Indoor inspection classification garbage can based on machine vision

Abstract

The utility model relates to an indoor inspection classification garbage can based on machine vision, which belongs to the technical field of intelligent equipment and comprises a Mecanum wheel omni-directional chassis used for supporting and moving a main body of the whole device; the rack is arranged on the Mecanum wheel omnidirectional chassis and is used for supporting and fixing; the cover opening mechanism capable of being opened and closed is arranged at the top of the rack and used for recognizing and throwing garbage types; the rotatable grooved wheel can changing mechanism is arranged in the center of the Mecanum wheel omni-directional chassis and comprises a plurality of garbage cans for throwing different types of garbage, and the garbage cans can intermittently rotate and are detachable; and when the can outlet mechanism is in a rising state, the can outlet mechanism is connected with the garbage can to detach and move out the garbage can, so that the bag replacement operation is carried out. And a camera is further arranged to identify garbage types. The device is suitable for garbage classification work in indoor places with narrow activity spaces, the intelligent degree is high, the classification efficiency is high, and manpower and material resources can be saved.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent equipment technology, and in particular relates to an indoor inspection and sorting trash can based on machine vision. Background Technology

[0002] At present, some progress has been made in garbage sorting, which is closely related to the complete garbage sorting system and fixed garbage sorting collection points. However, the current garbage sorting is mainly done by manpower, which has problems such as low sorting efficiency, insufficient sorting accuracy and weak sorting awareness.

[0003] As a result, some intelligent sorting trash cans have emerged to replace manual labor. Although they can automatically identify and sort trash types to a certain extent, they generally have the drawbacks of taking up a large area and having difficulty changing bags for individual types of trash cans. They are also generally suitable for situations with a wide coverage area, but not for indoor places with limited activity space. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an indoor inspection and sorting trash can based on machine vision, which is characterized by intelligence, high efficiency, and saving manpower and resources.

[0005] A machine vision-based indoor inspection and sorting trash can includes a Mecanum wheel omnidirectional chassis (2) for supporting the main body and moving the entire device;

[0006] The frame (1) is mounted on the Mecanum wheel omnidirectional chassis (2) for support and fixation;

[0007] An openable cover mechanism (5) is installed on the top of the frame (1) for identifying and disposing of waste types;

[0008] A rotatable grooved wheel bin-changing mechanism (3) is set in the center of the Mecanum wheel omnidirectional chassis (2), including multiple garbage bins (11) for disposing of different types of garbage. The garbage bins (11) can rotate intermittently and are detachable.

[0009] The lifting and horizontally movable bin dispensing mechanism (4) is located on one side of the Mecanum wheel omnidirectional chassis (2). When the bin dispensing mechanism (4) is in the raised state, it is connected to the trash can (11) to disassemble and remove the trash can (11) for bag replacement operation.

[0010] The camera (54) is used to capture images of the garbage that is put into the opening mechanism (5) and transmit the image data to the control system to identify the garbage category.

[0011] The Mecanum wheel omnidirectional chassis (2) includes a horizontally arranged base plate (6), and double-layer side baffles (10) are fixedly connected to both sides of the base plate (6); the encoder reduction motor (7) is connected to the four corners of the double-layer side baffles (10), and one end of the drive motor output optical shaft (8) is connected to the output shaft of the encoder reduction motor (7) through a coupling, and the other end passes through the double-layer side baffles (10) and is connected to the Mecanum wheel (9) through a coupling.

[0012] The grooved wheel bin changing mechanism (3) includes a vertically arranged garbage bin support shaft (17). The top end of the garbage bin support shaft (17) is rotatably connected to the frame (1) via a bearing, and the bottom end is rotatably connected to the Mecanum wheel omnidirectional chassis (2) via a bearing. The upper hanging plate (14) and the lower hanging plate (15) are coaxially fixed in the middle of the garbage bin support shaft (17). Multiple garbage bins (11) for holding different types of garbage are vertically arranged and fixedly connected to the upper fixing plate (12) and the lower fixing plate (13) of the bin, and are evenly distributed around the circumference of the garbage bin support shaft (17). The fixing ring on the body of the garbage bin (11) is detachably connected to the upper fixing plate (12) and the lower fixing plate (13) of the bin via a fixing pin (16). The garbage bin (11) rotates intermittently through an intermittent rotation mechanism.

[0013] The intermittent rotation mechanism includes a garbage bin rotation force transmission frame (18), which adopts a cross-shaped structure and is coaxially fixed to the bottom of the garbage bin support shaft (17); a U-shaped force transmission groove (25) is provided on each arm of the garbage bin rotation force transmission frame (18); each pair of adjacent arms are connected by a concave arc surface.

