阅读说明：本技术 一种垃圾自动分类装置及方法 (Automatic garbage classification device and method ) 是由 栗琳 刘志辉 朱泽卿 谭涛 齐世坤 于 2021-06-15 设计创作，主要内容包括：本发明公开了一种垃圾自动分类装置及方法,装置包括分类结构和收纳结构,分类结构包括筒壁、桶盖、分类部和底板；收纳结构包括底部平台、十字隔板和四个收纳抽屉；分类结构还包括控制单元、第一传感器、摄像头、第一电机和第二电机。用户将垃圾投入垃圾自动分类装置后,不需要进行任何操作,就能实现对垃圾的自动分类,非常方便,结构简单,成本低,可进行商业化生产。融合了多个功能模块,实现多种功能；而且应用范围广泛,适用场所多样。(The invention discloses an automatic garbage classification device and a method, wherein the device comprises a classification structure and a storage structure, wherein the classification structure comprises a cylinder wall, a cylinder cover, a classification part and a bottom plate; the storage structure comprises a bottom platform, a cross-shaped partition plate and four storage drawers; the classification structure further comprises a control unit, a first sensor, a camera, a first motor and a second motor. After a user puts garbage into the automatic garbage classification device, the automatic garbage classification device can realize the automatic garbage classification without any operation, is very convenient, has a simple structure and low cost, and can be used for commercial production. A plurality of functional modules are fused to realize a plurality of functions; and the application range is wide, and the application places are various.)

1. The automatic garbage classification device is characterized by comprising a classification structure and a storage structure arranged below the classification structure, wherein the classification structure comprises a cylinder wall, a cylinder cover, a classification part and a bottom plate, the cylinder cover covers the cylinder wall and is provided with a garbage inlet, the classification part is arranged in the cylinder wall and is positioned below an opening of the cylinder cover, and the bottom plate is positioned below a classifier; the classification part comprises two connected partition plates, the two partition plates and the barrel wall form a sector area with a central angle of 90 degrees, and the initial position of the sector area corresponds to the position of the garbage inlet; the shapes of the bottom plate and the fan-shaped area are matched; the two partition plates and the bottom plate form a containing space;

the storage structure comprises a bottom platform, a cross partition plate arranged on the bottom platform and four storage drawers, the four storage drawers are arranged in four areas divided by the cross partition plate, and the four storage drawers are of an upper opening structure and are used for receiving garbage swept down by a classification part in the classification structure;

the classification structure further comprises a control unit arranged in the cylinder wall, and a first sensor, a camera, a first motor and a second motor which are connected with the control unit; the first sensor is arranged in the fan-shaped area and used for sending a corresponding level signal to the control unit when sensing that garbage enters the containing space formed by the two partition plates and the bottom plate; the control unit is used for acquiring image information of the garbage through the camera when the level signal is received, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, and generating a first motor control signal and a second motor control signal according to the type of the garbage; the first motor control signal is used for controlling the first motor, the second motor control signal is used for controlling the second motor, the first motor is used for driving the classification part to rotate, and the second motor is used for driving the bottom plate to rotate; the classification part and the bottom plate are matched to rotate, so that the garbage in the sector area can be swept into the storage drawer corresponding to the type.

2. The apparatus of claim 1, wherein the sector formed by the two baffles and the barrel wall is a first sector; the area of the storage drawer corresponding to the type is a second area; the control unit is specifically configured to: determining the relative position between the first sector area and the second sector area, if the first sector area is adjacent to the second sector area, generating a second motor control signal for controlling the bottom plate to keep still through the second motor, and generating a first motor control signal for controlling the sorting part to rotate to the second sector area through the first motor so as to sweep the garbage into the storage drawer corresponding to the type to which the garbage belongs; if the first sector area and the second sector area are separated by one sector area, or the first sector area and the second sector area are the same sector area, the generated second motor control signal is used for controlling the bottom plate to rotate to one sector area adjacent to the second sector area through the second motor, the generated first motor control signal is used for controlling the classification part and the bottom plate to synchronously rotate to the sector area adjacent to the second sector area through the first motor, and continuously controlling the classification part to rotate to the second sector area so as to sweep the garbage into the storage drawer corresponding to the type.

3. The device of claim 1, wherein the classification structure further comprises a power source and a light source disposed inside the cartridge wall; the control unit comprises a first single chip microcomputer and a second single chip microcomputer connected with the first single chip microcomputer; the second single chip microcomputer is connected with the camera, the first motor and the second motor; the first single chip microcomputer is connected with the light source, the power supply and the first sensor, and the power supply is connected with the second single chip microcomputer; the first single chip microcomputer is used for controlling the light source to be lightened when the level signal is received and controlling the power supply to supply power to the second single chip microcomputer; the second single chip microcomputer is used for starting the camera after being powered on, acquiring image information of garbage through the camera, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, generating a first motor control signal and a second motor control signal, and sending a classification completion signal to the first single chip microcomputer after the garbage classification is completed; and the first singlechip controls the power supply to be powered off and controls the light source to be turned off after receiving the classification completion signal.

