Automatic classification garbage can based on picture recognition and mechanical arm sorting

Abstract

The utility model discloses an automatic classification garbage can based on picture recognition and mechanical arm sorting. Comprising a garbage can body, a sorting mechanical arm structure, a sorting platform structure, a classification barrel structure and a control module. The sorting mechanical arm structure, the sorting platform structure and the classification barrel structure are sequentially fixed into the garbage can body from top to bottom. The control module controls the baffle on the surface of the garbage can body to be opened according to information collected by the sensor so that a user can throw garbage. And the type of the garbage falling into the sorting platform structure is recognized through the camera, the classification barrel structure is controlled to rotate the corresponding collection area to the position below the classification opening, meanwhile, the sorting mechanical arm structure is controlled to pick up the garbage from the sorting platform structure and put the garbage into the corresponding collection area through the classification opening, and garbage sorting is completed. According to the device, the moving path and control logic of the sorting mechanical arm structure can be simplified, and the garbage classification efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to structural design technical field relates to a kind of automatic classification garbage can based on picture identification and mechanical arm sorting. BACKGROUND

[0002] The threat of household waste to urban environment is increasing, and the whole system construction and popularization of garbage classification is particularly important. Traditional garbage classification method usually relies on manual sorting, which is inefficient and costly. In recent years, with the development of machine vision and artificial intelligence technology, garbage types can be automatically identified by camera shooting and deploying neural network model trained on the controller, making automatic garbage classification possible.

[0003] Prior art (CN113148477A) discloses an intelligent garbage can device, including sorting mechanism and classification mechanism. The sorting mechanism utilizes the difference in mass and friction of different garbage, and the garbage put in at one time falls into the classification mechanism one by one through the shaking slide. The classification mechanism identifies the type of garbage on the bottom plate through the camera connected to the controller, then controls the rotation of the bottom plate through the stepper motor, aligns the opening on the bottom plate with the corresponding type of garbage can, and controls the rotation of the side plate to sweep the garbage on the bottom plate to the opening position of the bottom plate, so that the garbage falls into the corresponding garbage can. Then reset, the sorting mechanism puts in the next garbage, until the classification of all garbage in the sorting mechanism is completed. Although the device can realize the classification of garbage, the process of garbage classification is divided into two steps of sorting and classification, which will result in large size of the device. And the classification mechanism also needs to be reset after completing a classification action, which will also affect the classification speed.

[0004] In addition, the existing intelligent classification garbage can generally uses 220V power supply, which requires the use environment to have power supply, which limits the application scenarios. UTILITY MODEL CONTENT

[0005] In view of the deficiencies of the prior art, the utility model provides an automatic classification garbage can based on picture identification and mechanical arm sorting. Based on the development capability of embedded system of prior art, the automatic classification garbage can of sensor and mechanical arm cooperation is designed, which simplifies the process of garbage sorting and classification, and improves the sorting efficiency.

[0006] An automatic classification garbage can based on picture identification and mechanical arm sorting, including garbage can main body, sorting mechanical arm structure, sorting platform structure, classification barrel structure and control module.

[0007] The control module includes a controller deploying an image-based garbage classification model, a camera, an infrared sensor, a collision sensor, a power module, and multiple steering gears and multiple stepping motors. The power module provides working power for other devices in the control module through a storage battery. The signal output ends of the camera, the infrared sensor, and the collision sensor are connected to the signal input end of the controller, and the control ends of the steering gears and the stepping motors are connected to the signal output end of the controller. The controller, the camera, and the power module are fixed at the top end inside the garbage can body.

[0008] The front of the garbage can body is provided with a garbage throwing opening and a garbage cleaning opening. The garbage throwing opening is provided with a throwing baffle with an upper edge as a rotating shaft, and one end of the rotating shaft is connected to the output shaft of the throwing steering gear. The garbage cleaning opening is provided with a cleaning baffle with one side edge as a rotating shaft, and the other side of the cleaning baffle is detachably fixed to the garbage can body. The infrared sensor is fixed to the outer surface of the garbage can body between the garbage throwing opening and the garbage cleaning opening. A throwing pedal is arranged below the garbage cleaning opening, and a collision sensor is arranged below the throwing pedal.