[0014] The dial support shaft (20) is vertically set, and the bottom of the dial support shaft (20) is rotatably connected to the Mecanum wheel omnidirectional chassis (2) through a bearing. The top of the dial support shaft (20) is fixedly connected to the upper center of the garbage bin rotary dial (19). The garbage bin rotary pin (21) is vertically and eccentrically fixed on the garbage bin rotary dial (19) and cooperates with the U-shaped force transmission groove (25).

[0015] The garbage bin rotation drive motor (22) is mounted on the frame (1), and the garbage bin rotation drive gear (23) is fixed on the motor shaft of the garbage bin rotation drive motor (22); the garbage bin rotation driven gear (24) is coaxially fixed on the bottom end of the dial support shaft (20), and the garbage bin rotation driven gear (24) meshes with the garbage bin rotation drive gear (23).

[0016] The bottom of the trash can support shaft (17) is provided with an arc-shaped protrusion.

[0017] The barrel dispensing mechanism (4) includes a support plate horizontal motion reduction motor (27) fixedly connected to the frame (1), a support plate horizontal motion gear (28) connected to the power output shaft of the support plate horizontal motion reduction motor (27), a support plate horizontal motion rack (29) fixedly connected to the bottom surface of the scissor lift base plate (45) and meshing with the support plate horizontal motion gear (28); a support plate horizontal motion guide rail (30) fixedly mounted on the frame, and a support plate horizontal motion guide rail slider (31) at the bottom of the scissor lift base plate (45) slidably connected to the support plate horizontal motion guide rail (30);

[0018] The support plate lifting motion stepper motor (32) is fixedly connected to the scissor lift base plate (45). The support plate lifting motion drive pulley (33) is fixedly mounted on the output shaft of the support plate lifting motion stepper motor (32). The support plate lifting motion driven pulley (34) is fixedly mounted in the center of the support plate lifting motion positive and negative tooth ball screw (36) and is connected to the support plate lifting motion drive pulley (33) for transmission. The support plate lifting motion positive and negative tooth ball screw (36) is arranged horizontally. The lower guide rail (43) of the scissor lift is fixedly mounted on the upper part of the scissor lift base plate (45). The lower guide rail slider of the scissor lift ( 44) The slidable connection is on the lower guide rail (43) of the scissor lift. The two ends of the scissor lift connecting rod (40) are fixed on the sliders (44) of the lower guide rail on both sides of the scissor lift. The support plate lifting motion positive and negative tooth ball screw (36) passes through the scissor lift connecting rod (40) and the support plate lifting motion driven pulley (34). The two ends are connected to the support plate lifting motion positive and negative tooth ball screw bearing seats (37) through bearings. The support plate lifting motion positive and negative tooth ball screw (36) is threadedly connected to the scissor lift connecting rod (40). The lifting mechanism is set on the scissor lift base plate (45).

[0019] The lifting mechanism includes a support plate lifting telescopic rod (38), which is vertically arranged and its top end is fixedly connected to the garbage bin support plate (26), and its bottom end is fixed to the scissor lift base plate (45) by bearings; the scissor lift rod (39) consists of two connecting rods connected in an X-shape, and the cross connection is connected by bearings. One end of the scissor lift rod (39) is rotatably mounted on the scissor lift connecting rod (40), and the other end is rotatably connected to the upper guide rail slider (42) of the scissor lift; the upper guide rail slider (42) of the scissor lift is slidably connected to the upper guide rail (41) of the scissor lift, and the upper guide rail (41) of the scissor lift is fixedly mounted on the bottom surface of the garbage bin support plate (26).

[0020] The upper part of the trash can support plate (26) has an arc-shaped groove, which matches the arc-shaped protrusion at the bottom of the trash can support shaft (17) to achieve a movable connection with the trash can (11).

[0021] The opening mechanism (5) includes a support base plate (46) fixedly connected to the frame (1), an opening reduction motor (47) fixedly mounted on the support base plate (46), one end of a support optical shaft (48) vertically mounted on the support base plate (46) via a bearing, and the other end connected to the frame (1) via a bearing; the opening drive gear (49) is fixedly connected to the power output shaft of the opening reduction motor (47), the opening driven gear (50) is fixedly connected to the support optical shaft (48), and the opening driven gear (50) meshes with the opening drive gear (49); the left opening plate (51) is fixedly connected to the power output shaft of the opening reduction motor (47), and the right opening plate (52) is fixedly connected to the support optical shaft (48); the support base plate (46) is provided with a garbage inlet corresponding to the connection between the left opening plate (51) and the right opening plate (52).

[0022] It also includes a lidar (55) mounted on the rack, which can transmit position information to the control system so that the control system can complete path planning and also be used for obstacle avoidance during autonomous navigation inspection.

[0023] The beneficial effects of this utility model are: it is suitable for garbage sorting in indoor spaces with limited activity space, providing "on-call" service; it also has a bin dispensing function, automatically dispensing an overflowing bin for users to replace garbage bags. Furthermore, this garbage bin facilitates garbage sorting, is highly intelligent, and efficient, saving manpower and resources.