4. The apparatus according to claim 3, wherein the second single chip is further configured to generate a first reset signal and a second reset signal after the garbage classification is completed; the first reset signal is used for controlling the classifying part to reset to a sector area corresponding to the garbage inlet through the first motor, and the second reset signal is used for controlling the bottom plate to reset to a sector area corresponding to the garbage inlet through the second motor.

5. The device of claim 3, wherein the sorting structure further comprises a voice broadcast module connected to the first single chip microcomputer; the storage structure further comprises four second sensors, the four second sensors are all connected with the first single chip microcomputer, and the four second sensors are correspondingly arranged in the four storage drawers one by one; the second sensor is used for sending a garbage full signal to the first single chip microcomputer when sensing that the corresponding storage drawer is full of garbage; when the first single chip microcomputer receives the garbage filling signal, the voice broadcasting module is controlled to broadcast prompt voice of the fact that the corresponding storage drawer is filled with garbage.

6. The apparatus of claim 1, wherein the classification structure further comprises a holder disposed in the wall of the cartridge, the holder being located in a receiving space formed between the two partitions and the wall of the cartridge; the number of the first sensors is two, one first sensor is arranged on the bracket, and the other sensor is arranged on the bottom plate; the control unit and the camera are also arranged on the bracket.

7. The device of claim 1, wherein a fixed end of the first motor is connected with the barrel cover, and an output end of the first motor is connected with the classification part; the fixed end of the second motor is connected with the cross partition plate, and the output end of the second motor is connected with the bottom plate.

8. An automatic garbage classification method, which is implemented based on the automatic garbage classification device of any one of claims 1 to 7, and comprises the following steps:

s110, when sensing that garbage enters the containing spaces formed by the two partition plates and the drum wall, the first sensor sends corresponding level signals to the control unit;

s120, the control unit acquires image information of the garbage through the camera when receiving the level signal, recognizes the image information by adopting a garbage classification model to obtain the type of the garbage, and generates a first motor control signal and a second motor control signal according to the type of the garbage;

s130, the first motor is controlled when receiving the first motor control signal, so that the first motor drives the classification part to rotate; the second motor is controlled when receiving the second motor control signal, so that the second motor drives the bottom plate to rotate; the classification part and the bottom plate are matched to rotate, so that the garbage in the sector area can be swept into the storage drawer corresponding to the type.

9. The method according to claim 8, wherein the method is implemented based on the automatic garbage classification device according to claim 2, and the step S120 specifically includes:

acquiring image information of the garbage through the camera when the level signal is received, and identifying the image information by adopting a garbage classification model to obtain the type of the garbage;

determining a relative position between the first sector area and the second sector area, and generating the first motor control signal and the second motor control signal according to the relative position; if the first sector area is adjacent to the second sector area, the generated second motor control signal is used for controlling the bottom plate to keep still through the second motor, and the generated first motor control signal is used for controlling the sorting part to rotate to the second sector area through the first motor so as to sweep the garbage into the storage drawer corresponding to the type to which the garbage belongs; if the first sector area and the second sector area are separated by one sector area, or the first sector area and the second sector area are the same sector area, the generated second motor control signal is used for controlling the bottom plate to rotate to one sector area adjacent to the second sector area through the second motor, the generated first motor control signal is used for controlling the classification part and the bottom plate to synchronously rotate to the sector area adjacent to the second sector area through the first motor, and continuously controlling the classification part to rotate to the second sector area so as to sweep the garbage into the storage drawer corresponding to the type.

10. The method according to claim 8, wherein the method is implemented based on the automatic garbage classification device according to claim 3; the S120 includes:

the first single chip microcomputer controls the light source to be lightened when receiving the level signal and controls the power supply to supply power to the second single chip microcomputer;

the second single chip microcomputer is used for starting the camera after being powered on, acquiring image information of garbage through the camera, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, generating a first motor control signal and a second motor control signal, and sending a classification completion signal to the first single chip microcomputer after the garbage classification is completed;

and the first singlechip controls the power supply to be powered off and controls the light source to be turned off after receiving the classification completion signal.

Technical Field

The invention relates to the technical field of garbage classification, in particular to an automatic garbage classification device and method.

