Classroom garbage self-adaptive sweeping and sorting device based on machine vision

Abstract

The utility model relates to a classroom garbage self-adaptive sweeping and sorting device based on machine vision. The classroom garbage self-adaptive sweeping and sorting device comprises a lifting device, a pose adjusting device and a control device. A collecting box is fixedly arranged on one side of the lifting device; the pose adjusting device is arranged at the top of the lifting device, connected with the connecting rod and used for adjusting the pose of the connecting rod; a visual detector, a rake device and a clamping device are respectively arranged on the connecting rod; the visual detector is used for detecting class room garbage types, positioning class room garbage and sending the class room garbage to the control device; the control device is used for correspondingly controlling the pose adjusting device, the rake device and the clamping device to act according to the class room garbage type and positioning; wherein the posture adjusting device is used for moving the rake device or the clamping device to one side of the classroom garbage, and the rake device or the clamping device is used for collecting the classroom garbage into the collecting box. The class room garbage type can be automatically recognized, the sweeping efficiency is greatly improved through a classification treatment mode, sweeping and sorting of garbage at different positions are achieved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of garbage cleaning, in particular to a classroom garbage adaptive cleaning and sorting device based on machine vision. Background Art

[0002] In the classroom environment, after students use various items, they sometimes leave various types of garbage on the desks and inside the cabinets, such as paper scraps, pencil shavings, food packaging bags, etc., which not only affects the appearance of the desks and deteriorates the sanitary environment, but also attracts students' attention, resulting in a decrease in students' learning efficiency.

[0003] Traditional methods of cleaning desk garbage mostly rely on manual labor, which is inefficient and labor-intensive. Therefore, developing an intelligent device that can automatically identify and clean the garbage on the desk surface and inside the cabinet is of great significance to improve cleaning efficiency and reduce the burden of manpower. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide a classroom garbage adaptive cleaning and sorting device based on machine vision, which can automatically identify the type of classroom garbage and improve the classroom garbage cleaning efficiency.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A classroom garbage adaptive cleaning and sorting device based on machine vision, comprising a lifting device, a posture adjustment device and a control device;

[0007] A collection box is fixedly provided on one side of the lifting device;

[0008] The posture adjustment device is arranged on the top of the lifting device and is connected to a connecting rod, and is used to adjust the posture of the connecting rod;

[0009] The connecting rod is provided with a visual detector, a rake device and a clamping device respectively;

[0010] The visual detector is used to detect the type of classroom garbage and locate the classroom garbage and send it to the control device;

[0011] The control device is used to control the actions of the posture adjustment device, the rake device and the clamping device according to the type and location of the classroom garbage;

[0012] Among them, the posture adjustment device is used to move the rake device or the clamping device to one side of the classroom garbage, and the rake device or the clamping device is used to collect the classroom garbage into the collection box.

[0013] Furthermore, the lifting device includes a lifting bracket, a lifting platform, a worm wheel, a worm and a connecting rod; the worm is arranged on the lifting bracket, the worm wheel and the worm cooperate for transmission, and the two ends of the connecting rod are respectively connected to the lifting platform and the screw; the lifting platform is vertically slidably connected to the lifting bracket, and the posture adjustment device is arranged on the lifting platform.

[0014] Furthermore, the lifting bracket includes four vertical slide rails, and the lifting platform is correspondingly provided with four supporting feet, which are vertically slidably connected to the slide rails, and a transverse bracket is provided between the four slide rails. A worm and two worm wheels are provided on the transverse bracket, and the worm is vertically penetrated through the transverse bracket. The two worm wheels are respectively horizontally disposed on both sides of the worm, and the two worm wheels are both penetrated by shafts. There are four connecting rods in total, and the four connecting rods are arranged one by one corresponding to the four slide rails, and one end of each shaft is connected to a slide rail through a connecting rod.

[0015] Furthermore, the posture adjustment device includes a horizontal rotation device and a vertical rotation device, the horizontal rotation device is arranged on the lifting platform, the vertical rotation device is arranged on the horizontal rotation device, and the connecting rod is arranged on the vertical rotation device.

[0016] Furthermore, the rake device includes a rake, a gear and a rack that can be driven to rotate, the gear is meshed and transmitted to the rack, the rack is fixed to the rake, a collecting plate is provided under the rake, the collecting plate can be driven to rotate and connected to the connecting rod, and the collecting plate is provided above the collecting box.