[0024] Furthermore, this utility model is equipped with a camera and a lidar system, enabling it to automatically identify the type of waste and dispose of it in the appropriate bin. It also features autonomous navigation and inspection capabilities via lidar and the control system. This utility model can autonomously navigate and inspect indoors, in places such as trains and restaurants. Attached Figure Description

[0025] Figure 1 A schematic diagram of an indoor inspection and sorting trash can based on machine vision provided by this utility model. Figure 1 ;

[0026] Figure 2 A schematic diagram of an indoor inspection and sorting trash can based on machine vision provided by this utility model. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the Mecanum wheel omnidirectional chassis in this utility model;

[0028] Figure 4 This is a schematic diagram of the grooved wheel barrel changing mechanism in this utility model;

[0029] Figure 5This is a schematic diagram of the opening mechanism in this utility model;

[0030] Figure 6 This is a schematic diagram of the dispensing mechanism in this utility model;

[0031] in,

[0032] 1-Frame, 2-Mecanum wheel omnidirectional chassis, 3-Groove wheel bin changing mechanism, 4-Bin dispensing mechanism, 5-Lid opening mechanism, 6-Base plate, 7-Encoder geared motor, 8-Drive motor output optical shaft, 9-Mecanum wheel, 10-Double-layer side baffle, 11-Trash can, 12-Upper bin fixing plate, 13-Lower bin fixing plate, 14-Upper hanging plate, 15-Lower hanging plate, 16-Fixing pin, 17-Trash can support shaft, 18- Trash can rotation transmission frame, 19-Trash can rotation dial, 20-Dial support shaft, 21-Trash can rotation pin, 22-Trash can rotation drive motor, 23-Trash can rotation drive gear, 24-Trash can rotation driven gear, 25-U-shaped transmission groove, 26-Trash can support plate, 27-Support plate horizontal movement reduction motor, 28-Support plate horizontal movement gear, 29-Support plate horizontal movement rack, 30-Support plate horizontal movement guide rail, 31-Support plate horizontal movement guide rail slider, 32-Support plate lifting movement stepper motor, 33-Support plate lifting movement drive pulley, 34-Support plate lifting movement driven pulley, 35-Support plate lifting movement belt, 36-Support plate lifting movement positive and negative toothed ball screw, 37-Support plate lifting movement positive and negative toothed ball screw bearing seat, 38-Support plate lifting movement telescopic rod, 39-Scissor lift rod, 40-Scissor lift... 41-Scissor lift connecting rod; 42-Scissor lift upper guide rail; 43-Scissor lift lower guide rail; 44-Scissor lift lower guide rail slider; 45-Scissor lift base plate; 46-Support base plate; 47-Opening gear reducer motor; 48-Support optical axis; 49-Opening drive gear; 50-Opening driven gear; 51-Left opening plate; 52-Right opening plate; 53-Guide barrel; 54-Camera; 55-LiDAR. Detailed Implementation

[0033] To better explain and facilitate understanding of this utility model, the technical solution and effects of this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] A machine vision-based indoor inspection and sorting trash can, such as Figure 1-6As shown, the device includes a frame 1, a Mecanum wheel omnidirectional chassis 2, a grooved wheel bin-changing mechanism 3, a bin-dispensing mechanism 4, and a lid-opening mechanism 5. The frame 1 is mounted on the Mecanum wheel omnidirectional chassis 2 and fixed to its four corners. The Mecanum wheel omnidirectional chassis 2 enables omnidirectional inspection and navigation of the device. The grooved wheel bin-changing mechanism 3 is located in the center of the Mecanum wheel omnidirectional chassis 2 and uses an intermittent rotation mode to rotate the corresponding type of trash can 11 to the appropriate position. The bin-dispensing mechanism 4 is located on one side of the Mecanum wheel omnidirectional chassis 2 and is used to deliver the trash can 11 for the user to change the bag. The lid-opening mechanism 5 is located on the top of the frame 1 to allow the trash to be deposited.

[0035] The Mecanum wheel omnidirectional chassis 2 includes a base plate 6, an encoder reduction motor 7, a drive motor output optical shaft 8, a Mecanum wheel 9, and double-layer side baffles 10. The base plate 6 is horizontally arranged, and the double-layer side baffles 10 are fixedly connected to both sides of the base plate 6 by single-head copper columns. The encoder reduction motor 7 is connected to the four corners of the double-layer side baffles 10 through a motor frame. One end of the drive motor output optical shaft 8 is connected to the output shaft of the encoder reduction motor 7 through a plum blossom coupling, and the other end passes through the bearing in the bushing on the double-layer side baffles 10 and is connected to the Mecanum wheel 9 through a coupling.