[0009] As a preferred, the top of the garbage can body is provided with a solar panel, and the output end of the solar panel is connected to the storage battery of the power module, so as to convert solar energy into electric energy of the storage battery.

[0010] As a preferred, the upper part of the back of the garbage can body is provided with a push rod, the bottom of the back is provided with two moving wheels, and the bottom of the front is provided with a support structure.

[0011] The sorting mechanical arm structure, the sorting platform structure, and the classification barrel structure are fixed in the garbage can body from top to bottom.

[0012] The sorting mechanical arm structure includes a two-dimensional moving platform, a telescopic arm, and a gripper. The two-dimensional moving platform is fixed at the top end inside the garbage can body, and the control end of the driving mechanism is connected to the signal output end of the controller. The rotating steering gear is fixed on the two-dimensional moving platform. The upper end of the telescopic arm is connected to the output shafts of the rotating steering gear and the telescopic steering gear, and the lower end of the telescopic arm is fixed to the gripper steering gear. The gripper steering gear is used to drive multiple clamping jaws of the gripper to complete the opening and closing action. The two-dimensional moving platform is used to drive the telescopic arm and the gripper to move in the horizontal plane, the telescopic steering gear drives the telescopic arm to stretch and retract in the direction perpendicular to the horizontal plane, and the rotating steering gear is used to drive the telescopic arm and the gripper to rotate in the vertical plane.

[0013] The sorting platform structure comprises a side baffle, a bottom plate, a bowl-shaped structure classification platform composed of a water receiving tray and a classification port.

[0014] The classification barrel structure comprises a garbage classification barrel, a classification baffle and a bearing. The classification barrel structure comprises a garbage classification barrel, a classification baffle and a bearing.

[0015] Preferably, the control module further comprises an ultrasonic sensor.

[0016] Preferably, the control module further comprises a communication module.

[0017] The utility model has the advantages of the following beneficial effects:

[0018] 1. The power module uses a movable battery for power supply, further improving environmental adaptability, and the solar panel at the top can efficiently convert solar energy into electrical energy and store it, providing continuous energy support for the equipment, so that it can replace traditional garbage cans in more occasions and realize true environmental protection and intelligentization.

[0019] 2. The push rod at the back of the garbage can body, combined with the moving wheels at the bottom, allows the entire garbage can to be moved flexibly.

[0020] 3. The sorting mechanical arm structure improves the stability of the mechanical arm, improves the precision of the mechanical arm grabbing and the space utilization rate of the intelligent garbage can through the two-dimensional moving platform and the cross telescopic device.

[0021] 4. The two-dimensional mobile platform controls the gripper to move above the fixed sorting slot, and at the same time drives the corresponding sorting area to rotate below the sorting slot to complete one sorting. This allows the robotic arm to grab the garbage and the garbage bin to rotate synchronously, reducing the robotic arm's travel and improving the efficiency of garbage sorting.

[0022] 5. Not only can it automatically identify the type of garbage and classify and recycle it, but it can also send data to the backend through the communication module, realizing real-time monitoring and reminders of the garbage bins, effectively avoiding the problem of garbage overflow and reducing the reliance on human resources. Attached Figure Description

[0023] Figure 1 This is a circuit diagram of the control module in the embodiment;

[0024] Figure 2 This is a schematic diagram of the appearance of the automatic sorting trash can based on image recognition and robotic arm sorting in the embodiment.

[0025] Figure 3 This is a schematic diagram of the internal structure of the automatic sorting trash can in the embodiment;

[0026] Figure 4 This is a schematic diagram of the sorting robotic arm structure in the embodiment;

[0027] Figure 5 This is a schematic diagram of the sorting platform structure in the embodiment;

[0028] Figure 6 This is a schematic diagram of the sorting bin structure in the embodiment;

[0029] Figure 7 A flowchart illustrating the waste sorting process for automated waste sorting bins.

