Intelligent supervision system and method applied to user space information interaction

Abstract

The invention discloses an intelligent supervision system and method applied to user space information interaction, and relates to the technical field of intelligent monitoring management. Garbage included in a monitoring picture of each project point is identified, the garbage position is accurately positioned, and the optimal collection path of a garbage collection robot is planned; invalid movement of the garbage collection robot is reduced, the garbage treatment efficiency is improved, and increase of queuing time of tourists due to garbage delivery is avoided; the loading state and the collection rate of the garbage collection robot in the scenic area are monitored in real time, the load factor of the garbage collection robot is calculated, the garbage transfer path is optimized, efficient utilization of resources is ensured, and the manual scheduling cost is reduced; through the automatic supervision of the user space information, the whole process intelligence from garbage identification, garbage collection to garbage recovery is realized, the refinement level of scenic spot management is improved, the playing experience of tourists is improved, and the contradiction caused by improper garbage disposal is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent monitoring and management, and in particular to an intelligent monitoring system and method applied to user space information interaction. Background Art

[0002] With the continuous improvement of living standards, travel has gradually become an important form of leisure and entertainment for people. Currently, popular attractions at popular tourist attractions attract large numbers of tourists waiting in line to experience them. In such crowded scenes, managing tourist behavior and allocating spatial resources face many challenges.

[0003] At some common attractions in tourist attractions, when tourists produce trash, they can usually dispose of it in the trash cans at the current attraction. However, at some popular attractions, the trash cans at the attraction are often full, and the queues at these popular attractions are long. If tourists waiting in line alone need to dispose of their trash, they can only go to other attractions to find trash cans. When tourists leave the popular attraction and return, they have to queue again. This not only wastes tourists' time, but also may cause conflicts and dissatisfaction among tourists. Therefore, there is an urgent need for an intelligent monitoring system and method for user spatial information interaction. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent supervision system and method for user space information interaction to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent supervision method for user space information interaction, the supervision method comprising: Step S100: Obtain surveillance video data from various project sites within a tourist attraction, identify and label garbage in the hands of tourists in the surveillance video data, obtain garbage location information, and transmit the label and the location information of the garbage corresponding to the label to a garbage collection robot; Step S200: calculating a first target distance for the garbage collection robot to reach each garbage location within the project site, determining a collection priority of each garbage location within the project site, and generating a garbage collection path according to the collection priority by the garbage collection robot; Step S300: Calculating the loading capacity of the garbage collection robot at each project site, obtaining the moving speed of the garbage collection robot at each project site, and calculating the average garbage collection rate of the garbage collection robot; Step S400: Obtain a second target distance between the position of the garbage truck and the position of each garbage collection robot, and calculate the priority of the garbage truck in recycling the garbage collected by the garbage collection robot.

[0006] Furthermore, step S100 includes: Step S101: collecting image data of different types of garbage through big data, using a labeling tool to label the types of garbage in the image data to obtain labeled images, inputting the labeled images into a model to train the model, and obtaining a garbage recognition model; Step S102: Capturing surveillance footage from surveillance video data at each project site at preset time intervals, and inputting the surveillance footage captured at the same time point into a garbage recognition model. The garbage recognition model identifies garbage in the surveillance footage and labels the identified garbage in the surveillance footage. The label includes the project site name, garbage type, and garbage volume. Step S103: Establish a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, and obtain the location information of the garbage identified in each monitoring screen through the coordinate system; input the labels with the same project point name in the labels of the monitoring screen and the location information of the garbage corresponding to the labels into the garbage collection robot at the project point.