[0036] The grooved wheel bin-changing mechanism 3 includes a trash can 11, an upper fixing plate 12, a lower fixing plate 13, an upper hanging plate 14, a lower hanging plate 15, a fixing pin 16, a trash can support shaft 17, a trash can rotation transmission frame 18, a trash can rotation dial 19, a dial support shaft 20, a trash can rotation pin 21, a trash can rotation drive motor 22, a trash can rotation drive gear 23, and a trash can rotation driven gear 24. The trash can support shaft 17 is vertically arranged, with its top end rotatably connected to the frame 1 via a bearing, and its bottom end rotatably connected to the Mecanum wheel omnidirectional chassis 2 via a bearing. The bottom of the trash can support shaft 17 has an arc-shaped protrusion. The upper hanging plate 14 and the lower hanging plate 15 are coaxially fixed in the middle of the trash can support shaft 17 to fix the body of the trash can 11. Multiple garbage bins 11 for holding different types of waste are vertically arranged and fixedly connected to the upper fixing plate 12 and the lower fixing plate 13, and are evenly distributed around the garbage bin support shaft 17. The fixing rings on the garbage bin 11 are detachably connected to the upper fixing plate 12 and the lower fixing plate 13 via fixing pins 16. The garbage bin rotation force transmission frame 18 adopts a cross-shaped structure and is coaxially fixed to the bottom of the garbage bin support shaft 17. Each arm of the garbage bin rotation force transmission frame 18 has a U-shaped force transmission groove 25, and each pair of adjacent arms is connected by a concave arc-shaped surface.

[0037] The dial support shaft 20 is vertically arranged, and its bottom is rotatably connected to the Mecanum wheel omnidirectional chassis 2 via a bearing. The top of the dial support shaft 20 is fixedly connected to the upper center of the trash can rotary dial 19. The trash can rotary pin 21 is vertically and eccentrically fixed on the trash can rotary dial 19, and the trash can rotary pin 21 cooperates with the U-shaped force transmission groove 25.

[0038] The garbage bin rotation drive motor 22 is vertically mounted on the frame 1. The garbage bin rotation drive gear 23 is coaxially fixed on the motor shaft of the garbage bin rotation drive motor 22. The garbage bin rotation driven gear 24 is coaxially fixed on the bottom end of the dial support shaft 20, and the garbage bin rotation driven gear 24 meshes with the garbage bin rotation drive gear 23. When the garbage bin rotation drive motor 22 rotates, it drives the dial support shaft 20 and the garbage bin rotation dial 19 to rotate through gear meshing transmission. This drives the garbage bin rotation pin 21 on it to rotate synchronously along the U-shaped force transmission groove 25, indirectly driving the garbage bin rotation force transmission frame 18 to drive the garbage bin support shaft 17 and the garbage bin 11 on it to rotate.

[0039] The bin dispensing mechanism 4 includes a bin support plate 26, a horizontal movement reduction motor 27, a horizontal movement gear 28, a horizontal movement rack 29, a horizontal movement guide rail 30, a horizontal movement guide rail slider 31, a lifting movement stepper motor 32, a lifting movement drive pulley 33, a lifting movement driven pulley 34, a lifting movement belt 35, a lifting movement ball screw 36, a lifting movement ball screw bearing seat 37, a lifting movement telescopic rod 38, a scissor lift lifting rod 39, a scissor lift connecting rod 40, an upper scissor lift guide rail 41, an upper scissor lift guide rail slider 42, a lower scissor lift guide rail 43, a lower scissor lift guide rail slider 44, and a scissor lift base plate 45.

[0040] The horizontal movement reduction motor 27 of the support plate is fixedly connected to the frame 1 via a motor frame, and the horizontal movement gear 28 of the support plate is connected to the power output shaft of the horizontal movement reduction motor 27. The horizontal movement rack 29 of the support plate is fixedly connected to the bottom surface of the scissor lift base plate 45 and meshes with the horizontal movement gear 28. The horizontal movement guide rail 30 of the support plate is fixedly mounted on the frame 1, and the horizontal movement guide rail slider 31 of the support plate at the bottom of the scissor lift base plate 45 is slidably connected to the horizontal movement guide rail 30 of the support plate, and the horizontal movement guide rail slider 31 of the support plate has a horizontal linear movement degree of freedom relative to the horizontal movement guide rail 30 of the support plate. The horizontal movement gear 28 of the support plate rotates under the drive of the horizontal movement reduction motor 27 of the support plate, and through meshing with the horizontal movement rack 29 of the support plate, drives the horizontal movement guide rail slider 31 of the support plate on the scissor lift base plate 45 to move synchronously along the horizontal movement guide rail 30 of the support plate.

