Movable intelligent garbage classification and recovery robot

Abstract

The invention relates to the field of garbage classification, in particular to a movable intelligent garbage classification recycling robot which comprises a movable carrying table and a controller, a garbage treatment box is arranged on the movable carrying table, a garbage throwing opening is formed in the top of the garbage treatment box, and a grid mesh, a sorting cavity and a treatment cavity are arranged in the garbage treatment box; an image collector and a sorting mechanical arm are arranged in the sorting cavity, a mechanical claw is arranged at the functional end of the sorting mechanical arm, a conveying assembly is arranged on a claw body of the mechanical claw, and a crusher is arranged at the functional end of the sorting mechanical arm; a vibrating motor is arranged on the grid mesh, a push plate is arranged in the treatment cavity, a driving part for driving the push plate to move is arranged in the treatment cavity, and a box door is arranged on one side of the treatment cavity. By the adoption of the technical scheme, the influence of overlapping shielding on machine vision observation is reduced, and the space utilization rate of the compression and classification structure is increased.

Description

Technical Field

[0001] The present invention relates to the field of garbage classification, and in particular to a movable intelligent garbage classification and recycling robot. Background Art

[0002] Garbage classification refers to a series of activities that classify, place, collect, transport and treat garbage according to certain regulations or standards, thereby transforming it into a public resource. The purpose of garbage classification is to increase the resource value and economic value of garbage, reduce the amount of garbage to be processed and the use of treatment equipment, reduce treatment costs, and reduce the consumption of land resources. It has social, economic, and ecological benefits. During the classified storage stage, garbage belongs to the public's private property. After being classified and placed by the public, the garbage becomes a regional public resource in the community or neighborhood where the public lives. After being sorted and transported to garbage collection points or transfer stations, the garbage becomes a non-exclusionary public resource. Judging from the methods used by various cities at home and abroad to classify domestic garbage, most of them are classified according to the composition and amount of garbage generated, combined with local garbage resource utilization and treatment methods.

[0003] Existing technologies typically use robotic arms and machine vision to sort and classify garbage. For example, patent publication number CN108910365B discloses a garbage sorting and recycling robot that uses a camera to capture images and a robotic arm to sort, classify, crush, and compact the garbage. However, the garbage dumped by users is often a mixture of multiple types of garbage, with overlapping and obstructing each other, making it difficult for machine vision to observe. In addition, the storage chambers set up in mobile robots for classified storage of garbage take up considerable space, and the garbage crushing and compression functions of each storage chamber are difficult to share, resulting in low utilization and inconvenient mobile deployment. Some small garbage items are themselves garbage debris, making them difficult to effectively identify and sort, and they also need to be effectively processed. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a mobile intelligent garbage sorting and recycling robot, which is used to reduce the impact of overlapping occlusions on machine vision observation and improve the space utilization of compression and classification structures.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: a mobile intelligent garbage sorting and recycling robot, comprising a mobile platform and a controller, wherein a garbage processing box is provided on the mobile platform, a garbage inlet is provided on the top of the garbage processing box, and a grid is provided inside the garbage processing box, the grid separating the garbage processing box into a sorting chamber and a processing chamber, the sorting chamber is located at the top of the grid, and the processing chamber is located at the bottom of the grid;

[0006] An image collector and a sorting robot arm are provided in the sorting chamber. The image collector is used to collect images of garbage on the grid. A mechanical claw is provided at the functional end of the sorting robot arm. A conveying assembly is provided on the claw body of the mechanical claw. A shredder is provided at the functional end of the sorting robot arm. The conveying assembly is used to convey the garbage gripped by the mechanical claw to the shredder.

[0007] A vibration motor is provided on the grid, a push plate is provided in the processing chamber, a driving member for driving the push plate to move is provided in the processing chamber, and a box door is provided on one side of the processing chamber;

[0008] The controller is used to obtain the garbage images collected by the image collector, the controller is used to identify the garbage images and classify the garbage images, and control the sorting robot arm to sort the garbage; during sorting, the controller is used to control the robot arm to crush a single type of garbage into debris, and then vibrate the debris off the grid through the vibration motor, and control the drive part to drive the push plate to move to compress the debris into garbage blocks.