[0007] Furthermore, step S200 includes: Step S201: The garbage collection robot at each project site obtains first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen. The garbage collection robot extracts the stored garbage position information and calculates a first target distance for the garbage collection robot to reach each garbage location. ; Where D1 represents the first target distance of the garbage collection robot at each project point to each garbage location within the project point, (X j ,Y j ,Z j ) represents the garbage location information within each project point, (X r ,Y r ,Z r ) represents the first robot position information of the garbage collection robot at each project point; Step S202: Extracting garbage categories from the tags stored by the garbage collection robots at all project sites, counting the occurrence frequency of each garbage category, summing the occurrence frequencies of all garbage categories to obtain the total frequency, and calculating the ratio of the occurrence frequency of each garbage category to the total frequency to obtain the garbage category coefficient corresponding to each garbage category; Step S203: The garbage collection robot at each project site extracts the garbage volume from the stored tags and calculates the collection priority of each garbage location in the project site; ; Among them, P1 represents the collection priority of each garbage location in each project point, k represents the garbage category coefficient corresponding to each garbage category, and M represents the garbage volume contained in each garbage location in each project point; The garbage collection robot at each project point uses the current first robot position as a starting point and all garbage positions as first target points, and adds the first target points to a path planning queue in descending order according to the calculated collection priority, thereby generating a garbage collection path for the garbage collection robot at each project point; The above-mentioned garbage category coefficient is a quantitative indicator used to measure the frequency of occurrence of different garbage categories in various project sites within a tourist attraction. For example, among all garbage types, empty water bottles have the highest garbage category coefficient, indicating that empty water bottles account for a large proportion of this type of garbage. It also indirectly reflects that the number of tourists who need to deliver empty water bottles accounts for a large proportion. The collection priority is calculated by the garbage category coefficient, thereby meeting the garbage delivery needs of most tourists and improving the tourists' travel experience.

[0008] Furthermore, step S300 includes: Step S301: The garbage loading capacity Q of each garbage collection robot at the current time is obtained through the sensors deployed on the garbage collection robot. The loading capacity of the garbage collection robot at each project point is ∆Q = Q max -Q; where Q max is the preset garbage loading threshold of the garbage collection robot; obtain the moving speed S of the garbage collection robot in each project point, extract the first target distance D1 of the garbage collection robot to each garbage location in the project point, and calculate the target time T = D1 ÷ S required for the garbage collection robot to reach the next garbage location from the current first robot position; arrange the calculated target times T in the order of calculation to obtain the target time set {T1, T2, ...T n}, where T1, T2, T n The target times for the garbage collection robot to reach the first, second, and nth garbage locations respectively; Step S302: Extract the garbage volume from the garbage tag corresponding to each garbage location in the project point, and calculate the garbage collection rate V of the garbage collection robot within each target time in the target time set. i =M i ÷T i ; Among them, T i represents the target time of the i-th segment, V i represents the garbage collection rate of the garbage collection robot within the target time segment i, M i represents the volume of garbage contained in the i-th garbage location; calculates the average garbage collection rate of the garbage collection robot; ; Among them, `V represents the average garbage collection rate of the garbage collection robot, and n represents that there are n garbage locations in the project point.

[0009] Furthermore, step S400 includes: Step S401: Obtaining a three-dimensional structural map of the tourist attraction, the three-dimensional structural map displaying in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establishing a coordinate system with the center point of the three-dimensional structural map as the origin, obtaining the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculating a second target distance between the garbage collection truck and each garbage collection robot; ; Where D2 represents the second target distance between the garbage collection vehicle and each garbage collection robot, (X a ,Y a ,Z a ) represents the vehicle location information of the garbage collection vehicle in the tourist attraction, (X b ,Y b ,Z b ) represents the second robot position information of each garbage robot in the tourist attraction; Step S402: Obtain the current garbage loading capacity, garbage loading remaining capacity, and average recycling rate of each garbage collection robot, and calculate the full load rate of each garbage collection robot; ; Among them, R represents the full load rate of each garbage collection robot, and w is the weight coefficient; The garbage collection truck takes the current vehicle position as the starting point and the positions of all second robots as the second target points, and adds the second target points to the path planning queue in order from high to low according to the full load rate of each garbage collection robot to generate the garbage collection path of the garbage collection truck.

[0010] Furthermore, in order to better implement the above method, an intelligent supervision system for user space information interaction is also provided, which includes: a data acquisition module, a collection planning module, a status monitoring module, and a recycling scheduling module; The data collection module collects, identifies, and labels spam data within tourist attractions through monitoring equipment and model training; The collection planning module calculates the collection priority of the garbage collection robot based on the collected garbage information data and generates the garbage collection path of the garbage collection robot; The status monitoring module monitors the loading status and moving speed of the garbage collection robot in real time and calculates the loading margin and average collection rate of the garbage collection robot; The recycling scheduling module generates the optimal recycling path for the garbage collection truck based on the location information, loading status, and vehicle location information of the garbage collection robot.