[0030] The components include: 1. main body of the trash can; 2. solar panel; 3. disposal pedal; 4. disposal baffle; 5. infrared sensor; 6. two-dimensional moving platform; 7. drive mechanism; 8. gripper servo motor; 9. telescopic arm; 10. gripper; 11. sorting port; 12. side baffle; 13. bottom plate; 14. cleaning baffle; 15. support structure; 16. water tray; 17. sorting bin; 18. sorting baffle; and 19. sorting stepper motor. Detailed Implementation

[0031] The present invention will be further explained below with reference to the accompanying drawings;

[0032] An automatic sorting trash can based on image recognition and robotic arm sorting includes a trash can body, a sorting robotic arm structure, a sorting platform structure, a sorting bin structure, and a control module.

[0033] The control module includes a controller deploying an image-based garbage classification model, a camera, an infrared sensor 5, a collision sensor, an ultrasonic sensor, a communication module, a power module, a plurality of steering gears and a plurality of stepping motors. The power module provides working power for other devices in the control module through a storage battery. The signal output ends of the camera, the infrared sensor 5 and the ultrasonic sensor are connected with the signal input end of the controller. The plurality of stepping motors specifically includes a throwing stepping motor, a classification stepping motor 19 and a driving stepping motor on a two-dimensional moving platform 6, and the control ends of the stepping motors are connected with the signal output end of the controller. The plurality of steering gears specifically includes a telescopic steering gear, a clamping steering gear 8 and a rotating steering gear, and the control ends of the steering gears are connected with the signal output end of the controller. The controller, the camera, the communication module and the power module are fixed at the top end inside the garbage can main body 1.

[0034] The image-based garbage classification model is a trained YOLOv5 network, and the training data used is a data set made through Labeling. The data set images include pictures of various common garbage under different illuminations and different shooting angles, and are uniformly adjusted to 640*480 size. The trained YOLOv5 network is deployed in a Nvidia jetson host computer, and a corresponding control program is compiled.

[0035] As Figure 1As shown, the controller includes a microcontroller IC9 of model ATMEGA2560-16AU and a jetson host computer U31. Among them, the 12th and 13th pins of the microcontroller IC9 are connected to the 17th and 16th pins of the jetson host computer U31 respectively for serial communication. The camera U58 is connected to the jetson host computer U31 through the USB port, and the pictures taken are transmitted to the jetson host computer U31, and the trained YOLOv5 network is used to identify the position and type of garbage in the image. The 41st pin of the microcontroller IC9 is connected to the infrared sensor U59, the 42nd pin is connected to the collision sensor U47, and the 55th-60th pins, 71st and 72nd pins are connected to the ultrasonic sensors U2-U5 to receive sensor signals. The 1st, 5th, 7th pins, 15th-17th pins, 18th, 23rd, 24th pins of the microcontroller IC9 are connected to the drive chip of the throwing stepper motor U53, the sorting stepper motor U54 and the driving stepper motor U55 respectively, and the PWM wave is used to drive the stepper motor to rotate. The 43rd and 44th pins of the microcontroller IC9 are connected to the IIC bus interface of the servo drive chip U51 respectively to output clock signal and control signal, and the 25th, 26th, 38th-40th pins are connected to the drive signal receiving port of the servo drive chip U51 to output PWM signal to drive the telescopic servo, the clamping servo and the rotating servo. The 45th and 46th pins of the microcontroller IC9 are connected to the WiFi communication module U7, and the 63rd and 64th pins are connected to the 4G communication model U32, so that the controller sends signals to the background management.