Background

The garbage classification has important significance for city development, is concerned by governments and people in all circles, and relevant policies are issued by governments aiming at the garbage classification correspondingly. But because the resident garbage classification consciousness is not strong, the classification knowledge is lack, the classification process is complicated and the like, the classification effect is not ideal, and the intelligent garbage can is realized. For example, a two-dimensional code is printed on the garbage bag, and the intelligent garbage can scans the two-dimensional code to obtain garbage information for classification; for example, a singlechip is applied to the garbage can to control the automatic switch of the garbage can; for another example, the shape of the inlet of the trash can is designed, and only the trash with a specific shape can be thrown in, so that trash classification and the like are realized. However, since the classification effect of the intelligent trash can on the market is not good, the trash can used in most of the residents at home is still the most common trash can at present, and the popularity of the intelligent trash can is not improved.

Disclosure of Invention

Compared with the prior art, the automatic garbage classification device and method provided by the invention have the advantages of convenience in use, simple structure and low cost.

In order to solve the problems, the invention provides the following technical scheme:

an automatic garbage classification device comprises a classification structure and a storage structure arranged below the classification structure, wherein the classification structure comprises a cylinder wall, a cylinder cover, a classification part and a bottom plate, the cylinder cover covers the cylinder wall and is provided with a garbage inlet, the classification part is arranged in the cylinder wall and is positioned below an opening of the cylinder cover, and the bottom plate is positioned below a classifier; the classification part comprises two connected partition plates, the two partition plates and the barrel wall form a sector area with a central angle of 90 degrees, and the initial position of the sector area corresponds to the position of the garbage inlet; the shapes of the bottom plate and the fan-shaped area are matched; the two partition plates and the bottom plate form a containing space;

the storage structure comprises a bottom platform, a cross partition plate arranged on the bottom platform and four storage drawers, the four storage drawers are arranged in four areas divided by the cross partition plate, and the four storage drawers are of an upper opening structure and are used for receiving garbage swept down by a classification part in the classification structure;

the classification structure further comprises a control unit arranged in the cylinder wall, and a first sensor, a camera, a first motor and a second motor which are connected with the control unit; the first sensor is arranged in the fan-shaped area and used for sending a corresponding level signal to the control unit when sensing that garbage enters the containing space formed by the two partition plates and the bottom plate; the control unit is used for acquiring image information of the garbage through the camera when the level signal is received, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, and generating a first motor control signal and a second motor control signal according to the type of the garbage; the first motor control signal is used for controlling the first motor, the second motor control signal is used for controlling the second motor, the first motor is used for driving the classification part to rotate, and the second motor is used for driving the bottom plate to rotate; the classification part and the bottom plate are matched to rotate, so that the garbage in the sector area can be swept into the storage drawer corresponding to the type.

An automatic garbage classification method is realized based on the automatic garbage classification device, and comprises the following steps:

s110, when sensing that garbage enters the containing spaces formed by the two partition plates and the drum wall, the first sensor sends corresponding level signals to the control unit;

s120, the control unit acquires image information of the garbage through the camera when receiving the level signal, recognizes the image information by adopting a garbage classification model to obtain the type of the garbage, and generates a first motor control signal and a second motor control signal according to the type of the garbage;

s130, the first motor is controlled when receiving the first motor control signal, so that the first motor drives the classification part to rotate; the second motor is controlled when receiving the second motor control signal, so that the second motor drives the bottom plate to rotate; the classification part and the bottom plate are matched to rotate, so that the garbage in the sector area can be swept into the storage drawer corresponding to the type.

Compared with the prior art, the technical scheme of the invention at least has the following technical effects:

in the scheme, the classification structure and the storage structure are arranged, the classification structure is used for classifying various kinds of garbage, the first sensor is used for sensing whether the garbage is thrown in or not, the camera is used for acquiring garbage images, the control unit is used for inputting the garbage images into the garbage classification model to obtain the belonged type of the garbage, then two motor control signals are generated according to the belonged type, then the rotation control of the classifier and the bottom plate is realized through the two motors, and therefore the garbage is swept into the storage drawer corresponding to the belonged type. And accomodate the structure and set up four and accomodate the drawer and can realize accomodating the classification of four kinds of rubbish, consequently the user drops into rubbish automatic classification device with rubbish after, need not carry out any operation, just can realize the automatic classification to rubbish, it is very convenient, simple structure, with low costs, can carry out commercial process. A plurality of functional modules are fused to realize a plurality of functions; and the application range is wide, and the application places are various.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an automatic garbage sorting device according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating various components of a sorting structure according to an embodiment of the present invention;

FIG. 3 is an exploded view of the containment structure and cartridge wall in an embodiment of the present invention;

FIG. 4 is a schematic diagram of the garbage classification model converging with the increase of the number of iterations in the embodiment of the present invention;

FIG. 5 is a diagram illustrating the result of verification using a trained garbage classification model according to an embodiment of the present invention;

fig. 6 is a schematic flow chart of automatic garbage classification according to an embodiment of the present invention.