[0011] Furthermore, the data acquisition module includes: an image training unit, a picture processing unit, and a coordinate positioning unit; An image training unit collects image data of different types of garbage through big data, uses a labeling tool to label the types of garbage in the image data to obtain labeled images, and inputs the labeled images into a model to train the model to obtain a garbage recognition model; The image processing unit captures the surveillance images of the surveillance video data of each project site at a preset time interval, and inputs the surveillance images captured at the same time point into the garbage recognition model. The garbage recognition model identifies garbage in the surveillance images and labels the identified garbage in the surveillance images. The label content includes the project site name, garbage type, and garbage volume. A coordinate positioning unit establishes a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, and obtains the location information of the garbage identified in each monitoring screen through the coordinate system; and inputs the labels with the same project point name in the labels of the monitoring screen and the location information of the garbage corresponding to the labels into the garbage collection robot at the project point.

[0012] Furthermore, the collection planning module includes: a distance calculation unit, a category coefficient unit, and a path generation unit; a distance calculation unit, wherein the garbage collection robot at each project site obtains first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen, the garbage collection robot extracts the stored garbage position information, and calculates a first target distance for the garbage collection robot to reach each garbage location; The category coefficient unit extracts the garbage categories from the labels stored by the garbage collection robots at all project sites, counts the occurrence frequency of each garbage category, accumulates the occurrence frequencies of all garbage categories to obtain the total frequency, and calculates the ratio of the occurrence frequency of each garbage category to the total frequency to obtain the garbage category coefficient corresponding to each garbage category; The path generation unit, the garbage collection robot at each project point extracts the garbage volume from the stored label and calculates the collection priority of each garbage location in the project point; the garbage collection robot at each project point takes the current first robot position as the starting point and all garbage locations as the first target points, and adds the first target points to the path planning queue in descending order according to the calculated collection priority, thereby generating the garbage collection path of the garbage collection robot at each project point.

[0013] Furthermore, the status monitoring module includes: a load calculation unit, a speed calculation unit; a load calculation unit, which obtains the garbage load of each garbage collection robot at the current time through sensors deployed on the garbage collection robot, and calculates the load remaining of the garbage collection robot according to a preset garbage load threshold of the garbage collection robot; The speed calculation unit obtains the moving speed of the garbage collection robot in each project point, extracts the first target distance for the garbage collection robot to reach each garbage location in the project point, calculates the target time required for the garbage collection robot to reach the next garbage location from the current first robot position, arranges the calculated target times T in the order of calculation to obtain a target time set, extracts the garbage volume from the garbage label corresponding to each garbage location in the project point, calculates the garbage collection rate of the garbage collection robot in each target time in the target time set, and calculates the average garbage collection rate of the garbage collection robot by weighted average.

[0014] Furthermore, the recovery scheduling module includes: a coordinate distance unit, a full load rate calculation unit, and a recovery path unit; A coordinate distance unit is configured to obtain a three-dimensional structural diagram of the tourist attraction, wherein the three-dimensional structural diagram displays in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establish a coordinate system with the center point of the three-dimensional structural diagram as the origin, obtain the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculate a second target distance between the garbage collection truck and each garbage collection robot; A full load calculation unit obtains the current garbage loading capacity, garbage loading margin, and average recycling rate of each garbage collection robot, and calculates the full load rate of each garbage collection robot; Recycling path unit, the garbage collection truck takes the current vehicle position as the starting point and the positions of all second robots as the second target points. The second target points are added to the path planning queue in descending order according to the full load rate of each garbage collection robot to generate the garbage collection path of the garbage collection truck.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. Improve recycling efficiency: Use image recognition technology to identify garbage included in the monitoring images of each project site, accurately locate the garbage location, and plan the optimal collection path for the garbage collection robot through a priority algorithm. This will reduce the ineffective movement of the garbage collection robot, improve the garbage disposal efficiency of popular project sites, and avoid tourists from having to wait in line due to garbage delivery.

[0016] 2. Dynamic resource scheduling: Real-time monitoring of the loading status and collection rate of garbage collection robots in the scenic area, calculation of the full load rate of garbage collection robots, optimization of garbage transfer routes, ensuring efficient use of resources and reducing the cost of manual scheduling.