[0036] As shown in Figure 2 The top of the garbage can body 1 is provided with a solar panel 2, the output end of which is connected to the battery of the power module to convert solar energy into electrical energy of the battery. The front of the garbage can body 1 is provided with a garbage throwing port and a garbage cleaning port. The garbage throwing port is provided with a throwing baffle 4 with the upper edge as the rotating shaft, and one end of the rotating shaft is connected to the output shaft of the throwing stepper motor. The garbage cleaning port is provided with a cleaning baffle 14 with one side as the rotating shaft, and the other side of the cleaning baffle 14 is detachably fixed to the garbage can body 1. The infrared sensor 5 is fixed to the outer surface of the garbage can body 1 between the garbage throwing port and the garbage cleaning port. A throwing pedal 3 is arranged below the garbage cleaning port, and a collision sensor is arranged below the throwing pedal 3. A support structure 15 is arranged at the bottom of the garbage can body 1 below the throwing pedal 3. The upper part of the back of the garbage can body 1 is provided with a push rod, and the bottom of the back is provided with two moving wheels with brake mechanisms.

[0037] As shown in Figure 3 The sorting mechanical arm structure, sorting platform structure and classification barrel 17 structure are fixed in the garbage can body 1 from top to bottom.

[0038] As shown in Figure 4As shown, the sorting mechanical arm structure includes a two-dimensional moving platform 6, a telescopic arm 9 and a gripper. The two-dimensional moving platform 6 is fixed at the top end inside the garbage can body 1, and the control end of the driving step motor is connected with the signal output end of the controller. The rotary rudder is fixed on the two-dimensional moving platform 6. The upper end of the telescopic arm 9 is connected with the output shaft of the rotary rudder and the telescopic rudder, and the lower end of the telescopic arm 9 is fixed with the gripper rudder 8. The telescopic arm 9 adopts a cross telescopic structure. The gripper rudder 8 is used to drive the multiple gripper claws 10 of the gripper to complete the opening and closing action. The two-dimensional moving platform 6 is used to drive the telescopic arm 9 and the gripper to move in the horizontal plane, the telescopic rudder drives the telescopic arm 9 to telescope in the direction perpendicular to the horizontal plane, and the rotary rudder is used to drive the telescopic arm 9 and the gripper to rotate in the vertical plane.

[0039] As shown in Figure 5 , the sorting platform structure includes a bowl-shaped structure classification platform composed of a side baffle 12, a bottom plate 13, a water receiving disc 16 and a classification port 11. The classification port 11 is opened on the side away from the garbage throwing port. The side baffle 12 is arranged around the bottom plate 13 and forms a 45° angle with the horizontal plane, the lower edge of the side baffle 12 is fixed with the bottom plate 13, and the upper edge is lower than the lower edge of the garbage throwing port. A plurality of drainage holes are formed on the bottom plate 13. The water receiving disc 16 is arranged below the bottom plate 13 and is slidingly connected with the bottom plate 13, slides from the back to the front of the garbage can body 1, and the position of the water receiving disc 16 is lower than the lower edge of the garbage cleaning port and is consistent with the shape of the bottom plate 13.

[0040] The classification barrel 17 structure includes a garbage classification barrel 17, a classification baffle 18 and a bearing. As shown in Figure 6 , the garbage classification barrel 17 is a straight cylindrical structure with a closed bottom and an open top, the classification baffle 18 divides the garbage classification barrel 17 into four non-communicating fan-shaped areas along the diameter, which are used as collection areas for recyclable garbage, non-recyclable garbage, hazardous garbage and kitchen garbage respectively, and the area of each fan-shaped area is not less than the area of the sorting platform classification port 11. The top end of the shaft of the garbage classification barrel 17 is connected with the output shaft of the classification step motor 19, and the bottom of the garbage classification barrel 17 is rotatably connected with the bottom of the garbage can body 1 through the bearing. The classification step motor 19 is used to drive the garbage classification barrel 17 to rotate along the shaft of the garbage classification barrel 17. The ultrasonic sensors U2-U5 are respectively fixed on the side walls of the four collection areas of the garbage classification barrel 17, and the signal output end is connected with the signal input end of the controller, which is used to detect the height of the garbage in the garbage classification barrel 17.