[0041] The support plate lifting motion stepper motor 32 is fixedly connected to the scissor lift base plate 45 via a six-sided nut joint and a stepper motor frame. The support plate lifting motion drive pulley 33 is coaxially fixed on the output shaft of the support plate lifting motion stepper motor 32, and the support plate lifting motion driven pulley 34 is coaxially fixed in the center of the support plate lifting motion positive and negative tooth ball screw 36. The support plate lifting motion driven pulley 34 and the support plate lifting motion drive pulley 33 are connected by a support plate lifting motion belt 35. The support plate lifting motion positive and negative tooth ball screw 36 is arranged horizontally. The lower guide rail 43 of the scissor lift is fixedly mounted on the upper part of the scissor lift base plate 45, and the lower guide rail slider 44 is slidably connected to the lower guide rail 43 of the scissor lift. The lower guide rail slider 44 of the scissor lift has a horizontal linear movement degree of freedom relative to the lower guide rail 43 of the scissor lift. The two ends of the scissor lift connecting rod 40 are fixed on the lower guide rail sliders 44 of the scissor lift on both sides. The support plate lifting motion positive and negative tooth ball screw 36 coaxially passes through the scissor lift connecting rod 40 and the support plate lifting motion driven pulley 34. Both ends are connected to the support plate lifting motion positive and negative tooth ball screw bearing seats 37 through bearings. The support plate lifting motion positive and negative tooth ball screw 36 is threadedly connected to the scissor lift connecting rod 40.

[0042] The support plate lifting telescopic rod 38 is vertically arranged, with its top end fixedly connected to the garbage bin support plate 26 and its bottom end fixed to the scissor lift base plate 45 via a linear bearing. The scissor lift rod 39 consists of two connecting rods connected in an X-shape, with the cross connection via a bearing. One end of the scissor lift rod 39 is coaxially mounted on the scissor lift connecting rod 40 via a bearing, and the other end is coaxially connected to the upper guide rail slider 42 of the scissor lift via a bearing. The upper guide rail slider 42 is slidably connected to the upper guide rail 41 of the scissor lift and has a horizontal linear movement degree of freedom relative to the upper guide rail 41. The upper guide rail 41 of the scissor lift is fixed to the bottom surface of the garbage bin support plate 26.

[0043] The stepper motor 32 of the support plate lifting motion rotates, which drives the driven pulley 34 of the support plate lifting motion to rotate through belt drive. This drives the scissor frame connecting rod 40 on the ball screw 36 of the support plate lifting motion to move along its axial direction through the threaded connection. This causes the two connecting rods of the scissor frame lifting rod 39 to rotate around the cross connection in the middle, thereby realizing the change of height of the garbage can support plate 26, that is, realizing the lifting motion.

[0044] The upper part of the trash can support plate 26 has an arc-shaped groove, which cooperates with the arc-shaped protrusion at the bottom of the trash can support shaft 17 to achieve a movable connection with the trash can 11.

[0045] The opening mechanism 5 includes a supporting base plate 46, an opening reduction motor 47, a supporting optical shaft 48, an opening drive gear 49, an opening driven gear 50, a left opening plate 51, a right opening plate 52, and a guide barrel 53. The supporting base plate 46 is fixedly connected to the frame 1. The opening reduction motor 47 is fixedly mounted on the supporting base plate 46. One end of the supporting optical shaft 48 is vertically mounted on the supporting base plate 46 through a bearing, and the other end is connected to the frame 1 through a bearing. The opening drive gear 49 is fixedly connected to the power output shaft of the opening reduction motor 47 via a flange, and the opening driven gear 50 is fixedly connected to the support optical shaft 48 via a flange. The opening driven gear 50 meshes with the opening drive gear 49. The left opening plate 51 is fixedly connected to the power output shaft of the opening reduction motor 47, and the right opening plate 52 is fixedly connected to the support optical shaft 48. The forward and reverse rotation of the opening reduction motor 47, through the meshing of the opening driven gear 50 and the opening drive gear 49, realizes the movement of the left opening plate 51 and the right opening plate 52 away from or towards each other, that is, realizes the opening and closing. The guide bucket 53 is fixedly connected to the frame 1 and is arranged corresponding to the connection between the left opening plate 51 and the right opening plate 52. The frame 1 is provided with a corresponding garbage inlet. The support base plate 46 is provided with a garbage drop inlet corresponding to the connection between the left opening plate 51 and the right opening plate 52.

[0046] The frame 1 is equipped with a lidar 55, which can transmit position information to the control system so that the control system can complete path planning and also avoid obstacles during autonomous navigation and inspection.

[0047] A camera 54 is installed on the frame 1 corresponding to the garbage inlet, which is used to take pictures of the garbage put into the opening mechanism 5 and transmit the image data to the control system.

[0048] The control system includes a host computer (not shown in the figure) and a slave computer (not shown in the figure). In this embodiment, the host computer uses a Raspberry Pi 4b. Under the ROS framework, it performs positioning and mapping based on information fed back by the LiDAR 55, performs shortest path planning using its built-in A* algorithm, and converts the original map data corresponding to the shortest path planning into motor speed data of the encoder reduction motor 7 of the Mecanum wheel omnidirectional chassis 2 at the current target position. Then, the processed motor speed data is sent to the slave computer. In this embodiment, the slave computer uses an STMF407VET6 main control board. The slave computer issues movement commands to the Mecanum wheel omnidirectional chassis 2 based on the motor speed data from the host computer, causing the entire device to move to the target position.