[0017] 3. Intelligent interactive management: Through the automated supervision of user space information, the entire process from garbage identification, garbage collection to garbage recycling is intelligentized, which improves the level of refined scenic area management, improves the tourists' travel experience, and reduces conflicts caused by improper garbage disposal. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the method steps of an intelligent supervision system and method for user space information interaction according to the present invention; Figure 2 This is a schematic diagram of the system structure of an intelligent supervision system and method for user space information interaction according to the present invention. DETAILED DESCRIPTION

[0019] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0020] Example 1: Figure 1 As shown, the present invention provides a technical solution, an intelligent supervision method for user space information interaction, the supervision method comprising: Step S100: Obtain surveillance video data from various project sites within a tourist attraction, identify and label garbage in the hands of tourists in the surveillance video data, obtain garbage location information, and transmit the label and the location information of the garbage corresponding to the label to a garbage collection robot; Wherein, step S100 includes: Step S101: collecting image data of different types of garbage through big data, using a labeling tool to label the types of garbage in the image data to obtain labeled images, inputting the labeled images into a model to train the model, and obtaining a garbage recognition model; Step S102: Capturing surveillance footage from surveillance video data at each project site at preset time intervals, and inputting the surveillance footage captured at the same time point into a garbage recognition model. The garbage recognition model identifies garbage in the surveillance footage and labels the identified garbage in the surveillance footage. The label includes the project site name, garbage type, and garbage volume. Step S103: Establishing a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, obtaining the location information of the garbage identified in each monitoring screen through the coordinate system; inputting the tags with the same project site name and the location information of the garbage corresponding to the tags into the garbage collection robot at the project site; Step S200: calculating a first target distance for the garbage collection robot to reach each garbage location within the project site, determining a collection priority of each garbage location within the project site, and generating a garbage collection path according to the collection priority by the garbage collection robot; Wherein, step S200 includes: Step S201: The garbage collection robot at each project site obtains first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen. The garbage collection robot extracts the stored garbage position information and calculates a first target distance for the garbage collection robot to reach each garbage location. ; Where D1 represents the first target distance of the garbage collection robot at each project point to each garbage location within the project point, (X j ,Y j ,Z j ) represents the garbage location information within each project point, (X r ,Y r ,Z r ) represents the first robot position information of the garbage collection robot at each project point; Step S202: Extracting garbage categories from the tags stored by the garbage collection robots at all project sites, counting the occurrence frequency of each garbage category, summing the occurrence frequencies of all garbage categories to obtain the total frequency, and calculating the ratio of the occurrence frequency of each garbage category to the total frequency to obtain the garbage category coefficient corresponding to each garbage category; Step S203: The garbage collection robot at each project site extracts the garbage volume from the stored tags and calculates the collection priority of each garbage location in the project site; ; Among them, P1 represents the collection priority of each garbage location in each project point, k represents the garbage category coefficient corresponding to each garbage category, and M represents the garbage volume contained in each garbage location in each project point; The garbage collection robot at each project point uses the current first robot position as a starting point and all garbage positions as first target points, and adds the first target points to a path planning queue in descending order according to the calculated collection priority, thereby generating a garbage collection path for the garbage collection robot at each project point; Step S300: Calculating the loading capacity of the garbage collection robot at each project site, obtaining the moving speed of the garbage collection robot at each project site, and calculating the average garbage collection rate of the garbage collection robot; For example, take the "Extreme Speed" project site in a tourist attraction as an example. This site has a dense number of tourists and a high frequency of garbage generation. The specific implementation process is as follows: The coordinate system of the monitoring screen deployed at this project site takes the center point of the monitoring screen as the origin. The current position coordinates of the garbage collection robot A are (5, -3, 2). The garbage recognition model identifies three garbage locations: Garbage 1: coordinates (8,-3,2), garbage type is plastic bottle; Garbage 2: coordinates (5,0,2), garbage type is food packaging bag; Garbage 3: coordinates (5,-3,5), garbage category is beverage bottles; The distance between robot A and garbage 1 is: D1-1=3 meters; The distance between robot A and garbage 2 is: D1-2=3 meters; The distance between robot A and garbage 3 is: D1-3=3 meters; According to the data stored by the garbage collection robot at the project site, the project site generated garbage 100 times, including: Plastic bottles: 50 times; food packaging: 30 times; beverage bottles: 20 times; Plastic bottle category coefficient: k1=50÷100=0.5 Food packaging bag category coefficient: k2=30÷100=0.3 Beverage bottle category coefficient: k3=20÷100=0.2 Get the garbage volume data from the data stored by the garbage collection robot in this project: Garbage 1: 0.5 cubic meters; Garbage 2: 0.3 cubic meters; Garbage 3: 1 cubic meter; Priority calculation: Garbage 1: P1-1=0.2×0.5×3=0.3 Garbage 2: P1-2=0.3×0.3×3=0.27 Garbage 3: P1-3=0.5×1×3=1.5 Path generation: Priority sorting: Garbage 3 > Garbage 1 > Garbage 2 Garbage collection robot A starts from its current position (5,-3,2) and moves to positions (5,-3,5)→(8,-3,2)→(5,0,2) in order of priority. Wherein, step S300 includes: Step S301: The garbage loading capacity Q of each garbage collection robot at the current time is obtained through the sensors deployed on the garbage collection robot. The loading capacity of the garbage collection robot at each project point is ∆Q = Q max -Q; where Q max is the preset garbage loading threshold of the garbage collection robot; obtain the moving speed S of the garbage collection robot in each project point, extract the first target distance D1 of the garbage collection robot to each garbage location in the project point, and calculate the target time T = D1 ÷ S required for the garbage collection robot to reach the next garbage location from the current first robot position; arrange the calculated target times T in the order of calculation to obtain the target time set {T1, T2, ...T n}, where T1, T2, T n The target times for the garbage collection robot to reach the first, second, and nth garbage locations respectively; Step S302: Extract the garbage volume from the garbage tag corresponding to each garbage location in the project point, and calculate the garbage collection rate V of the garbage collection robot within each target time in the target time set. i =M i ÷T i ; Among them, T i represents the target time of the i-th segment, V i represents the garbage collection rate of the garbage collection robot within the target time segment i, M i represents the volume of garbage contained in the i-th garbage location; calculates the average garbage collection rate of the garbage collection