[0041] As shown in Figure 7As shown, when the infrared sensor 5 detects someone approaching or the collision sensor detects someone stepping on the throwing pedal 3, a detection signal is output to the controller, and the controller outputs a control signal to the throwing stepping motor to drive the throwing baffle 4 to flip around the upper edge as the shaft, so that the garbage can be thrown into the garbage can body 1 from the garbage throwing port and fall on the sorting platform structure.

[0042] Due to the side baffle 12 around the sorting platform structure at an angle of 45° with the horizontal plane, the garbage thrown in stays on the bottom plate 13 of the sorting platform structure under the action of gravity, and the liquid remaining on the garbage falls into the water pan 16 below the bottom plate 13 through the drainage through hole opened on the bottom plate 13.

[0043] The camera takes a picture of the sorting platform structure below from the top end of the garbage can body 1 to obtain the image of the garbage to be classified and transmits it to the controller. The controller drives the output control signal to the throwing stepping motor to drive the throwing baffle 4 to flip around the upper edge as the shaft, so that the throwing baffle 4 closes the garbage throwing port. At the same time, the controller detects the garbage information through the garbage classification model deployed on it, and obtains the type and position information of each garbage on the surface of the bottom plate 13 of the sorting platform structure in turn. The controller outputs a control signal to the classification stepping motor 19 to drive the garbage classification barrel 17 to rotate, so that the collection area corresponding to the type of the first garbage rotates to below the classification port 11. At the same time, the controller outputs a control signal to the driving mechanism 7 of the two-dimensional moving platform 6 to control the two-dimensional moving platform 6 to move the telescopic arm 9 and the grabber above the first garbage, and then outputs a control signal to the rotary rudder and telescopic rudder to drive the grabber to move from above the first garbage to contact the surface of the first garbage, and adjust the position of the gripper 10. Then the controller outputs control information to the grabber rudder 8 to clamp the first garbage through the cooperation of multiple grippers 10. Finally, the controller outputs a control signal to the driving mechanism 7 of the two-dimensional moving platform 6 to control the two-dimensional moving platform 6 to move the telescopic arm 9 and the grabber above the classification port 11, and then drive the grabber rudder 8 to release the first garbage, and the first garbage falls into the corresponding collection area of the garbage classification barrel 17 below, completing the classification of the first garbage.

[0044] According to the above process, the garbage on the sorting platform structure is sequentially thrown into the classification port 11, and the classification of all garbage is completed.

[0045] When the ultrasonic sensor detects that the garbage in the garbage classification barrel 17 accumulates to a specified height, a detection signal is output to the controller. The controller sends a signal to the background management through the communication module.