Reference numerals: 1. a barrel cover; 2. a first motor; 3. a support; 4. a separator plate of the classifier; 5. a base plate; 6. a second motor; 7. a first sensor; 8. another first sensor; 9. a camera; 10. a cylinder wall; 11. a cross partition plate; 12. a bottom platform; 13. a storage drawer; 14. a second sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In a first aspect, the present invention provides an automatic garbage sorting device, as shown in fig. 1 to 3, the automatic garbage sorting device comprising: the garbage bin comprises a classification structure and a storage structure arranged below the classification structure, wherein the classification structure comprises a bin wall 10, a bin cover 1 which covers the bin wall 10 and is provided with a garbage inlet, a classification part which is arranged in the bin wall 10 and is positioned below an opening of the bin cover 1, and a bottom plate 5 which is positioned below a classifier; the classification part comprises two connected partition plates 4, a fan-shaped area with a central angle of 90 degrees is formed by the two partition plates 4 and the cylinder wall 10, and the initial position of the fan-shaped area corresponds to the position of the garbage inlet; the shapes of the bottom plate 5 and the sector area are matched, and two partition plates 4 and the bottom plate 5 form a containing space;

the storage structure comprises a bottom platform 12, a cross partition plate 11 arranged on the bottom platform 12 and four storage drawers 13, wherein the four storage drawers 13 are arranged in four areas divided by the cross partition plate 11, and the four storage drawers 13 are of an upper opening structure and are used for receiving garbage swept by a classification part in the classification structure;

the classification structure further comprises a control unit arranged inside the cylinder wall 10, and a first sensor, a camera 9, a first motor 2 and a second motor 6 which are connected with the control unit; the first sensor is arranged in the fan-shaped area and used for sending a corresponding level signal to the control unit when sensing that garbage enters the containing space formed by the two partition plates and the bottom plate; the control unit is used for acquiring image information of the garbage through the camera 9 when the level signal is received, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, and generating a first motor control signal and a second motor 6 control signal according to the type of the garbage; the first motor control signal is used for controlling the first motor 2, the second motor 6 control signal is used for controlling the second motor 6, the first motor 2 is used for driving the classification part to rotate, and the second motor 6 is used for driving the bottom plate to rotate; the matching rotation of the sorting part and the bottom plate can sweep the garbage in the sector area into the storage drawer 13 corresponding to the type.

Wherein, the classifying structure sets up in the top of accomodating the structure, and classifying structure's effect is to putting into wherein rubbish and classify. A classification part is arranged in a classification mechanism, the classification part is formed by connecting two clapboards, an included angle between the two clapboards is 90 degrees, the joint of the two clapboards of the classification part is positioned at the central shaft of the cylinder wall 10, a fan-shaped area is formed between the two clapboards and the cylinder wall 10, and the central angle of the fan-shaped area is 90 degrees. In order to distinguish from other sectors, the sector formed by the two partitions and the wall 10 of the cylinder with a central angle of 90 ° can be referred to as the first sector. And be the bottom plate in the below of classifier, two baffles of bottom plate and classifier form a storage space, and when the user put into rubbish to automatic classification device of rubbish, rubbish falls into the storage space that bottom plate and two baffles formed at first.

Wherein, seted up rubbish entry on the bung, the shape of rubbish entry can set up to the central angle for 90 all fan-shaped, and the initial position of the first fan-shaped region that classifier and bottom plate formed aligns with rubbish entry, and rubbish can fall into in the storage space that bottom plate and two baffles formed when the user puts into rubbish through rubbish entry like this. Of course, the waste inlet may take other shapes as long as the initial position of the first sector corresponds to the position of the waste inlet.

Wherein, the section of thick bamboo wall can prevent that the rubbish in two baffles from being swept the outside, fixes the bung moreover. In fig. 2, only the cylinder wall forming a sector with two partitions is shown, i.e. only a part of the cylinder wall is shown; in fig. 3, the complete cylinder wall is shown, but the cylinder wall belongs to the classification structure.

Wherein, the effect of accomodating the structure is the rubbish of saving different grade type. The current garbage classification has four types: the garbage collection structure can be used for collecting garbage, kitchen garbage, harmful garbage and other garbage, and in order to arrange four storage drawers in the storage structure, one storage drawer can be used for storing one type of garbage. In order to place four storage drawers conveniently, a bottom platform is arranged in the storage structure, then a cross partition plate is arranged on the bottom platform, the cross partition plate can divide the whole space into four regions, the storage drawers can be placed in one region, and the storage drawers are arranged in an upper opening structure because garbage falls from a classification structure above. In order to facilitate the taking out of the storage drawers, a handle may be provided on an outer side wall of each drawer.

Wherein, the classification structure has set up control unit, first sensor, camera, first motor and second motor in section of thick bamboo wall inside for the realization is to the classification of rubbish, and first sensor, camera, first motor and second motor all are connected with control unit. The first sensor is used for sensing whether garbage enters the containing space formed by the bottom plate and the two partition plates, and when sensing that the garbage enters the containing space, the first sensor sends a level signal to the control unit. For example, when no garbage enters the storage space, the first sensor outputs a high level, and when the garbage enters the storage space, the first sensor outputs a low level, and when the control unit detects that the level signal changes, the control unit knows that the garbage enters the storage space.