[0009] The above scheme has the following beneficial effects:

[0010] 1. In this solution, the user throws some garbage into the garbage inlet. The garbage is accumulated on the grid, which can hold garbage of a certain volume. Smaller garbage debris will fall directly from the grid and fall into the processing chamber. After the garbage debris that first falls into the processing chamber is cleared, garbage sorting begins.

[0011] 2. In this solution, garbage sorting is based on image recognition. The controller will analyze the types of garbage on the grid and control the sorting robot to sort them. Sorting is carried out according to the type of garbage. After all the garbage of a single type on the grid has been sorted out, the next type of sorting will be carried out. The sorting robot will clamp the garbage during sorting and send the garbage into the shredder through the conveying component, so that the garbage is crushed into debris. Due to the small size of the debris, it will fall into the processing chamber under the action of the vibration motor. Since all the garbage of a single type is picked out during sorting, only a single type of garbage remains in the processing chamber before the next type of sorting is carried out. The drive will drive the push plate to compress the garbage in the processing chamber into garbage blocks.

[0012] 3. In this solution, the mobile platform enables the waste disposal box to be mobile, allowing it to be transported to various trash cans or waste stations for disposal. Because the garbage pieces are large and compact, and the mobile platform's carrying capacity is limited, the number of garbage pieces is relatively small. Therefore, the garbage pieces do not need to be sorted for storage. When unloading from the mobile platform, the garbage is quickly sorted based on the pieces picked up.

[0013] In the existing technology, garbage is sorted separately in different garbage storage chambers. Each type of garbage has to have a storage chamber that takes up a lot of space, resulting in a volume that is too large and not suitable for mobile deployment. At the same time, in order to prevent the garbage from being mixed again after being crushed, the existing technology sets up a separate crushing structure and compression structure in each garbage storage chamber. The structural reuse rate is extremely high and the cost is high. This solution integrates the crusher into the sorting robot arm. The sorted garbage will be crushed into debris and fall off, while the unsorted garbage will remain intact and be located on the grid, so that the sorted garbage and other garbage are clearly distinguished, and the sorting and crushing share the same chamber. Different types of garbage are stored in the form of garbage blocks, without the need for additional garbage storage chambers, which can reduce the overall volume and facilitate mobile deployment.

[0014] Furthermore, the controller is used to control the vibration motor to vibrate after the garbage is put into the garbage delivery port so that the debris mixed in the garbage falls off the grid, and then control the driving member to drive the push plate to move to push the debris out of the box door.

[0015] Beneficial effect: The garbage may contain debris. Since the debris is small and difficult to identify and sort, it is shaken off by a vibration motor and the debris in the processing chamber is pushed out by a push plate.

[0016] Furthermore, the controller is used to control the vibration motor to vibrate and change the stacking state of the garbage on the grid during sorting.

[0017] Beneficial effect: Garbage may be stacked, causing the features of some garbage to be blocked, making it difficult to effectively identify through images. The vibration motor can vibrate continuously to change the stacking state of the garbage on the grid, reducing the probability of some garbage features being blocked.

[0018] Furthermore, the controller is used to control the driving member to drive the push plate to move and push the garbage block out of the box door after compressing the debris into garbage blocks. A receiving groove is provided on the movable carrier, which is used to receive the debris and garbage blocks pushed out of the box door.

[0019] Beneficial effect: The controller can control the driving member to compress when the box door is closed, and push the garbage into the receiving groove for storage after the box door is opened.

[0020] Furthermore, a filter is provided in the receiving tank.

[0021] Beneficial effect: The debris contained in the garbage will also be pushed into the receiving groove. After the debris falls into the receiving groove, it will fall under the filter, while the garbage pieces will be caught by the filter and kept above the filter.

[0022] Furthermore, an air purifier is provided in the garbage disposal box.

[0023] Beneficial effect: Garbage will produce odor, so an air purifier is set up to process the gas in the garbage disposal box to reduce the discomfort caused by the odor.

[0024] Furthermore, the air intake of the air purifier is located in the processing chamber, the air outlet of the air purifier is located at the top of the sorting chamber, and the air outlet direction of the air purifier is toward the bottom of the garbage disposal box.

[0025] Beneficial effect: The air purifier can generate air circulation in the garbage disposal box, and the air flow has a certain driving ability, so the air outlet direction is set toward the bottom of the garbage disposal box, so that the debris on the grid can fall more easily into the processing chamber.

