The cumulative volume of all metal waste in the regional unit is greater. The greater the cumulative volume of metal waste in the regional unit, the greater the safety risk of the regional unit. Therefore, the safety risk index R of the regional unit is i The larger the value, the greater the value; θ0T0 is the temperature threshold under the current environmental conditions; T max -θ0T0 is the difference between the maximum temperature of the garbage in the unit area and the temperature threshold value under the current environmental conditions; in the formula f(T max -θ0T0), the X in the judgment function f(X) refers to T max -θ0T0 is used to determine whether the maximum temperature of the garbage in the unit exceeds the temperature threshold under the current environmental conditions; when T max When -θ0T0>0, it means that the maximum temperature of the garbage in the unit exceeds the temperature threshold under the current environmental state, so the safety risk is relatively large, and the difference between the maximum temperature of the garbage in the unit and the temperature threshold under the current environmental state is T max The larger -θ0T0 is, the greater the safety risk is. Therefore, the safety risk index R of this area unit is i The larger the value, the greater the f(T max -θ0T0)=T max -θ0T0; when T maxWhen -θ0T0≤0, it means that the maximum temperature of the garbage in the unit does not exceed the temperature threshold under the current environmental state, so the safety risk is relatively small. Therefore, f(T max -θ0T0)=0;

[0069] It should be noted that the preset temperature T0, the first weight coefficient α1, the second weight coefficient α2, the third weight coefficient α3, the first preset constant C1, the second preset constant C2, the third preset constant C3 and the basic safety risk index R0 are preset values, which are obtained based on experience and will not be described in detail here.

[0070] As an embodiment of the present invention, by formula:

[0071] Calculate the environmental adjustment coefficient θ0;

[0072] Among them, S s is the current ambient humidity; S0 is the preset ambient humidity; E s is the current ambient temperature; E0 is the preset ambient temperature; λ1 is the first adjustment weight coefficient; λ2 is the second adjustment weight coefficient; D1 is the first adjustment preset constant; D2 is the second adjustment preset constant;

[0073] Through the above technical solution, in this embodiment, under the preset ambient humidity S0 and the preset ambient temperature E0, the safety risk of metal waste is minimized. s -S0| is the absolute value of the difference between the current ambient humidity and the preset ambient humidity. The higher the ambient humidity, the faster the corrosion and oxidation process of the metal will be, generating heat and combustible gases. When these gases accumulate to a certain level, they may cause a fire. The lower the humidity, the less moisture there is in the air, which will cause certain flammable components in the metal waste to reach the ignition point more easily, because moisture absorbs heat during the combustion process, thereby slowing down the rate at which the temperature of the combustible material rises. When the humidity is too low, this heat absorption effect is weakened, and the combustible material is more likely to reach the temperature required to initiate combustion. Therefore, the greater the absolute value of the difference between the current ambient humidity and the preset ambient humidity, the greater the safety risk of the metal waste and the more likely it is to cause a fire. Therefore, the preset temperature needs to be lowered, so the environmental adjustment coefficient θ0 needs to be reduced. E s-E0 is the difference between the current ambient temperature and the preset ambient temperature. The greater the difference between the current ambient temperature and the preset ambient temperature, the greater the safety risk of metal waste and the more likely it is to cause a fire. Therefore, the preset temperature needs to be lowered, so the environmental adjustment coefficient θ0 needs to be reduced. The environmental adjustment coefficient θ0 is used to evaluate the environment in which the metal waste is located according to the current ambient humidity and ambient temperature. If the current environment is likely to cause a high probability of safety accidents involving metal waste, the temperature threshold is lowered to make the risk assessment of each regional unit more accurate, so that the garbage crane gives priority to processing the garbage in the regional units with safety hazards to avoid safety accidents.

[0074] It should be noted that the preset ambient humidity S0, the preset ambient temperature E0, the first adjustment preset constant D1, the second adjustment preset constant D2, the first adjustment weight coefficient λ1 and the second adjustment weight coefficient λ2 are preset values, which are obtained based on experience and will not be described in detail here.

[0075] As an implementation manner of the present invention, the target regional unit is the regional unit with the largest regional unit security risk index.