In particular implementations, an infrared sensor may be employed as the first sensor. In order to ensure that the sensitivity of the induction can be increased, two first sensors may be provided. For example, an infrared sensor 8 is arranged on a bottom plate of the storage space, an infrared sensor 7 is arranged on a partition plate of the storage space, and when one infrared sensor senses that garbage enters the storage space, the garbage is considered to enter the storage space. When the control unit receives a level signal sent by the first sensor and indicating that garbage enters, the camera is started. The camera is used for collecting image information of the garbage, namely shooting the garbage and then sending shot images to the control unit.

The control unit inputs image information acquired by the camera into a pre-trained garbage classification model to obtain the belonged classification of the garbage, for example, the belonged classification identified according to the image information is kitchen garbage. The training process of the garbage classification model can comprise the following steps:

(1) training sample for obtaining different types of garbage

Various types of garbage are photographed, and photographed images are used as training samples. The purpose of acquiring the garbage images is to train a garbage classification model, and the garbage classification method can acquire different types of household garbage at different moments, such as recoverable garbage: plastic bottle cap, pop-top can, kitchen garbage: fruit pits, fruit peels, harmful garbage: batteries, tablets, other waste: mask and toothpaste. 100 images of each type of trash.

(2) Model training using an online model training platform

The VGG (named Visual Geometry Group) convolutional neural network is a model proposed by Oxford university in 2014, has simplicity and practicability, and shows very good performance in image classification and detection tasks. The VGG four-layer convolutional neural network model is adopted for training and comprises an input layer, two hidden layers and an output layer.

The training step comprises: 4 sub-folders are established according to 4 garbage types, namely a label 1 (recoverable garbage), a label 2 (kitchen garbage), a label 3 (other garbage) and a label 4 (harmful garbage). And secondly, packaging and uploading the four subfolders to a MaxHub AIoT online model training platform for model training. And downloading the trained garbage classification model from the online model training platform after training.

As shown in fig. 4, in the training process, as the number of iterations increases, the training accuracy and the verification accuracy of the model also continuously increase, and tend to converge at a later stage. The difference between the training accuracy and the verification accuracy is small, the recognition accuracy is in a relatively high position, an over-fitting state or an under-fitting state does not occur, and the overall performance of the model is good.

As shown in fig. 5, the trained garbage classification model is used to identify eight different types of garbage. Through 100 experiments on each kind of garbage, the results show that the classification success rate of each kind of garbage is over 90%, the classification success rates of four kinds of garbage are 100%, the classification success rate of recoverable garbage and other garbage is the highest, and the classification success rate of harmful garbage is the lowest.

It can be understood that after the control unit adopts the pre-trained garbage classification model to identify the type of the garbage, the control unit can generate the first motor control signal and the second motor control signal according to the type of the garbage. The first motor control signal is used for controlling the first motor, so that the two partition plates driving the classifier rotate by taking the central shaft of the cylinder wall as the center, and the second motor control signal is used for controlling the second motor, so that the bottom plate is driven to rotate by taking the central shaft of the cylinder wall as the center. Through the coordination of the classifier and the bottom plate, the garbage is swept into the storage drawer corresponding to the type to which the garbage belongs, and the classified storage of the garbage is realized.

In specific implementation, for convenience of description, a region corresponding to the storage drawer corresponding to the type of the garbage is referred to as a second sector region. When the control unit generates two motor control signals, the relative position of the first sector area and the second sector area is determined, and then the two motor control signals are generated according to the relative position. There are three total situations for the relative positions of the two sectors: (1) the first fan-shaped area and the second fan-shaped area are overlapped to form the same fan-shaped area; (2) the first sector area and the second sector area are adjacent; (3) the first sector area and the second sector area are separated by a sector area. Although there are three cases, it can be handled as two cases because the base plate needs to be moved by one sector area in both (1) and (3) cases, and the base plate does not need to be moved in (2) case. The reason is that: it is desirable to transfer the base and the sorter into a sector adjacent to the second sector, for example, by transferring the first sector in which the base and the sorter are located into a sector to the left of the second sector and then rotating the sorter one sector to the right, so that the trash can be swept into the storage drawer below the second sector. For example, the waste can be swept into the storage drawer below the second sector by transferring the first sector in which the floor and the sorter are located into one sector to the right of the second sector and then rotating the sorter one sector to the left. It can be seen that in case (2), since the first sector area and the second sector area are adjacent, the bottom plate does not need to be rotated, and only the classifier needs to be directly rotated. For example, the first sector area is located on the left side of the second sector area, and the classifier is directly rotated to the right by one sector area. In the cases (1) and (3), the bottom plate and the classifier are rotated synchronously by a sector area, and then the classifier is rotated separately.