[0017] Furthermore, a groove arranged upward is provided on the top of the connecting rod, and the rack slides in the groove.

[0018] Furthermore, the collecting box includes a plurality of accommodating chambers, and the plurality of accommodating chambers are respectively located on both sides of the worm gear.

[0019] Furthermore, the clamping device includes a pair of clamping jaws that can be driven to open and close.

[0020] Furthermore, the visual detector is a camera.

[0021] In general, the utility model has the following advantages:

[0022] The utility model introduces machine vision technology to automatically identify the type of classroom garbage and move it to the collection box. The classification and processing method greatly improves the cleaning efficiency. The lifting device can adapt to the different heights of desks and cabinets to clean and sort garbage in different positions, which is of great significance for improving cleaning efficiency and reducing manpower burden. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a side view of the internal structure of the structural assembly of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the lifting device of the utility model;

[0025] Figure 3 It is a schematic diagram of the connecting rod of the sorting mechanism of the utility model;

[0026] Figure 4 It is a schematic diagram of the motion process state of the utility model;

[0027] Figure 5 It is a schematic diagram of the working state of the clamping device of the utility model for clamping small pieces of garbage;

[0028] Figure 6 The utility model is a schematic diagram of the working state of the rake for raking away large pieces of garbage.

[0029] In the figure:

[0030] 1. Collecting box; 2. Lifting bracket; 3. Lifting platform; 4. Worm gear; 5. Worm; 6. Connecting rod; 7. Shaft; 8. Horizontal rotating device; 9. Connecting rod; 10. Collecting plate; 11. Rake; 12. Rack; 13. Gear; 14. Clamping device; 15. Detection bracket; 16. Visual detector. DETAILED DESCRIPTION

[0031] The utility model will be further described in detail below.

[0032] like Figure 1 , Figure 5 , Figure 6 As shown, a classroom garbage adaptive cleaning and sorting device based on machine vision includes a lifting device, a posture adjustment device and a control device;

[0033] A collection box 1 is fixedly provided on one side of the lifting device;

[0034] The posture adjustment device is arranged on the top of the lifting device and is connected to the connecting rod 9, and is used to adjust the posture of the connecting rod 9;

[0035] The connecting rod 9 is provided with a visual detector 16, a rake device and a clamping device 14 respectively;

[0036] The visual detector 16 is used to detect the type of classroom garbage and locate the classroom garbage and send it to the control device;

[0037] The control device is used to control the actions of the posture adjustment device, the rake device and the gripping device 14 according to the type and location of the classroom garbage;

[0038] The posture adjustment device is used to move the rake device or the clamping device 14 to the side of the classroom garbage, and the rake device or the clamping device 14 is used to collect the classroom garbage into the collection box 1.

[0039] When in use, the visual detector 16 first detects the type of classroom garbage and locates the classroom garbage. The control device controls the posture adjustment device, the rake device and the clamping device 14 to act accordingly according to the detection and positioning results of the visual detector 16. For example, when the type of classroom garbage is large garbage, the posture adjustment device adjusts the connecting rod 9 to move the rake device to the side of the small garbage, and the rake device acts to rake the large garbage into the collection box 1; when the type of classroom garbage is small garbage, the posture adjustment device adjusts the connecting rod 9 to move the clamping device 14 to the side of the small garbage, and clamps the small garbage into the collection box 1.

[0040] In this embodiment, the rake device and the clamping device 14 are respectively located on both sides of the connecting rod 9.

[0041] like Figure 2 As shown, the lifting device includes a lifting bracket 2, a lifting platform 3, a worm wheel 4, a worm 5 and a connecting rod 6. The posture adjustment device is arranged on the lifting platform 3. The lifting bracket 2 includes 4 vertical slide rails, and the lifting platform 3 is correspondingly provided with 4 supporting feet, each supporting foot is vertically slidably connected to the corresponding slide rail. A transverse bracket is provided between the 4 slide rails, and a worm 5 and 2 worm wheels 4 are provided on the transverse bracket. The worm 5 is vertically penetrated in the transverse bracket, and the 2 worm wheels 4 are respectively transversely arranged on both sides of the worm 5 and are both driven in cooperation with the worm 5. The 2 worm wheels 4 are both penetrated with shafts 7, and there are 4 connecting rods 6 in total. The 4 connecting rods 6 are arranged one by one with the 4 slide rails, and one end of each shaft 7 is connected to a slide rail through a connecting rod 6. Through the drive of the driving member, the worm 5 can be driven to rotate on the transverse bracket, thereby driving the rotation of the worm wheels 4 on both sides, and the worm wheel 4 drives the shaft 7 penetrated therein to rotate, and the shaft 7 further drives the connecting rod 6 and the supporting feet of the lifting platform 3 to perform lifting and lowering movements on the slide rails.