[0026] Furthermore, a solar panel is provided on the garbage disposal box, and a storage battery is provided on the mobile platform.

[0027] Beneficial effects: The mobile platform can go to various garbage bins and garbage sorting stations to sort and recycle garbage. This process involves a lot of outdoor work, so solar panels are installed on the garbage disposal box to use outdoor sunlight to supplement electricity.

[0028] Furthermore, the transmission component is a crawler track, and a plurality of high friction coefficient contact points are provided on the crawler track.

[0029] Beneficial effect: The crawler track can be set on the mechanical claw, and its high friction coefficient contact can enhance the gripping friction of the mechanical claw and also increase the clamping friction of the crawler track.

[0030] Furthermore, the controller identifies junk images based on the trained convolutional neural network, and the convolutional neural network is trained based on the junk image samples after data annotation.

[0031] Beneficial effects: Convolutional neural networks automatically extract local features of garbage images such as texture, shape, and color through convolutional layers, without the need for manual feature design, and can adapt to the complex and changeable appearance of garbage.

[0032] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is an axonometric diagram of an embodiment of a mobile intelligent garbage sorting and recycling robot according to the present invention;

[0034] Figure 2 This is a schematic isometric view from another perspective of an embodiment of the mobile intelligent garbage sorting and recycling robot of the present invention;

[0035] Figure 3 A schematic cross-sectional view of a garbage disposal box of an embodiment of the mobile intelligent garbage sorting and recycling robot of the present invention;

[0036] Figure 4 This is a schematic diagram of the sorting robot arm of an embodiment of the mobile intelligent garbage sorting and recycling robot of the present invention.

[0037] The figure marks in the drawings of the specification include: 1. Mobile platform; 2. Garbage disposal box; 3. Garbage delivery port; 4. Grid; 5. Sorting chamber; 6. Processing chamber; 7. Image collector; 8. Sorting robot arm; 9. Robot claw; 10. Conveying assembly; 11. Crusher; 12. Vibration motor; 13. Push plate; 14. Driving part; 15. Box door; 16. Receiving groove; 17. Filter; 18. Air purifier; 19. Solar power generation panel. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0041] The following is further described in detail through specific implementation methods:

[0042] Example 1:

[0043] As attached Figure 1-Figure 4Figure 1 shows a movable intelligent garbage sorting and recycling robot, comprising a mobile platform 1 and a controller. The mobile platform 1 is a wheeled body. A garbage disposal box 2 is bolted to the mobile platform 1. A garbage inlet 3 is provided on the top of the garbage disposal box 2. A grid 4 is provided inside the garbage disposal box 2. The grid 4 separates the garbage disposal box 2 into a sorting chamber 5 and a processing chamber 6. The sorting chamber 5 is located at the top of the grid 4, and the processing chamber 6 is located at the bottom of the grid 4.

[0044] The sorting chamber 5 is equipped with an image acquisition device 7 and a six-axis sorting robot 8. The image acquisition device 7 is used to capture images of garbage on the grid 4. A controller identifies garbage images based on a trained convolutional neural network. The convolutional neural network is trained on data-labeled garbage image samples, with the number of garbage image samples exceeding 1500. The learning rate of the convolutional neural network is selected to be 0.5. A mechanical claw 9 is bolted to the claw body of the mechanical claw 9. A conveyor assembly 10 is mounted on the claw body of the mechanical claw 9. The conveyor assembly 10 is a crawler track with several high-friction contact points bonded and fixed to the crawler track. A shredder 11 is mounted on the functional end of the sorting robot 8. The conveyor assembly 10 is used to transfer garbage grasped by the mechanical claw 9 to the shredder 11.

[0045] A vibration motor 12 is bonded and fixed on the grid 4, a push plate 13 is provided in the processing chamber 6, a driving member 14 for driving the push plate 13 to move is provided in the processing chamber 6, and the driving member 14 is a hydraulic cylinder. A box door 15 is installed on one side of the processing chamber 6, and the box door 15 is an electric door.

[0046] The controller is used to control the vibration motor 12 to vibrate after garbage is put into the garbage inlet 3 so that the debris mixed in the garbage falls off the grid 4, and then control the driving member 14 to drive the push plate 13 to move and push the debris out of the box door 15.