To this end, the control unit may be specifically configured to: determining a relative position between the first sector area and the second sector area; if the first sector area is adjacent to the second sector area, the generated second motor control signal is used for controlling the bottom plate to keep still through the second motor, and the generated first motor control signal is used for controlling the sorting part to rotate to the second sector area through the first motor so as to sweep the garbage into the storage drawer corresponding to the type to which the garbage belongs; if the first sector area and the second sector area are separated by one sector area, or the first sector area and the second sector area are the same sector area, the generated second motor control signal is used for controlling the bottom plate to rotate to one sector area adjacent to the second sector area through the second motor, the generated first motor control signal is used for controlling the classification part and the bottom plate to synchronously rotate to the sector area adjacent to the second sector area through the first motor, and continuously controlling the classification part to rotate to the second sector area so as to sweep the garbage into the storage drawer corresponding to the type.

It can be understood that the definition of the image acquired by the camera is influenced by light rays, so that the accuracy of the garbage classification model identification can be influenced, and therefore, a light source can be arranged in the classification structure for light ray compensation, so that the accuracy of the garbage classification model identification is improved. The light source can adopt an LED lamp.

Because the garbage does not enter the classification structure all the time, when no garbage enters the classification structure, the camera does not need to be started, the light source does not need to be lightened, and even the control unit can enter a power-off state, so that the energy conservation is realized. In order to save energy as much as possible, in the device provided by the invention, the classification structure can further comprise a power supply and a light source which are arranged inside the cylinder wall; the control unit comprises a first single chip microcomputer and a second single chip microcomputer connected with the first single chip microcomputer; the second single chip microcomputer is connected with the camera, the first motor and the second motor; the first single chip microcomputer is connected with the light source, the power supply and the first sensor, and the power supply is connected with the second single chip microcomputer; the first single chip microcomputer is used for controlling the light source to be lightened when the level signal is received and controlling the power supply to supply power to the second single chip microcomputer; the second single chip microcomputer is used for starting the camera after being powered on, acquiring image information of garbage through the camera, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, generating a first motor control signal and a second motor control signal, and sending a classification completion signal to the first single chip microcomputer after the garbage classification is completed; and the first singlechip controls the power supply to be powered off and controls the light source to be turned off after receiving the classification completion signal.

That is to say, two singlechips are arranged in the control unit, the functions of the two singlechips are different, the first singlechip is connected with the light source, the power supply and the first sensor and is used for receiving a level signal sent by the first sensor, lighting the light source, controlling the power supply of the power supply, turning off the light source, controlling the power supply to be powered off and the like. The second single chip microcomputer is connected with the camera, the first motor and the second motor and is used for acquiring images acquired by the camera and generating two motor control signals.

For example, the specific process may be: when no garbage enters the classification structure, the second single chip microcomputer and the camera are in a power-off state. When the first sensor detects that garbage enters, a corresponding level signal (for example, a low level signal) is output to the first single chip microcomputer, and then the first single chip microcomputer sets the light source to be at a low level, so that the light source is lightened, and meanwhile, a high level signal is output to control the power supply to supply power to the second single chip microcomputer. The second single chip microcomputer is powered on and then starts the camera, the camera acquires image information of garbage after being started, the image information is sent to the second single chip microcomputer through the SCCB bus, then image recognition is carried out through a garbage classification model, the type of the garbage belongs to the garbage classification model, two motor control signals are determined according to the relative position between the second sector area and the second sector area corresponding to the storage drawer corresponding to the type of the garbage, and then the bottom plate and the classifier are subjected to coordination control, so that the garbage is swept into the storage drawer corresponding to the type of the garbage. And then, the second singlechip transmits the garbage classification finished signal to the first singlechip through a USB data line, and the first singlechip controls the power supply to be powered off for the second singlechip and turns off the light source.

The first single chip microcomputer can be but is not limited to an STM32 single chip microcomputer, and the second single chip microcomputer can be but is not limited to a K210 single chip microcomputer.

The first motor and the second motor may be, but are not limited to, servo motors.

Certainly, after the garbage is swept into the corresponding storage drawer, the bottom plate and the classifier need to be reset, and therefore in specific implementation, the second single chip microcomputer can be further used for generating a first reset signal and a second reset signal after the garbage classification is finished; the first reset signal is used for controlling the classifying part to reset to a sector area corresponding to the garbage inlet through the first motor, and the second reset signal is used for controlling the bottom plate to reset to a sector area corresponding to the garbage inlet through the second motor.