robot; ; Wherein, `V represents the average garbage collection rate of the garbage collection robot, and n represents the total number of n garbage locations in the project site; Step S400: obtaining a second target distance between the position of the garbage truck and the position of each garbage collection robot, and calculating the priority of the garbage truck for recycling the garbage collected by the garbage collection robot; Wherein, step S400 includes: Step S401: Obtaining a three-dimensional structural map of the tourist attraction, the three-dimensional structural map displaying in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establishing a coordinate system with the center point of the three-dimensional structural map as the origin, obtaining the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculating a second target distance between the garbage collection truck and each garbage collection robot; ; Where D2 represents the second target distance between the garbage collection vehicle and each garbage collection robot, (Xa ,Y a ,Z a ) represents the vehicle location information of the garbage collection vehicle in the tourist attraction, (X b ,Y b ,Z b ) represents the second robot position information of each garbage robot in the tourist attraction; Step S402: Obtain the current garbage loading capacity, garbage loading remaining capacity, and average recycling rate of each garbage collection robot, and calculate the full load rate of each garbage collection robot; ; Among them, R represents the full load rate of each garbage collection robot, and w is the weight coefficient; The garbage collection vehicle uses the current vehicle position as the starting point and the positions of all second robots as the second target points, and adds the second target points to the path planning queue in descending order according to the full load rate of each garbage collection robot, thereby generating a garbage collection path for the garbage collection vehicle; Example 2: Figure 2 As shown, in order to better implement the above method, an intelligent supervision system for user space information interaction is also provided, which includes: a data acquisition module, a collection planning module, a status monitoring module, and a recycling scheduling module; The data collection module collects, identifies, and labels spam data within tourist attractions through monitoring equipment and model training; The collection planning module calculates the collection priority of the garbage collection robot based on the collected garbage information data and generates the garbage collection path of the garbage collection robot; The status monitoring module monitors the loading status and moving speed of the garbage collection robot in real time and calculates the loading margin and average collection rate of the garbage collection robot; The recycling scheduling module generates the optimal recycling route for the garbage collection vehicle based on the location information, loading status, and vehicle location information of the garbage collection robot; Among them, the data acquisition module includes: image training unit, picture processing unit, coordinate positioning unit; An image training unit collects image data of different types of garbage through big data, uses a labeling tool to label the types of garbage in the image data to obtain labeled images, and inputs the labeled images into a model to train the model to obtain a garbage recognition model; The image processing unit captures the surveillance images of the surveillance video data of each project site at a preset time interval, and inputs the surveillance images captured at the same time point into the garbage recognition model. The garbage recognition model identifies garbage in the surveillance images and labels the identified garbage in the surveillance images. The label content includes the project site name, garbage type, and garbage volume. A coordinate positioning unit is configured to establish a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, and obtain the location information of the garbage identified in each monitoring screen through the coordinate system; and input the labels of the monitoring screen with the same project site name and the location information of the garbage corresponding to the labels into the garbage collection robot at the project site; Among them, the collection planning module includes: distance calculation unit, category coefficient unit, and path generation unit; a distance calculation unit, wherein the garbage collection robot at each project site obtains first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen, the garbage collection robot extracts the stored garbage position information, and calculates a first target distance for the garbage collection robot to reach each garbage location; The category coefficient unit extracts the garbage categories from the labels stored by the garbage collection robots at all project sites, counts the occurrence frequency of each garbage category, accumulates the occurrence frequencies of all garbage categories to obtain the total frequency, and calculates the ratio of the occurrence frequency of each garbage category to the total frequency to obtain the garbage category coefficient corresponding to each garbage category; A path generation unit, in which the garbage collection robot at each project site extracts the garbage volume from the stored tags and calculates the collection priority of each garbage location at the project site; the garbage collection robot at each project site uses the current first robot position as the starting point and all garbage locations as the first target points, and adds the first target points to the path planning queue in descending order according to the calculated collection priority, thereby generating a garbage collection path for the garbage collection robot at each project site; Among them, the status monitoring module includes: a load calculation unit and a speed calculation unit; a load calculation unit, which obtains the garbage load of each garbage collection robot at the current time through sensors deployed on the garbage collection robot, and calculates the load remaining of the garbage collection robot according to a preset garbage load threshold of the garbage collection robot; a speed calculation unit, which obtains the moving speed of the garbage collection robot in each project point, extracts the first target distance for the garbage collection robot to reach each garbage location in the project point, calculates the target time required for the garbage collection robot to reach the next garbage location from the current first robot position, arranges the calculated target times T in the order of calculation to obtain a target time set, extracts the garbage volume from the garbage label corresponding to each garbage location in the project point, calculates the garbage collection rate of the garbage collection robot within each target time in the target time set, and calculates the average garbage collection rate of the garbage collection robot by weighted average; Among them, the recovery scheduling module includes: coordinate distance unit, full load rate calculation unit, and recovery path unit; A coordinate distance unit is configured to obtain a three-dimensional structural diagram of the tourist attraction, wherein the three-dimensional structural diagram displays in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establish a coordinate system with the center point of the three-dimensional structural diagram as the origin, obtain the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculate a second target distance between the garbage collection truck and each garbage collection robot; A full load calculation unit obtains the current garbage loading capacity, garbage loading margin, and average recycling rate of each garbage collection robot, and calculates the full load rate of each garbage collection robot; Recycling path unit, the garbage collection truck takes the current vehicle position as the starting point and the positions of all second robots as the second target points. The second target points are added to the path planning queue in descending order according to the full load rate of each garbage collection robot to generate the garbage collection path of the garbage collection truck.