[0042] The lifting device of the utility model has an adaptive function and can automatically adjust the height according to different cleaning requirements. When cleaning a desktop with a high height, the worm wheel 4 and the worm 5 cooperate with each other, and the worm wheel 4 is connected to the connecting rod 6 through the shaft 7, so as to position the movement of the connecting rod 6. The driving member moves the lifting platform 3 upward inside the lifting bracket 2 through the four interconnected connecting rods 6, so that the sorting mechanism can quickly adapt and reach a suitable height, ensuring the cleaning effect and delivery accuracy.

[0043] In this embodiment, the cross section of the slide rail is C-shaped, and the connecting rod 6 is connected to the support foot of the lifting platform 3 from the notch of the C-shape.

[0044] The posture adjustment device can realize the lifting and lowering of the connecting rod 9 and a 360° rotation, and can quickly switch between the two sorting modes to ensure that the garbage is effectively collected.

[0045] like Figure 4As shown, the posture adjustment device includes a horizontal rotating device 8 and a vertical rotating device (not shown in the figure), the horizontal rotating device 8 is arranged on the lifting platform 3, the vertical rotating device is arranged on the horizontal rotating device 8, and the connecting rod 9 is arranged on the vertical rotating device. Through the horizontal rotating device 8, the connecting rod 9 can be rotated in the horizontal direction to adjust the direction of the rake device and the clamping device 14 according to the type of classroom garbage; through the vertical rotating device, the connecting rod 9 can be rotated in the vertical plane to make the connecting rod 9 lift up or lower down, thereby adjusting the posture of the rake device and the clamping device 14 to better adapt to the position of the classroom garbage to be cleaned.

[0046] like Figure 3 As shown, the top of the connecting rod 9 is provided with an upwardly arranged groove, and the rake device includes a rake 11, a gear 13 driven to rotate by a driving member, and a rack 12, and the rack 12 slides in the groove to make the structure more compact. The gear 13 is meshed and transmitted with the rack 12, and the rack 12 is fixed to the rake 11, so that the rake 11 can move forward and backward.

[0047] A collecting plate 10 is provided below the rake 11, and the rack 12 drives the rake 11 to move forward and backward to rake the garbage into the collecting plate 10. The collecting plate 10 is rotatably connected to the connecting rod 9 by the driving member, and the collecting plate 10 is provided above the collecting box 1. When the collecting plate 10 collects the garbage raked by the rake 11, it can rotate downward to pour the garbage into the collecting box 1.

[0048] The collection box 1 includes a plurality of accommodating chambers, which are respectively located on both sides of the worm wheel 4 and the worm 5, effectively reducing the space occupied by the collection box 1 and improving the convenience of use of the utility model. Different types of garbage can be collected in different accommodating chambers to achieve classified collection of garbage.

[0049] The gripping device 14 includes a pair of gripping jaws driven to open and close by a driving member, and is used to grip smaller classroom garbage.

[0050] In this embodiment, each driving member is a motor.

[0051] The visual detector 16 is a camera, which is connected to the clamping device 14 through a detection bracket 15 .

[0052] The working process of this utility model:

[0053] First, the lifting device lifts the visual detector 16 to a height where it can scan the classroom garbage to be cleaned, and uses the visual detector 16 to detect the type of classroom garbage and locate the classroom garbage. Figure 6As shown, when the classroom garbage is large, the position adjustment device is activated to move the rake device to the side of the classroom garbage. The rotation of the gear 13 drives the rack 12 to move linearly, and the rack 12 drives the rake 11 to extend and retract. The rake 11 rakes the classroom garbage onto the collection plate 10. The collection plate 10 rotates downward, and the classroom garbage on the collection plate 10 is poured downward into the corresponding accommodating cavity of the collection box 1. Figure 5 As shown, when the classroom garbage is small pieces of garbage, the posture adjustment device is activated to move the clamping device 14 to the side of the classroom garbage, and the claws of the clamping device 14 pick up the classroom garbage. Then the posture adjustment device is activated to move the clamping device 14 to the top of the corresponding receiving cavity, and the claws of the clamping device 14 are released to throw the classroom garbage into the receiving cavity.