That is to say, the second singlechip still generates two reset signal for bottom plate and sorter reset to the region that corresponds with rubbish entry, when having rubbish to enter into like this next time, alright in the accommodation space that two baffles and the bottom plate that can enter into the sorter formed, thereby start next rubbish classification.

In specific implementation, the classification structure may further include a voice broadcast module connected to the first single chip microcomputer; as shown in fig. 3, the storage structure further includes four second sensors 14, the four second sensors 14 are all connected to the first single chip, and the four second sensors 14 are correspondingly arranged in the four storage drawers one to one; the second sensor 14 is used for sending a garbage full signal to the first single chip microcomputer when sensing that the corresponding storage drawer is full of garbage; when the first single chip microcomputer receives the garbage filling signal, the voice broadcasting module is controlled to broadcast prompt voice of the fact that the corresponding storage drawer is filled with garbage.

That is to say, set up a second sensor in each accomodate drawer, can send corresponding rubbish to first singlechip when a second sensor senses the corresponding accomodate drawer and fills up rubbish, control the voice broadcast module and carry out voice broadcast when first singlechip receives the rubbish that corresponds and fills up the signal to it has filled to inform to be used for the corresponding accomodate drawer.

Wherein the second sensor may be disposed in a groove of an upper sidewall of the storage drawer.

In a specific implementation, as shown in fig. 2, in order to facilitate installation of components such as the control unit, the camera, the first sensor, and the like, one bracket 3 may be disposed in the storage space formed by the two partitions and the bottom plate, and the camera may be disposed on the bracket 3. If the control unit comprises two singlechips and the classification mechanism also comprises a light source and a power supply, the two singlechips, the light source and the power supply are all arranged on the bracket 3. In order to guarantee that the garbage is accurately sensed to enter the containing space, two first sensors can be arranged, one first sensor is arranged on the support 3, and the other sensor is arranged on the bottom plate. The individual components can be fastened to the carrier 3 in particular by screws and nuts.

In specific implementation, in order to facilitate the two motors to drive the bottom plate and the classifier to rotate, the fixed end of the first motor may be connected with the barrel cover, for example, fixedly connected by screws and nuts; the output end of the first motor is connected with the classification part; the fixed end of the second motor is connected with the cross partition plate, for example, fixedly connected by screws and nuts; and the output end of the second motor is connected with the bottom plate. That is, the fixed end of the motor is fixed on other structures which can not rotate, and the output end is connected with the classification part and the bottom plate which need to be driven.

It can be understood that in order to realize classification, the garbage classification method can be used for predicting the type of the garbage by collecting the garbage image and inputting the garbage image into a garbage classification model, and realizing intelligent classification of the garbage by controlling a classifier and a bottom plate through a motor, and combines a garbage classification algorithm with a hardware control execution algorithm.

For example, the present invention has 6 sensors for sensing and transmitting information to the control unit. Two of the sensors are used for detecting whether the garbage is put into the classification structure, and the other four sensors are used for detecting whether the garbage is full; the control unit consists of a K210 singlechip and an STM32 singlechip and is responsible for analyzing and controlling signals transmitted by the sensor; the STM32 singlechip starts a power supply to supply power to the K210 singlechip, so that a camera is started to acquire image information of garbage, and an LED light source is lightened; the K210 singlechip generates control signals according to image information, outputs to two 180 servo motors, sweeps rubbish into the storage drawer corresponding to the type through the cooperation of the two servo motors, and informs that the STM32 singlechip is classified, and then the power supply of the STM32 singlechip is controlled to be powered off and the LED light source is turned off. When any one of the other four sensors detects that the storage drawer is full, the STM32 single-chip microcomputer is informed, and the STM32 single-chip microcomputer informs the voice broadcast module to carry out voice broadcast.

The invention aims to provide a device for realizing automatic garbage classification, which can be used for household life, is a garbage classification device with miniaturization, function integration and cost economy, and can provide a new way for garbage classification for household and small workplaces. In the invention, a plurality of modes are adopted to improve the intellectualization of the device, for example, the type of the thrown garbage is identified through a garbage classification model of a neural network, so that the four types of the recoverable garbage, the kitchen garbage, the harmful garbage and other garbage can be rapidly identified; adopt the sensor to detect whether full of rubbish to remind through the voice broadcast module. Adopt K210 singlechip and STM32 singlechip to control each part, realize the interconnection between a plurality of hardware, provide new solution for the problem that domestic waste classification meets at present.

The automatic garbage sorting device provided by the invention mainly comprises a sorting structure and a storage structure, has the advantages of simple structure, convenience in production and processing, low cost, small volume, convenience for household use and low device cost, is slightly larger than the common garbage can, can be used for storing four kinds of garbage at the same time, and can be used for commercial production.

Moreover, the automatic garbage classification device provided by the invention integrates a plurality of functional modules, such as a K210 singlechip, an STM32 singlechip, a sensor, a camera, a convolutional neural network, a servo motor, a voice broadcast module and the like, integrates the functions of the plurality of modules, and organically combines the plurality of functions to realize multiple functions.