[0021] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent supervision method for user space information interaction, characterized by: The regulatory approaches include: Step S100: Obtain surveillance video data from various project sites within a tourist attraction, identify and label garbage in the hands of tourists in the surveillance video data, obtain garbage location information, and transmit the label and the location information of the garbage corresponding to the label to a garbage collection robot; Step S200: calculating a first target distance for the garbage collection robot to reach each garbage location within the project site, determining a collection priority of each garbage location within the project site, and generating a garbage collection path according to the collection priority by the garbage collection robot; Step S300: Calculating the loading capacity of the garbage collection robot at each project site, obtaining the moving speed of the garbage collection robot at each project site, and calculating the average garbage collection rate of the garbage collection robot; Step S400: Obtain a second target distance between the position of the garbage truck and the position of each garbage collection robot, and calculate the priority of the garbage truck in recycling the garbage collected by the garbage collection robot.

2. The intelligent supervision method for user space information interaction according to claim 1, characterized in that: Step S100 includes: Step S101: collecting image data of different types of garbage through big data, using a labeling tool to label the types of garbage in the image data to obtain labeled images, inputting the labeled images into a model to train the model, and obtaining a garbage recognition model; Step S102: Capturing surveillance footage from surveillance video data at each project site at preset time intervals, and inputting the surveillance footage captured at the same time point into a garbage recognition model. The garbage recognition model identifies garbage in the surveillance footage and labels the identified garbage in the surveillance footage. The label includes the project site name, garbage type, and garbage volume. Step S103: Establish a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, and obtain the location information of the garbage identified in each monitoring screen through the coordinate system; input the labels with the same project point name in the labels of the monitoring screen and the location information of the garbage corresponding to the labels into the garbage collection robot at the project point.