[0049] When the garbage is put into the left opening plate 51 and the right opening plate 52 through the garbage inlet, the camera 54 takes an image of the garbage and transmits the captured image data to the host computer. The host computer trains and identifies the type of garbage by deploying a YOLO v5 model under the ROS framework. After the identification is completed, the identification result is transmitted to the lower computer. The lower computer issues a working instruction to the trough wheel changing mechanism 3 according to the result, and rotates the garbage bin 11 corresponding to the type of garbage to below the garbage inlet.

[0050] The machine vision-based indoor inspection and sorting trash cans can be automatically navigated and inspected in places such as train carriages. The entire device moves slowly, and passengers on both sides of the aisle can easily throw their trash into the bins. The device then identifies the type of trash and places it into the corresponding bin using the aforementioned method. During the automatic navigation and inspection process, a lidar 55 performs real-time detection and mapping, automatically avoiding obstacles when encountered.

[0051] The machine vision-based indoor inspection and sorting trash can is wirelessly connected to a mobile phone via a Bluetooth module HC-05, allowing users to remotely control the trash can via their mobile phones to achieve "on-call" functionality. The lidar 55 performs path planning after issuing commands from the mobile phone to move the entire device to the user's location.

[0052] The process of using the above-mentioned machine vision-based indoor inspection and sorting trash can in one go is as follows:

[0053] The waste to be sorted is placed onto the left opening plate 51 and right opening plate 52 in the opening mechanism 5 and waits for identification. After identification, the waste bin 11 containing the corresponding type is moved to the bottom of the opening mechanism 5.

[0054] First, start the trash can rotation drive motor 22, which drives the trash can rotation drive gear 23 to rotate, which in turn drives the trash can rotation driven gear 24 meshing with it to rotate. The trash can rotation driven gear 24 drives the dial support shaft 20 and the trash can rotation dial 19 to rotate synchronously, and the trash can rotation pin 21 will make a circular motion with the trash can rotation dial 19.

[0055] During the circular motion of the trash can rotating pin 21, it will enter one of the U-shaped transmission grooves 25 on the trash can rotating force transmission frame 18 at a certain moment. As the trash can rotating pin 21 moves, it will drive the trash can rotating force transmission frame 18 to rotate. When the trash can rotating force transmission frame 18 rotates to a certain angle, the moving trash can rotating pin 21 will disengage from the U-shaped transmission groove 25. At this time, the trash can rotating force transmission frame 18 stops rotating. This process is repeated. Every time the trash can rotating pin 21 rotates once, it can drive the trash can rotating force transmission frame 18 to rotate by one angle, thereby realizing the intermittent rotation of the trash can rotating force transmission frame 18.

[0056] During the intermittent rotation of the garbage bin's rotating force transmission frame 18, the garbage bin's support shaft 17, upper hanging plate 14, and lower hanging plate 15 will be driven to rotate synchronously and intermittently. With the intermittent rotation of the upper hanging plate 14 and lower hanging plate 15, the garbage bin 11 achieves intermittent circular motion, and when the garbage bin 11 completes its motion, the opening of the garbage bin 11 corresponds exactly to the garbage inlet of the support base plate 46 in the lid opening mechanism 5.

[0057] When the trash can 11 completes its movement, the opening mechanism 5 activates the opening reduction motor 47, which drives the opening drive gear 49 to rotate, and in turn drives the opening driven gear 50 meshing with it to rotate. The rotating opening drive gear 49 and opening driven gear 50 drive the support optical shaft 48, and the right opening plate 52 and the left opening plate 51 to rotate in opposite directions.

[0058] As the right opening plate 52 and the left opening plate 51 are opened, the garbage will fall into the garbage bin 11 from the garbage inlet of the supporting base plate 46; then the opening and closing reduction motor 47 is started in reverse to make the right opening plate 52 and the left opening plate 51 rotate and reset. After the reset is completed, one garbage sorting process is completed.

[0059] The top of the trash can 11 is equipped with an infrared sensor, which is electrically connected to the control system. When the infrared sensor detects that the signal is blocked for a long time, it proves that the trash can is overflowing. When the overflow is detected, the overflowing trash can 11 is first driven to rotate so that the arc-shaped protrusion on the bottom of the can corresponds to the arc-shaped groove on the upper part of the trash can support plate 26 in the dispensing mechanism 4. Then, the stepper motor 32 for lifting and lowering the support plate is started, which drives the active pulley 33 for lifting and lowering the support plate to rotate synchronously.