[0076] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A microwave radar-based garbage crane automation control algorithm, characterized in that: The control algorithm includes the following steps: S1: Obtain spam data in the target area through the microwave radar module; S2: Divide the target area into several area units through the division module; S3: Set the grabbing coordinates of the garbage crane for each area unit through the grabbing and positioning module; S4: Acquire thermal red image information data of the target area through the thermal red image acquisition module; S5: Acquire environmental information data of the target area through the environment acquisition module; S6: Analyzing the spam data, the thermal image data, and the environmental information data through an analysis module to obtain a regional unit security risk index for assessing the security risk of each regional unit; S7: Analyze the regional unit safety risk index through the analysis module to determine the target regional unit; S8: Control the garbage crane to move to the grabbing coordinates of the target area unit through the control module and grab the garbage in the target area unit; S9: The grabbed garbage is transported to the weighing platform, the garbage on the weighing platform is weighed, and the garbage is put into the incinerator for incineration, and then the process returns to step S4.

2. The microwave radar-based garbage crane automation control algorithm according to claim 1 is characterized in that: The microwave radar is arranged directly above the target area; the garbage information data includes the coordinates of the metal garbage and the volume of the metal garbage; the environmental information data includes the environmental humidity and the environmental temperature; and the thermal red oak information data includes the garbage temperature.

3. The microwave radar-based garbage crane automation control algorithm according to claim 2 is characterized in that: The area of ​​the regional unit is smaller than the preset maximum area of ​​the garbage crane.

4. The microwave radar-based garbage crane automation control algorithm according to claim 3 is characterized in that: In step S9, after the grabbed garbage is transported to the weighing platform, the microwave radar module is used to determine whether there is metal garbage in the garbage on the weighing platform. If there is metal garbage, the location of the metal garbage is obtained. The staff recycles the metal garbage and then weighs the garbage on the weighing platform. If there is no metal garbage, it is weighed directly.

5. The microwave radar-based garbage crane automation control algorithm according to claim 4 is characterized in that: The process of obtaining the regional unit safety risk index includes the following steps: S10: Obtaining the coordinates and volume of metal waste in the target area through the microwave radar module; S20: Analyzing the coordinates of the metal waste to obtain the coordinates of the metal waste and the volume of the metal waste in each regional unit; S30: Acquire thermal red oak image data in each area unit through a thermal red oak image acquisition module; S40: Acquire the ambient humidity and ambient temperature of the target area through the environment acquisition module; and analyze the ambient humidity and ambient temperature to obtain an environmental adjustment coefficient for adjusting the preset temperature; S50: Obtain a regional unit safety risk index for each regional unit by analyzing the hot red oak image data, the coordinates of the metal waste in each regional unit, the volume of the metal waste, and the environmental adjustment coefficient.

6. The microwave radar-based garbage crane automation control algorithm according to claim 5 is characterized in that: By formula: Calculate the regional unit safety risk index R of any regional unit i ; Where i is any regional unit; f(X) is the judgment function, when X>0, f(X)=X; when X≤0, f(X)=0; K is the amount of metal waste in the regional unit; V k is the volume of the kth metal waste in the regional unit; T max is the maximum temperature value of the garbage in the regional unit; θ0 is the environmental adjustment coefficient; T0 is the preset temperature; α1 is the first weight coefficient; α2 is the second weight coefficient; α3 is the third weight coefficient; C1 is the first preset constant; C2 is the second preset constant; C3 is the third preset constant; R0 is the basic safety risk index.

7. The microwave radar-based garbage crane automation control algorithm according to claim 6 is characterized in that: By formula: Calculate the environmental adjustment coefficient θ0; Among them, S s is the current ambient humidity; S0 is the preset ambient humidity; E s is the current ambient temperature; E0 is the preset ambient temperature; λ1 is the first adjustment weight coefficient; λ2 is the second adjustment weight coefficient; D1 is the first adjustment preset constant; D2 is the second adjustment preset constant.

8. The microwave radar-based garbage crane automation control algorithm according to claim 7 is characterized in that: The target area unit is the area unit corresponding to the largest area unit safety risk index.

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