3. The intelligent supervision method for user space information interaction according to claim 1, characterized in that: Step S200 includes: Step S201: The garbage collection robot at each project site obtains first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen. The garbage collection robot extracts the stored garbage position information and calculates a first target distance for the garbage collection robot to reach each garbage location. ； Where D1 represents the first target distance of the garbage collection robot at each project point to each garbage location within the project point, (X j ,Y j ,Z j ) represents the garbage location information within each project point, (X r ,Y r ,Z r ) represents the first robot position information of the garbage collection robot at each project point; Step S202: Extracting garbage categories from the tags stored by the garbage collection robots at all project sites, counting the occurrence frequency of each garbage category, summing the occurrence frequencies of all garbage categories to obtain the total frequency, and calculating the ratio of the occurrence frequency of each garbage category to the total frequency to obtain the garbage category coefficient corresponding to each garbage category; Step S203: The garbage collection robot at each project site extracts the garbage volume from the stored tags and calculates the collection priority of each garbage location in the project site; ； Among them, P1 represents the collection priority of each garbage location in each project point, k represents the garbage category coefficient corresponding to each garbage category, and M represents the garbage volume contained in each garbage location in each project point; The garbage collection robot at each project point takes the current first robot position as the starting point and all garbage positions as the first target points, and adds the first target points to the path planning queue in order from high to low according to the calculated collection priority, thereby generating the garbage collection path of the garbage collection robot at each project point.

4. The intelligent supervision method for user space information interaction according to claim 1, characterized in that: Step S300 includes: Step S301: The garbage loading capacity Q of each garbage collection robot at the current time is obtained through the sensors deployed on the garbage collection robot. The loading capacity of the garbage collection robot at each project point is ∆Q = Q max -Q; where Q max is the preset garbage loading threshold of the garbage collection robot; obtain the moving speed S of the garbage collection robot in each project point, extract the first target distance D1 of the garbage collection robot to each garbage location in the project point, and calculate the target time T = D1 ÷ S required for the garbage collection robot to reach the next garbage location from the current first robot position; arrange the calculated target times T in the order of calculation to obtain the target time set {T1, T2, ...T n }, where T1, T2, T n The target times for the garbage collection robot to reach the first, second, and nth garbage locations respectively; Step S302: Extract the garbage volume from the garbage tag corresponding to each garbage location in the project point, and calculate the garbage collection rate V of the garbage collection robot within each target time in the target time set. i =M i ÷T i ; Among them, T i represents the target time of the i-th segment, V i represents the garbage collection rate of the garbage collection robot within the target time segment i, M i represents the volume of garbage contained in the i-th garbage location; calculates the average garbage collection rate of the garbage collection robot; ； Among them, `V represents the average garbage collection rate of the garbage collection robot, and n represents that there are n garbage locations in the project point.

5. The intelligent supervision method for user space information interaction according to claim 1, characterized in that: Step S400 includes: Step S401: Obtaining a three-dimensional structural map of the tourist attraction, the three-dimensional structural map displaying in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establishing a coordinate system with the center point of the three-dimensional structural map as the origin, obtaining the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculating a second target distance between the garbage collection truck and each garbage collection robot; ； Where D2 represents the second target distance between the garbage collection vehicle and each garbage collection robot, (X a ,Y a ,Z a ) represents the vehicle location information of the garbage collection vehicle in the tourist attraction, (X b ,Y b ,Z b ) represents the second robot position information of each garbage robot in the tourist attraction; Step S402: Obtain the current garbage loading capacity, garbage loading remaining capacity, and average recycling rate of each garbage collection robot, and calculate the full load rate of each garbage collection robot; ； Among them, R represents the full load rate of each garbage collection robot, and w is the weight coefficient; The garbage collection truck takes the current vehicle position as the starting point and the positions of all second robots as the second target points, and adds the second target points to the path planning queue in order from high to low according to the full load rate of each garbage collection robot to generate the garbage collection path of the garbage collection truck.

6. An intelligent supervision system for user space information interaction, configured to execute the intelligent supervision method for user space information interaction according to claims 1-5, characterized in that: The supervision system includes: data acquisition module, collection planning module, status monitoring module, and recycling scheduling module; The data collection module collects, identifies and labels spam data in tourist attractions through monitoring equipment and model training; The collection planning module calculates the collection priority of the garbage collection robot based on the collected garbage information data and generates a garbage collection path for the garbage collection robot; The state monitoring module monitors the loading state and moving speed of the garbage collection robot in real time and calculates the loading margin and average collection rate of the garbage collection robot; The recycling scheduling module generates an optimal recycling path for the garbage collection vehicle based on the location information and loading status of the garbage collection robot and the location information of the garbage collection vehicle.