[0054] In this embodiment, the detection principle and positioning principle of the visual detector 16 and the control principle of the rake device, the clamping device 14 and the collecting plate 10 all adopt the existing technology.

[0055] Compared with the prior art, the beneficial effects of the utility model are:

[0056] 1. By introducing machine vision technology, the utility model can adaptively identify garbage on desks and cabinets, and accurately distinguish garbage of different sizes and types, thereby achieving efficient garbage sorting. This not only improves the quality of cleaning work, but also contributes to the convenience and efficiency of subsequent garbage disposal.

[0057] 2. The utility model uses a rake device and a clamping device 14 to clean the garbage according to its size. Large garbage is quickly cleaned by the rake 11; small garbage is accurately clamped by the clamping device 14. This classification method greatly improves the cleaning efficiency.

[0058] 3. The utility model can adapt to the different heights of desks and cabinets. The flexible lifting and compact and flexible appearance of the lifting device enable it to easily adapt to the narrow space and complex layout in the classroom and clean and sort garbage in different positions.

[0059] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A classroom garbage adaptive cleaning and sorting device based on machine vision, characterized by: It includes a lifting device, a posture adjustment device and a control device; A collection box is fixedly provided on one side of the lifting device; The posture adjustment device is arranged on the top of the lifting device and is connected to a connecting rod, and is used to adjust the posture of the connecting rod; The connecting rod is provided with a visual detector, a rake device and a clamping device respectively; The visual detector is used to detect the type of classroom garbage and locate the classroom garbage and send it to the control device; The control device is used to control the actions of the posture adjustment device, the rake device and the clamping device according to the type and location of the classroom garbage; Among them, the posture adjustment device is used to move the rake device or the clamping device to one side of the classroom garbage, and the rake device or the clamping device is used to collect the classroom garbage into the collection box.

2. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 1, characterized in that: The lifting device includes a lifting bracket, a lifting platform, a worm wheel, a worm and a connecting rod; the worm is arranged on the lifting bracket, the worm wheel and the worm cooperate for transmission, and the two ends of the connecting rod are respectively connected to the lifting platform and the screw; the lifting platform is vertically slidably connected to the lifting bracket, and the posture adjustment device is arranged on the lifting platform.

3. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 2, characterized in that: The lifting bracket includes 4 vertical slide rails, and the lifting platform is provided with 4 supporting feet corresponding to the slide rails. The supporting feet are vertically slidably connected to the slide rails. A transverse bracket is provided between the 4 slide rails. A worm and 2 worm wheels are provided on the transverse bracket. The worm is vertically penetrated through the transverse bracket, and the 2 worm wheels are respectively horizontally disposed on both sides of the worm. The 2 worm wheels are both penetrated by shafts. There are 4 connecting rods in total, and the 4 connecting rods are arranged one by one corresponding to the 4 slide rails, and one end of each shaft is connected to a slide rail through a connecting rod.

4. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 2, characterized in that: The posture adjustment device comprises a horizontal rotating device and a vertical rotating device. The horizontal rotating device is arranged on the lifting platform, the vertical rotating device is arranged on the horizontal rotating device, and the connecting rod is arranged on the vertical rotating device.

5. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 1, characterized in that: The rake device comprises a rake, a gear and a rack which can be driven to rotate. The gear is meshed and transmitted with the rack, and the rack is fixed to the rake. A collecting plate is arranged under the rake, and the collecting plate can be driven to rotate and connected to the connecting rod. The collecting plate is arranged above the collecting box.

6. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 5, characterized in that: The top of the connecting rod is provided with an upwardly arranged groove, and the rack slides in the groove.

7. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 2, characterized in that: The collecting box comprises a plurality of accommodating chambers, and the plurality of accommodating chambers are respectively located on both sides of the worm gear.

8. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 1, characterized in that: The clamping device comprises a pair of clamping jaws which can be driven to open and close.

9. The machine vision-based classroom garbage adaptive cleaning and sorting device according to claim 1, characterized in that: The visual detector is a camera.

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