[0060] As the active pulley 33 of the support plate lifting motion rotates, it drives the driven pulley 34 of the support plate lifting motion via the support plate lifting motion belt 35, which in turn drives the support plate lifting motion positive and negative tooth ball screw 36 to rotate. The two scissor lift connecting rods 40 will move closer to each other as the support plate lifting motion positive and negative tooth ball screw 36 rotates.

[0061] As the two scissor lift connecting rods 40 approach each other, the upper guide rail slider 42 of the scissor lift will move horizontally towards each other on the upper guide rail 41 of the scissor lift, causing the trash can support plate 26 to rise vertically so that the arc-shaped groove of the trash can support plate 26 is completely engaged with the arc-shaped protrusion on the bottom of the trash can 11. The trash can support plate 26 continues to rise until the fixing pin 16 is completely disengaged from the upper hanging plate 14 and the lower hanging plate 15, and the trash can 11 is removed.

[0062] After the trash can 11 is removed, the horizontal movement reduction motor 27 of the support plate is started, which drives the horizontal movement gear 28 of the support plate to rotate, and then drives the horizontal movement rack 29 of the support plate that meshes with it to move forward horizontally. The trash can 11, which is engaged with the trash can support plate 26, moves forward horizontally and moves out of the frame 1.

[0063] After the trash can 11 is moved into position, the user can change the bag. After the bag is changed, the horizontal movement reduction motor 27 of the support plate and the lifting movement stepper motor 32 of the support plate start in reverse order, so that the fixing pin 16 is re-inserted into the upper hanging plate 14 and the lower hanging plate 15, completing the reset process of the trash can 11 and realizing the function of changing the bag.

Claims

1. A machine vision-based indoor inspection and sorting trash can, characterized in that: Includes a Mecanum wheel omnidirectional chassis (2) for supporting and moving the main body of the entire device; The frame (1) is mounted on the Mecanum wheel omnidirectional chassis (2) for support and fixation; An openable cover mechanism (5) is installed on the top of the frame (1) for identifying and disposing of waste types; A rotatable grooved wheel bin-changing mechanism (3) is set in the center of the Mecanum wheel omnidirectional chassis (2), including multiple garbage bins (11) for disposing of different types of garbage. The garbage bins (11) can rotate intermittently and are detachable. The lifting and horizontally movable bin dispensing mechanism (4) is located on one side of the Mecanum wheel omnidirectional chassis (2). When the bin dispensing mechanism (4) is in the raised state, it is connected to the trash can (11) to disassemble and remove the trash can (11) for bag replacement operation. The camera (54) is used to capture images of the garbage that is put into the opening mechanism (5) and transmit the image data to the control system to identify the garbage category.

2. The indoor inspection and sorting trash can based on machine vision according to claim 1, characterized in that: The Mecanum wheel omnidirectional chassis (2) includes a horizontally arranged base plate (6), and double-layer side baffles (10) are fixedly connected to both sides of the base plate (6); the encoder reduction motor (7) is connected to the four corners of the double-layer side baffles (10), and one end of the drive motor output optical shaft (8) is connected to the output shaft of the encoder reduction motor (7) through a coupling, and the other end passes through the double-layer side baffles (10) and is connected to the Mecanum wheel (9) through a coupling.

3. The indoor inspection and sorting trash can based on machine vision according to claim 1, characterized in that: The grooved wheel bin changing mechanism (3) includes a vertically arranged garbage bin support shaft (17). The top end of the garbage bin support shaft (17) is rotatably connected to the frame (1) via a bearing, and the bottom end is rotatably connected to the Mecanum wheel omnidirectional chassis (2) via a bearing. The upper hanging plate (14) and the lower hanging plate (15) are coaxially fixed in the middle of the garbage bin support shaft (17). Multiple garbage bins (11) for holding different types of garbage are vertically arranged and fixedly connected to the upper fixing plate (12) and the lower fixing plate (13) of the bin, and are evenly distributed around the circumference of the garbage bin support shaft (17). The fixing ring on the body of the garbage bin (11) is detachably connected to the upper fixing plate (12) and the lower fixing plate (13) of the bin via a fixing pin (16). The garbage bin (11) rotates intermittently through an intermittent rotation mechanism.

4. The indoor inspection and sorting trash can based on machine vision according to claim 3, characterized in that: The intermittent rotation mechanism includes a garbage bin rotation force transmission frame (18), which adopts a cross-shaped structure and is coaxially fixed to the bottom of the garbage bin support shaft (17); a U-shaped force transmission groove (25) is provided on each arm of the garbage bin rotation force transmission frame (18); each pair of adjacent arms are connected by a concave arc surface. The dial support shaft (20) is vertically set, and the bottom of the dial support shaft (20) is rotatably connected to the Mecanum wheel omnidirectional chassis (2) through a bearing. The top of the dial support shaft (20) is fixedly connected to the upper center of the garbage bin rotary dial (19). The garbage bin rotary pin (21) is vertically and eccentrically fixed on the garbage bin rotary dial (19) and cooperates with the U-shaped force transmission groove (25). The garbage bin rotation drive motor (22) is mounted on the frame (1), and the garbage bin rotation drive gear (23) is fixed on the motor shaft of the garbage bin rotation drive motor (22); the garbage bin rotation driven gear (24) is coaxially fixed on the bottom end of the dial support shaft (20), and the garbage bin rotation driven gear (24) meshes with the garbage bin rotation drive gear (23).