[0047] The controller is used to control the vibration motor 12 to vibrate and change the stacking state of the garbage on the grid 4 during sorting.

[0048] The user throws some garbage into the garbage inlet 3, and the garbage will accumulate on the grid 4. The grid 4 will carry a certain volume of garbage. The garbage may contain debris. Since the debris is small, it is not easy to identify and sort it. Therefore, the vibration motor 12 is used to shake it off, and the push plate 13 is used to push the debris in the processing chamber 6 out.

[0049] The controller is used to obtain the garbage images collected by the image collector 7, and the controller is used to identify and classify the garbage images. The convolutional neural network automatically extracts local features of the garbage images, such as texture, shape, and color, through the convolutional layer, without the need for manual feature design, and can adapt to the complex and changing appearance of garbage.

[0050] Garbage may be stacked, causing some features of the garbage to be blocked, making it difficult to effectively identify them through images. The vibration motor 12 can continuously vibrate to change the stacking state of the garbage on the grid 4, reducing the probability of some features of the garbage being blocked.

[0051] The sorting is carried out according to the type of garbage. After all the single type of garbage on the grid 4 has been sorted out, the next type of sorting will be carried out. The sorting robot 8 will clamp the garbage during sorting and send the garbage to the crusher 11 through the conveying component 10, so that the garbage is crushed into debris. Due to its small size, the debris will fall into the processing chamber 6 under the vibration of the vibration motor 12. Since all the single type of garbage has been picked out during sorting, only a single type of garbage remains in the processing chamber 6 before the next type of sorting is carried out. The driving member 14 will drive the push plate 13 to compress the garbage in the processing chamber 6 into garbage blocks. After multiple processing, several garbage blocks are obtained, and the garbage blocks are all formed by the compression of a single type of garbage.

[0052] The mobile platform 1 enables the garbage disposal box 2 to be mobile, allowing it to be transported to various garbage bins or garbage stations for garbage disposal. Since the garbage blocks are large and compact and not easily loosened, and the mobile platform 1 has a limited carrying capacity and a small number of garbage blocks, there is no need to sort the garbage blocks for storage. When unloading from the mobile platform 1, the garbage is quickly sorted based on the garbage blocks picked up. Therefore, by sacrificing the function of sorting the garbage blocks, the reuse rate of functional structures such as garbage sorting, removing self-contained debris, changing the garbage stacking state, and compression is higher, and the overall volume of the device can be compressed to a smaller size, making it more suitable for mobile operations.

[0053] Example 2:

[0054] The difference from the above embodiment is that, after the debris is compressed into garbage blocks, the controller controls the driving member 14 to drive the push plate 13 to move and push the garbage blocks out of the box door 15. The movable platform 1 is provided with a receiving groove 16 for receiving the debris and garbage blocks pushed out of the box door 15. A filter 17 is provided in the receiving groove 16.

[0055] The controller can control the driving member 14 to perform compression when the box door 15 is closed, and push the garbage into the receiving groove 16 for storage after the box door 15 is opened, so as to temporarily store the classified and compressed garbage.

[0056] The debris in the garbage will also be pushed into the receiving groove 16. After the debris falls into the receiving groove 16, it will fall under the filter 17, while the garbage block will be caught by the filter 17 and kept above the filter 17. Since the garbage block is large and compact, it will not be mixed with the debris for the second time.

[0057] Example 3:

[0058] The difference from the above embodiment is that an air purifier 18 is installed in the waste disposal box 2. The air intake of the air purifier 18 is located in the processing chamber 6, and the air outlet of the air purifier 18 is located at the top of the sorting chamber 5. The air outlet direction of the air purifier 18 is toward the bottom of the waste disposal box 2.

[0059] The specific implementation process is as follows: Garbage produces odor, so an air purifier 18 is installed to treat the air inside the garbage disposal box 2 to reduce the discomfort caused by the odor. The air purifier 18 can generate air circulation inside the garbage disposal box 2, and this airflow has a certain driving force. Therefore, the air flow is set to be directed toward the bottom of the garbage disposal box 2, so that debris on the grid 4 can more easily fall into the processing chamber 6.