In addition, the automatic garbage classification device provided by the invention has expansibility and portability, and an expansion module can be added according to new requirements to realize more functions. The program in the device can adopt C language and Python language, the portability of the program is good, and the code can be changed at any time.

Furthermore, the automatic garbage sorting device provided by the invention can be used for families and can also be placed in places such as office buildings, government offices and the like. Except carrying out garbage classification, if be used in children's early education field, can also realize children's education function through voice broadcast, from the consciousness of cultivateing garbage classification for a short time. Therefore, the device provided by the invention has wide application range and various applicable places.

In summary, the automatic garbage classification device provided by the invention is provided with a classification structure and a storage structure, the classification structure is adopted to classify various types of garbage, the first sensor is adopted to sense whether garbage is thrown in, the camera is adopted to obtain garbage images, the control unit is adopted to input the garbage images into the garbage classification model to obtain the belonged type of the garbage, then two motor control signals are generated according to the belonged type, and then the rotation control of the classifier and the bottom plate is realized through the two motors, so that the garbage is swept into the storage drawer corresponding to the belonged type. And accomodate the structure and set up four and accomodate the drawer and can realize accomodating the classification of four kinds of rubbish, consequently the user drops into rubbish automatic classification device with rubbish after, need not carry out any operation, just can realize the automatic classification to rubbish, it is very convenient, simple structure, with low costs, can carry out commercial process. A plurality of functional modules are fused to realize a plurality of functions; and the application range is wide, and the application places are various.

In a second aspect, the present invention provides an automatic garbage classification method, which is implemented based on the automatic garbage classification device provided in the first aspect, and as shown in fig. 6, the method includes:

s110, when sensing that garbage enters the containing spaces formed by the two partition plates and the drum wall, the first sensor sends corresponding level signals to the control unit;

s120, the control unit acquires image information of the garbage through the camera when receiving the level signal, recognizes the image information by adopting a garbage classification model to obtain the type of the garbage, and generates a first motor control signal and a second motor control signal according to the type of the garbage;

s130, the first motor is controlled when receiving the first motor control signal, so that the first motor drives the classification part to rotate; the second motor is controlled when receiving the second motor control signal, so that the second motor drives the bottom plate to rotate; the classification part and the bottom plate are matched to rotate, so that the garbage in the sector area can be swept into the storage drawer corresponding to the type.

In a specific implementation, the S120 may specifically include:

acquiring image information of the garbage through the camera when the level signal is received, and identifying the image information by adopting a garbage classification model to obtain the type of the garbage;

determining a relative position between the first sector area and the second sector area, and generating the first motor control signal and the second motor control signal according to the relative position; if the first sector area is adjacent to the second sector area, the generated second motor control signal is used for controlling the bottom plate to keep still through the second motor, and the generated first motor control signal is used for controlling the sorting part to rotate to the second sector area through the first motor so as to sweep the garbage into the storage drawer corresponding to the type to which the garbage belongs; if the first sector area and the second sector area are separated by one sector area, or the first sector area and the second sector area are the same sector area, the generated second motor control signal is used for controlling the bottom plate to rotate to one sector area adjacent to the second sector area through the second motor, the generated first motor control signal is used for controlling the classification part and the bottom plate to synchronously rotate to the sector area adjacent to the second sector area through the first motor, and continuously controlling the classification part to rotate to the second sector area so as to sweep the garbage into the storage drawer corresponding to the type.

In specific implementation, the classification structure further comprises a power supply and a light source which are arranged inside the cylinder wall; the control unit comprises a first single chip microcomputer and a second single chip microcomputer connected with the first single chip microcomputer; the second single chip microcomputer is connected with the camera, the first motor and the second motor; the first single chip microcomputer is connected with the light source, the power supply and the first sensor, and the power supply is connected with the second single chip microcomputer; in this case, the S120 may include:

the first single chip microcomputer controls the light source to be lightened when receiving the level signal and controls the power supply to supply power to the second single chip microcomputer;

the first single chip microcomputer controls the light source to be lightened when receiving the level signal and controls the power supply to supply power to the second single chip microcomputer;

the second single chip microcomputer is used for starting the camera after being powered on, acquiring image information of garbage through the camera, identifying the image information by adopting a garbage classification model to obtain the type of the garbage, generating a first motor control signal and a second motor control signal, and sending a classification completion signal to the first single chip microcomputer after the garbage classification is completed;

and the first singlechip controls the power supply to be powered off and controls the light source to be turned off after receiving the classification completion signal.

It is to be understood that, for the explanation, the example, the specific implementation, the beneficial effects, and the like of the contents in the method provided by the second aspect, reference may be made to the corresponding contents in the first aspect, and details are not described herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.