5. The indoor inspection and sorting trash can based on machine vision according to claim 4, characterized in that: The bottom of the trash can support shaft (17) is provided with an arc-shaped protrusion.

6. The indoor inspection and sorting trash can based on machine vision according to claim 1, characterized in that: The barrel dispensing mechanism (4) includes a support plate horizontal motion reduction motor (27) fixedly connected to the frame (1), a support plate horizontal motion gear (28) connected to the power output shaft of the support plate horizontal motion reduction motor (27), a support plate horizontal motion rack (29) fixedly connected to the bottom surface of the scissor lift base plate (45) and meshing with the support plate horizontal motion gear (28); a support plate horizontal motion guide rail (30) fixedly mounted on the frame, and a support plate horizontal motion guide rail slider (31) at the bottom of the scissor lift base plate (45) slidably connected to the support plate horizontal motion guide rail (30); The support plate lifting motion stepper motor (32) is fixedly connected to the scissor lift base plate (45). The support plate lifting motion drive pulley (33) is fixedly mounted on the output shaft of the support plate lifting motion stepper motor (32). The support plate lifting motion driven pulley (34) is fixedly mounted in the center of the support plate lifting motion positive and negative tooth ball screw (36) and is connected to the support plate lifting motion drive pulley (33) for transmission. The support plate lifting motion positive and negative tooth ball screw (36) is arranged horizontally. The lower guide rail (43) of the scissor lift is fixedly mounted on the upper part of the scissor lift base plate (45). The lower guide rail slider of the scissor lift ( 44) The slidable connection is on the lower guide rail (43) of the scissor lift. The two ends of the scissor lift connecting rod (40) are fixed on the sliders (44) of the lower guide rail on both sides of the scissor lift. The support plate lifting motion positive and negative tooth ball screw (36) passes through the scissor lift connecting rod (40) and the support plate lifting motion driven pulley (34). The two ends are connected to the support plate lifting motion positive and negative tooth ball screw bearing seats (37) through bearings. The support plate lifting motion positive and negative tooth ball screw (36) is threadedly connected to the scissor lift connecting rod (40). The lifting mechanism is set on the scissor lift base plate (45).

7. The indoor inspection and sorting trash can based on machine vision according to claim 6, characterized in that: The lifting mechanism includes a support plate lifting telescopic rod (38), which is vertically arranged and its top end is fixedly connected to the garbage bin support plate (26), and its bottom end is fixed to the scissor lift base plate (45) by bearings; the scissor lift rod (39) consists of two connecting rods connected in an X-shape, and the cross connection is connected by bearings. One end of the scissor lift rod (39) is rotatably mounted on the scissor lift connecting rod (40), and the other end is rotatably connected to the upper guide rail slider (42) of the scissor lift; the upper guide rail slider (42) of the scissor lift is slidably connected to the upper guide rail (41) of the scissor lift, and the upper guide rail (41) of the scissor lift is fixedly mounted on the bottom surface of the garbage bin support plate (26).

8. The indoor inspection and sorting trash can based on machine vision according to claim 7, characterized in that: The upper part of the trash can support plate (26) has an arc-shaped groove, which matches the arc-shaped protrusion at the bottom of the trash can support shaft (17) to achieve a movable connection with the trash can (11).

9. The indoor inspection and sorting trash can based on machine vision according to claim 1, characterized in that: The opening mechanism (5) includes a support base plate (46) fixedly connected to the frame (1), an opening reduction motor (47) fixedly mounted on the support base plate (46), one end of a support optical shaft (48) vertically mounted on the support base plate (46) via a bearing, and the other end connected to the frame (1) via a bearing; the opening drive gear (49) is fixedly connected to the power output shaft of the opening reduction motor (47), the opening driven gear (50) is fixedly connected to the support optical shaft (48), and the opening driven gear (50) meshes with the opening drive gear (49); the left opening plate (51) is fixedly connected to the power output shaft of the opening reduction motor (47), and the right opening plate (52) is fixedly connected to the support optical shaft (48); the support base plate (46) is provided with a garbage inlet corresponding to the connection between the left opening plate (51) and the right opening plate (52).

10. The indoor inspection and sorting trash can based on machine vision according to claim 1, characterized in that: It also includes a lidar (55) mounted on the rack, which can transmit position information to the control system so that the control system can complete path planning and also be used for obstacle avoidance during autonomous navigation inspection.

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