Claims

1. An automatic classification garbage can based on image recognition and mechanical arm sorting, comprising a garbage can body (1), a classification can (17) structure and a control module, the control module comprising a controller deploying an image-based garbage classification model, a camera and a power module, the power module providing working power for other devices in the control module through a storage battery; characterized in that: The automatic classification garbage can further comprises a sorting mechanical arm structure and a sorting platform structure; The control module further comprises an infrared sensor (5), a collision sensor, a plurality of steering gears and a plurality of stepping motors; the signal output ends of the camera, the infrared sensor (5) and the collision sensor are connected with the signal input end of the controller, the control ends of the steering gears and the stepping motors are connected with the signal output end of the controller; the controller, the camera and the power module are fixed at the top end inside the garbage can body (1); The front of the garbage can body (1) is provided with a garbage throwing opening and a garbage cleaning opening; the garbage throwing opening is provided with a throwing baffle (4) with the upper edge as the rotating shaft, one end of the rotating shaft is connected with the output shaft of the throwing steering gear; the garbage cleaning opening is provided with a cleaning baffle (14) with one side edge as the rotating shaft, the other side of the cleaning baffle (14) is detachably fixed with the garbage can body (1); the infrared sensor (5) is fixed on the outer surface of the garbage can body (1) between the garbage throwing opening and the garbage cleaning opening; a throwing pedal (3) is arranged below the garbage cleaning opening, and a collision sensor is arranged below the throwing pedal (3); The sorting mechanical arm structure, the sorting platform structure and the classification barrel (17) structure are sequentially fixed inside the garbage can body (1) from top to bottom; The sorting mechanical arm structure comprises a two-dimensional moving platform (6), a telescopic arm (9) and a gripper; the two-dimensional moving platform (6) is fixed at the top end inside the garbage can body (1), and the control end of the driving mechanism (7) is connected with the signal output end of the controller; the rotating steering gear is fixed on the two-dimensional moving platform (6); the upper end of the telescopic arm (9) is connected with the output shafts of the rotating steering gear and the telescopic steering gear, and the lower end of the telescopic arm (9) is fixed with the gripper steering gear (8); the gripper steering gear (8) is used for driving a plurality of clamping jaws (10) of the gripper to complete the opening and closing action; the two-dimensional moving platform (6) is used for driving the telescopic arm (9) and the gripper to move in the horizontal plane, the telescopic steering gear drives the telescopic arm (9) to stretch and retract in the direction perpendicular to the horizontal plane, and the rotating steering gear is used for driving the telescopic arm (9) and the gripper to rotate in the vertical plane; The sorting platform structure comprises a classification platform and a classification port (11); the classification platform is in a bowl-shaped structure, and the upper edge is lower than the lower edge of the garbage throwing opening; the classification port (11) is arranged on the side away from the garbage throwing opening; The classification barrel (17) structure comprises a garbage classification barrel (17), a classification baffle (18) and a bearing; the garbage classification barrel (17) is a straight cylindrical structure with a closed bottom and an open top, the classification baffle (18) divides the garbage classification barrel (17) into a plurality of non-communicating fan-shaped areas along the diameter, and the area of each fan-shaped area is not less than the area of the sorting platform classification port (11); the top end of the shaft of the garbage classification barrel (17) is connected with the output shaft of the classification stepping motor (19), and the bottom of the garbage classification barrel (17) is rotatably connected with the bottom of the garbage can body (1) through the bearing.

2. The automatic classification garbage can based on picture recognition and mechanical arm sorting according to claim 1, characterized in that: The top of the garbage can body (1) is provided with a solar panel (2), and the output end thereof is connected with the storage battery of the power module, so as to convert solar energy into electric energy of the storage battery.

3. The automatic classification garbage can based on image recognition and mechanical arm sorting according to claim 1, characterized in that: The upper part of the back of the garbage can body (1) is provided with a push rod, the bottom of the back is provided with two moving wheels, and the bottom of the front is provided with a support structure (15).

4. The automatic classification garbage can based on image recognition and mechanical arm sorting according to claim 1, characterized in that: The control module further comprises an ultrasonic sensor fixed on the side wall of the garbage classification barrel (17), and a signal output end connected with a signal input end of the controller for detecting the garbage height in the garbage classification barrel (17).

5. The automatic sorting garbage can based on image recognition and mechanical arm sorting according to claim 1, characterized in that: The control module further comprises a communication module, a data receiving end of the communication module connected with a data sending end of the controller, receiving the packaged data of the controller, and transmitting the packaged data to the background management in a wireless communication mode.

6. The automatic sorting garbage can based on image recognition and mechanical arm sorting of claim 1, wherein: The classification platform comprises side baffle plates (12), a bottom plate (13) and a water collecting tray (16), the side baffle plates (12) are arranged around the bottom plate (13), the lower edge of the side baffle plate (12) is fixed with the bottom plate (13), and the upper edge is lower than the lower edge of the garbage throwing opening; a plurality of draining through holes are formed in the bottom plate (13); the water collecting tray (16) is arranged below the bottom plate (13) and is in sliding connection with the bottom plate (13), slides from the back to the front of the garbage can body (1), and the position of the water collecting tray (16) is lower than the lower edge of the garbage cleaning opening and is consistent with the shape of the bottom plate (13).

7. The automatic sorting garbage can based on image recognition and mechanical arm sorting according to claim 6, characterized in that: The side baffle plate (12) forms an angle of 45° with the horizontal plane.

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