7. The intelligent monitoring system for user space information interaction according to claim 6, characterized in that: The data acquisition module includes: an image training unit, a picture processing unit, and a coordinate positioning unit; The image training unit collects image data of different types of garbage through big data, uses a labeling tool to label the types of garbage in the image data to obtain labeled images, and inputs the labeled images into the model to train the model to obtain a garbage recognition model; The image processing unit captures surveillance images of the surveillance video data of each project site at a preset time interval, and inputs the surveillance images captured at the same time point into a garbage recognition model. The garbage recognition model identifies garbage in the surveillance images and labels the identified garbage in the surveillance images. The label content includes the project site name, garbage type, and garbage volume. The coordinate positioning unit establishes a coordinate system for each monitoring screen with the center of the monitoring screen as the origin, and obtains the location information of the garbage identified in each monitoring screen through the coordinate system; the labels with the same project point name in the labels of the monitoring screen and the location information of the garbage corresponding to the labels are input into the garbage collection robot at the project point.

8. The intelligent monitoring system for user space information interaction according to claim 6, characterized in that: The collection planning module includes: a distance calculation unit, a category coefficient unit, and a path generation unit; The distance calculation unit, wherein the garbage collection robot at each project point obtains the first robot position information of each garbage collection robot in each monitoring screen through the coordinate system of the monitoring screen, and the garbage collection robot extracts the stored garbage position information and calculates the first target distance of the garbage collection robot to each garbage location; The category coefficient unit extracts garbage categories from the labels stored by the garbage collection robots at all project sites, counts the frequency of occurrence of each garbage category, accumulates the frequency of occurrence of all garbage categories to obtain a total frequency, calculates the ratio of the frequency of occurrence of each garbage category to the total frequency, and obtains the garbage category coefficient corresponding to each garbage category; The path generation unit, the garbage collection robot at each project point extracts the garbage volume from the stored label and calculates the collection priority of each garbage location in the project point; the garbage collection robot at each project point takes the current first robot position as the starting point and all garbage locations as the first target points, and adds the first target points to the path planning queue in order from high to low according to the calculated collection priority, and generates the garbage collection path of the garbage collection robot in each project point.

9. The intelligent monitoring system for user space information interaction according to claim 6, characterized in that: The state monitoring module includes: a load calculation unit and a speed calculation unit; The load calculation unit obtains the garbage load of each garbage collection robot at the current time through sensors deployed on the garbage collection robots, and calculates the load remaining of the garbage collection robot according to a preset garbage load threshold of the garbage collection robot; The speed calculation unit obtains the moving speed of the garbage collection robot in each project point, extracts the first target distance for the garbage collection robot to reach each garbage location in the project point, calculates the target time required for the garbage collection robot to reach the next garbage location from the current first robot position, arranges the calculated target time T in the order of calculation to obtain a target time set, extracts the garbage volume from the garbage label corresponding to each garbage location in the project point, calculates the garbage collection rate of the garbage collection robot within each target time in the target time set, and calculates the average garbage collection rate of the garbage collection robot by weighted average.

10. The intelligent monitoring system for user space information interaction according to claim 6, characterized in that: The recycling scheduling module includes: a coordinate distance unit, a full load rate calculation unit, and a recycling path unit; The coordinate distance unit obtains a three-dimensional structural map of the tourist attraction, wherein the three-dimensional structural map displays in real time the position information of the garbage collection truck and the garbage collection robot at each project site; establishes a coordinate system with the center point of the three-dimensional structural map as the origin, obtains the vehicle position information and the second robot position information of the garbage collection truck and the garbage collection robot in the tourist attraction, respectively; and calculates a second target distance between the garbage collection truck and each garbage collection robot; The full load calculation unit obtains the current garbage loading capacity, garbage loading remainder, and average recycling rate of each garbage collection robot and calculates the full load rate of each garbage collection robot; The recycling path unit, the garbage collection truck takes the current vehicle position as the starting point, and all second robot positions as the second target points, and adds the second target points to the path planning queue in order from high to low according to the full load rate of each garbage collection robot to generate the garbage collection path of the garbage collection truck.

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