[0060] Example 4:

[0061] The difference from the above embodiment is that a solar panel 19 is bolted to the garbage disposal box 2 and a battery is provided on the mobile platform 1 .

[0062] The specific implementation process is as follows: the mobile platform 1 can go to various garbage bins and garbage sorting stations to carry out garbage sorting and recycling. This process involves a lot of outdoor work, so a solar power generation panel 19 is provided on the garbage disposal box 2 to use outdoor sunlight to supplement electricity.

[0063] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A mobile intelligent garbage sorting and recycling robot, characterized in that: The invention comprises a mobile platform (1) and a controller, wherein a garbage disposal box (2) is provided on the mobile platform (1), a garbage delivery port (3) is provided on the top of the garbage disposal box (2), a grid (4) is provided inside the garbage disposal box (2), and the grid (4) separates the garbage disposal box (2) into a sorting chamber (5) and a processing chamber (6), wherein the sorting chamber (5) is located at the top of the grid (4), and the processing chamber (6) is located at the bottom of the grid (4); An image collector (7) and a sorting mechanical arm (8) are provided in the sorting chamber (5). The image collector (7) is used to collect images of garbage on the grid (4). A mechanical claw (9) is provided at the functional end of the sorting mechanical arm (8). A conveying assembly (10) is provided on the claw body of the mechanical claw (9). A crusher (11) is provided at the functional end of the sorting mechanical arm (8). The conveying assembly (10) is used to convey the garbage clamped by the mechanical claw (9) to the crusher (11). A vibration motor (12) is provided on the grid (4), a push plate (13) is provided in the processing chamber (6), a driving member (14) for driving the push plate (13) to move is provided in the processing chamber (6), and a box door (15) is provided on one side of the processing chamber (6); The controller is used to obtain garbage images collected by the image collector (7), the controller is used to identify the garbage images and classify the garbage images, and control the sorting mechanical arm (8) to sort the garbage; during sorting, the controller is used to control the mechanical arm to crush a single type of garbage into debris, then vibrate the debris from the grid (4) through the vibration motor (12), and control the driving member (14) to drive the push plate (13) to move and compress the debris into garbage blocks.

2. The mobile intelligent garbage sorting and recycling robot according to claim 1 is characterized in that: The controller is used to control the vibration motor (12) to vibrate after garbage is put into the garbage putting port (3) so that debris mixed in the garbage falls off the grid (4), and then control the driving member (14) to drive the push plate (13) to move and push the debris out of the box door (15).

3. The mobile intelligent garbage sorting and recycling robot according to claim 1 is characterized in that: The controller is used to control the vibration motor (12) to vibrate and change the stacking state of the garbage on the grid (4) during sorting.

4. The mobile intelligent garbage sorting and recycling robot according to claim 1 is characterized in that: The controller is used for controlling the driving member (14) to drive the push plate (13) to move and push the garbage block out of the box door (15) after the debris is compressed into garbage blocks. The mobile carrier (1) is provided with a receiving groove (16) for receiving the debris and garbage blocks pushed out of the box door (15).

5. The mobile intelligent garbage sorting and recycling robot according to claim 4 is characterized in that: A filter screen (17) is provided in the receiving groove (16).

6. The mobile intelligent garbage sorting and recycling robot according to claim 1 is characterized in that: An air purifier (18) is provided in the garbage disposal box (2).

7. The mobile intelligent garbage sorting and recycling robot according to claim 6 is characterized in that: The air intake of the air purifier (18) is located in the processing chamber (6), the air outlet of the air purifier (18) is located at the top of the sorting chamber (5), and the air outlet direction of the air purifier (18) is toward the bottom of the garbage processing box (2).

8. The mobile intelligent garbage sorting and recycling robot according to claim 1 is characterized in that: A solar power generation panel (19) is provided on the garbage disposal box (2), and a storage battery is provided on the mobile platform (1).

9. The mobile intelligent garbage sorting and recycling robot according to claim 1, characterized in that: The transmission component (10) is a crawler belt, and a plurality of high friction coefficient contact points are provided on the crawler belt.

10. The mobile intelligent garbage sorting and recycling robot according to claim 1, characterized in that: The controller identifies junk images based on a trained convolutional neural network, and the convolutional neural network is trained based on junk image samples after data annotation.

Images